CN112277667A - Mobile object charging method, mobile object charging device, electronic apparatus, and computer-readable medium - Google Patents

Mobile object charging method, mobile object charging device, electronic apparatus, and computer-readable medium Download PDF

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Publication number
CN112277667A
CN112277667A CN202010552392.8A CN202010552392A CN112277667A CN 112277667 A CN112277667 A CN 112277667A CN 202010552392 A CN202010552392 A CN 202010552392A CN 112277667 A CN112277667 A CN 112277667A
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China
Prior art keywords
moving body
charging
position information
information
charging device
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CN202010552392.8A
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CN112277667B (en
Inventor
侯锡锋
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Beijing Jingdong Qianshi Technology Co Ltd
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Beijing Jingdong Qianshi Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/12—Inductive energy transfer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/50—Charging stations characterised by energy-storage or power-generation means
    • B60L53/53—Batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

Abstract

The embodiment of the disclosure provides a charging method and device of a mobile body, an electronic device and a computer readable medium, wherein the method comprises the following steps: acquiring moving body power information and moving body position information of a moving body, and device power information and device position information of at least one movable charging device; determining a target charging device among the at least one movable charging device based on the moving body position information of the first movable body, the device power information of the at least one movable charging device, and the device position information, when determining that there is a first movable body among the movable bodies having moving body power information smaller than a moving body power threshold; generating a charging plan based on the device position information of the target charging device and the moving body position information of the first moving body; the charging schedule is transmitted to the mobile body. The technical scheme provided by the embodiment of the disclosure can realize a set of automatic, efficient and highly-adaptive charging scheme for the moving body, and prolongs the working time of the moving body.

Description

Mobile object charging method, mobile object charging device, electronic apparatus, and computer-readable medium
Technical Field
The present disclosure relates to the field of charging technologies, and in particular, to a method and an apparatus for charging a mobile object, an electronic device, and a computer-readable medium.
Background
Currently, Automated Guided Vehicles (AGVs) are widely used. Such as cargo handling, express transportation, and the like. When the automatic guided vehicle is applied to various scenes, a charging scheme needs to be configured for the automatic guided vehicle in view of the movable characteristic of the automatic guided vehicle. At present, a scheme for charging an automatic guided vehicle by a contact type charging mode is available. However, in the scheme, the long-term automatic alignment error easily causes abrasion of the charging contact, and causes the problems of equipment aging, poor contact and the like. Meanwhile, the above-mentioned contact charging scheme will have a certain limit to the number of devices that can be charged simultaneously.
Therefore, a new method and apparatus for charging a mobile object, an electronic device, and a computer-readable medium are needed.
The above information disclosed in this background section is only for enhancement of understanding of the background of the disclosure and therefore it may contain information that does not constitute prior art that is already known to a person of ordinary skill in the art.
Disclosure of Invention
In view of the above, embodiments of the present disclosure provide a method and an apparatus for charging a mobile body, an electronic device, and a computer readable medium, so as to avoid, at least to some extent, the defects of the contact charging scheme that the device is prone to aging and the number of charging devices is limited.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows, or in part will be obvious from the description, or may be learned by practice of the disclosure.
According to a first aspect of an embodiment of the present disclosure, there is provided a charging method of a mobile body, the method including: acquiring moving body power information and moving body position information of a moving body, and device power information and device position information of at least one movable charging device; determining a target charging device among at least one of the movable charging devices based on moving body position information of the first moving body, device power information of at least one of the movable charging devices, and device position information, when it is determined that there is a first moving body among the movable bodies whose moving body power information is smaller than a moving body power threshold value; generating a charging plan based on the device position information of the target charging device and the moving body position information of the first moving body; and sending the charging scheme to the moving body so that the moving body and the target charging device charge the first moving body according to the charging scheme.
In one exemplary embodiment of the present disclosure, generating a charging scheme from the device position information of the target charging device and the moving body position information of the first moving body includes: acquiring working state information of the first mobile body; if the operating state of the first mobile body is an idle state, generating first path information of the first mobile body according to device position information of the target charging device and mobile body position information of the first mobile body; and generating the charging scheme according to the first path information.
In one exemplary embodiment of the present disclosure, transmitting the charging scheme to the mobile body so that the mobile body and the target charging device charge the first mobile body according to the charging scheme includes: and sending the charging scheme to the first moving body so that the first moving body can move to the target charging device for charging according to the first path information.
In one exemplary embodiment of the present disclosure, generating a charging scheme from the device position information of the target charging device and the moving body position information of the first moving body includes: acquiring working state information of the first mobile body; if the operating state information is in an operating state, determining a second moving body with moving body electric quantity information larger than a moving body electric quantity threshold value and moving body position information of the second moving body in the moving bodies; generating second path information of the second moving body based on the device position information of the target charging device and the moving body position information of the second moving body; and generating the charging scheme according to the second path information.
In one exemplary embodiment of the present disclosure, transmitting the charging scheme to the mobile body so that the mobile body and the target charging device charge the first mobile body according to the charging scheme includes: and sending the charging scheme to the second mobile body so that the second mobile body moves the target charging device to the first mobile body for charging according to the second path information.
In one exemplary embodiment of the present disclosure, generating a charging scheme from the device position information of the target charging device and the moving body position information of the first moving body includes: calculating distribution density and center position information of the first mobile body from the mobile body position information of the first mobile body; if the distribution density is larger than a preset density threshold value, determining a second moving body with moving body electric quantity information larger than a moving body electric quantity threshold value and position information of the second moving body in the moving bodies; generating third path information of the second mobile body from the center position information, the device position information of the target charging device, and the mobile body position information of the second mobile body; and generating the charging scheme according to the third path information.
In one exemplary embodiment of the present disclosure, transmitting the charging scheme to the mobile body so that the mobile body and the target charging device charge the first mobile body according to the charging scheme includes: and sending the charging scheme to the second moving body so that the second moving body moves the target charging device to the central position information according to the second path information and charges the first moving body.
