CN112911499A - Supply method, device, storage medium and electronic equipment - Google Patents
Supply method, device, storage medium and electronic equipment Download PDFInfo
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- CN112911499A CN112911499A CN202110050833.9A CN202110050833A CN112911499A CN 112911499 A CN112911499 A CN 112911499A CN 202110050833 A CN202110050833 A CN 202110050833A CN 112911499 A CN112911499 A CN 112911499A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/024—Guidance services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
Abstract
The specification discloses a supply method, a supply device, a storage medium and electronic equipment, and the embodiment of the specification monitors the running state of target equipment and the position of a currently cruising supply vehicle in real time. Wherein the target equipment is equipment needing replenishment. And determining a supply route of the target equipment according to the monitored position of the target equipment and the position of the supply vehicle. The target device is instructed to travel along the tender route so that the target device enters the interior of the tender car. And then, the target equipment is replenished through a replenishing vehicle. In this method, since the tender car is in a cruising state, the target apparatus outside the fixed area can be replenished.
Description
Technical Field
The present disclosure relates to the field of computer technologies, and in particular, to a replenishment method, a replenishment apparatus, a storage medium, and an electronic device.
Background
Today, with the development of automatic driving technology, many unmanned devices are emerging, such as: unmanned aerial vehicles, unmanned vehicles, and the like. In order for the drone to continue to operate, it is necessary to recharge or maintain the drone.
In the prior art, the area for supplying the unmanned equipment is fixed, and the unmanned equipment can be supplied only by driving to the fixed area.
However, the replenishment methods of the prior art are not applicable to all unmanned devices requiring replenishment.
Disclosure of Invention
Embodiments of the present disclosure provide a replenishment method, an apparatus, a storage medium, and an electronic device, so as to partially solve the problems in the prior art.
The embodiment of the specification adopts the following technical scheme:
the present specification provides a replenishment method, comprising:
monitoring the running state of the target equipment and the position of the currently cruising tender car; wherein the target equipment is equipment needing to be replenished;
determining a replenishment route of the target equipment according to the monitored position of the target equipment and the position of the replenishment car;
instructing the target device to travel according to the supply route so that the target device enters the interior of the supply vehicle;
and after the target equipment enters the interior of the supply vehicle, indicating the supply vehicle to supply the target equipment.
Optionally, before monitoring the driving state of the target device and the position of the currently cruising tender car, the method further includes:
dividing a working area of the target equipment into a plurality of sub-areas according to the road network information;
for each subarea, indicating a supply vehicle in the subarea to cruise according to a preset running route;
the position of the tender car of the running state of control target device and current cruise specifically includes:
and monitoring the running state of the target equipment in each subarea and the position of the tender car currently cruising in the subarea aiming at each subarea.
Optionally, determining a replenishment route of the target device according to the monitored position of the target device and the position of the replenishment vehicle specifically includes:
determining a replenishment route of the target device following the replenishment vehicle according to the monitored current position of the target device and the current position of the replenishment vehicle;
instructing the target device to travel according to the replenishment route so that the target device enters the interior of the replenishment vehicle, specifically including:
and instructing the target equipment to run according to the supply route so that the target equipment follows the supply route of the supply vehicle, so that the supply vehicle establishes communication with the target equipment following the supply vehicle, and guiding the target equipment to enter the interior of the supply vehicle based on the established communication.
Optionally, instructing the target device to travel according to the replenishment route so that the target device enters the interior of the replenishment vehicle, specifically including:
when monitoring that the running state of the target equipment is abnormal, determining the equipment identifier of the target equipment;
sending the determined equipment identifier to the supply vehicle as a supply equipment identifier;
the target equipment is instructed to run according to the supply route, so that the supply vehicle guides the target equipment corresponding to the matching equipment identifier which is successfully matched with the specified equipment identifier into the interior of the supply vehicle; the matching device identification is the device identification of the target device which follows the supply vehicle and is received by the supply vehicle.
The present specification provides a replenishing apparatus including:
the monitoring module is used for monitoring the running state of the target equipment and the position of the currently cruising supply vehicle; wherein the target equipment is equipment needing to be replenished;
the determining module is used for determining a replenishment route of the target equipment according to the monitored position of the target equipment and the position of the replenishment car;
the driving module is used for indicating the target equipment to drive according to the supply route so as to enable the target equipment to enter the interior of the supply vehicle;
and the supply module is used for indicating the supply vehicle to supply the target equipment after the target equipment enters the interior of the supply vehicle.
