CN110015095A

CN110015095A - The method and apparatus that a kind of pair of movable equipment charges

Info

Publication number: CN110015095A
Application number: CN201710911528.8A
Authority: CN
Inventors: 朴昕阳
Original assignee: China Mobile Communications Group Co Ltd; China Mobile Communications Co Ltd
Current assignee: China Mobile Communications Group Co Ltd; China Mobile Communications Co Ltd
Priority date: 2017-09-29
Filing date: 2017-09-29
Publication date: 2019-07-16
Anticipated expiration: 2037-09-29
Also published as: WO2019062438A1; CN110015095B

Abstract

The invention discloses the method and apparatus that a kind of pair of movable equipment charges, to solve the problems, such as that movable equipment charging system cannot be guaranteed that periphery charging base station has vacant charge position to be supplied to movable equipment to be charged in the prior art.Dispatching platform can determine whether out target charging base station after determining the message that needs to charge in the embodiment of the present invention, and determine charge position appropriate to movable equipment.Due to during charging to movable equipment, after movable equipment sends the message for needing to charge to dispatching platform, dispatching platform can calculate the distance of charge in movable equipment region base station to movable equipment, and according to the movement speed of movable equipment, determine target charging base station all in movable equipment region, it ensure that movable equipment can charge in this region, therefore be not in there is no the case where vacant charge position is charged to the movable equipment in affiliated area.

Description

The method and apparatus that a kind of pair of movable equipment charges

Technical field

It the method that charges the present invention relates to wireless communication technology field, in particular to a kind of pair of movable equipment and sets It is standby.

Background technique

In recent years, the market scale of movable equipment expands, and has wide range of applications, in police security protection, industry inspection, industry The multiple fields such as exploration, business, agricultural and medical treatment have application.Movable equipment quantity sharply increases, and potential market demand is huge Greatly.

In the prior art, when the remaining capacity of unmanned plane is less than preset value, current unmanned plane periphery will be obtained and filled The status information of electric base station is determined as the charging base station that unmanned plane charges according to status information, fills when unmanned plane enters band In the range of electric base station, receive with charging base station authentication by the way that after fed back connection response, confirmation is established with charging base station Charging connection charges for unmanned plane.But the remaining capacity of unmanned plane cannot be guaranteed that movable equipment arrival is filled in the prior art Electric base station is charged, while cannot be guaranteed that periphery charging base station has vacant charge position to be supplied to unmanned plane to be charged.

In conclusion cannot be guaranteed that periphery charging base station is free to the system that movable equipment charges in the prior art Remaining charge position is supplied to movable equipment to be charged.

Summary of the invention

The present invention provides the method and apparatus that a kind of pair of movable equipment charges, removable in the prior art to solve The system that dynamic equipment charges cannot be guaranteed that periphery charging base station has vacant charge position to be supplied to be charged removable set Standby problem.

The embodiment of the present invention provides the method that a kind of pair of movable equipment charges, this method comprises:

Dispatching platform determines the movable equipment and the movable equipment after determining that movable equipment needs to charge The distance between charging base station in region belonging to current position；

The dispatching platform is selected from the region according to the movement speed of determining distance and the movable equipment Target charging base station；

The location information of the charging base station of selection is sent to the movable equipment by base station by the dispatching platform, with Make the movable equipment be moved to corresponding charging base station according to the location information received to charge.

Charging base station receives the charge request of movable equipment transmission, wherein the charge request is that described move sets For what is sent after receiving the location information of charging base station of dispatching platform transmission, the location information of the charging base station is described Dispatching platform is charged in the region according to belonging to the movable equipment and the movable equipment current position between base station Distance and the movable equipment movement speed, selected from the region；

The charging base station determines the corresponding charge position of the movable equipment；

The charging base station is the movable equipment by determining charge position after movable equipment arrival Charging.

Movable equipment receives the location information for the charging base station that dispatching platform is sent, wherein the position of the charging base station Information is that the dispatching platform fills in the region according to belonging to the movable equipment position current with the movable equipment The movement speed of the distance between electric base station and the movable equipment is selected from the region；

The movable equipment is moved to corresponding charging base station according to the location information received and charges.

The embodiment of the present invention provides the equipment that a kind of pair of movable equipment charges, comprising: processor and transceiver:

The processor, for being carried out data transmission by transceiver, and after determining that movable equipment needs to charge, really The distance between charging base station in region belonging to the fixed movable equipment and the current position of the movable equipment；

According to the movement speed of determining distance and the movable equipment, the selection target charging base from the region It stands；

The location information of the charging base station of selection is sent to the movable equipment by base station, so that described removable Equipment is moved to corresponding charging base station according to the location information received and charges.

The processor, for being carried out data transmission by transceiver, and in the charging for receiving movable equipment transmission Request, wherein the charge request is the movable equipment after receiving the location information of charging base station of dispatching platform transmission It sends, the location information of the charging base station is the dispatching platform according to the movable equipment and the movable equipment The movement speed of the distance between charging base station and the movable equipment in region belonging to current position, from the region Middle selection；

Determine the corresponding charge position of the movable equipment；

It is movable equipment charging by determining charge position after movable equipment arrival.

The processor, for being carried out data transmission by transceiver, and receive the charging base station of dispatching platform transmission Location information, wherein the location information of the charging base station be the dispatching platform according to the movable equipment with it is described removable The movement speed of the distance between charging base station and the movable equipment in region belonging to the current position of dynamic equipment, from institute It states and selects in region；

Corresponding charging base station is moved to according to the location information received to charge.

The embodiment of the present invention provides the equipment that a kind of pair of movable equipment charges, which includes: at least one Manage unit and at least one storage unit, wherein the storage unit is stored with program code, when said program code is by institute When stating processing unit execution, so that the processing unit executes the side that dispatching platform assists base station to charge movable equipment The step for the method that the step of method that the step of method or base station charge to movable equipment or movable equipment charge Suddenly.

The embodiment of the present invention provides a kind of calculating device-readable storage medium, including program code, works as said program code When running on the computing device, said program code assists base station to removable for making the calculating equipment execute dispatching platform The step of method that the step of method that equipment charges or base station charge to movable equipment or movable equipment into The step of method of row charging.

In the embodiment of the present invention dispatching platform determine movable equipment need charge after, dispatching platform begin to calculate to The distance between charging base station in the movable equipment of charging and movable equipment current location affiliated area；And it dispatches Speed of the platform according to determining distance and the movable equipment, the selection target charging base station from the region；It adjusts later It spends platform and the location information of the charging base station of selection is sent to the movable equipment by communication base station；Described move sets After the standby base station position information for receiving dispatching platform transmission, charge request is sent to the charging base station of the determination；Charge base After station receives the charge request of movable equipment transmission, charging base station determines the corresponding charge position of the movable equipment, And the corresponding charge position of the movable equipment is sent to movable equipment, movable equipment receives the information of charge position Determining charge position is moved to afterwards to charge.Due to during charging to movable equipment, movable equipment It is sent to dispatching platform after needing the message that charges, dispatching platform can be to base station of charging in movable equipment region to removable The distance of dynamic equipment is calculated, and according to the movement speed of movable equipment, determines institute in movable equipment region Some target chargings base station, ensure that movable equipment can charge in this region, therefore be not in affiliated area There is no the case where vacant charge position is charged to the movable equipment in domain.

Detailed description of the invention

To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment Attached drawing is briefly introduced, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this For the those of ordinary skill in field, without any creative labor, it can also be obtained according to these attached drawings His attached drawing.

Fig. 1 is system structure diagram of the embodiment of the present invention；

Fig. 2 is that movable equipment of the embodiment of the present invention charges the division of base station in region under no fixed purpose ground mode Schematic diagram；

Fig. 3 is that movable equipment of the embodiment of the present invention is in the division for having base station of charging in region under fixed purpose ground mode Schematic diagram；

Fig. 4 is the structural schematic diagram of the first equipment to charge to movable equipment of the embodiment of the present invention；

Fig. 5 is the structural schematic diagram of second of the equipment to charge to movable equipment of the embodiment of the present invention；

Fig. 6 is the structural schematic diagram of the third equipment to charge to movable equipment of the embodiment of the present invention；

Fig. 7 is the structural schematic diagram of the 4th kind of equipment to charge to movable equipment of the embodiment of the present invention；

Fig. 8 is the structural schematic diagram of the 5th kind of equipment to charge to movable equipment of the embodiment of the present invention；

Fig. 9 is the structural schematic diagram of the 6th kind of equipment to charge to movable equipment of the embodiment of the present invention；

Figure 10 is the flow diagram of the first method to charge to movable equipment of the embodiment of the present invention；

Figure 11 is the flow diagram of second of method to charge to movable equipment of the embodiment of the present invention；

Figure 12 is the flow diagram of the third method to charge to movable equipment of the embodiment of the present invention；

Figure 13 flow diagram that the first charges to movable equipment for the embodiment of the present invention；

Figure 14 is second of flow diagram to charge to movable equipment of the embodiment of the present invention；

Figure 15 flow diagram that the third charges to movable equipment for the embodiment of the present invention；

Figure 16 is the 4th kind of flow diagram to charge to movable equipment of the embodiment of the present invention.

Specific embodiment

To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention make into It is described in detail to one step, it is clear that the described embodiments are only some of the embodiments of the present invention, rather than whole implementation Example.Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts All other embodiment, shall fall within the protection scope of the present invention.

As described in Figure 1, the embodiment of the present invention includes: to the system that movable equipment charges

Dispatching platform 10, for determine movable equipment need charge after, determine the movable equipment with it is described removable The distance between charging base station in region belonging to the current position of dynamic equipment；According to determining distance and the movable equipment Movement speed, from the region selection target charge base station；The location information of the charging base station of selection is sent out by base station Give the movable equipment so that the movable equipment according to the location information received be moved to corresponding charging base station into Row charging.

Charging base station 20, for receiving the charge request of movable equipment transmission, wherein the charge request is described What movable equipment was sent after receiving the location information of charging base station of dispatching platform transmission, the position letter of the charging base station Breath is that the dispatching platform charges in the region according to belonging to the movable equipment position current with the movable equipment The movement speed of the distance between base station and the movable equipment is selected from the region；Determine that described move sets Standby corresponding charge position；It is that the movable equipment fills by determining charge position after movable equipment arrival Electricity.

Movable equipment 30, the location information of the charging base station for receiving dispatching platform transmission, wherein the charging base The location information stood is the dispatching platform according to belonging to the movable equipment and the current position of the movable equipment The movement speed of the distance between charging base station and the movable equipment, selects from the region in region；According to receipts To location information be moved to corresponding charging base station and charge.