In one exemplary embodiment of the present disclosure, determining a target charging device among at least one of the movable charging devices based on the moving body position information of the first moving body, the electric quantity information of the at least one movable charging device, and the position information includes: determining the movable charging device with the electric quantity information larger than the battery electric quantity threshold value as an alternative charging device; the target charging device is determined in the candidate charging device based on the device position information of the candidate charging device and the moving body position information of the first moving body.
In an exemplary embodiment of the present disclosure, the method further comprises: when determining that the movable charging device is provided with a charging device to be stored with device electric quantity information smaller than a device electric quantity threshold value, determining a second moving body with moving body electric quantity information larger than a moving body electric quantity threshold value and moving body position information of the second moving body; determining device location information for a stationary charging device; generating an energy storage scheme of the charging device to be stored according to the device position information of the fixed charging device, the moving body position information of the second moving body and the device position information of the charging device to be stored; and sending the energy storage scheme to the second moving body so that the second moving body can move the charging device to be stored to the fixed charging device to charge according to the moving path information.
In an exemplary embodiment of the present disclosure, the movable charging device charges the first mobile body by a magnetic resonance coupling type charging method.
According to a second aspect of the embodiments of the present disclosure, there is provided a charging device for a mobile body, the device including: an information acquisition module configured to acquire moving body power information and moving body position information of a moving body, and device power information and device position information of at least one movable charging device;
a target device module configured to determine a target charging device among at least one of the movable charging devices according to the moving body position information of the first moving body, the device power amount information of at least one of the movable charging devices, and the device position information, when it is determined that there is a first moving body among the movable bodies having moving body power amount information smaller than a moving body power amount threshold; a charging scheme module configured to generate a charging scheme based on the device position information of the target charging device and the moving body position information of the first moving body; a scheme transmission module configured to transmit the charging scheme to the mobile body so that the mobile body and the target charging device charge the first mobile body according to the charging scheme.
According to a third aspect of the embodiments of the present disclosure, an electronic device is provided, which includes: one or more processors; storage means for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the charging method for a mobile body according to any one of the above.
According to a fourth aspect of the embodiments of the present disclosure, there is provided a computer-readable medium having stored thereon a computer program which, when executed by a processor, implements a charging method of a movable body according to any one of the above.
According to some embodiments of the present disclosure, when a first mobile body having mobile body electricity quantity information smaller than a mobile body electricity quantity threshold value exists in the mobile body, a target charging device is determined in at least one of the movable charging devices according to mobile body position information of the first mobile body, device electricity quantity information of at least one of the movable charging devices, and device position information, and a charging scheme is generated according to the device position information of the target charging device and the mobile body position information of the first mobile body, so that the first mobile body is charged by the mobile body and the target charging device according to the charging scheme. The charging scheme of a set of automatic, efficient and highly-adaptive moving body can be realized, the working time of the moving body is prolonged, and the cost required for laying the wireless charging device on the whole field and changing the operation place is 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. The drawings described below are merely some embodiments of the present disclosure, and other drawings may be derived from those drawings by those of ordinary skill in the art without inventive effort.
Fig. 1 is a system block diagram illustrating a charging method and apparatus for a mobile body according to an exemplary embodiment;
fig. 2 is a flowchart illustrating a charging method of a mobile body according to an exemplary embodiment;
fig. 3 is a flowchart illustrating a charging method of a mobile body according to an exemplary embodiment;
fig. 4 is a flowchart illustrating a charging method of a mobile body according to an exemplary embodiment;
fig. 5 is a flowchart illustrating a charging method of a mobile body according to an exemplary embodiment;
FIG. 6 is a schematic diagram of a magnetic resonant coupling charging circuit;
FIGS. 7, 8 are schematic diagrams of a mobile charging device according to an exemplary embodiment;
FIG. 9 is a schematic illustration of a stationary charging device according to an exemplary embodiment;
FIG. 10 is a charging scenario diagram of a stationary charging device according to an exemplary embodiment;
fig. 11 is a flowchart illustrating a charging method of a mobile body according to another exemplary embodiment;
fig. 12 is a block diagram illustrating a charging device of a mobile body according to an exemplary embodiment;
FIG. 13 is a block diagram illustrating an electronic device in accordance with an exemplary embodiment;
FIG. 14 is a schematic diagram illustrating a computer-readable storage medium according to an example embodiment.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals denote the same or similar parts in the drawings, and thus, a repetitive description thereof will be omitted.
The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to provide a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that the invention may be practiced without one or more of the specific details, or with other methods, components, devices, steps, and so forth. In other instances, well-known methods, devices, implementations or operations have not been shown or described in detail to avoid obscuring aspects of the invention.
The drawings are merely schematic illustrations of the present invention, in which the same reference numerals denote the same or similar parts, and thus, a repetitive description thereof will be omitted. Some of the block diagrams shown in the figures do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.
The flow charts shown in the drawings are merely illustrative and do not necessarily include all of the contents and steps, nor do they necessarily have to be performed in the order described. For example, some steps may be decomposed, and some steps may be combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.
In the related art, the wireless charging method includes a magnetic field induction type, an electromagnetic radiation type, and a magnetic resonance coupling type. Wherein, the electromagnetic induction type can not be charged remotely. The electromagnetic radiation type conversion efficiency is low. The magnetic resonance coupling type has the advantages of long transmission distance, high power and one-to-many charging support.
However, when the wireless charging method is adopted, it has been proposed to lay a wireless charging device for charging a mobile body. When the scheme meets the charging requirement of a large number of moving bodies, the wireless charging device is required to be laid on the whole field, a large amount of manpower, material resources and cost are consumed to reform the field, the charging place of the scheme cannot be moved, and when the operation place is changed, the movement of the wireless charging device becomes a huge obstacle for scheme improvement.
