CN110549897A

CN110549897A - charging scheduling method and device for self-walking equipment

Info

Publication number: CN110549897A
Application number: CN201810555332.4A
Authority: CN
Inventors: 罗庇鹏
Original assignee: Hangzhou Haikang Robot Technology Co Ltd
Current assignee: Hangzhou Hikrobot Co Ltd
Priority date: 2018-06-01
Filing date: 2018-06-01
Publication date: 2019-12-10
Anticipated expiration: 2038-06-01
Also published as: CN110549897B

Abstract

The disclosure relates to a charging scheduling method and device for self-walking equipment, and belongs to the technical field of electronics. The method comprises the following steps: determining self-walking equipment to be charged from self-walking equipment which is not in a charging state according to the current electric quantity; determining the charging-suspended self-walking equipment meeting the preset interruption condition from the self-walking equipment under charging; and scheduling to suspend charging and leaving the charging pile from the walking equipment, and scheduling to-be-charged and accessing the charging pile from the walking equipment for charging. Adopt this disclosure, can confirm whether to suspend its operation of charging according to the concrete conditions of the self-walking equipment that is charging, give up the electric pile that vacates and wait to charge and charge from the self-walking equipment, and then can reduce the risk of waiting to charge and having no electric automatic shutdown from the self-walking equipment.

Description

Charging scheduling method and device for self-walking equipment

Technical Field

the present disclosure relates to the field of electronic technologies, and in particular, to a method and an apparatus for scheduling charging from a traveling device.

background

An AGV (Automated Guided Vehicle) can automatically transport goods in a logistics store. The energy that AGV carried goods comes from the battery that its self carried, and when the electric quantity of battery was lower, need the automatic certain electric pile department of filling that sets up in the commodity circulation storehouse of controlgear dispatch AGV charges.

the quantity of AGV at the commodity circulation storehouse scene is more, when filling the total number of electric pile and being less than all AGV's total number, can monitor the electric quantity of AGV through technical staff and carry out corresponding dispatch of charging.

in carrying out the present disclosure, the inventors found that at least the following problems exist:

The AGV is controlled to be charged in a manual scheduling mode, omission can be caused due to fluctuation of the working state of people, and therefore the risk that the AGV is automatically shut down due to power failure in the working process is high.

Disclosure of Invention

In order to reduce the risk that the self-walking equipment to be charged is shut down automatically when power is not supplied, the disclosure provides the following technical scheme:

According to a first aspect of embodiments of the present disclosure, there is provided a method for scheduling charging from a walking device, the method including:

Determining self-walking equipment to be charged from self-walking equipment which is not in a charging state according to the current electric quantity;

Determining the charging-suspended self-walking equipment meeting the preset interruption condition from the self-walking equipment under charging;

And scheduling the suspended charging self-walking equipment to leave the charging pile, and scheduling the to-be-charged self-walking equipment to access the charging pile for charging.

Optionally, the determining, from the self-walking devices being charged, the charging-suspended self-walking devices meeting the preset interrupt condition includes:

Determining the difference value of the current electric quantity of the self-walking equipment which is being charged and the self-walking equipment to be charged;

and determining self-walking equipment of which the corresponding difference value is greater than a first difference value threshold value as charging-suspended self-walking equipment from the self-walking equipment under charging.

Optionally, the determining a difference value of the current electric quantity of the self-walking device being charged and the self-walking device to be charged includes:

according to the current electric quantity of the self-walking equipment which is being charged and the current electric quantity of the self-walking equipment to be charged, sequencing the self-walking equipment which is being charged according to the sequence of the current electric quantity from large to small, and sequencing the self-walking equipment to be charged according to the sequence of the current electric quantity from small to large;

And sequentially determining the difference value between the current electric quantity of the self-walking equipment which is being charged and the current electric quantity of the self-walking equipment to be charged at the corresponding sequencing position from the front to the back.

Optionally, the first difference threshold is a product of a current electric quantity of the self-walking device to be charged and a first preset value.

Optionally, the method further comprises:

determining, from the self-walking apparatuses being charged, a self-walking apparatus of which the corresponding difference is less than or equal to the first difference threshold, is greater than a second difference threshold, and the charged amount of the self-walking apparatus being charged is greater than or equal to a preset charged amount threshold, as a suspend-charging self-walking apparatus, wherein the second difference threshold is less than the first difference threshold.

Optionally, the second difference threshold is a product of a current electric quantity of the self-walking device to be charged and a second preset value.

Optionally, the scheduling the suspending charging leaves from the traveling device and the scheduling the waiting charging accesses from the traveling device to the charging pile for charging, including:

determining all access combination modes between a charging pile corresponding to the charging-suspended self-walking equipment and the self-walking equipment to be charged;

For each access combination mode, searching a charging score corresponding to each group of self-walking equipment to be charged and a charging pile in a preset charging pile, self-walking equipment and charging score statistical list;

adding the charging scores corresponding to each group of self-walking equipment to be charged and charging piles to obtain the charging score sum corresponding to each access combination mode;

And scheduling the self-walking equipment to be charged to leave the charging pile, and scheduling the self-walking equipment to be charged to be connected into the charging pile corresponding to the self-walking equipment to be charged for charging based on the access combination mode corresponding to the highest charging score sum.