Wherein, dispatching platform can be carried out data transmission by base station and movable equipment, can also be determined in real time removable Dynamic equipment in this region the case where.

It wherein, include communication network SIM (Subscriber Identity Module, Ke Hushi in movable equipment Other module) card, for carrying out data transmission with the communication base station, while SIM card numbers unique mark as movable equipment Know number (movable equipment number information)；Simultaneously movable equipment also in real time export movable equipment geographical location information, Movable equipment number information, real-time remaining capacity information, translational speed information etc..

Wherein, movable equipment include it is following in some or all of:

Unmanned plane, automobile, electric vehicle etc..

It wherein, include that multiple charge positions charge for movable equipment, while charging base station also in charging base station It is being the charging bit number occupied when movable equipment is charged and corresponding movable equipment that charging base station, which can be exported, Number, the hollow remaining charging bit number in charging base station, charging base station charge position geographical location information etc..

In the embodiment of the present invention dispatching platform determine movable equipment need charge after, dispatching platform begin to calculate to The distance between charging base station in the movable equipment of charging and movable equipment current location affiliated area；And it dispatches Speed of the platform according to determining distance and the movable equipment, the selection target charging base station from the region；It adjusts later It spends platform and the location information of the charging base station of selection is sent to the movable equipment by communication base station；

After the movable equipment receives the base station position information of dispatching platform transmission, to the charging base station of the determination Send charge request；After charging base station receives the charge request of movable equipment transmission, charging base station determines described removable The corresponding charge position of equipment, and the corresponding charge position of the movable equipment is sent to movable equipment, it is removable to set Determining charge position is moved to after the standby information for receiving charge position to charge.

Since during charging to movable equipment, movable equipment sends what needs charged to dispatching platform After message, dispatching platform can calculate the distance of charge in movable equipment region base station to movable equipment, and According to the movement speed of movable equipment, determines target charging base station all in movable equipment region, ensure that Movable equipment can charge in this region, therefore be not in not have vacant charge position to institute in affiliated area State the case where movable equipment is charged.

The embodiment of the present invention can be carried out when charging to movable equipment by following two mode, the first is to adjust The location information that platform informs the charging of target described in movable equipment base station is spent, second is that dispatching platform informs movable equipment The location information of charge position in target charging base station.It introduces separately below.

Mode one:

Dispatching platform is after determining that movable equipment needs to charge, selection target charging base station, and being informed by base station can The position of the charging of target described in mobile device base station, movable equipment and target charging base station carry out message transmission, finally Determine the mark for the charge position that target charging base station provides, movable equipment according to the charge position information received to pair It charges the charging base station answered.

In mode one, whether there is the specific processing mode of fixed purpose ground mode also different according to movable equipment, below It introduces respectively.

Mode one: movable equipment is in no fixed purpose ground mode.

Wherein, refer to the no fixed purpose that the whereabouts that movable equipment is not fixed or the fixation not executed are appointed Business.

The no fixed purpose ground mode includes some or all of in following:

Base station patrol checking scene, industry inspection scene, police security protection scene etc..

Optionally, the dispatching platform is according to the movement speed of determining distance and the movable equipment, from the area In domain when selection target charging base station, selection is nearest apart from the movable equipment from the region, and reaches in object time Then the charging base station of available free charge position is as target charging base station；

Wherein, the distance of the determination and the movement speed of the movable equipment are that tune is reported to according to movable equipment The information determination of platform is spent, and it is the information of real-time update that the movable equipment, which is reported to the information of dispatching platform,.

The information that the movable equipment is reported to dispatching platform includes but is not limited to some or all of in following:

Movable equipment number information, movable equipment geographical location information, move at remaining capacity information in movable equipment Dynamic speed, average power consumption information, the pattern information of movable equipment, destination information of movable equipment etc..

There are multiple charging base stations in this region in the embodiment of the present invention, but only apart from movable equipment recently and When movable equipment reaches, the charging base station of available free charge position just can be used as target charging base station.

As shown in Fig. 2, there are the tetra- charging base stations A, B, C, D in this region, in base station, A, B, C, D be all can serve as Target charging base station, in base station A, B, C, base station A and base station B being equidistant and belonging to recently apart from movable equipment , still, if in the B of base station, the movable equipment charge position all not idle when object time reaches, and in the A of base station There are the movable equipments charge position available free when object time reaches, then base station A charges base station as target；If base station A, all without the clear position in B, and base station C has, then base station C is target charging base station.Due to base station D compare base station A, B, for C apart from movable equipment farther out, therefore dispatching platform base station A, B and C all cannot function as target charging base station when, Judge whether base station D can be used as target charging base station.

Wherein, it when the region is that movable equipment transmits signal, receives the farthest base station of the signal and moves The distance of equipment room is that radius draws circle；It can be that the distance set in movable equipment draws circle as radius, can also be setting Irregular area.

There are many situations for object time charge position available free when reaching:

1, current available free charge position, and object time is reached and is occupied before without other movable equipments；

2, currently without idle charge position, but have what at least one was charging before object time arrival Movable equipment is fully charged to be left, and the charge position object time for leaving the rear free time reaches before without other movable equipments It occupies.

Wherein, the object time be according to the movable equipment with charging base station at a distance from and the movable equipment Movement speed determine.

When implementing, the time is determined by distance and speed, is selected further according to the time nearest apart from movable equipment And the charging base station of available free charge position ensure that movable equipment can have time before electricity exhausts as target charging base station The charging base station of not busy charge position is that movable equipment charges, and makes the sustainable use of movable equipment.

Optionally, the dispatching platform is according to the movement speed of determining distance and the movable equipment, from the area In domain when selection target charging base station, if the charging of charge position available free not when object time reaches in the region Base station, then the dispatching platform selects a charging base station as target charging base station from the region；

As shown in Fig. 2, if all there is no available free when object time reaches in base station A, B, C, D in the region Charge position, at this time the dispatching platform will be selected from base station A, B, C, D a suitable base station as target charge Base station.

The dispatching platform is selected from the region according to the movement speed of determining distance and the movable equipment Target charges after base station, and the charge information that the dispatching platform is sent according to target charging base station is filled from the target A highest movable equipment of electricity is selected in electric base station；

The dispatching platform notifies target charging base station before object time reaches, and choosing is removed from charge position The movable equipment selected.

Wherein, the charge information includes some or all of in following:

The number of occupied charge position, the number information of the movable equipment to charge, charging can Electricity, the movable equipment remaining charging time charged in mobile device etc..

Specifically, dispatching platform is after receiving the charge information that base station A, B, C, D are reported, it can be to each base station In the movable equipment that is charging be compared judgement, finally determine the highest movable equipment of current potential.

Wherein, object time is moved to target charging base station from the geographical location at place for the movable equipment Time.

For example, the highest movable equipment of the current potential determined among the above just charges in the A of base station, then dispatching platform Determining target charging base station is base station A, and dispatching platform is informed about movable equipment described in the A of base station and fills to the target at this time The time of electric base station, in movable equipment before the object time reaches, dispatching platform can be the electricity highest of selection Movable equipment removed from the A of base station.

When implementing, even if all idle charging potential is not supplied to be charged removable set for base station in region It is standby, but the movable equipment that dispatching platform can select electricity high is removed from charging base station, the high movable equipment of current potential moves Charge position after out is used for movable equipment to be charged, ensure that charging equipment can timely charge, together When will not influence the use of the highest movable equipment of current potential.

Mode two: movable equipment, which is in, fixed purpose ground mode.

Wherein, described refer to that movable equipment has fixed whereabouts with having fixed purpose, or executing fixed task.

It is wherein, described that have fixed purpose ground mode include some or all of in following.

Logistics scene executes pinned task scene, sends message scene etc. to fixed location.

Optionally, the dispatching platform is according to the movement speed of determining distance and the movable equipment, from the area In domain selection target charge base station when, the dispatching platform is according to the moving direction of the movable equipment, from the region Determine alternative charging base station；

Specifically, as shown in figure 3, there are tetra- base stations base station A1, B1, C1, D1, still, base station B1 in this region Not on the moving direction of movable equipment, therefore base station B1 is also not as target charging base station；Base station A1, C1, D1 are in institute It states on the moving direction of movable equipment, therefore, the alternative charging base station determined from the region is base station A1, C1, D1.

The dispatching platform selected from the alternative charging base station it is nearest apart from the movable equipment, and in target The alternative charging base station of charge position available free when reaching is carved as target charging base station；

Specifically, the alternative charging base station determined from the region is A1, C1, D1, as shown in figure 3, base station D1 is compared Compared with for base station A1 and base station D1 apart from movable equipment farther out, therefore not as target charge base station；Base station A1 and base station C1 It is closer apart from movable equipment, but base station A1 does not have idle charge position when movable equipment object time reaches, and The charge position available free when movable equipment object time reaches in the C1 of base station, then base station C1 is as target charging base station； If base station A1 and base station C1 has idle charge position when movable equipment object time reaches, selection of base stations A1 is Target charging base station.

When implementing, the close and available free charge position of selected distance fills on the moving direction of the movable equipment Electric base station both ensure that movable equipment charges in the shortest time, be not in what electricity exhausted as target BS Situation, and movable equipment can be allowed to move on fixed direction, course line is not deviated by, can be reached within the shortest time Destination.

Optionally, the dispatching platform is according to the movement speed of determining distance and the movable equipment, from the area In domain when selection target charging base station, the charge position available free not when object time reaches in the alternative charging base station Alternative charging base station, then the dispatching platform selects one from the region according to the moving direction of the movable equipment It is a to be used as target charging base station；

If tetra- base stations A1, B1, C1, D1 in region, base station B1 is not in the moving direction of movable equipment On, base station A1, C1, D1 exist without movable equipment in base station A1, C1, D1 on the moving direction of movable equipment Have vacant charge position when object time reaches, therefore, dispatching platform will be selected from base station A1, C1, D1 one as Target charging base station.

Determining target charging base station is base station A1, C1, D1, and what dispatching platform can report target charging base station at this time fills Power information is compared judgement, and an electricity highest is chosen from the movable equipment to charge in described base station A1, C1, D1 Movable equipment.

When needing the movable equipment that charges that will will choose before reaching comprising electricity highest target charging base station The highest movable equipment of electricity from described comprising removing in the highest target BS of electricity.