The following detailed description of exemplary embodiments of the invention refers to the accompanying drawings.
Fig. 1 is a system block diagram illustrating a charging method and apparatus for a mobile body according to an exemplary embodiment.
The server 105 may be a server that provides various services, such as a background management server (just an example) that provides support to a charging system of a moving body operated by a user with the terminal apparatuses 101, 102, 103. The background management server may analyze and otherwise process data such as a received mobile body charging request, and feed back a processing result (for example, a charging scheme — just an example) to the terminal device.
The server 105 may acquire, for example, moving body power information and moving body position information of the moving body, and device power information and device position information of at least one movable charging device; the server 105 may determine, for example, when it is determined that there is a first mobile body having mobile body electric quantity information smaller than a mobile body electric quantity threshold value among the mobile bodies, a target charging device among the at least one movable charging device based on the mobile body position information of the first mobile body, the device electric quantity information of the at least one movable charging device, and the device position information; the server 105 may generate the charging plan, for example, from the device position information of the target charging device and the moving body position information of the first moving body. The server 105 may, for example, transmit a charging scheme to the mobile body such that the mobile body and the target charging device charge the first mobile body according to the charging scheme.
The server 105 may be a server of one entity, and may also be composed of a plurality of servers, for example, a part of the servers 105 may be, for example, a charging task submitting system of a mobile body in the present disclosure, for acquiring a task to be executed with a charging command of the mobile body; and a part of the server 105 may also be, for example, a charging system of a mobile body in the present disclosure, for acquiring mobile body power amount information and mobile body position information of the mobile body, and device power amount information and device position information of at least one movable charging device; determining a target charging device among the at least one movable charging device based on the moving body position information of the first movable body, the device power information of the at least one movable charging device, and the device position information, when determining that there is a first movable body among the movable bodies having moving body power information smaller than a moving body power threshold; generating a charging plan based on the device position information of the target charging device and the moving body position information of the first moving body; the charging schedule is transmitted to the mobile body so that the mobile body and the target charging device charge the first mobile body according to the charging schedule.
According to the charging method and the charging device for the moving body, a set of automatic, efficient and highly-adaptive charging scheme for the moving body can be realized, and the working time of the moving body is prolonged.
Fig. 2 is a flowchart illustrating a charging method of a mobile body according to an exemplary embodiment. The charging method for a mobile object provided by the embodiments of the present disclosure may be executed by any electronic device with computing processing capability, such as the terminal devices 101, 102, and 103 and/or the server 105, and in the following embodiments, the server execution method is taken as an example for illustration, but the present disclosure is not limited thereto. The charging method 20 of the mobile body provided by the embodiment of the present disclosure may include steps S202 to S208.
As shown in fig. 2, in step S202, moving body power amount information and moving body position information of the moving body, and device power amount information and device position information of at least one movable charging device are acquired.
In the embodiment of the present disclosure, the moving body may be an automatic guided vehicle, and may also be, for example, but not limited to, an unmanned aerial vehicle, or the like. The moving body electric quantity information is remaining electric quantity information of an energy storage device that supplies energy to the moving body. The mobile body position information is the identification of the specific position of the mobile body in the preset map. The device electric quantity information is the residual electric quantity information of an energy storage device arranged in the movable charging device. The device location information is an identification of a specific location of the mobile charging device in a preset map. In an exemplary embodiment, the mobile body power information and the mobile body position information of the mobile body, and the device power information and the device position information of the at least one movable charging device may be received in real time according to a preset heartbeat cycle.
The mobile body and the movable charging device can be internally provided with a wireless charging component, so that the movable charging device can charge the mobile body through the wireless charging component.
In an exemplary embodiment, the movable charging device may charge the first mobile body by a magnetic resonance coupling type charging manner. The magnetic resonance coupling type has the characteristics of long transmission distance, high power and one-to-many charging support. Fig. 6 is a schematic diagram of a magnetic resonant coupling charging circuit. As shown in fig. 6, the magnetic resonant coupling charging circuit includes a transmitting terminal 610 and a receiving terminal 620. The transmitting end 610 includes a signal generator 611, a power amplifying circuit 612, a direct current power supply 613, a resonance circuit 614, and a transmitting coil 615. The receiving terminal 620 includes a receiving coil 621, a resonant circuit 622, a filter and rectification circuit 623, and a load 624. The transmitting terminal 610 may be disposed inside the mobile charging device, and the receiving terminal 620 may be disposed in the mobile body, so that the mobile charging device charges the first mobile body through a magnetic resonance coupling charging manner.
Fig. 7, 8 are schematic diagrams of a mobile charging device according to an exemplary embodiment. As shown in fig. 7, the movable charging device 70 may include a charging device main body 701 and support legs 702. The charging device main body 701 may include a storage battery 7011 and a transmitting coil 7012. The transmission coil 7012 and the reception coil 704 incorporated in the mobile unit are used to charge the battery 705 incorporated in the mobile unit by a wireless charging method. Among other things, the support legs 702 may be used to support the movable charging device 70 to facilitate the moving body moving the movable charging device 70. In an exemplary embodiment, the mobile charging device 70 may further include a receiving coil 703, and the receiving coil 703 is used for cooperating with a transmitting coil built in the external wireless charging device to charge the storage battery 7011 of the mobile charging device 70. Preferably, the movable charging device 70 may further include a two-dimensional code to facilitate scanning recognition thereof by a scanning apparatus equipped on the moving body.
As shown in fig. 8, the movable charging device 80 may include a charging device body 801, a magnetic mount 802, and wheels 803. The magnetic mount 802 is used to connect with a mobile body so that the mobile body carries the mobile charging device 80 during movement. The wheels 803 are used to realize the translation function of the movable charging device 80 in cooperation with the movement of the moving body. The charging device main body 801 includes a battery 8011 and a transmitting coil 8012. The transmitting coil 8012 and the receiving coil 805 built in the mobile unit are used to charge the battery 806 built in the mobile unit by a wireless charging method. In an exemplary embodiment, the mobile charging device 80 may further include a receiving coil 804, and the receiving coil 804 is used for cooperating with a transmitting coil built in the external wireless charging device to charge the storage battery 8011 of the mobile charging device 80.