Optionally, if there is an idle charging pile, the scheduling is to suspend charging and leave the charging pile from the traveling device, and the scheduling is to be charged and to be connected to the charging pile from the traveling device for charging, including:

And scheduling the suspended charging self-walking equipment to leave from the charging pile, and scheduling the to-be-charged self-walking equipment to be connected into the charging pile corresponding to the suspended charging self-walking equipment and the idle charging pile to be charged.

Optionally, the dispatch the pause is charged and is left from the traveling equipment and fill electric pile to the dispatch wait to charge and insert from the traveling equipment the pause is charged and fills electric pile and the idle electric pile that fills that corresponds from the traveling equipment and charge, include:

determining charging piles corresponding to the charging-suspended self-walking equipment and all access combination modes between the idle charging piles and the self-walking equipment to be charged;

For each access combination mode, searching a charging score corresponding to each group of self-walking equipment to be charged accessed to the charging pile in a preset charging pile, self-walking equipment and charging score statistical list;

adding charging scores corresponding to each group of self-walking equipment to be charged connected into the charging pile to obtain a charging score sum corresponding to each access combination mode;

And scheduling the suspended charging self-walking equipment to leave from the charging pile, and scheduling the to-be-charged self-walking equipment to be connected into the charging pile corresponding to the suspended charging self-walking equipment and the idle charging pile to be charged based on the access combination mode corresponding to the highest charging score sum.

According to a second aspect of the embodiments of the present disclosure, there is provided a charge scheduling apparatus from a traveling device, the apparatus including:

The determining module is used for determining self-walking equipment to be charged from self-walking equipment which is not in a charging state according to the current electric quantity;

The determining module is used for determining the charging-suspended self-walking equipment meeting the preset interrupt condition from the self-walking equipment under charging;

And the scheduling module is used for scheduling the suspended charging to leave the charging pile from the walking equipment and scheduling the to-be-charged walking equipment to access the charging pile for charging.

Optionally, the determining module is configured to:

Optionally, the determining module is further configured to:

Optionally, the scheduling module is configured to:

optionally, the scheduling module is configured to:

When the idle charging pile exists, the charging-suspended self-walking equipment is dispatched to leave the charging pile, and the to-be-charged self-walking equipment is dispatched to be connected into the charging pile corresponding to the charging-suspended self-walking equipment and the idle charging pile for charging.

optionally, the scheduling module is configured to:

according to a third aspect of the embodiments of the present disclosure, there is provided a terminal, including a processor and a memory, where at least one instruction, at least one program, a set of codes, or a set of instructions is stored in the memory, and the at least one instruction, the at least one program, the set of codes, or the set of instructions is loaded and executed by the processor to implement the above-mentioned charging scheduling method for a self-walking device.

According to a fourth aspect of the embodiments of the present disclosure, there is provided a computer-readable storage medium having at least one instruction, at least one program, a set of codes, or a set of instructions stored therein, which is loaded and executed by a processor to implement the above-mentioned charge scheduling method for a self-walking apparatus.

the technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:

Through the method provided by the embodiment of the disclosure, the self-walking equipment meeting the preset interruption condition can be automatically determined to be the charging-suspended self-walking equipment in the charging self-walking equipment, whether the charging operation of the self-walking equipment is suspended can be determined according to the specific condition of the charging self-walking equipment, the vacant charging pile is assigned to the self-walking equipment to be charged for charging, and then the risk of automatic shutdown when the self-walking equipment to be charged is dead can be reduced.

it is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

drawings

the accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure. In the drawings:

FIG. 1 is a flow diagram illustrating a method of charge scheduling from a walking device in accordance with an exemplary embodiment;

FIG. 2 is a flowchart illustrating a method of charge scheduling from a walking device in accordance with an exemplary embodiment;

FIG. 3 is a scheduling diagram illustrating a method of charge scheduling from a walking device in accordance with an exemplary embodiment;

FIG. 4 is a scheduling diagram illustrating a method of charge scheduling from a walking device in accordance with an exemplary embodiment;

FIG. 5 is a scheduling diagram illustrating a method of charge scheduling from a walking device in accordance with an exemplary embodiment;

FIG. 6 is a flowchart illustrating a method of charge scheduling from a walking device in accordance with an exemplary embodiment;

FIG. 7 is a block diagram illustrating an apparatus for charge scheduling from a walking device in accordance with an exemplary embodiment;

fig. 8 is a block diagram of a terminal according to an example embodiment.

with the foregoing drawings in mind, certain embodiments of the disclosure have been shown and described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the disclosure to those skilled in the art by reference to specific embodiments.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

the embodiment of the disclosure provides a method for scheduling equipment to charge, which can be implemented by a terminal. The terminal can be a tablet computer, a desktop computer, a notebook computer, and the like.

the terminal may include a processor, memory, etc. The processor, which may be a CPU (Central Processing Unit), may be configured to determine a suspended charging self-walking device that meets a preset interrupt condition from among self-walking devices that are being charged, and perform other processes. The Memory may be a RAM (Random Access Memory), a Flash (Flash Memory), or the like, and may be configured to store received data, data required by the processing procedure, data generated in the processing procedure, or the like, such as a preset interrupt condition.

the terminal may also include a transceiver, input components, display components, audio output components, and the like. A transceiver, which may be used for data transmission with a device, such as a device that is not in a charging state, for example, may receive information about the remaining power transmitted by the device, and may include a bluetooth component, a WiFi (Wireless-Fidelity) component, an antenna, a matching circuit, a modem, and the like. The input means may be a touch screen, keyboard, mouse, etc. The audio output component may be a speaker, headphones, or the like.