The present specification provides a tender car, includes: the device comprises a vehicle body, a controller, a supply channel and supply equipment;
the controller is positioned in the vehicle body and used for communicating with the server and controlling the vehicle body to cruise according to the received instruction of the server;
the supply passage is used for providing a passage for connecting the outside of the vehicle body and the inside of the vehicle body;
the supply device is located inside the vehicle body and used for supplying target devices entering the vehicle body.
Optionally, the controller is further configured to receive, as a specified device identifier, a device identifier of the target device that needs to be replenished, where the device identifier is sent by the server; when the target equipment follows the vehicle body, establishing communication with the target equipment following the vehicle body, and receiving equipment identification of the target equipment returned by the target equipment following the vehicle body as matched equipment identification; and matching the specified equipment identification with the matched equipment identification, if the matching is successful, opening the supply channel, and guiding the target equipment corresponding to the successfully matched equipment identification into the interior of the vehicle body.
Optionally, the replenishment passage comprises: a first replenishment passage and a second replenishment passage;
the first supply channel is used for providing a channel for the unmanned aerial vehicle to enter the interior of the vehicle body;
the second supply passage is used for providing a passage for the unmanned vehicle to enter the interior of the vehicle body.
The present specification provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the replenishment method described above.
The present specification provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the replenishment method when executing the program.
The embodiment of the specification adopts at least one technical scheme which can achieve the following beneficial effects:
the embodiment of the specification monitors the running state of the target equipment and the position of the currently cruising tender car in real time. Wherein the target equipment is equipment needing replenishment. And determining a supply route of the target equipment according to the monitored position of the target equipment and the position of the supply vehicle. The target device is instructed to travel along the tender route so that the target device enters the interior of the tender car. And then, the target equipment is replenished through a replenishing vehicle. In this method, since the tender car is in a cruising state, the target apparatus outside the fixed area can be replenished.
Drawings
The accompanying drawings, which are included to provide a further understanding of the specification and are incorporated in and constitute a part of this specification, illustrate embodiments of the specification and together with the description serve to explain the specification and not to limit the specification in a non-limiting sense. In the drawings:
FIG. 1 is a schematic illustration of a replenishment process provided by an embodiment of the present disclosure;
FIG. 2 is a schematic view of a tender car cruise provided in the embodiments of the present disclosure;
fig. 3a to 3b are schematic diagrams of a supply vehicle guiding a target device into the interior of the supply vehicle according to an embodiment of the present disclosure;
FIG. 4 is a schematic structural diagram of a replenishment device provided in an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of an electronic device provided in an embodiment of this specification.
Detailed Description
In order to make the objects, technical solutions and advantages of the present disclosure more clear, the technical solutions of the present disclosure will be clearly and completely described below with reference to the specific embodiments of the present disclosure and the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present disclosure, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present specification without any creative effort belong to the protection scope of the present specification.
The technical solutions provided by the embodiments of the present description are described in detail below with reference to the accompanying drawings.
In the prior art, a fixed area is set as a supply area. When the unmanned equipment needing to be replenished carries out the replenishing area, the replenishing vehicle in the replenishing area can replenish the unmanned equipment. Such a replenishment method results in failure to timely replenish unmanned facilities in the non-replenishment area that require replenishment. Even some of the malfunctioning unmanned devices are unable to travel to the replenishment area, and are less likely to be replenished.
In order to solve the problems in the prior art, the specification provides a supply vehicle.
In an embodiment of the present specification, a replenishment vehicle for providing replenishment to an unmanned aerial vehicle includes: the vehicle body, controller, supply passageway and supply equipment. Wherein the controller is located inside the vehicle body and is used for communicating with the server. The supply passage is used for providing a passage connecting the outside of the vehicle body and the inside of the vehicle body. The replenishing device is located inside the vehicle body and is used for replenishing unmanned equipment entering the inside of the vehicle body.
It should be noted that the tender car provided by the present specification can be used for energy supplement and maintenance of unmanned equipment.