In step S204, upon determining that there is a first moving body of the moving bodies whose moving body electric quantity information is smaller than the moving body electric quantity threshold value, a target charging device is determined among the at least one movable charging device based on the moving body position information of the first moving body, the device electric quantity information of the at least one movable charging device, and the device position information.
In the embodiment of the present disclosure, when a first mobile body having mobile body electric quantity information smaller than a mobile body electric quantity threshold value is included in the mobile bodies, the first mobile body is a mobile body that needs to be charged. The target charging device is a determined movable charging device for charging the first mobile body. A movable charging device having a sufficient amount of electric power and being close to the first mobile body may be selected as the target charging device.
In an exemplary embodiment, a movable charging device having charge information greater than a battery charge threshold may be determined as an alternative charging device; the target charging device is determined among the candidate charging devices based on the device position information of the candidate charging device and the moving body position information of the first moving body.
Wherein the distance information of each of the candidate charging devices from the first mobile body may be calculated from the device position information of the candidate charging device and the mobile body position information of the first mobile body, and the candidate charging device having the smallest distance information may be selected as the target charging device.
In step S206, a charging plan is generated from the device position information of the target charging device and the moving body position information of the first moving body.
In the embodiment of the present disclosure, the charging scheme may include a moving path of the moving body. The mobile body can move according to the movement path in the charging scheme to realize that the first mobile body moves to the vicinity of the target charging device for charging or the mobile body moves the target charging device to the vicinity of the first mobile body for charging. Preferably, the first mobile body is charged by a magnetic resonance coupling charging method when the mobile charging device is moved. The first mobile body can be moved to the vicinity of the target charging device according to the movement path, or the first mobile body can be moved to the target charging device and the vicinity of the first mobile body to charge the first mobile body.
In step S208, the charging schedule is transmitted to the mobile body so that the mobile body and the target charging device charge the first mobile body according to the charging schedule.
According to the charging method of the mobile body provided by the embodiment of the disclosure, when a first mobile body having mobile body electric quantity information smaller than a mobile body electric quantity threshold value exists in the mobile bodies, a target charging device is determined in the at least one movable charging device according to the mobile body position information of the first mobile body, the device electric quantity information of the at least one movable charging device and the device position information, and a charging scheme is generated according to the device position information of the target charging device and the mobile body position information of the first mobile body, so that the first mobile body is charged by the mobile body and the target charging device according to the charging scheme. The charging scheme of a set of automatic, efficient and highly-adaptive moving body can be realized, the working time of the moving body is prolonged, and the cost required for laying the wireless charging device on the whole field and changing the operation place is reduced.
Fig. 3 is a flowchart illustrating a charging method of a mobile body according to an exemplary embodiment. The charging method 30 of the mobile body according to the embodiment of the present disclosure may include steps S302 to S320.
As shown in fig. 3, in step S302, moving body power amount information and moving body position information of the moving body, and device power amount information and device position information of at least one movable charging device are acquired.
In the embodiment of the present disclosure, step S302 may take steps similar to step S202, and details thereof are not repeated here.
In step S304, upon determining that there is a first moving body of the moving bodies having moving body electric quantity information smaller than the moving body electric quantity threshold value, a target charging device is determined among the at least one movable charging device based on the moving body position information of the first moving body, the device electric quantity information of the at least one movable charging device, and the device position information.
In the embodiment of the present disclosure, step S304 may take steps similar to step S204, which are not described herein again.
In step S306, the operating state information of the first mobile body is acquired.
In the embodiment of the present disclosure, the operating state information is used to indicate whether the first mobile body is in an operating state. The operating state information may include an idle state and an operating state. The first mobile body in the idle state has no job task at the present time. The first mobile body in the operating state has a transport task at the present time.
In step S308, when the operating state of the first mobile body is the idle state, first path information of the first mobile body is generated based on the device position information of the target charging device and the mobile body position information of the first mobile body.
In the embodiment of the present disclosure, the first path information may include a route along which the first mobile body moves to a position indicated by the device position information of the target charging device.
In step S310, a charging plan is generated according to the first path information.
In step S312, the charging schedule is transmitted to the first mobile body so that the first mobile body moves to the target charging device for charging according to the first path information.
In an exemplary embodiment, steps S308 to S312 may be further replaced by: if the working state of the first mobile body is an idle state, acquiring regional position information of a preset charging region, wherein a movable charging device with device electric quantity information larger than a device electric quantity threshold value is arranged in the preset charging region; generating first path information of the first moving body based on the region position information and moving body position information of the first moving body; generating a charging scheme according to the first path information; and sending the charging scheme to the first mobile body so that the first mobile body moves to the target charging device for charging according to the first path information. In the embodiment, the movable charging device can charge a plurality of moving bodies simultaneously, timely loss compensation of a computer can be ensured, shallow charging and shallow discharging of the battery can greatly prolong the service life of the battery, and the capacity of the required battery is reduced.
In step S314, when the operating state information is the operating state, the second moving body and the moving body position information of the second moving body, in which the moving body electric quantity information is larger than the moving body electric quantity threshold value, are determined among the moving bodies.
In the embodiment of the present disclosure, the distance information between the plurality of mobile bodies and the target charging device may be calculated based on the mobile body position information of the plurality of mobile bodies whose mobile body electric quantity information is greater than the mobile body electric quantity threshold value and the device position information of the target charging device, and the mobile body whose distance information is the smallest may be determined as the second mobile body.