An exemplary embodiment of the present disclosure provides a method for scheduling charging of a self-walking device, as shown in fig. 1, a processing flow of the method may include the following steps:

and step S110, determining self-walking equipment to be charged from self-walking equipment which is not in a charging state according to the current electric quantity.

the self-walking equipment can be AGV equipment, robots and the like. A mechanical device such as a pulley for free movement may be installed in the self-walking apparatus.

In step S120, the charging suspended self-traveling apparatus meeting the preset interrupt condition is determined from the self-traveling apparatuses being charged.

In implementation, if the self-walking equipment to be charged can not be charged by the charging pile, the charging of the self-walking equipment which is being charged needs to be suspended, and the charging pile is given over to the self-walking equipment to be charged for charging.

And S130, scheduling the suspended charging to leave the charging pile from the walking equipment, and scheduling the to-be-charged walking equipment to access the charging pile for charging.

The process flow shown in fig. 1 will be described in detail below with reference to specific embodiments, and as shown in fig. 2, the following may be included:

And step S210, determining self-walking equipment to be charged from self-walking equipment which is not in a charging state according to the current electric quantity.

in the implementation, if a plurality of charging piles are arranged in a logistics warehouse currently, some self-propelled equipment such as the AGVs are idle when not performing the transporting task, some AGVs are performing the transporting task, and all the equipment belong to the self-propelled equipment which is not in the charging state. A terminal such as a control terminal can be arranged in the logistics warehouse, and when a preset period is reached, the control terminal acquires the current electric quantity of all the AGVs in the logistics warehouse. Determining a plurality of AGVs which are not in a charging state in all the AGVs in the logistics storehouse, and determining the AGVs of which the current electric quantity is smaller than a preset first electric quantity threshold value as the AGVs to be charged according to the current electric quantity of the plurality of AGVs which are not in the charging state.

In step S220, a difference value between the current electric quantity of the self-walking device being charged and the current electric quantity of the self-walking device to be charged is determined.

Optionally, step S220 may include: according to the current electric quantity of the self-walking equipment which is being charged and the current electric quantity of the self-walking equipment to be charged, sequencing the self-walking equipment which is being charged according to the sequence of the current electric quantity from large to small, and sequencing the self-walking equipment to be charged according to the sequence of the current electric quantity from small to large; and sequentially determining the difference value between the current electric quantity of the self-walking equipment which is being charged and the current electric quantity of the self-walking equipment to be charged at the corresponding sequencing position from the front to the back.

in implementation, the control end can also detect the idle state of the charging piles and determine the number of the idle charging piles. As shown in fig. 3, if the number of the self-traveling devices to be charged is 5 and the number of the idle charging piles is 6, the 6 idle charging piles are completely capable of receiving the 5 self-traveling devices to be charged for charging.

if the quantity of the self-walking equipment to be charged is more, the idle charging pile is not enough to charge all the self-walking equipment to be charged. As shown in fig. 4, it may be determined that the number of the charging piles is as large as that of the idle charging piles and the charging is performed by the to-be-charged self-walking device with the lowest current electric quantity, and if it is determined that the to-be-charged self-walking device C is charged in the idle charging pile, the remaining to-be-charged self-walking device a and the to-be-charged self-walking device B need to occupy the charging pile corresponding to the self-walking device being charged for charging.

If no idle charging pile exists currently, the charging suspension self-walking equipment meeting the preset interruption condition can be determined from the self-walking equipment which is being charged. As shown in fig. 5, the self-walking equipment that is charging has 6, and these 6 self-walking equipment all occupy all charging piles, and the self-walking equipment that waits to charge has 3, can select 3 self-walking equipment in this 6 self-walking equipment that is charging to charge for the self-walking equipment that suspends, gives up the electric pile that vacates to the self-walking equipment that waits to charge and charges.

if the self-walking devices to be charged are ranked in the order from small to large according to the current electric quantity, the ranking results are c1, c2 and c3 … …, and the corresponding current electric quantity is y1, y2 and y3 … …. And sequencing the self-walking equipment which is being charged according to the sequence of the current electric quantity from large to small, wherein the sequencing results are d1, d2 and d3 … …, and the corresponding current electric quantity is x1, x2 and x3 … …. The self-walking device at the position corresponding to c1 sequencing is d1, the self-walking device at the position corresponding to c2 is d2, the self-walking device at the position corresponding to c3 is d3, and so on. The calculation is performed starting from the devices in the front order, i.e. from c1 and d1, and the difference of their current electric quantities is calculated.

in step S230, the self-walking device whose corresponding difference value is greater than the first difference value threshold is determined to be the charging suspended self-walking device from the self-walking devices being charged.

the first difference threshold is the product of the current electric quantity of the self-walking equipment to be charged and a first preset value.