Based on the replenishment vehicle provided above, the present specification provides a replenishment method, as shown in fig. 1.
Fig. 1 is a schematic diagram of a replenishment process provided in an embodiment of the present disclosure, including:
s100: monitoring the running state of the target equipment and the position of the currently cruising tender car; wherein the target equipment is equipment needing replenishment.
In the embodiments of the present specification, the target device may be an unmanned device, such as: unmanned aerial vehicles, unmanned vehicles, and the like. The server may monitor a driving state of the target device and a position of a tender car currently cruising, wherein the driving state includes: the location of travel, whether a fault has occurred, the amount of remaining power, etc. When the driving state of the target equipment is abnormal, the target equipment possibly fails and cannot drive; it may also be that the current remaining power of the target device is less than the preset threshold.
Specifically, before monitoring the driving state of the target device and the position of the currently cruising tender car, the working area of the target device may be divided into a plurality of sub-areas according to the road network information, for each sub-area, the server sends a cruise instruction to the tender car in the sub-area, and after receiving the instruction from the server, the controller in the tender car controls the tender car to cruise according to a preset driving route. Then, for each sub-area, the server monitors the travel state of the target device in that sub-area and the position of the tender car currently cruising within that sub-area.
The method for determining the driving route for the tender car to cruise comprises the following steps: and acquiring a task point of the target equipment in each subarea which executes the task historically. And clustering the positions reached by the target equipment to obtain a cluster. And determining a driving route for the supply vehicle to cruise according to the number of the task points in the cluster.
Specifically, if the number of the task points in the cluster is greater than a first preset threshold value, the length of a part of the driving route, which is in the preset range of the cluster center of the cluster, of the driving route on which the supply vehicle cruises is greater than a second preset threshold value. If the number of the coordinate points in the cluster is smaller than a first preset threshold value, the length of a part of driving route, which is in the preset range of the cluster center of the cluster, of the driving route for the supplementary vehicle to cruise is smaller than a second preset threshold value. As shown in fig. 2.
In fig. 2, there are cluster a and cluster B. The cluster A comprises 6 coordinate points, the cluster B comprises 2 coordinate points, the preset range of the cluster A is a circle with the center of the cluster A as the center of a circle and the radius of 1km, the preset range of the cluster B is a circle with the center of the cluster B as the center of a circle and the radius of 500m, the first preset threshold value is 5, and the second preset threshold value is 15 km. Thus, the tender car may cruise 3 revolutions around cluster a, i.e., the length of the travel route cruising near cluster a is at least 18 km. The tender car only navigates 1 turn around cluster B, i.e., the length of the travel route navigated near cluster B is about 3 km. In fig. 2, the broken line indicates a travel route along which the tender car travels.
S102: and determining a supply route of the target equipment according to the monitored position of the target equipment and the position of the supply vehicle.
In an embodiment of the present specification, the server acquires a current location of the target device according to the monitored driving state of the target device. And the server determines a supply route of the target equipment along the supply vehicle according to the current position of the target equipment and the current position of the supply vehicle.
S104: and instructing the target equipment to run according to the supply route so that the target equipment enters the interior of the supply vehicle.
In the embodiment of the present specification, after determining that the target device follows the replenishment route of the replenishment vehicle through step S102, the server instructs the target device to travel according to the replenishment route, so that the replenishment vehicle guides the target device corresponding to the matching device identifier that is successfully matched with the specified device identifier into the interior of the replenishment vehicle; the specific equipment identifier is the equipment identifier of the target equipment with abnormal running state determined by the server and received by the supply vehicle, and the matched equipment identifier is the equipment identifier sent by the target equipment following the supply vehicle and received by the supply vehicle. That is, during the target device following the tender car, the tender car may establish communication with the target device following the tender car. After communication is established, the tender car can only guide the following target device into the interior of the tender car.