In an exemplary embodiment, a moving-body-downtime electric-quantity threshold value, which is smaller than the moving-body-downtime electric-quantity threshold value, may also be included. When the operating state information of the first mobile body is in an operating state and the mobile body electric quantity information of the first mobile body is smaller than the mobile body shutdown electric quantity threshold value, the operating state information of the first mobile body may be adjusted to an idle state.
In step S316, second path information of the second mobile body is generated from the device position information of the target charging device and the mobile body position information of the second mobile body.
In the embodiment of the present disclosure, the second path information may include a route in which the second mobile body moves to a position indicated by the device position information of the destination charging device, and the destination charging device moves to a position indicated by the mobile body position information of the first mobile body.
In step S318, a charging schedule is generated from the second path information.
In step S320, the charging schedule is transmitted to the second mobile body so that the second mobile body moves the target charging device to the first mobile body for charging according to the second path information.
According to the charging method of the movable body provided by the embodiment of the disclosure, when facing the first movable body of which the movable body electric quantity information is smaller than the movable body electric quantity threshold value, the operating state information of the first movable body is further judged. When the working state information of the first mobile body is in an idle state, the first mobile body can be scheduled to move to the target charging device for charging according to the charging scheme comprising the first path information. When the operating state information of the first mobile body is the operating state, a second mobile body with sufficient electric quantity is selected from the mobile bodies, and the second mobile body can be scheduled to move the target charging device to the first mobile body for charging according to the charging scheme comprising the second path information. In summary, the charging method for the mobile body provided by the embodiment of the disclosure can provide a set of mobile body automatic charging schemes compatible with the operating characteristics of the mobile body, so as to prolong the operating time of the mobile body, and the movable characteristics of the movable charging device can avoid the cost of laying the charging device all over the field.
Fig. 4 is a flowchart illustrating a charging method of a mobile body according to an exemplary embodiment. As shown in fig. 4, the charging method 40 of the mobile body according to the embodiment of the present disclosure may include steps S402 to S414.
In step S402, moving body power amount information and moving body position information of the moving body, and device power amount information and device position information of at least one movable charging device are acquired.
In the embodiment of the present disclosure, step S402 may take steps similar to step S202, and details are not repeated here.
In step S404, upon determining that there is a first moving body of the moving bodies having moving body electric quantity information smaller than the moving body electric quantity threshold value, a target charging device is determined among the at least one movable charging device based on the moving body position information of the first moving body, the device electric quantity information of the at least one movable charging device, and the device position information.
In the embodiment of the present disclosure, step S404 may take steps similar to step S204, which are not described herein again.
In step S406, the distribution density and the center position information of the first mobile body are calculated from the mobile body position information of the first mobile body.
In the disclosed embodiment, the distribution area of the first mobile body may be determined from the mobile body position information of the first mobile body, and the distribution density of the first mobile body may be calculated by:
distribution density is the number/distribution area of the first moving body
The center position information is a distributed center position of the first mobile body. For example, the abscissa and ordinate values of the center position information may be obtained by averaging the abscissa value and the ordinate value in the moving body position information of the first moving body, respectively.
In step S408, if the distribution density is greater than the preset density threshold value, the second moving body and the position information of the second moving body, for which the moving body electric quantity information is greater than the moving body electric quantity threshold value, are determined among the moving bodies.
In step S410, third path information of the second mobile body is generated from the center position information, the device position information of the target charging device, and the mobile body position information of the second mobile body.
In an embodiment of the present disclosure, the third route information may include a route in which the second mobile body moves to a position indicated by the device position information of the target charging device and moves the target charging device to a position indicated by the center position information.
In step S412, a charging schedule is generated from the third path information.
In step S414, the charging schedule is transmitted to the second mobile body so that the second mobile body moves the target charging device to the center position information according to the second path information and charges the first mobile body.
According to the charging method of the mobile bodies provided by the embodiment of the disclosure, when facing a first mobile body with mobile body electric quantity information smaller than a mobile body electric quantity threshold value, by calculating the distribution density and the center position information of the first mobile body, when the distribution density is larger than a preset density threshold value, a second mobile body can be scheduled to move a target charging device to the center position information according to a charging scheme including third path information, and the first mobile body is charged. In summary, the mobile charging method for the mobile body according to the embodiments of the present disclosure can charge a plurality of mobile bodies by the mobile charging device at the same time, so as to ensure timely loss and replenishment of electric energy, and can also charge the mobile bodies in a working state, so that the service life of the battery is greatly prolonged by shallow charging and shallow discharging of the battery, and the capacity of the battery is reduced.
Fig. 5 is a flowchart illustrating a charging method of a mobile body according to an exemplary embodiment. As shown in fig. 5, the charging method 50 of the mobile body according to the embodiment of the present disclosure may include steps S502 to S508.
In step S502, when it is determined that there is a charging device to be stored in the movable charging device whose device power amount information is smaller than the device power amount threshold value, the second mobile body whose mobile body power amount information is larger than the mobile body power amount threshold value and the mobile body position information of the second mobile body are determined.
In the embodiment of the disclosure, when the mobile charging device has a charging device to be stored with device electric quantity information smaller than the device electric quantity threshold, the charging device to be stored is a mobile charging device which is exhausted in rechargeable electric quantity and cannot continue to charge the mobile body.
In step S504, device position information of the stationary charging device is determined.
In the embodiment of the present disclosure, a charging device is built in the fixed charging device, and the charging device is used to realize a charging function of the movable charging device.
Fig. 9 is a schematic view of a stationary charging device according to an exemplary embodiment. As shown in fig. 9(a), the stationary charging device 910 may include a transmitting coil 911 and a charging cable 912. The transmitting coil 911 and the charging cable 912 are located in the ground. The stationary charging device 910 may charge a movable charging device and a moving body on the ground through the transmitting coil 911. As shown in fig. 9(b), the stationary charging device 920 may include a transmitting coil 921 and a charging cable 122. The transmitting coil 921 and the charging cable 922 are located inside a wall body. The stationary charging device 920 may charge the movable charging device and the moving body outside the wall body through the transmitting coil 921.