In implementation, whether the self-walking device to be charged can occupy the charging pile corresponding to the self-walking device to be charged for charging is determined not only by comparing the current electric quantity of the self-walking device to be charged with the current electric quantity of the self-walking device to be charged, but also by determining whether the self-walking device to be charged can occupy the charging pile corresponding to the self-walking device to be charged for charging based on the difference value of the current electric quantities. Therefore, the charging pile is prevented from being seized by the self-walking equipment to be charged under the condition that the self-walking equipment to be charged has a little more electric quantity than the electric self-walking equipment to be charged, and the self-walking equipment to be charged is prevented from being charged and being suspended frequently, so that the service life of the battery is shortened.

If the self-walking devices to be charged are c1, c2, c3 … …, and the corresponding current electric quantity is y1, y2, y3 … …, the self-walking devices being charged are d1, d2, d3 … …, and the corresponding current electric quantities are x1, x2, x3 … …. c1 corresponds to the self-walking device at the sorting position being d1, the self-walking device at the position corresponding to c2 is d2, the self-walking device at the position corresponding to c3 is d3, and so on.A calculation is performed starting from c1 and d1, and the difference of their current electric quantities is calculated.if the difference of the current electric quantity of d1 minus the current electric quantity of c1 is s1, it is determined whether s1 is greater than a first difference threshold value of 2n _i. if s1 is greater than 2n _i, d1 is determined as the device ending the charging.n _i in 2n _i can be calculated by the following equation:

n _i ═ m × y _i + u (equation 1)

the value of m is generally 0.2, and can be adjusted according to an actual application scenario, the value of y _i is the current electric quantity of the self-walking equipment c _i to be charged, the value of u is generally 0, and can be adjusted according to the actual application scenario, i is a sorting position, and when viewed from the front to the back in the sorting sequence, i of the equipment sorted at the first is 1.

If m takes on the value of 0.2 and u takes on the value of 0, then equation 1 becomes:

n _i ═ 0.2y _i (equation 2)

2n _i is equal to 0.4y _i, which is finally equivalent to determining whether the difference between the current amount of power x ₁ of the self-propelled device being charged minus the current amount of power y ₁ of the self-propelled device to be charged is greater than 0.4y ₁, i.e. whether x ₁ is at least greater than 1.4 times y ₁.

whether its operation of charging is suspended can be confirmed according to the concrete condition of the self-walking equipment that is charging, give up the electric pile that vacates to wait to charge and charge from the self-walking equipment, and then can reduce the risk of waiting to charge and having no electric automatic shutdown of self-walking equipment.

in step S240, from the self-walking apparatuses being charged, a self-walking apparatus whose corresponding difference is less than or equal to the first difference threshold and greater than the second difference threshold and whose charged amount is greater than or equal to a preset charged amount threshold is determined as a charging suspended self-walking apparatus.

wherein the second difference threshold is less than the first difference threshold. The second difference threshold is a product of a current electric quantity of the self-walking device to be charged and a second preset value.

In implementation, if the difference between the current power amount of the self-walking device being charged and the current power amount of the self-walking device to be charged is not greater than the first difference threshold, the following determination may be made.

For example, if the difference between the current amount of power x ₁ of the self-walking device being charged minus the current amount of power y ₁ of the self-walking device to be charged is less than the first difference threshold 0.4y ₁, it is continuously determined whether the difference is greater than the second difference threshold n _i, that is, whether the difference between x ₁ minus y ₁ is greater than 0.2y ₁, that is, whether x ₁ is at least greater than 1.2 times as large as y ₁. if the difference between x ₁ minus y ₁ is greater than 0.2y ₁, it may be determined whether the current amount of power of the self-walking device d1 being charged is greater than the current amount of power of the self-walking device c1 to be charged, but not particularly much, which is equivalent to d1, not much better than the case of c1, in order to avoid frequent charging and suspending charging of the self-walking device, it may be continuously determined whether the charged amount of d1 is greater than or equal to the preset charged amount t _i, if the charged amount of power of the self-walking device d 5956 is greater than or equal to the preset charged threshold t 828653, and further determined that the self-walking device d 867 is suspended, wherein it may be suspended 36867, wherein it may be determined that the following formula 36867 is suspended 36867:

t _i ═ 0.5 × m × x _i + v (formula 3)

The value of m is generally 0.2, and can be adjusted according to an actual application scenario, x _i is the current electric quantity of the self-walking equipment d _i which is being charged, v is generally 0, and can be adjusted according to the actual application scenario, i is a sorting position, and viewed from the front to the back in the sorting sequence, i of the equipment sorted at the first is 1.