When implementing, the movable equipment has fixed moving direction, just when the movable equipment needs to charge Base station on its moving direction can be chosen as charging base station, if the position of the not no free time of the charging base station on its moving direction It sets, movable equipment will not choose other base stations in the region for deviateing moving direction as charging base station, but meeting Screening removal is carried out to the movable equipment to charge in the charging base station on moving direction, it is highest to filter out electricity Movable equipment, and before movable equipment to be charged reaches, by the highest movable equipment containing electricity where it Charging removes in base station, and then the charge position to be charged that the highest movable equipment containing electricity occupies before charges, So that movable equipment is charged before electricity has exhausted again, while not deviating by its moving direction also, arrives at the destination Time will not increase, will not be immovable because electricity is lacked containing the highest movable equipment of electricity or cannot move It moves next charging base station to charge, ensure that all mobile devices can be moved normally in this region.

Optionally, the dispatching platform is according to the movement speed of determining distance and the movable equipment, from the area In domain after selection target charging base station, if the target charges, base station is currently without idle charge position, the scheduling The mark of idle charge position when object time reaches is notified the movable equipment by base station by platform, so that institute State the idle charge position that movable equipment notifies target charging base station to need to occupy.

In an implementation, the dispatching platform in this region selection target charging after, also by the target charge base The location information stood is sent to movable equipment by communication base station, and movable equipment is in the position for receiving target charging base station It after confidence breath, is contacted with target charging base station, accesses whether target charging base station currently available free is filled Electric position, if the target charges, base station is currently without idle charge position, and movable equipment is by described without the free time at this time The information of charge position is sent to dispatching platform by communication base station；

Dispatching platform, will be to the charge information in target BS after receiving the information without idle charge position Counted, judge when reaching the target arrival time of movable equipment whether available free charge position, if so, then described The mark of idle charge position when object time reaches is notified the movable equipment, institute by base station by dispatching platform State the idle charge position that movable equipment notifies target charging base station to need to occupy.

For example, the target BS that dispatching platform is sent to movable equipment is base station 1, movable equipment can Xiang Jizhan at this time 1 sends " needing to charge, if the information of available free position "；Base station 1 receives information and can check its all charge position, No charge position is finally found, at this point, base station 1 sends " currently without idle charge position " to movable equipment；It is removable Equipment will be reported to dispatching platform after receiving " currently without idle charge position " by communication base station, and dispatching platform, which receives, to disappear Will be gone after breath inquiry base station 1 " movable equipment object time reach time in whether available free charge position ", Base station 1 can will the information reporting that is charging on its each charge position to dispatching platform, dispatching platform to the information reported into Row screening, finally determines available free charge position, and determine the mark of charge position, the mark of charge position can be The first charge position in base station 1；Dispatching platform is sent " when object time reaches by communication base station to movable equipment at this time Interior available free charge position is the first charge position in base station 1 "；Movable equipment connection base station 1 is simultaneously sent to it " occupancy The message of the first charge position in base station 1 ".

When implementing, after movable equipment receives the target charging base station of dispatching platform transmission, inquiry target is filled in base station At present whether available free charge position, dispatching platform can charge to target the charge information in base station when not vacant charge position Screening judgement is carried out, the charge position available free when movable equipment reaches is determined, the free time determined will be filled Current potential is sent to movable equipment, and movable equipment connection target charging base station is charged to determining idle charge position, Remaining electricity will not have not only been wasted at this time but also can have been charged within the shortest time.

Optionally, the dispatching platform notifies target charging base station before object time reaches, from charge position In after the movable equipment that moves Selection Out, the dispatching platform is by the corresponding charge position of the movable equipment to move Selection Out Mark notifies the movable equipment by base station, so that the movable equipment notifies target charging base station to need to occupy Charge position.

Specifically, dispatching platform is determining the extensible just highest movable equipment of electricity in charging, further define The charge position occupied in the highest movable equipment of electricity corresponding target charging base station, later dispatching platform to comprising The target charging platform of the highest movable equipment of electricity sends the object time, and target charges can described in the determination of base station The mobile device time required when reaching is object time, and therefore, target charging base station can reach it in the movable equipment It is preceding to remove the highest movable equipment of the electricity from the target BS, remove the highest movable equipment of the electricity Afterwards, the mark for the charge position that the highest movable equipment of the electricity occupies is informed dispatching platform by target charging base station, is adjusted Spend after platform determines, by the highest movable equipment of the determination electricity in the target charging base station charge position that occupies Mark be sent to movable equipment, connection target charging base station is charged after movable equipment determines.

For example, the object time that movable equipment reaches target charging base station is 20 minutes, dispatching platform passes through each base The remaining capacity in the movable equipment to charge that station reports determines the highest movable equipment of electricity, wherein electricity highest Movable equipment be equipment 10, at this point, dispatching platform can be determined with each base station contacts equipment 10 occupy charge position be The 2nd charge position in target charging base station A, then dispatching platform contacts target charging base station A, and informs the mesh of movable equipment Marking the moment is 20 minutes, and target charging base station can remove electricity highest movable equipment 10 target charging in this 20 minutes Base station A will remove information reporting dispatching platform later, after dispatching platform determines, by the 2nd charge position in target charging base station A It is vacant that movable equipment, movable equipment is told to charge to the 2nd charge position in target charging base station A.

When implementing, movable equipment all busy remaining charge position in the target charging base station determined in the region Set, will will " target charge all not idle charge position in base station " information reporting to dispatching platform, dispatching platform is just It goes to access each base station finally determining highest movable equipment containing electricity, dispatching platform is determining highest removable containing electricity Dynamic equipment corresponding target charging base station, and inform that target charging base station will contain the highest movable equipment of electricity and set removable It is removed from target charging base station by described containing electricity is highest in the standby object time reached, after removal, dispatching platform It determines the mark for the charge position that the highest movable equipment containing electricity occupies, and the mark of charge position is informed into removable set It is standby, so that movable equipment is charged when object time reaches；Therefore guarantee that movable equipment exhausts advance in electricity Row charging is not in because charging leads to the irremovable situation of movable equipment not in time.

Optionally, in dispatching platform region according to belonging to the current position of movable equipment charge base station position It sets, the power consumption of the movement speed of the movable equipment and the movable equipment, determines low battery threshold value；

When implementing, movable equipment gives the geographical location information where it, movement speed, the information reportings such as power consumption Dispatching platform, dispatching platform determine the current position of movable equipment according to the information received, and determine that movable equipment is current The affiliated area of position determines the position for base station of charging in region belonging to the current position of movable equipment later, determines Maximum distance in region between base station, since the information that movable equipment is reported to dispatching platform is real-time update, institute Stating the maximum distance in region between base station can also change with the change of the information of movable equipment reporting scheduling platform；Finally Movement speed of the dispatching platform according to the movable equipment, the power consumption of movable equipment, to determine that movable equipment exists Electricity needed for base maximum distance between station in region, and this electricity is set as power threshold.

For example, dispatching platform receives the message that movable equipment reports, determine two in movable equipment region The maximum distance of base station is 1KM, and the movement speed of movable equipment is 5KM/h, and the power consumption of movable equipment is 30V/h, this When base maximum distance between station needed for power consumption be 6V.

Wherein, the unit of maximum distance is M, KM etc.；The unit of the movement speed of movable equipment can be KM/h, M/s Deng；The unit of the power consumption of movable equipment is V/h, mv/s etc..

It is all corresponding that movable equipment, which reports the unit of the information of platform,；If not corresponding, dispatching platform meeting Unit conversion is carried out to the information reported, to guarantee the accuracy of finally determining data.

It is specific to determine that formula is as follows:

It can described in base maximum distance between station/movable equipment movement speed * in low battery threshold value=region The power consumption of mobile device.

Wherein, the low battery threshold value can also be updated in real time with the information that movable equipment reports.

Determining low battery threshold value is sent to the movable equipment by base station by the dispatching platform, so that described can Mobile device charges according to the charging base station that low battery threshold value is moved in region after determining that needs charge.

Specifically, determining low battery threshold value is sent to the movable equipment by communication base station by dispatching platform, it can Mobile device can compare the remaining capacity in the movable equipment with low battery threshold value after receiving low battery threshold value Compared with when electricity remaining in movable equipment is less than or equal to the low battery threshold value received, the movable equipment passes through Communication base station sends the message for determining and needing to charge to dispatching platform, and dispatching platform finally inquires that target charging base station determines charging The location information of current potential, and the information of the position of the determination is sent to by movable equipment by communication base station, it is last removable It charges the charging base station determined in dynamic equipment to region.

For example, it is 6V that dispatching platform, which receives the low battery threshold value that the message that movable equipment reports is determined, it will be low The information that power threshold is 6V is sent to movable equipment, and movable equipment receives the information that low battery threshold value is 6V, Jiu Huicha Its remaining capacity will send if its remaining capacity is just 6V and need the message to charge to dispatching platform；If it is remaining Electricity is 5V, then sends and need to charge message to dispatching platform；If its remaining capacity is 7V, movable equipment is continued to move to, And information is reported to dispatching platform in real time, dispatching platform can calculate low battery threshold value to movable equipment in real time.

In an implementation, dispatching platform determines low battery threshold value according to the information of movable equipment, and by determining electricity Threshold value is sent to the movable equipment, and movable equipment can compare its remaining electricity with the power threshold received Compared with to determine when to need to charge；It ensure that the remaining capacity in movable equipment can reach the target charging base in region It charges at station.

Optionally, when the charging base station determines the movable equipment corresponding charge position, if the charge request In include charge position mark, then the charging base station is using the corresponding charge position of the mark of the charge position as described in The corresponding charge position of movable equipment；

Specifically, after the movable equipment receives the charge position information that the transfer platform is sent, it can be to packet The corresponding charging base station transmission charge request of charge position information for transferring that platform is sent is included, charging base station determines described removable Whether the corresponding charge position of equipment, receives the charge request of movable equipment, and judge in charge request to include charge position Mark, if in charge request include charge position mark, the charging base station can to its charge position and its own Charge position mark carry out match query, finally determine that the corresponding charge position of the mark of the charge position can described in being used as The charge position of mobile device.

Wherein, the mark of charge position can indicate are as follows: which charge position in base station.

For example, the charging base station that dispatching platform determines is base station 10, the location information of base station 10 will be sent to removable Dynamic equipment, movable equipment can determine the position of charging base station, can fill at this time to transmission according to the message of the dispatching platform received Electricity request, charge request are " need to charge, charge position thus the second charge position in base station ", second in base station therein Charge position is just the mark of charge position；Base station can inquire the position that all chargings identify under this base station after receiving charge request, The position where the mark of the charge position of second charge position is found, and the location information of second charge position is issued Movable equipment, movable equipment, which receives, to be moved to the position after information and charges.