Specifically, when the server monitors that the driving state of the target device is abnormal, the server may determine the device identifier of the target device whose driving state is abnormal. And the server sends the determined equipment identifier to the supply vehicle as a specified equipment identifier. When the target device follows the supply vehicle, the controller in the supply vehicle broadcasts the identifier of the supply vehicle to the target device following the supply vehicle within the preset range, so that the target device receiving the identifier of the supply vehicle establishes communication with the supply vehicle according to the identifier of the supply vehicle. The target device following the tender car transmits its own device identification to the controller based on the established communication. And the controller receives the device identification of the target device returned by the target device following the supply vehicle as the matching device identification. And the controller matches the specified equipment identifier with the matched equipment identifier, if the matching is successful, a supply channel of the supply vehicle is opened, and the target equipment corresponding to the successfully matched equipment identifier is guided to supply the interior of the supply vehicle.
S106: and after the target equipment enters the interior of the supply vehicle, indicating the supply vehicle to supply the target equipment.
In the embodiment of the present specification, after the target device enters the interior of the tender car, the controller of the tender car controls the replenishing device inside the tender car to replenish the target device.
As can be seen from the method shown in fig. 1, the present specification monitors the driving state of the target device and the position of the currently cruising tender car in real time. Wherein the target equipment is equipment needing replenishment. And determining a supply route of the target equipment according to the monitored position of the target equipment and the position of the supply vehicle. The target device is instructed to travel along the tender route so that the target device enters the interior of the tender car. And then, the target equipment is replenished through a replenishing vehicle. In the method, the target equipment which is not in the fixed area can be replenished because the replenishment vehicle is in a cruising state, and the target equipment enters the interior of the replenishment vehicle for replenishment, so that space resources can be saved.
Further, in step S104 shown in fig. 1, when there are a plurality of target apparatuses, for each target apparatus, a time when the target apparatus starts following the tender car and a current remaining power of the target apparatus may be determined. And sequencing all the target equipment according to the time when each target equipment starts to follow the supply vehicle and the current remaining electric quantity of each target equipment. And guiding each target device into the interior of the supply vehicle in sequence by the supply vehicle according to the sequence of each target device.
In addition, the server transmits the device identifier of the target device with abnormal running state to the supply vehicle as the designated device identifier. And after the controller in the supply vehicle receives the specified equipment identification, classifying the specified equipment identification. And determining the corresponding replenishing channel when the different types of specified equipment identifications enter the replenishing vehicle according to the classification result. Wherein, the supply passage of supply car includes: a first replenishment passage and a second replenishment passage.
When the target device follows the tender car, a controller in the tender car is used to establish communication with the target device following the tender car. After the supply vehicle establishes communication with the target device following the supply vehicle, the controller in the supply vehicle receives the device identifier of the target device sent by the target device following the supply vehicle, and the device identifier is used as a matching device identifier. After the appointed equipment identification is matched with the matching equipment identification, the corresponding replenishing channel enters the replenishing vehicle according to the appointed equipment identifications of different types, and the target equipment corresponding to the matching equipment identification which is successfully matched with the appointed equipment identification is guided to enter the interior of the replenishing vehicle.
Specifically, the target device can be unmanned aerial vehicle and unmanned car, and the supply passage of supply car includes: a first replenishment passage and a second replenishment passage. Wherein, first supply passage is for unmanned aerial vehicle provides the inside passageway of getting into the tender car, and second supply passage is for unmanned aerial vehicle provides the inside passageway of getting into the tender car. After the communication is established with the target device who follows the tender car at the tender car, when the equipment sign of the unmanned aerial vehicle who follows the tender car matches with the equipment sign of the unmanned aerial vehicle that the unusual appears in the travel state that the server that the tender car received, the first supply passage of controller control tender car in the tender car is opened to guide this unmanned aerial vehicle to get into the inside of tender car through first supply passage. Similarly, when the device identification of the unmanned vehicle following the tender car is matched with the device identification of the unmanned vehicle with abnormal driving state received by the tender car and determined by the server, the controller in the tender car controls the second replenishing channel of the tender car to be opened and guides the unmanned car to enter the interior of the tender car through the second replenishing channel. As shown in fig. 3 a-3 b.
In fig. 3a to 3b, the replenishment carriage includes a vehicle body, a first replenishment passage, and a second replenishment passage. The interface connected with the first supply channel is arranged at the top of the vehicle body, and the interface connected with the second supply channel is arranged at the tail of the vehicle body. The first supply passage of the supply vehicle has two interfaces: a first replenishment channel connection 1 and a first replenishment channel connection 2. First supply passage can be unmanned aerial vehicle lift platform, has the two-dimensional code that is used for unmanned aerial vehicle discernment on unmanned aerial vehicle lift platform.
