Granted Patent B2

US 12,731,490 · App. 18/914,920 · Granted Sep 8, 2026

Inventors: Kuo-Shih Tseng (Taoyuan City, TW); Yan-Shuo Li (Taoyuan City, TW); Pao-Te Lin (Taoyuan City, TW)

Assignee: National Central University

G08G1/164G06F17/11

Abstract

Claims (41)

1 . A multi-vehicle spatially balanced coverage system, comprising:

a first mobile vehicle comprising a first sensor unit configured to sense a first environmental information;

a second mobile vehicle comprising a second sensor unit configured to sense a second environmental information; and

a computing unit configured to:

receive the first environmental information and the second environmental information, input them into a balanced coverage function, and accordingly compute a first forward point of interest and a second forward point of interest, to command in real-time the first mobile vehicle to move from a first initial point of interest to the first forward point of interest and the second mobile vehicle to move from a second initial point of interest to the second forward point of interest;

input the first initial point of interest and the second initial point of interest into the balanced coverage function and computing a maximum value of the balanced coverage function accordingly;

obtain a total path set corresponding to the maximum value, wherein the total path set comprises a plurality of connected components, and the plurality of connected components comprise a first connected component and a second connected component;

compute whether a number of the plurality of connected components is greater than or equal to a vehicle number threshold; and

generate a first movement path comprising the first initial point of interest and the first forward point of interest, and a second movement path comprising the second initial point of interest and the second forward point of interest, according to the first connected component and the second connected component, respectively, when the number of the plurality of connected components is greater than or equal to the vehicle number threshold.

2 . The multi-vehicle spatially balanced coverage system according to claim 1 , wherein the first sensor unit and the second sensor unit are selected from one of an image sensor, a piezoelectric crystal chemical sensor, a surface acoustic wave sensor, an optical chemical sensor, an electrochemical sensor, a semiconductor chemical sensor, a surface plasmon resonance chemical sensor, a biosensor, a thermochemical sensor, a magnetic chemical sensor, a field chemical sensor, a toxic gas field chemical sensor, a chemical sensor, a microelectromechanical sensor, a nanocrystal chemical sensor, an electromagnetic wave sensor, a mechanical wave sensor, a thermal sensor, a force sensor, a camera, and combinations thereof.

3 . The multi-vehicle spatially balanced coverage system according to claim 1 , wherein the computing unit further comprises a real-time adjustment module configured to dynamically adjust locations of the first forward point of interest and the second forward point of interest based on changes in the first environmental information and the second environmental information.

4 . The multi-vehicle spatially balanced coverage system according to claim 1 , wherein the computing unit is comprised in on one of the first mobile vehicle, the second mobile vehicle, a remote server, and a remote computing device.

5 . A multi-vehicle spatially balanced coverage method, comprising:

sensing a first environmental information through a first sensor unit configured on a first mobile vehicle;

sensing a second environmental information through a second sensor unit configured on a second mobile vehicle;

receiving the first environmental information and the second environmental information through a computing unit and inputting them into a balanced coverage function to compute a first forward point of interest and a second forward point of interest accordingly; and

driving the first mobile vehicle to move from a first initial point of interest to the first forward point of interest and the second mobile vehicle to move from a second initial point of interest to the second forward point of interest,

wherein the multi-vehicle spatially balanced coverage method further comprises:

inputting the first initial point of interest and the second initial point of interest into the balanced coverage function and computing a maximum value of the balanced coverage function accordingly;

obtaining a total path set corresponding to the maximum value, wherein the total path set comprises a plurality of connected components, and the plurality of connected components comprise a first connected component and a second connected component;

computing whether a number of the plurality of connected components is greater than or equal to a vehicle number threshold; and

generating a first movement path comprising the first initial point of interest and the first forward point of interest, and a second movement path comprising the second initial point of interest and the second forward point of interest, according to the first connected component and the second connected component, respectively, when the number of the plurality of connected components is greater than or equal to the vehicle number threshold.

6 . The multi-vehicle spatially balanced coverage method according to claim 5 , further comprising:

giving a plurality of points of interest in a multi-dimensional space, wherein the plurality of points of interest comprises the first initial point of interest, the second initial point of interest, the first forward point of interest, and the second forward point of interest;

deploying the first mobile vehicle and the second mobile vehicle in the multi-dimensional space; and

planning the first initial point of interest and the second initial point of interest as starting points for the first mobile vehicle and the second mobile vehicle respectively.

7 . The multi-vehicle spatially balanced coverage method according to claim 6 , further comprising:

establishing a spatial coverage rate function comprising a spatial coverage rate of each of the plurality of points of interest based on a multi-dimensional space information about the multi-dimensional space;

establishing a balanced load function based on a balanced load condition;

establishing the balanced coverage function comprising the spatial coverage rate function and the balanced load function; and

subjecting the balanced coverage function to a first constraint condition and a second constraint condition.

8 . The multi-vehicle spatially balanced coverage method according to claim 7 , further comprising:

when the number of the plurality of connected components is greater than or equal to the vehicle number threshold, generating a first spanning tree and a second spanning tree based on the first connected component and the second connected component respectively;

when the number of the plurality of connected components is less than the vehicle number threshold, recomputing the balanced coverage function to obtain the total path set;

generating the first movement path and the second movement path based on the first spanning tree and the second spanning tree respectively; and

computing whether the first movement path and the second movement path are less than or equal to a workload threshold.

9 . The multi-vehicle spatially balanced coverage method according to claim 8 , further comprising:

when the first movement path and the second movement path are less than or equal to the workload threshold, planning for the first mobile vehicle and the second mobile vehicle to move in the multi-dimensional space according to the first movement path and the second movement path respectively; and

when the first movement path and the second movement path are greater than the workload threshold, recomputing the balanced coverage function to obtain the total path set,

wherein the first movement path comprises the first initial point of interest and the first forward point of interest and the second movement path comprises the second initial point of interest and the second forward point of interest,

wherein the first movement path and the second movement path do not intersect with each other.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (17)