It is if in the charge request not including the mark of charge position, and current available free charge position, then described to fill The base station selected idle charge position of electricity is as the corresponding charge position of the movable equipment.

For example, the charge request of movable equipment to base station transmission of charging is " needing to charge ", but no pair in requesting The charge position of inductive charging position identifies, at this point, base station will inquire its all charge position, it is judged whether or not idle Charge position the location information of an only idle charge position will be sent out if there is an idle charge position Give movable equipment；It, will be from multiple middle one of idle charge positions of selection if there is the charge position of multiple free time Corresponding location information is sent to movable equipment, and movable equipment moves the location information according to the idle charge position received Idle charge position is moved to charge.

When implementing, charging base station is after the information with charge position mark for receiving movable equipment transmission, just The geographical location information for inquiring the corresponding charge position of charge position mark, then the geographical location information of the charge position It is sent to movable equipment, movable equipment can arrive corresponding position and charge, and ensure that movable equipment can be fast The entrance charged state of speed.

Optionally, after the charging base station receives the charge request that movable equipment is sent, if the charge request In do not include charge position mark, and currently without idle charge position, then the charging base station notifies described move Equipment does not have clear position.

Specifically, movable equipment after receiving the charging base station that dispatching platform determines, can send to charging base station and fill The information of electricity request judges charge request whether judgement wherein has charge position after charging base station receives charge request The mark set, if do not charge mark if further judge charge base station currently whether available free charge position, if currently Not idle charge position, charging base station will be sent to movable equipment currently without clear position, not can be carried out charging Information.

For example, the movable equipment just only sends the information of " needing to charge " to charging base station, base station is connected to information, passes through It crosses and the information received is judged, obtain " not idle charge position " information, it will will " the not letter of clear position Breath " issues movable equipment.

In an implementation, movable equipment is contacted with charging base station in advance, inquires the case where could charging, obtain be Without idle charge position information when, remaining electricity in movable equipment will not be wasted.

Optionally, the charge information is sent to by the charging base station after the dispatching platform requests charge information The dispatching platform.

In an implementation, after movable equipment receives and do not have idle charge position in the charging base station, do not have described Available free charge position and the request charge information are sent to dispatching platform by communication base station, and the dispatching platform receives After the request charge information, request charge information will be sent to the charging base station, charging base station at this time will be charging Information is sent to dispatching platform, and dispatching platform can screen the charge information.

Wherein, the charge information includes some or all of in following:

Whether available free charge position, charging the movable equipment remaining charging time, charging it is removable The identifier number of dynamic equipment.

When implementing, when movable equipment determines that not idle charge position is charged, just sent out to dispatching platform It send currently without idle charge position information in the charging base station of charge request and determination, dispatching platform receives chance pair after message The information that all base stations report in region is screened, and chooses most suitable charge position for movable equipment, does not have to fill at this time The charging base station that looks for of electric equipment blindness is charged, while saving electricity, entrance charged state that can also be most fast.

Optionally, the charging base station determines object time and needs to remove after the notice for receiving the dispatching platform Movable equipment；

Wherein, the notice of the dispatching platform of the charging base station in receipts is movable equipment when object time reaches Remove a movable equipment to charge.

In specific implement, when dispatching platform receives in determining charging base station currently without idle charge position Afterwards, will the charging base station in region send notice, can by what is charged in base station of charging after charging base station receives notice The remaining capacity of mobile device is sent to dispatching platform, and dispatching platform is surplus to the movable equipment to charge in charging base station Remaining electricity is compared, and it is most to select remaining capacity, and most remaining capacities is issued charging base station, charging base station according to Most remaining capacities determines the movable equipment for needing to remove, while base station of charging also receives the institute of dispatching platform transmission State object time.

The charging base station is before object time reaches, the movable equipment that moves Selection Out from charge position.

In the present embodiment, charging base station is determined to need mobile movable equipment and the object time, just exists Before object time reaches, the mobile movable equipment of the needs determined is removed from the charging base station that it is charging. Therefore it needs the movable equipment to charge needing in the object time that the charges it is determined that position of charging, and charges, Allow to continue movement.

Optionally, after the location information for the charging base station that the movable equipment reception dispatching platform is sent, according to receipts To location information be moved to before corresponding charging base station charged, the movable equipment is receiving the dispatching platform After the mark of the charge position of transmission, the mark of the charge position is sent to the corresponding charging base station of the location information.

Specifically, movable equipment receive dispatching platform transmission charge position information after, according to charge position Information determines charging base station, and sends charging message to charging base station, and base station of charging at this time can be to the charging of the charging base station Position is inquired, and determines that the mark of charge position in charging base station is reported to dispatching platform, dispatching platform is determining charging After the mark of position, the mark for determining charge position is sent to movable equipment, movable equipment receives determining charge position After the mark set, the corresponding charging base station of mark of the charge position is contacted, and the mark of charge position is sent to described The corresponding base station of location information, after determining that the corresponding base station of the location information receives information, movable equipment is according to receiving Location information be moved to corresponding charging base station and charge.

For example, the information of charge position is " 100 meters of Due South ", movable equipment is contacted at its Due South 100 at this time It charges base station, sends charge request information to charging base station, charging base station is determined to charge after receiving the information of charge request Position 10 is idle, and the charge position for sending " charge position 10 " is identified to dispatching platform, and dispatching platform is transmitted to by communication base station " charge position 10 " is issued correspondence after receiving the mark of charge position of " charge position 10 " by movable equipment, movable equipment Charging base station, the as base station at Due South 100, after determining and receiving message, movable equipment is moved to Due South 100 The charge position 10 of charging base station at rice charges.

In an implementation, it can be carried out charging by the mark of charge position, the charge position of each movable equipment is right The mark of a charge position is answered, and each mark is different from, therefore, is not in multiple movable equipments occupancy one and fills The mark of electric position, and the situation to be charged such as lead to movable equipment, ensure that when multiple movable equipments are charged not It can clash.

Optionally, before the location information that the movable equipment receives the charging base station that dispatching platform is sent, it is described can Mobile device after determining that needs charge, passes through dispatching platform described in base station requests and sends charging base station according to low battery threshold value Location information.

Specifically, after movable equipment receives the low battery threshold value of dispatching platform, can and remaining electricity in movable equipment Amount is compared, and determines that the remaining capacity in movable equipment is less than or/and equal to the low battery for receiving movable equipment Threshold value, it is determined that need to charge；The information to charge will be needed to be reported to dispatching platform by communication base station, dispatching platform is receiving To after message, the charging base station in movable equipment region can be screened, determine the charging base station for being suitble to charging, And determine the location information of charging base station, being then sent to the determining location information for being suitble to and charging by communication base station can Mobile device.

For example, the low battery threshold value that movable equipment receives dispatching platform transmission is 6V, and the residue in movable equipment Electricity is 5V, and movable equipment will send the message of " needing to charge " to dispatching platform at this time, and dispatching platform receives message Afterwards, charging base station selection can be carried out according to movable equipment region, determines that the charging base station selected is base station B, at this time really The position for determining base station B is at 100 meters of movable equipment Due South, and " 100 meters of Due South " is sent to removable by dispatching platform Equipment.

In an implementation, movable equipment receives the location information of the charging base station of dispatching platform transmission, does not need to move Equipment expends remaining capacity and looks for charging base station.

Optionally, the movable equipment is after receiving the low battery threshold value that the dispatching platform is sent, to currently used Low battery threshold value be updated.

Specifically, movable equipment reports information to dispatching platform by communication base station, dispatching platform, which receives, to be reported The message can be calculated after message, determine that movable equipment is telling the electricity needed between base station in region, this electricity Amount is set as low battery threshold value, determining low battery threshold value is sent to movable equipment by communication base station, movable equipment exists It, can be to the institute that the low battery threshold value in current movable equipment is set as receiving after the low battery threshold value for receiving the determination State determining low battery threshold value.

For example, the current low battery threshold value in movable equipment is 6V, the dispatching platform received is sent by communication base station Determination low battery threshold value be 5V, at this point, the low battery threshold value in movable equipment will be changed to 5V.

When implementing, the low battery threshold value in movable equipment can pass through communication base station hair with the dispatching platform received The low battery threshold value for the determination sent and change, i.e., the low battery threshold value in movable equipment will do it real-time update, therefore, Can be more accurate determine when movable equipment needs to charge, while low battery threshold value is according to base station in the region Between maximum distance, the movement speed of movable equipment, what the power consumption of movable equipment determined, and guarantee that movable equipment can be with It charges each base station in the zone.

Mode two:

Dispatching platform determine movable equipment need charge after, selection target charge base station, and with target charge base station Connection determines the mark for the charge position that target charging base station provides, the mark of the position is informed by base station and is moved Equipment, movable equipment charge according to the charge position information received to corresponding charging base station.

In mode two, whether there is the specific processing mode of fixed purpose ground mode also different according to movable equipment, below It introduces respectively.

Mode one: movable equipment is in no fixed purpose ground mode.

Wherein, refer to the no fixed purpose whereabouts that movable equipment is not fixed or what is do not executed consolidate Determine task.

The no fixed purpose ground mode includes some or all of in following:

There are multiple charging base stations in this region in the embodiment of the present invention, but only apart from movable equipment recently and When movable equipment reaches, the charging base station of available free charge position just can be used as target charging base station.As shown in Fig. 2, There are the tetra- charging base stations A, B, C, D in the region, but base station D compares apart from movable equipment for base station A, B, C It is distant, therefore not as target charging base station；In base station A, B, C, base station A and distance of the base station B apart from movable equipment It is equal and belong to it is nearest, still, if movable equipment is not all idle when object time reaches to be filled in the B of base station Electric position, and there are movable equipments in the A of the base station charge position available free when object time reaches, then base station A is as mesh Mark charging base station；If all without the clear position in base station A, B, and base station C has, then base station C is target charging base station.

Wherein, the charge information includes some or all of in following:

Mode two: movable equipment, which is in, fixed purpose ground mode.

Logistics scene, execute pinned task scene,

Optionally, the dispatching platform is according to the movement speed of determining distance and the movable equipment, from the area In domain when selection target charging base station, if charge position available free not when object time reaches in the alternative charging base station The alternative charging base station set, then the dispatching platform is selected from the region according to the moving direction of the movable equipment One as target charging base station；

In an implementation, after dispatching platform receives the information that movable equipment reports, where determining movable equipment The power consumption in region, the movement speed of movable equipment and movable equipment, so determine in region between base station away from From, according to the movement speed of determining distance and the movable equipment, target charging base station is selected from region, and Determine the position of target charging base station, dispatching platform sends charge request letter to the target of determination charging base station later Breath, target charging base station is by wherein all information reportings to dispatching platform.