Fig. 10 is a charging scenario diagram of a stationary charging device according to an exemplary embodiment. As shown in fig. 10, a stationary charging device 1000 is located under the ground, and the movable charging device shown in fig. 7 can be charged by a transmitting coil 1001. The stationary charging device 1000 may also charge the movable charging device and the movable body shown in fig. 8.
In step S506, a charging plan of the charging apparatus to be charged is generated based on the device position information of the fixed charging apparatus, the moving body position information of the second moving body, and the device position information of the charging apparatus to be charged.
In the embodiment of the present disclosure, the fourth route may be generated based on the device position information of the fixed charging device, the moving body position information of the second moving body, and the device position information of the charging device to be charged. The fourth route may include a route in which the second mobile body moves to a position indicated by the device position information of the charging device to be charged and moves the charging device to be charged to a position indicated by the device position information of the stationary charging device.
In step S508, the energy storage scheme is sent to the second mobile body, so that the second mobile body moves the charging device to be stored to the fixed charging device for charging according to the movement path information.
According to the charging method of the movable body provided by the embodiment of the disclosure, when facing the charging device to be stored with the device electricity quantity information smaller than the device electricity quantity threshold value, the energy storage scheme of the charging device to be stored can be generated according to the device position information of the fixed charging device, the movable body position information of the second movable body and the device position information of the charging device to be stored, so that the second movable body can be scheduled to move the charging device to be stored to the fixed charging device for charging, and a scheme for automatically replenishing electricity to the movable charging device can be provided. The charging mode based on battery replacement supplies electric energy to the movable charging device in time to provide electric energy for the moving body, and the cost of laying the wireless charging device on the whole field can be avoided.
Fig. 11 is a flowchart illustrating a charging method of a mobile body according to another exemplary embodiment.
As shown in fig. 11, in step S1102, moving body power amount information and moving body position information of the moving body, and device power amount information and device position information of at least one movable charging device are acquired.
In step S1104, if the moving body power information of the moving body is less than the moving body power threshold, a charging plan for the moving body is generated based on the moving body position information of the moving body, the device power information of the at least one movable charging device, and the device position information.
In the embodiment of the present disclosure, steps similar to steps S306 to S310 and/or steps S314 to S318 and/or steps S406 to S412 may be taken in the specific process of generating the charging scheme, and are not described herein again.
In step S1106, if the mobile body electric quantity information of the mobile body is greater than or equal to the mobile body electric quantity threshold value, a charging scheme or a power storage scheme is assigned to the mobile body so that the mobile body executes the charging scheme or the power storage scheme.
In step S1108, if the device power information of the movable charging device is smaller than the device power threshold, a power storage scheme is generated based on the mobile body power information and the mobile body position information of the mobile body, and the device position information of the movable charging device.
In step S1110, if the device power information of the movable charging device is greater than or equal to the device power threshold, a charging scheme is configured for the movable charging device according to the mobile body power information and the mobile body position information of the mobile body, and the device position information of the movable charging device.
It should be clearly understood that this disclosure describes how to make and use particular examples, but the principles of this disclosure are not limited to any details of these examples. Rather, these principles can be applied to many other embodiments based on the teachings of the present disclosure.
Those skilled in the art will appreciate that all or part of the steps for implementing the above embodiments are implemented as a computer program executed by a Central Processing Unit (CPU). When executed by a central processing unit CPU, performs the above-described functions defined by the above-described methods provided by the present disclosure. The program of (a) may be stored in a computer readable storage medium, which may be a read-only memory, a magnetic or optical disk, or the like.
Furthermore, it should be noted that the above-mentioned figures are only schematic illustrations of the processes involved in the methods according to exemplary embodiments of the present disclosure, and are not intended to be limiting. It will be readily understood that the processes shown in the above figures are not intended to indicate or limit the chronological order of the processes. In addition, it is also readily understood that these processes may be performed synchronously or asynchronously, e.g., in multiple modules.
The following are embodiments of the disclosed apparatus that may be used to perform embodiments of the disclosed methods. For details not disclosed in the embodiments of the apparatus of the present disclosure, refer to the embodiments of the method of the present disclosure.
Fig. 12 is a block diagram illustrating a charging apparatus of a mobile body according to an exemplary embodiment. Referring to fig. 12, a charging device 1200 of a mobile body provided in an embodiment of the present disclosure may include: an information acquisition module 1202, a target device module 1204, a charging schedule module 1206, and a schedule transmission module 1208.
In the charging device 1200 of a mobile body, the information acquisition module 1202 may be configured to acquire mobile body power amount information and mobile body position information of the mobile body, and device power amount information and device position information of at least one movable charging device.
The target device module 1204 may be configured to determine a target charging device among the at least one movable charging device based on the moving body position information of the first movable body, the device power amount information of the at least one movable charging device, and the device position information, when it is determined that there is a first movable body having moving body power amount information smaller than a moving body power amount threshold value among the movable bodies.
The charging scheme module 1206 may be configured to generate a charging scheme based on the device position information of the target charging device and the mobile body position information of the first mobile body.
The scheme transmitting module 1208 may be configured to transmit the charging scheme to the mobile body so that the mobile body and the target charging device charge the first mobile body according to the charging scheme.
In an exemplary embodiment, the charging scheme module 1206 may include a first state unit, a first path unit, and a first scheme unit. Wherein the first status unit may be configured to acquire operating status information of the first mobile body; the first path unit may be configured to generate first path information of the first mobile body based on the device position information of the target charging device and the mobile body position information of the first mobile body if the operating state of the first mobile body is the idle state; the first scheme unit may be configured to generate the charging scheme according to the first path information.
In an exemplary embodiment, the scheme transmitting module 1208 may be configured to transmit the charging scheme to the first mobile body so that the first mobile body moves to the target charging device for charging according to the first path information.