In fig. 3a, a range covered by a circle having a center of the tender car and a radius of 200m is defined as a broadcast range of the tender car. Unmanned vehicle and unmanned aerial vehicle follow the in-process at the tender car, because unmanned vehicle and unmanned aerial vehicle are apart from tender car 20m, so unmanned vehicle and unmanned aerial vehicle are in the broadcast scope of tender car. After the controller of the supply vehicle broadcasts the identification of the supply vehicle to the unmanned vehicle and the unmanned vehicle within the broadcasting range, the supply vehicle can establish communication with the unmanned vehicle and the unmanned vehicle within the broadcasting range. After the supply vehicle establishes communication with unmanned vehicle and unmanned aerial vehicle, the equipment sign that the controller in the supply vehicle sent unmanned vehicle and unmanned aerial vehicle received compares with the equipment sign that the server is confirmed, promptly, judges whether unmanned vehicle and unmanned aerial vehicle following the supply vehicle are the equipment that needs the supply.
In fig. 3b, after the controller of the tender car compares the received device identifiers sent by the unmanned car and the unmanned plane with the device identifier determined by the server, it is determined that both the unmanned car and the unmanned plane are devices that need to be replenished. Then, the controller of the tender car sends stop information to the unmanned car and the unmanned aerial vehicle, wherein the stop information includes a stop position. After the unmanned vehicle and the unmanned vehicle receive the stop information sent by the supply vehicle, the unmanned vehicle and the unmanned vehicle stop running when reaching the stop position in the stop information. After the supply vehicle, the unmanned vehicle and the unmanned aerial vehicle stop running, the controller of the supply vehicle simultaneously opens the interface 2 of the first supply passage corresponding to the unmanned aerial vehicle and the interface of the second supply passage corresponding to the unmanned aerial vehicle. After the interface of the second supply channel is opened, a guide plate extends out of the tail of the supply vehicle and is used for connecting the interface of the second supply channel with the ground. The unmanned vehicle enters the interior of the supply vehicle by the guide plate. Of course, the supply vehicle may not stop traveling when guiding the unmanned vehicle and the unmanned vehicle into the supply vehicle.
Based on the same idea, the replenishment method provided for the embodiment of the present specification further provides a corresponding apparatus, a storage medium, and an electronic device.
Fig. 4 is a schematic structural diagram of a replenishment device provided in an embodiment of the present specification, where the replenishment device includes:
the monitoring module 401 is used for monitoring the running state of the target equipment and the position of the currently cruising tender car; wherein the target equipment is equipment needing to be replenished;
a determining module 402, configured to determine a replenishment route of the target device according to the monitored position of the target device and the position of the replenishment vehicle;
a driving module 403, configured to instruct the target device to drive according to the replenishment route, so that the target device enters the interior of the replenishment vehicle;
a replenishment module 404, configured to instruct the replenishment cart to replenish the target device after the target device enters the interior of the replenishment cart.
Optionally, before monitoring the driving state of the target device and the position of the currently cruising tender car, the monitoring module 401 is further configured to divide the working area of the target device into a plurality of sub-areas according to the road network information; for each subarea, indicating a supply vehicle in the subarea to cruise according to a preset running route;
optionally, the monitoring module 401 is specifically configured to monitor, for each sub-area, a driving state of a target device in the sub-area and a position of a tender car currently cruising in the sub-area.
Optionally, the determining module 402 is specifically configured to determine, according to the monitored current location of the target device and the current location of the tender car, a tender route of the target device following the tender car.
Optionally, the running module 403 is specifically configured to instruct the target device to run according to the supply route, so that the target device follows the supply route of the supply vehicle, so that the supply vehicle establishes communication with the target device following the supply vehicle, and guide the target device to enter the interior of the supply vehicle based on the established communication.
Optionally, the running module 403 is specifically configured to, when it is monitored that the running state of the target device is abnormal, determine a device identifier of the target device; sending the determined equipment identifier to the supply vehicle as a specified equipment identifier; the target equipment is instructed to run according to the supply route, so that the supply vehicle guides the target equipment corresponding to the matching equipment identifier which is successfully matched with the specified equipment identifier into the interior of the supply vehicle; the matching device identification is the device identification of the target device which follows the supply vehicle and is received by the supply vehicle.