It includes some or all of following that wherein target charging base station, which is reported to all information of dispatching platform:

The charge position of occupancy identifies, vacant charge position mark, the number information of the movable equipment to charge, Remaining capacity information in the movable equipment to charge etc..

Dispatching platform inquires all charge position information after receiving the message that target charging base station is sent, It was found that all charge positions are all occupied in target charging base station and the target charging base station is currently without idle charging Position；After determining currently without idle charge position, dispatching platform is removable to charging of reporting of target charging The information of the remaining capacity of dynamic equipment is inquired, calculate when movable equipment reaches target charging base station or/and before, Have and charges the movable equipment that ionization is opened, at this time it is determined that from the number information for charging the movable equipment that ionization is opened, According to the mark for charging the number information of movable equipment that ionization is opened and go to correspond to the charge position of its occupancy, dispatching platform is determined By communication base station by the mark of the charge position of the free time when object time reaches after the mark of idle charge position It is sent to movable equipment, movable equipment is sent after receiving the mark of idle charge position to target charging base station Occupy the message of idle charge position.

For example, the information that dispatching platform is sent according to movable equipment, determines that target charging base station is base station A, at this time Movable equipment is needed the message to charge to be sent to base station A by dispatching platform, and handle is currently without the free time after base station A receives message Charge position and other message are sent to dispatching platform, dispatching platform after receiving currently without the message of idle charge position, Message of all information queries reported according to base station A within 20 minutes in the A of base station either with or without idle charge position, wherein 20 Minute is target arrival time, determines that the meeting charging complete in 20 minutes of movable equipment 10 removes base station A, and determine removable Dynamic equipment occupies the charge position 6 in the A of base station, and wherein charge position 6 is the mark of charge position, and dispatching platform is by " filling in the A of base station Current potential 6 " is sent to movable equipment, and movable equipment sends the information for occupying charge position 6 to base station A after receiving message.

When implementing, the charge position of the free time when object time that movable equipment receives dispatching platform transmission reaches Mark sends according to the corresponding charging base station of statement of mark to the idle charge position of determining idle charge position and accounts for It with the information of mark, ensure that movable equipment can charge in object time, while will not also waste remaining capacity Go the current potential situation in inquiry target charging base station.

In specific implement, the message that dispatching platform is reported according to target charging base station determines movable equipment Target charging base station in region does not have idle charge position when object time reaches, and can charge base station according to target The information of the remaining capacity to charge reported determines the number information of the highest movable equipment of electricity, according to determination The information that label information and target the charging base station of the highest movable equipment of electricity out report, determines the electricity highest Movable equipment the target charging base station and target charging base station that occupy in charge position mark, dispatching platform is to determining Target charging base station sends the object time of movable equipment arrival target charging base station and highest move of the electricity sets The mark of standby corresponding charge position, the target charging base station of the determination will will adjust after determining the object time Degree platform determine containing the highest movable equipment of electricity before object time arrival from determining target charging base station It removes, information reporting will be removed after removal to dispatching platform, after dispatching platform receives removal message, is determined by before The corresponding charge position of the highest movable equipment containing electricity mark (the corresponding charging of the movable equipment to move Selection Out The mark of position) movable equipment is sent to by communication base station, movable equipment receives the movable equipment to move Selection Out (the i.e. described dispatching platform is by the mark of the corresponding charge position of the movable equipment to move Selection Out for the mark of corresponding charge position Know) after, the mark for occupying the corresponding charge position of the selected movable equipment is sent to target charging base station, is filled in target After electric base station determines reception, it is moved to target charging base station and charges.

For example, the message that dispatching platform is reported according to target charging base station all in region, determines own in region It is movable equipment B that remaining capacity is highest in the movable equipment to charge in target charging base station, at this point, dispatching platform Will be obtained according to the information query reported: the target charging base station that movable equipment B is occupied is base station A, and occupies base The charge position 2 stood in A；Later, dispatching platform to base station A sends movable equipment to be charged there are also 20 minutes arrival base station A And movable equipment B occupies the charge position 2 in the A of base station, wherein reaches target BS for movable equipment to be charged within 20 minutes The object time of A.After base station A receives the message of dispatching platform transmission, will in 20 minutes movable equipment B from base station A Charge position 2 in remove；The idle message of the charge position 2 removed in movable equipment B, base station A is sent to dispatching platform, is adjusted Degree platform receive the idle message of the charge position 2 in the A of base station after message be sent to by communication base station it is to be charged removable Dynamic equipment, movable equipment send the message for occupying charge position 2 to base station A, after determining that base station A is received, are moved to filling for base station A It charges on current potential 2.

When implementing, movable equipment all busy remaining charge position in the target charging base station determined in the region Set, will will " target charge all not idle charge position in base station " information reporting to dispatching platform, dispatching platform is just Each base station in access movable equipment region is gone to, finally determines a highest movable equipment containing electricity, scheduling Platform determines the corresponding target charging of the highest movable equipment containing electricity base station, and dispatching platform determines highest removable containing electricity The mark of the charge position occupied in dynamic equipment corresponding target charging base station, and inform that target charging base station will contain electricity highest Movable equipment described will be charged base station from the target containing electricity will be highest in the object time that movable equipment reaches It is removed in the mark of corresponding charge position, the message that dispatching platform has moved out is informed after removal, dispatching platform will contain electricity The mark of the charge position occupied in highest movable equipment corresponding target charging base station, movable equipment is according to determining Target charge base station and target charging base station in charge position mark, be moved to target charging base station in charge position into Row charging；Therefore guarantee movable equipment charge before electricity exhausts, be not in because charging cause not in time it is removable The dynamic irremovable situation of equipment.

It is specific to determine that formula is as follows:

Wherein, the charge information includes some or all of in following:

In the specific implementation, dispatching platform can send the message currently without idle charge position, charging to charging base station Base station after receiving the message, by the remaining capacity of all movable equipments to charge in base station of charging, removable is set The mark for the charge position that standby corresponding target charging base station and movable equipment occupy in corresponding target charging base station； Dispatching platform can carry out screening inquiry to the value of remaining capacity in the movable equipment to charge that charging base station reports, finally Determine the highest movable equipment of remaining capacity, while dispatching platform defines the remaining capacity also according to information The charge position information highest movable equipment corresponding charging base station and occupied in corresponding base station；Dispatching platform can be to The corresponding base station of the highest movable equipment of remaining capacity sends determining object time, and remaining capacity is highest removable The mark for the charge position that the highest movable equipment of the number information and remaining capacity of equipment occupies.

The corresponding charging base station of the highest movable equipment of remaining capacity after receiving the message, in determining target The highest movable equipment of remaining capacity is removed from corresponding charging base station in moment, the free time, remaining capacity was highest out can The mark of charge position in the corresponding charging base station of mobile device, and information reporting will be removed to dispatching platform, dispatching platform The mark of final notice movable equipment charging base station and charge position, the message that movable equipment is notified according to dispatching platform, The corresponding location information of mark for being moved to charge position in determining charging base station charges.

In some possible embodiments, the various aspects provided in an embodiment of the present invention handled access may be used also In the form of being embodied as a kind of program product comprising program code, when said program code is run on a computing device, Said program code is for making the computer equipment execute exemplary implementations various according to the present invention described in this specification Step in the method for mode handled terminal access.

Described program product can be using any combination of one or more readable mediums.Readable medium can be readable letter Number medium or readable storage medium storing program for executing.Readable storage medium storing program for executing for example may be-but not limited to-electricity, magnetic, optical, electromagnetic, red The system of outside line or semiconductor, device or device, or any above combination.The more specific example of readable storage medium storing program for executing (non exhaustive list) includes: the electrical connection with one or more conducting wires, portable disc, hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc Read memory (CD-ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.

The program product for data forwarding control of embodiment according to the present invention, can use Portable, compact Disk read-only memory (CD-ROM) and including program code, and can be run on server apparatus.However, program of the invention Product is without being limited thereto, and in this document, readable storage medium storing program for executing can be any tangible medium for including or store program, the program It can be used by information transmission, device or device or in connection.

Readable signal medium may include in a base band or as the data-signal that carrier wave a part is propagated, wherein carrying Readable program code.The data-signal of this propagation can take various forms, including --- but being not limited to --- electromagnetism letter Number, optical signal or above-mentioned any appropriate combination.Readable signal medium can also be other than readable storage medium storing program for executing it is any can Medium is read, which can send, propagates or transmit for being used by periodic network moving system, device or device Or program in connection.

The program code for including on readable medium can transmit with any suitable medium, including --- but being not limited to --- Wirelessly, wired, optical cable, RF etc. or above-mentioned any appropriate combination.It can be with one or more programming languages Any combination writes the program code for executing operation of the present invention, and described program design language includes the program of object-oriented Design language-Java, C++ etc. further includes conventional procedural programming language-such as " C " language or similar Programming language.Program code can be executed fully on the user computing device, partly execute, make on a user device It is executed for an independent software package, part partially executes on a remote computing on the user computing device or complete It is executed in remote computing device or server.In the situation for being related to remote computing device, remote computing device can pass through The network of any kind --- it is connected to user calculating equipment including local area network (LAN) or wide area network (WAN)-, alternatively, can be with It is connected to external computing device.

The embodiment of the present invention also provides a kind of calculating equipment to the method that movable equipment charges for dispatching platform Readable storage medium storing program for executing, that is, content is not lost after powering off.Software program, including program code are stored in the storage medium, when described When program code is run on the computing device, which can realize this when being read and executed by one or more processors A kind of any of the above scheme that dispatching platform assists base station to charge movable equipment of inventive embodiments.

The embodiment of the present invention also provides a kind of calculating device-readable to the method that movable equipment charges for base station Storage medium, that is, content is not lost after powering off.Software program, including program code are stored in the storage medium, work as described program When code is run on the computing device, which can realize the present invention when being read and executed by one or more processors A kind of any of the above scheme that base station charges to movable equipment of embodiment.

The embodiment of the present invention also provides a kind of calculate to the method that movable equipment charges for movable equipment and sets Standby readable storage medium storing program for executing, that is, content is not lost after powering off.Software program, including program code are stored in the storage medium, work as institute When stating program code and running on the computing device, which can realize when being read and executed by one or more processors A kind of any of the above scheme that movable equipment charges to movable equipment of the embodiment of the present invention.