If m takes on the value 0.2 and v takes on the value 0, then equation 3 becomes:

t _i ═ 0.1 × x _i (equation 4)

and calculating the electric quantity difference value, comparing the electric quantity difference value with the difference value threshold value, and comparing the charged amount of the self-walking equipment which is being charged with the preset charged amount threshold value in sequence from the c1 to the subsequent equipment, and stopping calculating and comparing in the future when the equipment at a certain sequence position is found not to meet the preset interruption condition, wherein the subsequent self-walking equipment is less likely to meet the preset interruption condition, so that the calculation expense can be saved.

optionally, before determining whether the self-walking device being charged at the corresponding sorting position meets the preset interruption condition, it may also be determined whether the current electric quantity of the self-walking device being charged is greater than a preset second electric quantity threshold value 0.2 a. 0.2a is the threshold for low battery and a is full. When the current electric quantity of the self-walking equipment which is being charged is less than 0.2a, the current electric quantity of the self-walking equipment which is being charged is not large, the risk of power failure shutdown exists, and at the moment, the self-walking equipment can be considered as the self-walking equipment which cannot occupy the charging pile for charging. In this way, it is possible to avoid frequent charging of the self-propelled device and suspension of charging, thereby avoiding a reduction in the life of the battery due to frequent charging and suspension of charging.

After determining which devices are to be charged and which charging piles can be used, usable charging piles may be randomly allocated to the devices to be charged. Of course, the allocation process of allocating available charging piles to the devices to be charged can be optimized according to a certain strategy.

If the idle charging pile does not exist, the charging is suspended and the self-walking equipment is separated from the charging pile, and the self-walking equipment to be charged is scheduled to be connected into the charging pile corresponding to the charging suspended and self-walking equipment for charging so as to charge. If the idle charging pile exists, the charging is suspended and the self-walking equipment is separated from the charging pile, and the self-walking equipment to be charged is scheduled to be connected into the charging pile corresponding to the charging suspended and self-walking equipment and the idle charging pile for charging.

And step S250, determining all access combination modes between a charging pile corresponding to the self-walking equipment which is temporarily charged and the self-walking equipment to be charged.

In implementation, when there is an idle charging pile, it can also be determined that charging piles corresponding to the self-walking device are suspended from charging and all access combination modes between the idle charging pile and the self-walking device to be charged.

The charging scores of different charging piles when different self-walking equipment is charged can be recorded in the preset charging pile, self-walking equipment and charging score statistical list. These charging scores are statistically derived during the historical charging process. Different electric pile that fills when charging for different self-walking equipment, can have different performances, fill electric pile A for self-walking equipment B and can not fill the power-on, but for the power-on that can fill from self-walking equipment C for example. This is because the physical dimensions of the charging interface of the charging pile a and the physical dimensions of the charging interface of the self-walking device C are relatively fitted, and the charging interface is in good contact when in butt joint, but is not fitted with the charging interface of the self-walking device B.

The specific method for calculating the charging score is that the initial charging scores of the self-walking equipment and the charging pile are marked as 0. As shown in fig. 6, when it is monitored that the self-walking equipment is charged in a certain charging pile, the current and the voltage both meet the preset current and voltage conditions, and when the electric quantity of the self-walking equipment continuously increases, the self-walking equipment and the charging pile all add e points, otherwise, the f points are subtracted. Wherein, the value of e is determined according to the charging speed, the charging response time, the voltage, the current and the like. The initial value of f can be set to 1, when the continuous charging of the same self-walking device and the same charging pile fails for n times, the value of f can be linearly increased in an increasing mode until the self-walking device and the charging pile succeed in charging at a certain time, and f is restored to be the initial value 1.

If the charging score of the charging pile is lower than the threshold value i (i is a negative number), the charging pile is automatically deactivated and gives an alarm to the control end to prompt that whether the charging pile is normal or not needs to be manually confirmed. And if the charging pile is abnormal, the charging pile is started again after the charging pile is restored to be normal, and the charging score of the charging pile is reset to be 0. At the same time, the charging score of the self-walking device associated with the self-walking device is erased.

Similarly, if the charging score of the self-walking equipment is lower than the threshold j (j is a negative number), the control end is warned to prompt that whether the self-walking equipment is normal or not needs to be confirmed manually. If not, the self-walking equipment is started after the repair is recovered to be normal, and the charging score of the self-walking equipment is reset to 0. And meanwhile, erasing the charging score of the charging pile associated with the charging pile.

finally, the following statistical list of charging piles, self-walking equipment and charging scores can be obtained through statistics:

TABLE 1

wherein y _ij is the score of charging corresponding to charging pile j from walking equipment i.

if all available charging piles are a charging pile A and a charging pile B, and the to-be-charged self-walking equipment is to-be-charged self-walking equipment C and to-be-charged self-walking equipment D, possible combinations are that the charging pile A charges the to-be-charged self-walking equipment C, and the charging pile B charges the to-be-charged self-walking equipment D; or, fill electric pile A and give and wait to charge from walking equipment D, fill electric pile B and charge for waiting to charge from walking equipment C. Here, a simple example is given, the actual situation is much more complicated, the number of all available charging piles may be large, the number of self-traveling devices to be charged may also be large, and all available access combination modes may be more.

Step S260, for each access combination mode, searching for charging scores corresponding to each group of self-walking equipment to be charged and the charging pile in a preset charging pile, self-walking equipment and charging score statistical list.

In implementation, firstly, based on the current electric quantity of the self-walking device to be charged, the self-walking device to be charged is sorted from small to large according to the current electric quantity, and corresponding intermediate charging scores x1, x2 and x3 … … are calculated. Let x1 be 1, the remaining x's need to be calculated according to the following formula.

and b, wherein a is a full-charge value, and p is a difference value between the current electric quantity of the ith self-walking device to be charged and the current electric quantity of the self-walking device to be charged sorted at the first self-walking device to be charged. i is the ranking position, and the i of the first device to be charged is 1 as viewed from the front to the back in the ranking order.