Optionally, the running module 403 is specifically configured to determine that there are multiple target devices; the method for guiding the target device corresponding to the successfully matched device identifier to enter the inside of the replenishment car includes: determining the time when the target equipment starts to follow the replenishing vehicle and the current remaining electric quantity of the target equipment for each target equipment corresponding to the successfully matched equipment identifier; sequencing the target equipment according to the time and the electric quantity; and guiding each target device to enter the interior of the supply vehicle in sequence through the supply vehicle according to the sequence of each target device.
The present specification also provides a computer-readable storage medium having stored thereon a computer program, which, when executed by a processor, is operable to perform the replenishment method provided in fig. 1 above.
Based on the prediction method of the motion trajectory shown in fig. 1, the embodiment of the present specification further provides a schematic structural diagram of the unmanned device shown in fig. 5. As shown in fig. 5, the drone includes, at the hardware level, a processor, an internal bus, a network interface, a memory, and a non-volatile memory, although it may also include hardware required for other services. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs the computer program to implement the replenishment method described above with reference to fig. 1.
Of course, besides the software implementation, the present specification does not exclude other implementations, such as logic devices or a combination of software and hardware, and the like, that is, the execution subject of the following processing flow is not limited to each logic unit, and may be hardware or logic devices.
In the 90 s of the 20 th century, improvements in a technology could clearly distinguish between improvements in hardware (e.g., improvements in circuit structures such as diodes, transistors, switches, etc.) and improvements in software (improvements in process flow). However, as technology advances, many of today's process flow improvements have been seen as direct improvements in hardware circuit architecture. Designers almost always obtain the corresponding hardware circuit structure by programming an improved method flow into the hardware circuit. Thus, it cannot be said that an improvement in the process flow cannot be realized by hardware physical modules. For example, a Programmable Logic Device (PLD), such as a Field Programmable Gate Array (FPGA), is an integrated circuit whose Logic functions are determined by programming the Device by a user. A digital system is "integrated" on a PLD by the designer's own programming without requiring the chip manufacturer to design and fabricate application-specific integrated circuit chips. Furthermore, nowadays, instead of manually making an Integrated Circuit chip, such Programming is often implemented by "logic compiler" software, which is similar to a software compiler used in program development and writing, but the original code before compiling is also written by a specific Programming Language, which is called Hardware Description Language (HDL), and HDL is not only one but many, such as abel (advanced Boolean Expression Language), ahdl (alternate Hardware Description Language), traffic, pl (core universal Programming Language), HDCal (jhdware Description Language), lang, Lola, HDL, laspam, hardward Description Language (vhr Description Language), vhal (Hardware Description Language), and vhigh-Language, which are currently used in most common. It will also be apparent to those skilled in the art that hardware circuitry that implements the logical method flows can be readily obtained by merely slightly programming the method flows into an integrated circuit using the hardware description languages described above.
The controller may be implemented in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, an Application Specific Integrated Circuit (ASIC), a programmable logic controller, and an embedded microcontroller, examples of which include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320, the memory controller may also be implemented as part of the control logic for the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller as pure computer readable program code, the same functionality can be implemented by logically programming method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Such a controller may thus be considered a hardware component, and the means included therein for performing the various functions may also be considered as a structure within the hardware component. Or even means for performing the functions may be regarded as being both a software module for performing the method and a structure within a hardware component.
The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functions of the various elements may be implemented in the same one or more software and/or hardware implementations of the present description.
As will be appreciated by one skilled in the art, embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, the description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the description may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The description has been presented with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the description. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, the description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the description may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
This description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The above description is only an example of the present specification, and is not intended to limit the present specification. Various modifications and alterations to this description will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present specification should be included in the scope of the claims of the present specification.
Claims (10)
1. A tender car, comprising: the device comprises a vehicle body, a controller, a supply channel and supply equipment;
the controller is positioned in the vehicle body and used for communicating with the server and controlling the vehicle body to cruise according to the received instruction of the server;
the supply passage is used for providing a passage for connecting the outside of the vehicle body and the inside of the vehicle body;
the supply device is located inside the vehicle body and used for supplying target devices entering the vehicle body.