In an exemplary embodiment, the charging scheme module 1206 may include a second state unit, a second moving body unit, a second path unit, and a second scheme unit. Wherein the second status unit may be configured to acquire operating status information of the first mobile body; the second moving body unit may be configured to determine, among the moving bodies, a second moving body whose moving body electric quantity information is larger than the moving body electric quantity threshold value and moving body position information of the second moving body if the operating state information is the operating state; the second path unit may be configured to generate second path information of the second moving body from the device position information of the target charging device and the moving body position information of the second moving body; the second scheme unit may be configured to generate the charging scheme according to the second path information.
In an exemplary embodiment, the scheme transmitting module 1208 may be configured to transmit the charging scheme to the second moving body so that the second moving body moves the target charging device to the first moving body for charging according to the second path information.
In an exemplary embodiment, the charging scheme module 1206 may include a distribution density unit, a second mobile unit, a third path unit, and a third scheme unit. Wherein the distribution density unit may be configured to calculate the distribution density and the center position information of the first mobile body from the mobile body position information of the first mobile body; the second moving body unit may be configured to determine, among the moving bodies, the second moving body whose moving body electric quantity information is larger than the moving body electric quantity threshold value and position information of the second moving body if the distribution density is larger than a preset density threshold value; the third path unit may be configured to generate third path information of the second mobile body from the center position information, the device position information of the target charging device, and the mobile body position information of the second mobile body; the third scheme unit may be configured to generate the charging scheme according to the third path information.
In an exemplary embodiment, the scheme transmitting module 1208 may be configured to transmit the charging scheme to the second moving body so that the second moving body moves the target charging device to the center position information according to the second path information and charges the first moving body.
In an exemplary embodiment, the target device module 1204 may include an alternative device unit and a target device unit. Wherein the alternative device unit may be configured to determine a movable charging device having a charge amount information larger than the battery charge amount threshold as the alternative charging device; the target device unit may be configured to determine the target charging device among the candidate charging devices based on the device position information of the candidate charging devices and the moving body position information of the first moving body.
In an exemplary embodiment, the charging apparatus 1200 of the mobile body may further include an energy storage apparatus module, a fixed apparatus position module, an energy storage scheme module, and an energy storage scheme transmission module. The energy storage device module can be configured to determine a second moving body and moving body position information of the second moving body, wherein the moving body electric quantity information is larger than the moving body electric quantity threshold value, when the charging device to be stored with the device electric quantity information smaller than the device electric quantity threshold value is determined in the movable charging device; the stationary device location module may be configured to determine device location information for the stationary charging device; the energy storage scheme module may be configured to generate an energy storage scheme of the charging apparatus to be energy stored according to the apparatus position information of the fixed charging apparatus, the moving body position information of the second moving body, and the apparatus position information of the charging apparatus to be energy stored; the energy storage scheme sending module can be configured to send the energy storage scheme to the second moving body so that the second moving body moves the charging device to be stored to the fixed charging device for charging according to the moving path information.
In an exemplary embodiment, the movable charging device charges the first mobile body by a magnetic resonance coupling type charging manner.
According to the charging device for the mobile body provided by the embodiment of the disclosure, when the mobile body has the first mobile body with the mobile body electric quantity information smaller than the mobile body electric quantity threshold value, the target charging device is determined in the at least one movable charging device according to the mobile body position information of the first mobile body, the device electric quantity information of the at least one movable charging device and the device position information, and the charging scheme is generated according to the device position information of the target charging device and the mobile body position information of the first mobile body, so that the mobile body and the target charging device charge the first mobile body according to the charging scheme. The charging scheme of a set of automatic, efficient and highly-adaptive moving body can be realized, the working time of the moving body is prolonged, and the cost required for laying the wireless charging device on the whole field and changing the operation place is reduced.
FIG. 13 is a block diagram illustrating an electronic device in accordance with an example embodiment.
An electronic device 200 according to this embodiment of the present disclosure is described below with reference to fig. 13. The electronic device 200 shown in fig. 13 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.
As shown in fig. 13, the electronic device 200 is embodied in the form of a general purpose computing device. The components of the electronic device 200 may include, but are not limited to: at least one processing unit 210, at least one memory unit 220, a bus 230 connecting different system components (including the memory unit 220 and the processing unit 210), a display unit 240, and the like.
Wherein the storage unit stores program code executable by the processing unit 210 to cause the processing unit 210 to perform the steps according to various exemplary embodiments of the present disclosure described in the above-mentioned electronic prescription flow processing method section of the present specification. For example, the processing unit 210 may perform the steps as shown in fig. 2, fig. 3, fig. 4, fig. 5, fig. 11.
The storage unit 220 may include readable media in the form of volatile storage units, such as a random access memory unit (RAM)2201 and/or a cache memory unit 2202, and may further include a read only memory unit (ROM) 2203.
The storage unit 220 may also include a program/utility 2204 having a set (at least one) of program modules 2205, such program modules 2205 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may comprise an implementation of a network environment.
Bus 230 may be one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.
The electronic device 200 may also communicate with one or more external devices 300 (e.g., keyboard, pointing device, bluetooth device, etc.), with one or more devices that enable a user to interact with the electronic device 200, and/or with any devices (e.g., router, modem, etc.) that enable the electronic device 200 to communicate with one or more other computing devices. Such communication may occur via an input/output (I/O) interface 250. Also, the electronic device 200 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the Internet) via the network adapter 260. The network adapter 260 may communicate with other modules of the electronic device 200 via the bus 230. It should be appreciated that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the electronic device 200, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which may be a personal computer, a server, or a network device, etc.) to execute the above method according to the embodiments of the present disclosure.
FIG. 14 schematically illustrates a computer-readable storage medium in an exemplary embodiment of the disclosure.
Referring to fig. 14, a program product 400 for implementing the above method according to an embodiment of the present disclosure is described, which may employ a portable compact disc read only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present disclosure is not limited thereto, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
A computer readable storage medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable storage medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations for the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., through the internet using an internet service provider).