As shown in figure 4, it includes: processor that the embodiment of the present invention, which provides the equipment that a kind of pair of movable equipment charges, 400 and transceiver 401:

The processor 400 for carrying out data transmission by transceiver 401, and is determining that movable equipment needs fill After electricity, determine between base station of charging in region belonging to the movable equipment and the current position of the movable equipment away from From；

Optionally, the processor 400 is used for:

Selection is nearest apart from the movable equipment from the region, and the charging available free when object time reaches The charging base station of position is as target charging base station；

Optionally, the processor 400 is used for:

If the charging base station of the charge position available free not when object time reaches in the region, from the area Select a charging base station as target charging base station in domain；

The processor 400 is specifically used for:

According to the charge information that target charging base station is sent, an electricity is selected most from target charging base station High movable equipment；

Notify target charging base station before object time reaches, what is moved Selection Out from charge position removable sets It is standby.

Optionally, the processor 400 is used for:

According to the moving direction of the movable equipment, alternative charging base station is determined from the region；

It is selected from the alternative charging base station nearest apart from the movable equipment and free when object time reaches The alternative charging base station of not busy charge position is as target charging base station；

Optionally, the processor 400 is used for:

If the alternative charging base of the charge position available free not when object time reaches in the alternative charging base station It stands, then according to the moving direction of the movable equipment, selects one to charge base station from the region as target；

The processor 400 is specifically used for:

Optionally, the processor 400 is used for:

If the target charging base station is currently without idle charge position, by the free time when object time reaches The mark of charge position notifies the movable equipment by base station, so that the movable equipment notifies the target charging base The idle charge position that needs of standing occupy.

Optionally, the processor 400 is used for:

The mark of the corresponding charge position of the movable equipment to move Selection Out is notified into the movable equipment by base station, So that the charge position that the movable equipment notifies target charging base station to need to occupy.

Optionally, the processor 400 is used for:

According to the shifting of the position, the movable equipment of base station of charging in region belonging to the current position of movable equipment The power consumption of dynamic speed and the movable equipment, determines low battery threshold value；

Determining low battery threshold value is sent to the movable equipment by base station so that the movable equipment according to It charges the charging base station that low battery threshold value is moved in region after determining that needs charge.

As shown in figure 5, the equipment that a kind of pair of movable equipment charges, which includes: at least one processing unit 500 and at least one storage unit 501, wherein the storage unit 501 is stored with program code, works as said program code When being executed by the processing unit 500, so that the step of processing unit perform claim requires 1~8 any the method.

As shown in fig. 6, the embodiment of the present invention provides the equipment that a kind of pair of movable equipment charges, comprising: processor 600 and transceiver 601:

The processor 600 is sent for being carried out data transmission by transceiver 601, and receiving movable equipment Charge request, wherein the charge request be the movable equipment the charging base station for receiving dispatching platform transmission position Sent after information, the location information of the charging base station be the dispatching platform according to the movable equipment with it is described removable The movement speed of the distance between charging base station and the movable equipment in region belonging to the current position of dynamic equipment, from institute It states and selects in region；

Determine the corresponding charge position of the movable equipment；

Optionally, the processor 600 is used for:

If including the mark of charge position in the charge request, by the corresponding charge position of the mark of the charge position It sets as the corresponding charge position of the movable equipment；Or

If in the charge request not including the mark of charge position, and current available free charge position, then one is selected The charge position of a free time is as the corresponding charge position of the movable equipment.

Optionally, the processor 600 is used for:

If in the charge request not including the mark of charge position, and currently without idle charge position, then notify The movable equipment does not have clear position.

Optionally, the equipment further include: the processor 600, for being carried out data transmission by transceiver, and described After dispatching platform requests charge information, the charge information is sent to the dispatching platform.

Optionally, the charge information includes some or all of in following:

Optionally, equipment further include: the processor 600 for being carried out data transmission by transceiver, and is receiving After the notice of the dispatching platform, the movable equipment that object time and needs remove is determined；

Before object time reaches, the movable equipment that moves Selection Out from charge position.

As shown in fig. 7, the equipment that a kind of pair of movable equipment of the embodiment of the present invention charges, which includes: at least One processing unit 700 and at least one storage unit 701, wherein the storage unit 701 is stored with program code, when When said program code is executed by the processing unit 700, so that processing unit perform claim requirement 9~14 is any described The step of method.

As shown in figure 8, it includes: processor that the embodiment of the present invention, which provides the equipment that a kind of pair of movable equipment charges, 800 and transceiver 801:

The processor 800 for carrying out data transmission by transceiver 801, and receives the charging of dispatching platform transmission The location information of base station, wherein the location information of the charging base station is the dispatching platform according to the movable equipment and institute State the mobile speed of charge in region belonging to the current position of movable equipment the distance between base station and the movable equipment Degree, selects from the region；

Optionally, the processor 800 is used for:

After the mark for receiving the charge position that the dispatching platform is sent, the mark of the charge position is sent to institute State the corresponding charging base station of location information.

Optionally, the processor 800 is used for:

According to low battery threshold value after determining that needs charge, passes through dispatching platform described in base station requests and send charging base station Location information.

Optionally, equipment further include: the processor 800 for being carried out data transmission by transceiver, and is receiving After the low battery threshold value that the dispatching platform is sent, currently used low battery threshold value is updated.

As shown in figure 9, the embodiment of the present invention provides the equipment that a kind of pair of movable equipment charges, which includes: At least one processing unit 900 and at least one storage unit 901, wherein the storage unit 901 is stored with program generation Code, when said program code is executed by the processing unit 900, so that the processing unit perform claim requires 15~18 The step of one the method.

Based on the same inventive concept, the side that a kind of pair of movable equipment charges is additionally provided in the embodiment of the present invention Method, since the corresponding equipment of this method is the corresponding method of equipment that the embodiment of the present invention charges to movable equipment, and And the principle that this method solves the problems, such as is similar to the equipment, therefore the implementation of this method may refer to the implementation of equipment, repetition Place repeats no more.

As shown in Figure 10, the method that a kind of pair of movable equipment of the embodiment of the present invention charges, specifically includes following step Suddenly；

Step 1000, dispatching platform determine movable equipment need charge after, determine the movable equipment with it is described The distance between charging base station in region belonging to the current position of movable equipment；

Step 1001, the dispatching platform are according to the movement speed of determining distance and the movable equipment, from described Selection target charging base station in region；

The location information of the charging base station of selection is sent to described removable by step 1002, the dispatching platform by base station Dynamic equipment, charges so that the movable equipment is moved to corresponding charging base station according to the location information received.

Optionally, in the dispatching platform according to the movement speed of determining distance and the movable equipment, from described In region selection target charge base station when, the dispatching platform selected from the region it is nearest apart from the movable equipment, And the charging base station of available free charge position is charged base station as target when object time reaches；

In the dispatching platform according to the movement speed of determining distance and the movable equipment, selected from the region After selecting target charging base station, the charge information that the dispatching platform is sent according to target charging base station, from the target Charging selects a highest movable equipment of electricity in base station；

Optionally, in the dispatching platform according to the movement speed of determining distance and the movable equipment, from described In region selection target charge base station when, the dispatching platform is according to the moving direction of the movable equipment, from the region Middle determination is alternatively charged base station；

Optionally, in the dispatching platform according to the movement speed of determining distance and the movable equipment, from described In region when selection target charging base station, if charging available free not when object time reaches in the alternative charging base station The alternative charging base station of position, then the dispatching platform is selected from the region according to the moving direction of the movable equipment One is selected as target charging base station；

Optionally, in the dispatching platform according to the movement speed of determining distance and the movable equipment, from described In region after selection target charging base station, if the target charges, base station is currently without idle charge position, the tune The mark of idle charge position when object time reaches is notified the movable equipment by base station by degree platform, so that The idle charge position that the movable equipment notifies target charging base station to need to occupy.

Optionally, notify target charging base station before object time reaches in the dispatching platform, and from filling After the movable equipment to move Selection Out in electric position, the dispatching platform is by the corresponding charging of the movable equipment to move Selection Out The mark of position notifies the movable equipment by base station, so that the movable equipment notifies target charging base station to need The charge position to be occupied.

Optionally, this method further include: the dispatching platform is in the region according to belonging to movable equipment current position Position, the movement speed of the movable equipment and the power consumption of the movable equipment of charging base station, determine low battery Threshold value；

As shown in figure 11, the method that a kind of pair of movable equipment of the embodiment of the present invention charges, specifically includes following step It is rapid:

Step 1100, charging base station receive the charge request of movable equipment transmission, wherein the charge request is institute State what movable equipment was sent after receiving the location information of charging base station of dispatching platform transmission, the position of the charging base station Information is that the dispatching platform fills in the region according to belonging to the movable equipment position current with the movable equipment The movement speed of the distance between electric base station and the movable equipment is selected from the region；

Step 1101, the charging base station determine the corresponding charge position of the movable equipment；

Step 1102, the charging base station are described by determining charge position after movable equipment arrival Movable equipment charging.

Optionally, when the charging base station determines the corresponding charge position of the movable equipment, if the charging is asked It include the mark of charge position in asking, then the charging base station is using the corresponding charge position of the mark of the charge position as institute State the corresponding charge position of movable equipment；Or

Optionally, after the charging base station receives the charge request of movable equipment transmission, if the charging is asked It does not include the mark of charge position in asking, and currently without idle charge position, then the charging base station notifies described removable Dynamic equipment does not have clear position.

Optionally, this method further include: the charging base station is filled after the dispatching platform requests charge information by described Power information is sent to the dispatching platform.

Optionally, the charge information includes some or all of in following:

Optionally, this method further include: the charging base station is after the notice for receiving the dispatching platform, when determining target The movable equipment carved and need to remove；

As shown in figure 12, the method that a kind of pair of movable equipment of the embodiment of the present invention charges, specifically includes following step It is rapid:

Step 1200, movable equipment receive the location information for the charging base station that dispatching platform is sent, wherein the charging The location information of base station is the dispatching platform according to belonging to the movable equipment and the current position of the movable equipment Region in charge the movement speed of the distance between base station and the movable equipment, selected from the region；

Step 1201, the movable equipment are moved to corresponding charging base station according to the location information received and are filled Electricity.

Optionally, after the location information that the movable equipment receives the charging base station that dispatching platform is sent, and It is moved to before corresponding charging base station charged according to the location information received, the movable equipment is receiving the tune After spending the mark for the charge position that platform is sent, the mark of the charge position is sent to the corresponding charging of the location information Base station.