2. The replenishment vehicle of claim 1, wherein the controller is further configured to receive, as the designated device identifier, a device identifier of the target device to be replenished, which is sent by the server; when the target equipment follows the vehicle body, establishing communication with the target equipment following the vehicle body, and receiving equipment identification of the target equipment returned by the target equipment following the vehicle body as matched equipment identification; and matching the specified equipment identification with the matched equipment identification, if the matching is successful, opening the supply channel, and guiding the target equipment corresponding to the successfully matched equipment identification into the interior of the vehicle body.
3. The replenishment vehicle of claim 1, wherein the replenishment passage comprises: a first replenishment passage and a second replenishment passage;
the first supply channel is used for providing a channel for the unmanned aerial vehicle to enter the interior of the vehicle body;
the second supply passage is used for providing a passage for the unmanned vehicle to enter the interior of the vehicle body.
4. A replenishment method, comprising:
monitoring the running state of the target equipment and the position of the currently cruising tender car; wherein the target equipment is equipment needing to be replenished;
determining a replenishment route of the target equipment according to the monitored position of the target equipment and the position of the replenishment car;
instructing the target device to travel according to the supply route so that the target device enters the interior of the supply vehicle;
and after the target equipment enters the interior of the supply vehicle, indicating the supply vehicle to supply the target equipment.
5. The method of claim 4, further comprising, prior to monitoring the travel state of the target device and the position of the currently cruising tender car:
dividing a working area of the target equipment into a plurality of sub-areas according to the road network information;
for each subarea, indicating a supply vehicle in the subarea to cruise according to a preset running route;
the position of the tender car of the running state of control target device and current cruise specifically includes:
and monitoring the running state of the target equipment in each subarea and the position of the tender car currently cruising in the subarea aiming at each subarea.
6. The method of claim 4, wherein determining the replenishment route for the target device based on the monitored location of the target device and the location of the replenishment vehicle comprises:
determining a replenishment route of the target device following the replenishment vehicle according to the monitored current position of the target device and the current position of the replenishment vehicle;
instructing the target device to travel according to the replenishment route so that the target device enters the interior of the replenishment vehicle, specifically including:
and instructing the target equipment to run according to the supply route so that the target equipment follows the supply route of the supply vehicle, so that the supply vehicle establishes communication with the target equipment following the supply vehicle, and guiding the target equipment to enter the interior of the supply vehicle based on the established communication.
7. The method of claim 6, wherein instructing the target device to travel along the tender route to enter the interior of the tender car comprises:
when monitoring that the running state of the target equipment is abnormal, determining the equipment identifier of the target equipment;
sending the determined equipment identifier to the supply vehicle as a specified equipment identifier;
the target equipment is instructed to run according to the supply route, so that the supply vehicle guides the target equipment corresponding to the matching equipment identifier which is successfully matched with the specified equipment identifier into the interior of the supply vehicle; the matching device identification is the device identification of the target device which follows the supply vehicle and is received by the supply vehicle.
8. A supplemental device, comprising:
the monitoring module is used for monitoring the running state of the target equipment and the position of the currently cruising supply vehicle; wherein the target equipment is equipment needing to be replenished;
the determining module is used for determining a replenishment route of the target equipment according to the monitored position of the target equipment and the position of the replenishment car;
the driving module is used for indicating the target equipment to drive according to the supply route so as to enable the target equipment to enter the interior of the supply vehicle;
and the supply module is used for indicating the supply vehicle to supply the target equipment after the target equipment enters the interior of the supply vehicle.
9. A computer-readable storage medium, characterized in that the storage medium stores a computer program which, when being executed by a processor, carries out the method of any of the preceding claims 4-7.
10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of any of the preceding claims 4-7 when executing the program.
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| CN202110050833.9A CN112911499A (en) | 2021-01-14 | 2021-01-14 | Supply method, device, storage medium and electronic equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110050833.9A CN112911499A (en) | 2021-01-14 | 2021-01-14 | Supply method, device, storage medium and electronic equipment |
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| CN112911499A true CN112911499A (en) | 2021-06-04 |
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