Subsequently, an intermediate charging score t _ij corresponding to the charging pile j is calculated from the traveling apparatus i to be charged:

t _ij ═ x _i xz _j + y _ij (equation 6)

The x _i can be calculated according to formula 5, the y _ij can be determined by looking up table 1, and z _j is the charging score of the jth charging pile and can be calculated through y _1j + y _2j + y _3j + … … + y _ij.

And step S270, adding the charging scores corresponding to each group of self-walking equipment to be charged and charging piles to obtain the sum of the charging scores corresponding to each access combination mode.

In implementation, after the intermediate charging score t _ij corresponding to the charging pile j is determined for the self-propelled device i to be charged, all the intermediate charging scores in a certain access combination mode can be added to calculate the charging score sum.

and S280, scheduling the charging-suspended self-walking equipment to leave the charging pile, and scheduling the self-walking equipment to be charged to be connected into the charging pile corresponding to the charging-suspended self-walking equipment for charging based on the access combination mode corresponding to the highest charging score sum.

In the implementation, when having the idle electric pile that fills, can schedule to suspend to charge and leave from the traveling equipment and fill electric pile to based on the access integrated mode that the highest score sum of charging corresponds, the scheduling waits to charge and inserts the electric pile that fills that the electric pile that charges that the electric pile corresponds and the idle electric pile that fills that charges that fills that the electric pile that charges that stops charging from the traveling equipment access.

the matching operation of the self-walking equipment to be charged and the charging pile can be carried out according to the access combination mode with the highest charging score sum, so that the best charging effect can be obtained.

alternatively, if it is detected that any self-walking device to be charged cannot be normally charged during charging, control ends charging. If the different self-walking equipment that waits to charge can not normally charge at same electric pile of filling, then report an emergency and ask for help or increased vigilance to the control end to the suggestion needs the manual work to confirm that should fill electric pile is normal.

yet another exemplary embodiment of the present disclosure provides a charge scheduling apparatus from a traveling device, as shown in fig. 7, the apparatus including:

a determining module 610, configured to determine a self-walking device to be charged according to a current electric quantity from self-walking devices that are not in a charging state;

The determining module 610 is configured to determine a charging suspended self-walking device meeting a preset interrupt condition from the self-walking devices being charged;

and the scheduling module 620 is used for scheduling the suspended charging to leave the charging pile from the walking equipment and scheduling the to-be-charged walking equipment to access the charging pile for charging.

Optionally, the determining module 610 is configured to:

optionally, the determining module 610 is configured to:

optionally, the determining module 610 is further configured to:

optionally, the scheduling module 620 is configured to:

With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.

by adopting the method and the device, the self-walking equipment meeting the preset interruption condition can be automatically determined in the self-walking equipment which is charging for charging in a pause mode, whether the charging operation of the self-walking equipment is paused can be determined according to the specific situation of the self-walking equipment which is charging, the vacated charging pile is given to the self-walking equipment to be charged for charging, and then the risk of automatic shutdown when the self-walking equipment to be charged does not have electricity can be reduced.

It should be noted that: the apparatus for scheduling device to perform charging according to the foregoing embodiment is illustrated by only dividing the functional modules when the scheduling device performs charging, and in practical applications, the function distribution may be completed by different functional modules according to needs, that is, the internal structure of the terminal is divided into different functional modules, so as to complete all or part of the functions described above. In addition, the apparatus for scheduling device to perform charging and the method embodiment for scheduling device to perform charging provided by the above embodiments belong to the same concept, and specific implementation processes thereof are detailed in the method embodiment and are not described herein again.

Fig. 8 is a schematic diagram illustrating a structure of a terminal 1800 according to an exemplary embodiment of the present invention. The terminal 1800 may be: a smart phone, a tablet computer, an MP3 player (Moving Picture Experts Group Audio layer iii, motion video Experts compression standard Audio layer 3), an MP4 player (Moving Picture Experts Group Audio layer IV, motion video Experts compression standard Audio layer 4), a notebook computer, or a desktop computer. The terminal 1800 may also be referred to by other names such as user equipment, portable terminal, laptop terminal, desktop terminal, and the like.

Generally, the terminal 1800 includes: a processor 1801 and a memory 1802.

The processor 1801 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and so on. The processor 1801 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 1801 may also include a main processor and a coprocessor, where the main processor is a processor for processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 1801 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing content required to be displayed on the display screen. In some embodiments, the processor 1801 may further include an AI (Artificial Intelligence) processor for processing computing operations related to machine learning.

Memory 1802 may include one or more computer-readable storage media, which may be non-transitory. Memory 1802 may also include high speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in the memory 1802 is used to store at least one instruction for execution by the processor 1801 to implement the method of charge scheduling from a walking device as provided by the method embodiments herein.