The computer readable medium carries one or more programs which, when executed by a device, cause the computer readable medium to perform the functions of: acquiring moving body power information and moving body position information of a moving body, and device power information and device position information of at least one movable charging device; determining a target charging device among the at least one movable charging device based on the moving body position information of the first movable body, the device power information of the at least one movable charging device, and the device position information, when determining that there is a first movable body among the movable bodies having moving body power information smaller than a moving body power threshold; generating a charging plan based on the device position information of the target charging device and the moving body position information of the first moving body; the charging schedule is transmitted to the mobile body so that the mobile body and the target charging device charge the first mobile body according to the charging schedule.
Those skilled in the art will appreciate that the modules described above may be distributed in the apparatus according to the description of the embodiments, or may be modified accordingly in one or more apparatuses unique from the embodiments. The modules of the above embodiments may be combined into one module, or further split into multiple sub-modules.
Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which may be a personal computer, a server, a mobile terminal, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.
Exemplary embodiments of the present disclosure are specifically illustrated and described above. It is to be understood that the present disclosure is not limited to the precise arrangements, instrumentalities, or instrumentalities described herein; on the contrary, the disclosure is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims (13)

1. A method for charging a mobile body, comprising:
acquiring moving body power information and moving body position information of a moving body, and device power information and device position information of at least one movable charging device;
determining a target charging device among at least one of the movable charging devices based on moving body position information of the first moving body, device power information of at least one of the movable charging devices, and device position information, when it is determined that there is a first moving body among the movable bodies whose moving body power information is smaller than a moving body power threshold value;
generating a charging plan based on the device position information of the target charging device and the moving body position information of the first moving body;
and sending the charging scheme to the moving body so that the moving body and the target charging device charge the first moving body according to the charging scheme.
2. The method according to claim 1, wherein generating a charging plan based on the device position information of the target charging device and the moving body position information of the first moving body comprises:
acquiring working state information of the first mobile body;
if the operating state of the first mobile body is an idle state, generating first path information of the first mobile body according to device position information of the target charging device and mobile body position information of the first mobile body;
and generating the charging scheme according to the first path information.
3. The method of claim 2, wherein sending the charging profile to the mobile body for the mobile body and the target charging device to charge the first mobile body according to the charging profile comprises:
and sending the charging scheme to the first moving body so that the first moving body can move to the target charging device for charging according to the first path information.
4. The method according to claim 1, wherein generating a charging plan based on the device position information of the target charging device and the moving body position information of the first moving body comprises:
acquiring working state information of the first mobile body;
if the operating state information is in an operating state, determining a second moving body with moving body electric quantity information larger than a moving body electric quantity threshold value and moving body position information of the second moving body in the moving bodies;
generating second path information of the second moving body based on the device position information of the target charging device and the moving body position information of the second moving body;
and generating the charging scheme according to the second path information.
5. The method of claim 4, wherein sending the charging profile to the mobile body for the mobile body and the target charging device to charge the first mobile body according to the charging profile comprises:
and sending the charging scheme to the second mobile body so that the second mobile body moves the target charging device to the first mobile body for charging according to the second path information.
6. The method according to claim 1, wherein generating a charging plan based on the device position information of the target charging device and the moving body position information of the first moving body comprises:
calculating distribution density and center position information of the first mobile body from the mobile body position information of the first mobile body;
if the distribution density is larger than a preset density threshold value, determining a second moving body with moving body electric quantity information larger than a moving body electric quantity threshold value and position information of the second moving body in the moving bodies;
generating third path information of the second mobile body from the center position information, the device position information of the target charging device, and the mobile body position information of the second mobile body;
and generating the charging scheme according to the third path information.
7. The method of claim 6, wherein sending the charging profile to the mobile body for the mobile body and the target charging device to charge the first mobile body according to the charging profile comprises:
and sending the charging scheme to the second moving body so that the second moving body moves the target charging device to the central position information according to the second path information and charges the first moving body.
8. The method according to claim 1, wherein determining a target charging device among the at least one movable charging device based on the moving body position information of the first moving body, the electric quantity information and the position information of the at least one movable charging device comprises:
determining the movable charging device with the electric quantity information larger than the battery electric quantity threshold value as an alternative charging device;
the target charging device is determined in the candidate charging device based on the device position information of the candidate charging device and the moving body position information of the first moving body.
9. The method of claim 1, further comprising:
when determining that the movable charging device is provided with a charging device to be stored with device electric quantity information smaller than a device electric quantity threshold value, determining a second moving body with moving body electric quantity information larger than a moving body electric quantity threshold value and moving body position information of the second moving body;
determining device location information for a stationary charging device;
generating an energy storage scheme of the charging device to be stored according to the device position information of the fixed charging device, the moving body position information of the second moving body and the device position information of the charging device to be stored;
and sending the energy storage scheme to the second moving body so that the second moving body can move the charging device to be stored to the fixed charging device to charge according to the moving path information.
10. The method according to claim 1, wherein the movable charging device charges the first mobile body by a magnetic resonance coupling type charging method.
11. A charging device for a mobile body, comprising:
an information acquisition module configured to acquire moving body power information and moving body position information of a moving body, and device power information and device position information of at least one movable charging device;
a target device module configured to determine a target charging device among at least one of the movable charging devices according to the moving body position information of the first moving body, the device power amount information of at least one of the movable charging devices, and the device position information, when it is determined that there is a first moving body among the movable bodies having moving body power amount information smaller than a moving body power amount threshold;
a charging scheme module configured to generate a charging scheme based on the device position information of the target charging device and the moving body position information of the first moving body;
a scheme transmission module configured to transmit the charging scheme to the mobile body so that the mobile body and the target charging device charge the first mobile body according to the charging scheme.
12. An electronic device, comprising:
one or more processors;
storage means for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-10.
13. A computer-readable medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 1-10.
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