Optionally, described before the location information that the movable equipment receives the charging base station that dispatching platform is sent Movable equipment after determining that needs charge, passes through dispatching platform described in base station requests and sends charging base station according to low battery threshold value Location information.

Optionally, this method further include: the movable equipment is in the low battery threshold value for receiving the dispatching platform transmission Afterwards, currently used low battery threshold value is updated.

Several complete methods of the embodiment of the present invention when charging to movable equipment, lower mask body introduction.

As shown in figure 13, the first method for charging to movable equipment of the embodiment of the present invention: this method is scheduling Platform informs the position of the charging of target described in movable equipment base station, movable equipment and base station contacts confirmation it is current whether The charge position of current idle is informed that movable equipment, movable equipment are moved to by available free charge position, the base station Determining charge position, then charges.Specific step is as follows:

Step 1300, movable equipment report the information in movable equipment by communication base station to dispatching platform；

Step 1301, dispatching platform receive the information and determine minimum power threshold；

Minimum power threshold is sent to movable equipment by dispatching platform by step 1302, dispatching platform；

When remaining capacity in step 1303, movable equipment reaches the lowest threshold, sent by communication base station true Surely charging message is to dispatching platform；

Step 1304, dispatching platform determine movable equipment need charge after, determine the movable equipment with it is described It charges in region belonging to the current position of movable equipment the distance between base station, and according to determining distance and described removable The movement speed of dynamic equipment, the selection target charging base station from the region；

The location information of the target charging base station of selection is sent to described removable by step 1305, dispatching platform by base station Dynamic equipment；

Step 1306, movable equipment receive the position for the target charging base station that dispatching platform is sent by communication base station Information, and inquire the charge position situation information of target charging base station；

Step 1307, target charging base station carry out itself inquiry, output whether available free charge position information；

Step 1308, target charging base station export available free charge position information, then send out the mark of idle charge position Give movable equipment；

The mark that step 1309, movable equipment send the charge position for occupying the free time gives target charging base station；

The corresponding geographical position of the mark for the idle charge position that step 1310, target charging base station occupy movable equipment It sets and is sent to movable equipment；

After step 1311, movable equipment determine corresponding geographical location, it is moved to the geographical position in the target BS It sets and charges.

As shown in figure 14, second of method to charge to movable equipment of the embodiment of the present invention: this method is scheduling Platform informs the position of the charging of target described in movable equipment base station, movable equipment and base station contacts confirmation it is current whether Available free charge position, the base station export current leisureless charge position information and inform movable equipment, move For equipment by the information reporting currently without idle charge position to dispatching platform, dispatching platform selects the movable equipment to charge Middle remaining capacity is highest and its corresponding charge position, movable equipment are moved to the highest movable equipment pair of remaining capacity The charge position answered charges.Specific step is as follows:

Step 1400, target charging base station export current leisureless charge position information, then will current leisureless charging The information of position is sent to movable equipment；

The message of the current leisureless charge position received is sent to dispatching platform by step 1401, movable equipment；

Step 1402, dispatching platform judge movable equipment when object time reaches, target charge base station in whether with Available free charge position；

If step 1403, the charge position available free when object time reaches, dispatching platform determines the free time The mark of the corresponding charge position of charge position；

The corresponding charge position of the charge position of free time when step 1404, dispatching platform reach the object time Mark is sent to movable equipment；

Step 1405, movable equipment send the corresponding charge position of idle charge position occupied when the object time reaches The mark set gives target charging base station；

The corresponding charge position of idle charge position of step 1406, target charging base station when reaching the object time The geographical location information for the mark set is sent to movable equipment；

It charges in the geographical location that step 1407, movable equipment are moved in target charging base station；

If step 1408 does not have idle charge position when object time reaches, dispatching platform is determined in region The most movable equipment of the remaining capacity for the movable equipment that all target chargings base station is being charged；And determine remaining electricity Measure most movable equipments corresponding target charging base station；

Step 1409, dispatching platform send to the most movable equipment of remaining capacity corresponding target charging base station and determine The most movable equipment and movable equipment of remaining capacity target arrival time；

It, will after the most movable equipment of step 1410, the remaining capacity corresponding target charging base station receives message The most movable equipment of remaining capacity the object time reach before by the highest movable equipment of the remaining capacity from It is removed in corresponding base station；

It is after step 1411, the corresponding target charging base station remove movable equipment, the remaining capacity is most Movable equipment charging geographical location information inform movable equipment；

Step 1412, movable equipment receive the geographical location information of charging, are moved to specified charge position and are filled Electricity.

As shown in figure 15, the third method for charging to movable equipment of the embodiment of the present invention: this method scheduling is flat Platform after receiving and determining charging message, inquiry base station currently whether available free charge position, base station is flat to scheduling by information reporting Platform, dispatching platform, which is accused, determines current available free charge position, and determines the location information of empty charge position, and dispatching platform is accused After knowing that the location information of charge position described in movable equipment, movable equipment determine the location information of the charge position, it is moved to The charge position charges.Specific step is as follows:

Step 1500, movable equipment report the information in movable equipment by communication base station to dispatching platform；

Step 1501, dispatching platform receive the information and determine minimum power threshold；

Minimum power threshold is sent to movable equipment by dispatching platform by step 1502, dispatching platform；

When remaining capacity in step 1503, movable equipment reaches the lowest threshold, sent by communication base station true Surely charging message is to dispatching platform；

Step 1504, dispatching platform determine movable equipment need charge after, determine the movable equipment with it is described It charges in region belonging to the current position of movable equipment the distance between base station, and according to determining distance and described removable The movement speed of dynamic equipment, the selection target charging base station from the region；

Step 1505, dispatching platform inquire selection target charging base station currently whether available free charge position；

By the charge position of positive free time, occupied charge position, that is charging is removable for step 1506, charging base station The information reportings such as equipment are to dispatching platform；

If step 1507, dispatching platform determine current available free charge position according to the message reported, and according to mesh The message that mark charging base station reports determines the mark of the corresponding charge position of idle charge position；

Step 1508, dispatching platform move the identification notification for the corresponding charge position of idle charge position determined Equipment；

Step 1509, movable equipment are moved to the mark of charge position according to the mark of the charge position received Charge position in corresponding target charging base station charges；

As shown in figure 16, the 4th kind of method to charge to movable equipment of the embodiment of the present invention: this method scheduling is flat Platform after receiving and determining charging message, inquiry base station currently whether available free charge position, base station is flat to scheduling by information reporting Platform, dispatching platform, which is accused, determines that, currently without idle charge position, dispatching platform continues selection according to the message that base station reports and fits When charge position, and determine final choice charge position location information, the position for the charge position that dispatching platform will eventually determine Information informs movable equipment, after movable equipment determines the location information of the charge position, is moved to the charge position and is filled Electricity.Specific step is as follows:

Step 1600, dispatching platform are determined according to the message that target charging base station reports, currently without idle charging Position；

The target of message and calculated movable equipment that step 1601, dispatching platform are reported according to target charging base station Arrival time judge within target arrival time whether available free charge position；

If step 1602, dispatching platform judge the charge position available free in target arrival time, and determine that target reaches The corresponding charge position mark of idle charge position in moment；

The mark of the determining corresponding charge position of idle charge position is informed removable set by step 1603, dispatching platform It is standby；

Step 1604, movable equipment reach the corresponding charge position mark of interior idle charge position according to object time and move The charge position moved in determining target charging base station charges；

If step 1605, dispatching platform judge that idle charge position, dispatching platform are not determined in object time The most movable equipment of remaining capacity in the movable equipment that all target chargings base station is being charged in region；And it determines The mark of the charge position of the corresponding charge position of the most movable equipment of remaining capacity；

Step 1606, dispatching platform will determine the charge position of the corresponding charge position of the most movable equipment of remaining capacity The mark set informs the most movable equipment of remaining capacity corresponding target charging base station；

The most movable equipment of step 1607, the remaining capacity corresponding target charging base station is by the remaining capacity Most movable equipments is removed from corresponding target charging base station；

Step 1608 is told after corresponding target charging base station removes movable equipment, and the remaining capacity is most Movable equipment charging geographical location information inform movable equipment；

Step 1609, movable equipment receive the geographical location information of charging, are moved to specified charge position and are filled Electricity.

Above by reference to showing according to the method, apparatus (system) of the embodiment of the present application and/or the frame of computer program product Figure and/or flow chart describe the application.It should be understood that can realize that block diagram and or flow chart is shown by computer program instructions The combination of the block of a block and block diagram and or flow chart diagram for figure.These computer program instructions can be supplied to logical With computer, the processor of special purpose computer and/or other programmable data processing units, to generate machine, so that via meter The instruction that calculation machine processor and/or other programmable data processing units execute creates for realizing block diagram and or flow chart block In specified function action method.

Correspondingly, the application can also be implemented with hardware and/or software (including firmware, resident software, microcode etc.).More Further, the application can take computer usable or the shape of the computer program product on computer readable storage medium Formula has the computer realized in the medium usable or computer readable program code, to be made by instruction execution system It is used with or in conjunction with instruction execution system.In the present context, computer can be used or computer-readable medium can be with It is arbitrary medium, may include, stores, communicates, transmits or transmit program, is made by instruction execution system, device or equipment With, or instruction execution system, device or equipment is combined to use.

Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies Within, then the present invention is also intended to include these modifications and variations.

Claims

1. the method that a kind of pair of movable equipment charges, which is characterized in that this method comprises:

Dispatching platform determines that the movable equipment and the movable equipment are current after determining that movable equipment needs to charge Position belonging to charge in region the distance between base station；

Movement speed of the dispatching platform according to determining distance and the movable equipment, the selection target from the region Charging base station；

The location information of the charging base station of selection is sent to the movable equipment by base station by the dispatching platform, so that institute It states movable equipment corresponding charging base station is moved to according to the location information received and charge.

2. the method as described in claim 1, which is characterized in that the dispatching platform is according to determining distance and described removable The movement speed of equipment, the selection target charging base station from the region, comprising:

The dispatching platform selects nearest apart from the movable equipment and free when object time reaches from the region The charging base station of not busy charge position is as target charging base station；

Wherein, the object time be according to the movable equipment with charging base station at a distance from and the movable equipment shifting What dynamic speed determined.