In some embodiments, the terminal 1800 may further optionally include: a peripheral interface 1803 and at least one peripheral. The processor 1801, memory 1802, and peripheral interface 1803 may be connected by a bus or signal line. Each peripheral device may be connected to the peripheral device interface 1803 by a bus, signal line, or circuit board. Specifically, the peripheral device includes: at least one of radio frequency circuitry 1804, touch screen display 1805, camera 1806, audio circuitry 1807, positioning components 1808, and power supply 1809.

The peripheral interface 1803 may be used to connect at least one peripheral associated with I/O (Input/Output) to the processor 1801 and the memory 1802. In some embodiments, the processor 1801, memory 1802, and peripheral interface 1803 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 1801, the memory 1802, and the peripheral device interface 1803 may be implemented on separate chips or circuit boards, which is not limited in this embodiment.

The Radio Frequency circuit 1804 is used for receiving and transmitting RF (Radio Frequency) signals, also called electromagnetic signals. The radio frequency circuitry 1804 communicates with communication networks and other communication devices via electromagnetic signals. The rf circuit 1804 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals into electrical signals. Optionally, the radio frequency circuitry 1804 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and so forth. The radio frequency circuitry 1804 may communicate with other terminals via at least one wireless communication protocol. The wireless communication protocols include, but are not limited to: the world wide web, metropolitan area networks, intranets, generations of mobile communication networks (2G, 3G, 4G, and 5G), Wireless local area networks, and/or WiFi (Wireless Fidelity) networks. In some embodiments, the rf circuit 1804 may also include NFC (Near Field Communication) related circuits, which are not limited in this application.

The display screen 1805 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display screen 1805 is a touch display screen, the display screen 1805 also has the ability to capture touch signals on or over the surface of the display screen 1805. The touch signal may be input to the processor 1801 as a control signal for processing. At this point, the display 1805 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments, the display 1805 may be one, providing a front panel of the terminal 1800; in other embodiments, the number of the display screens 1805 may be at least two, and each of the display screens is disposed on a different surface of the terminal 1800 or is in a foldable design; in still other embodiments, the display 1805 may be a flexible display disposed on a curved surface or on a folded surface of the terminal 1800. Even more, the display 1805 may be arranged in a non-rectangular irregular figure, i.e. a shaped screen. The Display 1805 may be made of LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode), or the like.

The camera assembly 1806 is used to capture images or video. Optionally, the camera assembly 1806 includes a front camera and a rear camera. Generally, a front camera is disposed at a front panel of the terminal, and a rear camera is disposed at a rear surface of the terminal. In some embodiments, the number of the rear cameras is at least two, and each rear camera is any one of a main camera, a depth-of-field camera, a wide-angle camera and a telephoto camera, so that the main camera and the depth-of-field camera are fused to realize a background blurring function, and the main camera and the wide-angle camera are fused to realize panoramic shooting and VR (Virtual Reality) shooting functions or other fusion shooting functions. In some embodiments, camera assembly 1806 may also include a flash. The flash lamp can be a monochrome temperature flash lamp or a bicolor temperature flash lamp. The double-color-temperature flash lamp is a combination of a warm-light flash lamp and a cold-light flash lamp, and can be used for light compensation at different color temperatures.

The audio circuitry 1807 may include a microphone and a speaker. The microphone is used for collecting sound waves of a user and the environment, converting the sound waves into electric signals, and inputting the electric signals to the processor 1801 for processing or inputting the electric signals to the radio frequency circuit 1804 to achieve voice communication. The microphones may be provided in a plurality, respectively, at different positions of the terminal 1800 for the purpose of stereo sound collection or noise reduction. The microphone may also be an array microphone or an omni-directional pick-up microphone. The speaker is used to convert electrical signals from the processor 1801 or the radio frequency circuitry 1804 to sound waves. The loudspeaker can be a traditional film loudspeaker or a piezoelectric ceramic loudspeaker. When the speaker is a piezoelectric ceramic speaker, the speaker can be used for purposes such as converting an electric signal into a sound wave audible to a human being, or converting an electric signal into a sound wave inaudible to a human being to measure a distance. In some embodiments, audio circuitry 1807 may also include a headphone jack.

the positioning component 1808 is utilized to locate a current geographic position of the terminal 1800 for navigation or LBS (Location Based Service). The positioning component 1808 may be a positioning component based on a GPS (global positioning System) in the united states, a beidou System in china, or a galileo System in russia.

The power supply 1809 is used to power various components within the terminal 1800. The power supply 1809 may be ac, dc, disposable or rechargeable. When the power supply 1809 includes a rechargeable battery, the rechargeable battery may be a wired rechargeable battery or a wireless rechargeable battery. The wired rechargeable battery is a battery charged through a wired line, and the wireless rechargeable battery is a battery charged through a wireless coil. The rechargeable battery may also be used to support fast charge technology.

In some embodiments, the terminal 1800 also includes one or more sensors 1810. The one or more sensors 1810 include, but are not limited to: acceleration sensor 1811, gyro sensor 1812, pressure sensor 1813, fingerprint sensor 1814, optical sensor 1815, and proximity sensor 1816.

the acceleration sensor 1811 may detect the magnitude of acceleration on three coordinate axes of a coordinate system established with the terminal 1800. For example, the acceleration sensor 1811 may be used to detect components of gravitational acceleration in three coordinate axes. The processor 1801 may control the touch display 1805 to display the user interface in a landscape view or a portrait view according to the gravitational acceleration signal collected by the acceleration sensor 1811. The acceleration sensor 1811 may also be used for acquisition of motion data of a game or a user.