3. method according to claim 2, which is characterized in that the dispatching platform is according to determining distance and described removable The movement speed of equipment, the selection target charging base station from the region, further includes:

If the charging base station of the charge position available free not when object time reaches, the dispatching platform in the region Select a charging base station as target charging base station from the region；

Movement speed of the dispatching platform according to determining distance and the movable equipment, the selection target from the region After charging base station, further includes:

The charge information that the dispatching platform is sent according to target charging base station selects one from target charging base station A highest movable equipment of electricity；

The dispatching platform notifies target charging base station before object time reaches, and moves Selection Out from charge position Movable equipment.

4. the method as described in claim 1, which is characterized in that the dispatching platform is according to determining distance and described removable The movement speed of equipment, the selection target charging base station from the region, comprising:

The dispatching platform determines alternative charging base station according to the moving direction of the movable equipment from the region；

The dispatching platform selects nearest apart from the movable equipment from the alternative charging base station, and reaches in object time Then the alternative charging base station of available free charge position is as target charging base station；

5. method as claimed in claim 4, which is characterized in that the dispatching platform is according to determining distance and described removable The movement speed of equipment, the selection target charging base station from the region, further includes:

If the alternative charging base station of the charge position available free not when object time reaches in the alternative charging base station, The dispatching platform selects one to charge base as target according to the moving direction of the movable equipment from the region It stands；

6. method as claimed in claim 2 or 4, which is characterized in that the dispatching platform according to determining distance and it is described can The movement speed of mobile device, after selection target charging base station in the region, further includes:

If the target charging base station is currently without idle charge position, the dispatching platform will be when object time reaches The mark of idle charge position the movable equipment is notified by base station so that the movable equipment notifies the mesh The idle charge position that mark charging base station needs to occupy.

7. method as claimed in claim 3 or 5, which is characterized in that the dispatching platform notifies target charging base station to exist Before object time reaches, after the movable equipment to move Selection Out in charge position, further includes:

The dispatching platform by the mark of the corresponding charge position of the movable equipment to move Selection Out by base station notice described in can Mobile device, so that the charge position that the movable equipment notifies target charging base station to need to occupy.

8. the method as described in claim 1, which is characterized in that this method further include:

The dispatching platform charges the position, described removable of base station in the region according to belonging to movable equipment current position The power consumption of the movement speed of equipment and the movable equipment determines low battery threshold value；

Determining low battery threshold value is sent to the movable equipment by base station by the dispatching platform, so that described removable Equipment charges according to the charging base station that low battery threshold value is moved in region after determining that needs charge.

9. the method that a kind of pair of movable equipment charges, which is characterized in that this method comprises:

Charging base station receives the charge request of movable equipment transmission, wherein the charge request is that the movable equipment exists It is sent after receiving the location information of the charging base station of dispatching platform transmission, the location information for charging base station is the scheduling Platform charge in the region according to belonging to the movable equipment and the movable equipment current position between base station away from From the movement speed with the movable equipment, selected from the region；

The charging base station is that the movable equipment fills by determining charge position after movable equipment arrival Electricity.

10. method as claimed in claim 9, which is characterized in that the charging base station determines that the movable equipment is corresponding Charge position, comprising:

If in the charge request including the mark of charge position, the charging base station is corresponding by the mark of the charge position Charge position as the corresponding charge position of the movable equipment；Or

If in the charge request not including the mark of charge position, and current available free charge position, then the charging base It stands and selects an idle charge position as the corresponding charge position of the movable equipment.

11. method as claimed in claim 10, which is characterized in that the charging base station receives filling for movable equipment transmission After electricity request, further includes:

If in the charge request not including the mark of charge position, and currently without idle charge position, the then charging Base station notifies the movable equipment not have clear position.

12. method as claimed in claim 9, which is characterized in that this method further include:

It is flat that the charging base station is sent to the scheduling after the dispatching platform requests charge information, by the charge information Platform.

13. method as claimed in claim 12, which is characterized in that the charge information includes some or all of in following:

Whether available free charge position, the movable equipment remaining charging time charged, removable setting of charging Standby identifier number.

14. the method as described in claim 9~13 is any, which is characterized in that this method further include:

The charging base station determines object time and needs what is removed removable to set after the notice for receiving the dispatching platform It is standby；

15. the method that a kind of pair of movable equipment charges, which is characterized in that this method comprises:

Movable equipment receives the location information for the charging base station that dispatching platform is sent, wherein the location information of the charging base station Charge base in the region according to belonging to the movable equipment and the movable equipment current position that is the dispatching platform It the distance between stands and the movement speed of the movable equipment, is selected from the region；

16. method as claimed in claim 15, which is characterized in that the movable equipment receives the charging that dispatching platform is sent After the location information of base station, it is moved to before corresponding charging base station charged according to the location information received, further includes:

The movable equipment is after the mark for receiving the charge position that the dispatching platform is sent, by the mark of the charge position Knowledge is sent to the corresponding charging base station of the location information.

17. method as claimed in claim 15, which is characterized in that the movable equipment receives the charging that dispatching platform is sent Before the location information of base station, further includes:

The movable equipment after determining that needs charge, is sent according to low battery threshold value by dispatching platform described in base station requests The location information of charging base station.

18. method as claimed in claim 17, which is characterized in that this method further include:

The movable equipment is after receiving the low battery threshold value that the dispatching platform is sent, to currently used low battery threshold value It is updated.

19. the equipment that a kind of pair of movable equipment charges characterized by comprising processor and transceiver:

The processor determines institute for carrying out data transmission by transceiver, and after determining that movable equipment needs to charge State the distance between base station of charging in region belonging to movable equipment and the current position of the movable equipment；

According to the movement speed of determining distance and the movable equipment, the selection target charging base station from the region；

The location information of the charging base station of selection is sent to the movable equipment by base station, so that the movable equipment Corresponding charging base station is moved to according to the location information received to charge.

20. equipment as claimed in claim 19, which is characterized in that the processor is used for:

Selection is nearest apart from the movable equipment from the region, and the charge position available free when object time reaches Charging base station as target charge base station；

21. equipment as claimed in claim 20, which is characterized in that the processor is used for:

If the charging base station of the charge position available free not when object time reaches in the region, from the region Select a charging base station as target charging base station；

According to the charge information that target charging base station is sent, one electricity of selection is highest from target charging base station Movable equipment；

Notify target charging base station before object time reaches, the movable equipment to move Selection Out from charge position.

22. equipment as claimed in claim 19, which is characterized in that the processor is used for:

It is selected from the alternative charging base station nearest apart from the movable equipment and available free when object time reaches The alternative charging base station of charge position is as target charging base station；

23. equipment as claimed in claim 22, which is characterized in that the processor is used for:

If the alternative charging base station of the charge position available free not when object time reaches in the alternative charging base station, According to the moving direction of the movable equipment, one is selected to charge base station from the region as target；

24. the equipment as described in claim 20 or 22, which is characterized in that the processor is used for:

If the target charging base station is currently without idle charge position, by the idle charging when object time reaches The mark of position notifies the movable equipment by base station, so that the movable equipment notifies target charging base station to need The idle charge position to be occupied.

25. the equipment as described in claim 21 or 23, which is characterized in that the processor is used for:

26. equipment as claimed in claim 19, which is characterized in that the processor is used for:

According to the position for base station of charging in region belonging to the current position of movable equipment, the mobile speed of the movable equipment The power consumption of degree and the movable equipment, determines low battery threshold value；

Determining low battery threshold value is sent to the movable equipment by base station, so that the movable equipment is according to low electricity It charges the charging base station that amount threshold value is moved in region after determining that needs charge.

27. the equipment that a kind of pair of movable equipment charges characterized by comprising processor and transceiver:

The processor, for being carried out data transmission by transceiver, and receive movable equipment transmission charge request, Wherein the charge request is that the movable equipment is sent after receiving the location information of charging base station of dispatching platform transmission , the location information of the charging base station is that the dispatching platform is current according to the movable equipment and the movable equipment Position belonging to charge in region the movement speed of the distance between base station and the movable equipment, selected from the region It selects；

Determine the corresponding charge position of the movable equipment；

28. equipment as claimed in claim 27, which is characterized in that the processor is used for:

If in the charge request including the mark of charge position, the corresponding charge position of the mark of the charge position is made For the corresponding charge position of the movable equipment；Or

If in the charge request not including the mark of charge position, and current available free charge position, then a sky is selected Not busy charge position is as the corresponding charge position of the movable equipment.

29. equipment as claimed in claim 28, which is characterized in that the processor is used for:

If in the charge request not including the mark of charge position, and currently without idle charge position, then described in notice Movable equipment does not have clear position.

30. equipment as claimed in claim 27, which is characterized in that the equipment further include:

The processor, for being carried out data transmission by transceiver, and after the dispatching platform requests charge information, by institute It states charge information and is sent to the dispatching platform.

31. equipment as claimed in claim 30, which is characterized in that the charge information includes some or all of in following:

32. the equipment as described in claim 27~31 is any, which is characterized in that the equipment further include:

The processor determines mesh for carrying out data transmission by transceiver, and after the notice for receiving the dispatching platform Mark moment and the movable equipment for needing to remove；

33. the equipment that a kind of pair of movable equipment charges characterized by comprising processor and transceiver:

The processor for carrying out data transmission by transceiver, and receives the position of the charging base station of dispatching platform transmission Information, wherein the location information of the charging base station is that the dispatching platform is set according to the movable equipment and described move The movement speed of the distance between charging base station and the movable equipment in region belonging to standby current position, from the area It is selected in domain；

34. equipment as claimed in claim 33, which is characterized in that the processor is used for:

After the mark for receiving the charge position that the dispatching platform is sent, the mark of the charge position is sent to institute's rheme Confidence ceases corresponding charging base station.

35. equipment as claimed in claim 33, which is characterized in that the processor is used for:

According to low battery threshold value after determining that needs charge, pass through the position that dispatching platform described in base station requests sends charging base station Information.

36. equipment as claimed in claim 35, which is characterized in that the processor is also used to:

Carried out data transmission by transceiver, and after receiving the low battery threshold value that the dispatching platform is sent, to currently used Low battery threshold value be updated.

37. the equipment that a kind of pair of movable equipment charges, which is characterized in that the equipment includes: at least one processing unit And at least one storage unit, wherein the storage unit is stored with program code, when said program code is by the processing When unit executes, so that the step of processing unit perform claim requires 1~8 any the method or claim 9~14 The step of the step of any the method or claim 15~18 any the method.

38. a kind of calculating device-readable storage medium, which is characterized in that including program code, when said program code is calculating When running in equipment, said program code is used for the step of making the calculating equipment perform claim require 1~6 any the method Or the step of the step of claim 9~14 any the method or claim 15~18 any the method.