The gyro sensor 1812 may detect a body direction and a rotation angle of the terminal 1800, and the gyro sensor 1812 may cooperate with the acceleration sensor 1811 to collect a 3D motion of the user on the terminal 1800. The processor 1801 may implement the following functions according to the data collected by the gyro sensor 1812: motion sensing (such as changing the UI according to a user's tilting operation), image stabilization at the time of photographing, game control, and inertial navigation.

The pressure sensors 1813 may be disposed on a side bezel of the terminal 1800 and/or on a lower layer of the touch display 1805. When the pressure sensor 1813 is disposed on a side frame of the terminal 1800, a user's grip signal on the terminal 1800 can be detected, and the processor 1801 performs left-right hand recognition or shortcut operation according to the grip signal collected by the pressure sensor 1813. When the pressure sensor 1813 is disposed at the lower layer of the touch display screen 1805, the processor 1801 controls the operability control on the UI interface according to the pressure operation of the user on the touch display screen 1805. The operability control comprises at least one of a button control, a scroll bar control, an icon control and a menu control.

the fingerprint sensor 1814 is used to collect the fingerprint of the user, and the processor 1801 identifies the user according to the fingerprint collected by the fingerprint sensor 1814, or the fingerprint sensor 1814 identifies the user according to the collected fingerprint. Upon recognizing that the user's identity is a trusted identity, the processor 1801 authorizes the user to perform relevant sensitive operations, including unlocking a screen, viewing encrypted information, downloading software, paying, and changing settings, etc. The fingerprint sensor 1814 may be disposed on the front, back, or side of the terminal 1800. When a physical key or vendor Logo is provided on the terminal 1800, the fingerprint sensor 1814 may be integrated with the physical key or vendor Logo.

The optical sensor 1815 is used to collect the ambient light intensity. In one embodiment, the processor 1801 may control the display brightness of the touch display 1805 based on the ambient light intensity collected by the optical sensor 1815. Specifically, when the ambient light intensity is high, the display brightness of the touch display screen 1805 is increased; when the ambient light intensity is low, the display brightness of the touch display 1805 is turned down. In another embodiment, the processor 1801 may also dynamically adjust the shooting parameters of the camera assembly 1806 according to the intensity of the ambient light collected by the optical sensor 1815.

A proximity sensor 1816, also known as a distance sensor, is typically provided on the front panel of the terminal 1800. The proximity sensor 1816 is used to collect the distance between the user and the front surface of the terminal 1800. In one embodiment, when the proximity sensor 1816 detects that the distance between the user and the front surface of the terminal 1800 gradually decreases, the processor 1801 controls the touch display 1805 to switch from the bright screen state to the dark screen state; when the proximity sensor 1816 detects that the distance between the user and the front surface of the terminal 1800 becomes gradually larger, the processor 1801 controls the touch display 1805 to switch from the breath screen state to the bright screen state.

Those skilled in the art will appreciate that the configuration shown in fig. 8 is not intended to be limiting of terminal 1800 and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components may be used.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

it will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A method for scheduling charging from a walking device, comprising:

2. the method according to claim 1, wherein the determining, from the self-walking devices being charged, the suspended charging self-walking devices meeting a preset interruption condition includes:

3. The method of claim 2, wherein determining a difference in a current amount of power of the self-propelled device being charged and the self-propelled device to be charged comprises:

4. the method of claim 2, wherein the first difference threshold is a product of a current amount of power of the self-propelled device to be charged and a first preset value.

5. the method of claim 2, further comprising:

6. The method according to claim 5, characterized in that the second difference threshold is a product of the current amount of power to be charged from the walking equipment and a second preset value.

7. the method of claim 1, wherein the scheduling the suspended charging self-propelled device to leave a charging pile and the to-be-charged self-propelled device to access the charging pile for charging comprises:

8. The method of claim 1, wherein the scheduling the suspend charging from the walking device to leave the charging post and the to-be-charged from the walking device to access the charging post for charging if there is an idle charging post comprises:

9. the method of claim 8, wherein the scheduling the self-walking device with charging suspension to leave a charging pile and the scheduling the self-walking device to be charged to access the charging pile corresponding to the self-walking device with charging suspension and an idle charging pile for charging comprises:

10. A charge scheduling apparatus from a traveling device, comprising:

11. The apparatus of claim 10, wherein the determining module is configured to:

12. The apparatus of claim 11, wherein the determining module is configured to:

13. the apparatus of claim 11, wherein the first difference threshold is a product of a current amount of power of the self-propelled device to be charged and a first preset value.

14. The apparatus of claim 11, wherein the determining module is further configured to:

15. The apparatus of claim 14, wherein the second difference threshold is a product of a current amount of power of the self-propelled device to be charged and a second preset value.

16. the apparatus of claim 10, wherein the scheduling module is configured to:

17. The apparatus of claim 10, wherein the scheduling module is configured to:

18. the apparatus of claim 17, wherein the scheduling module is configured to: