CN115384331A - Mobile equipment charging method, charging device and mobile equipment charging system - Google Patents
Mobile equipment charging method, charging device and mobile equipment charging system Download PDFInfo
- Publication number
- CN115384331A CN115384331A CN202211123403.6A CN202211123403A CN115384331A CN 115384331 A CN115384331 A CN 115384331A CN 202211123403 A CN202211123403 A CN 202211123403A CN 115384331 A CN115384331 A CN 115384331A
- Authority
- CN
- China
- Prior art keywords
- target movable
- movable equipment
- target
- charging
- electric quantity
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
- B60L53/14—Conductive 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
- B60L53/30—Constructional details of charging stations
- B60L53/31—Charging columns specially adapted for electric vehicles
-
- 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
- B60L53/60—Monitoring or controlling charging stations
- B60L53/64—Optimising energy costs, e.g. responding to electricity rates
-
- 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
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
- B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The application provides a mobile equipment charging method, a charging device and a mobile equipment charging system. The method comprises the following steps: acquiring initial electric quantity of all movable equipment in a preset area; according to the sequence of the initial electric quantity from low to high, selecting a preset number of target movable devices from the plurality of movable devices, and controlling a charging pile to charge the target movable devices; determining whether the non-target mobile equipment in operation meets a preset condition after a preset time period; and under the condition that the preset condition is met, controlling the non-target movable equipment to suspend the operation, and controlling the target movable equipment to execute the operation to be executed by the non-target movable equipment. According to the scheme, the mobile equipment with low electric quantity is arranged to be charged, then under the condition that other equipment cannot meet the preset condition, the mobile equipment which is charged firstly replaces other equipment to execute tasks, and under the condition that ordered charging is guaranteed, smooth execution of operation is guaranteed.
Description
Technical Field
The present disclosure relates to the field of charging, and in particular, to a charging method for a mobile device, a charging apparatus, a computer-readable storage medium, and a charging system for a mobile device.
Background
In order to realize high automation of the dispatching system, the general dispatching system is provided with an automatic charging module, a charging area is divided in a map, the automatic charging pile is arranged, an electric quantity charging threshold value of the movable equipment is set, and when the electric quantity of the movable equipment is lower than the set threshold value, the dispatching system can automatically issue a charging task, so that charging automation is realized.
However, in actual production, a plurality of mobile devices are inevitably in different electric quantities or close to each other, and if the electric quantities of the plurality of mobile devices are all lower than the set charging threshold, the scheduling system issues charging tasks to the mobile devices with low electric quantities respectively, so that the mobile devices are blocked, queued and charged, the mobile devices which cannot be charged in time cannot execute the tasks, and the production progress is delayed.
Disclosure of Invention
The present application mainly aims to provide a charging method, a charging device, a computer-readable storage medium and a charging system for a mobile device, so as to solve the problem of congestion, queuing and charging of the mobile device in the prior art.
In order to achieve the above object, according to an aspect of the present application, there is provided a mobile device charging method including: acquiring initial electric quantity of all movable equipment in a preset area; according to the sequence of the initial electric quantity from low to high, selecting a preset number of target movable devices from the plurality of movable devices, and controlling charging piles to charge the target movable devices, wherein the preset number is equal to the number of the charging piles in the preset area, and the charging piles correspond to the target movable devices one to one; determining whether a non-target mobile device being operated satisfies preset conditions after a predetermined period of time, the preset conditions including: the endurance time of the current residual electric quantity of the non-target movable equipment is less than the preset duration; and under the condition that the preset condition is met, controlling the non-target movable equipment to pause the operation, and controlling the target movable equipment to execute the operation to be executed by the non-target movable equipment.
Optionally, the method further comprises: acquiring estimated charging time of each non-target movable device, wherein the estimated charging time refers to time consumed by the non-target movable device to charge from current residual electric quantity to full electric quantity; and determining the estimated endurance time of the first non-target movable equipment according to the endurance time of the current residual electric quantity of the non-target movable equipment and the estimated charging time, wherein the estimated endurance time of the first non-target movable equipment refers to the residual endurance time of the first non-target movable equipment when the second non-target movable equipment starts to be charged to full electric quantity from the current moment, and the endurance time of the current residual electric quantity of the first non-target movable equipment is longer than that of the current residual electric quantity of the second non-target movable equipment.
Optionally, obtaining the estimated time spent on charging each of the non-target mobile devices includes: acquiring the total consumed time required by full charge of each non-target movable device; acquiring the percentage of the current residual capacity of each non-target mobile device to the full capacity; and determining the estimated charging time of each non-target movable device according to the total time required for full charging and the percentage.
Optionally, the method further comprises: controlling the second non-target movable equipment to perform tentative operation under the condition that the estimated duration of the first non-target movable equipment is less than the preset duration, wherein the estimated duration of the first non-target movable equipment refers to the remaining duration of the first non-target movable equipment when the second non-target movable equipment starts to be charged to full capacity from the current moment, and the duration of the current remaining capacity of the first non-target movable equipment is greater than the duration of the current remaining capacity of the second non-target movable equipment; and controlling the target movable equipment which is fully charged to execute the operation to be executed by the second non-target movable equipment.
Optionally, after controlling the second non-target mobile device to tentatively work, the method further comprises: controlling the second non-target movable equipment to move to an idle charging pile closest to the second non-target movable equipment; and controlling the idle charging pile closest to the second non-target movable equipment to charge the second non-target movable equipment.
Optionally, if the preset condition is met, controlling the non-target mobile device to suspend a job, and controlling the target mobile device to execute a job to be executed by the non-target mobile device includes: controlling the target mobile equipment to execute the operation to be executed by the non-target mobile equipment under the condition that the preset condition is met and the target mobile equipment is fully charged; and when the preset condition is met and the target movable equipment is not fully charged, controlling the target movable equipment to be charged temporarily and controlling the target movable equipment to execute the operation to be executed by the non-target movable equipment. The method further comprises the following steps: and after the target movable equipment is controlled to suspend charging, the non-target movable equipment meeting the preset conditions is controlled to move to an idle charging pile, and the idle charging pile is controlled to charge the non-target movable equipment.
Optionally, the method further comprises: acquiring the percentage of the current residual electric quantity of each mobile device to the full electric quantity and the full electric endurance time of each mobile device; and determining the endurance time of the current residual electric quantity of each movable device according to the percentage and the full-electricity endurance time.
According to another aspect of the present application, there is provided a mobile device charging apparatus including: the mobile device comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring initial electric quantity of all mobile devices in a preset area; the processing unit is used for selecting a preset number of target movable devices from the plurality of movable devices according to the sequence of the initial electric quantity from low to high, and controlling charging piles to charge the target movable devices, wherein the preset number is equal to the number of the charging piles in the preset area, and the charging piles correspond to the target movable devices one to one; a first determination unit configured to determine whether a non-target mobile device being operated satisfies a preset condition after a predetermined period of time, the preset condition including: the endurance time of the current residual electric quantity of the non-target movable equipment is less than the preset duration; and the first control unit is used for controlling the non-target movable equipment to suspend operation and controlling the target movable equipment to execute the operation to be executed by the non-target movable equipment under the condition that the preset condition is met.
According to yet another aspect of the application, a computer-readable storage medium is provided, comprising a stored program, wherein the program, when executed, controls an apparatus in which the computer-readable storage medium is located to perform any of the methods.
According to another aspect of the present application, there is provided a mobile device charging system including: one or more processors, memory, and one or more programs stored in the memory and configured to be executed by the one or more processors, the one or more programs including instructions for performing any of the methods described herein.
By the technical scheme, the initial electric quantity of all the movable devices in the preset area is obtained, then the movable devices with lower initial electric quantity are selected to be charged first according to the sequence of the initial electric quantity from low to high, then the electric quantity of other devices is monitored after the preset time period to determine whether the electric quantity is lower, under the condition of lower electric quantity, the electric quantity is supplemented timely, the devices with higher electric quantity are controlled to execute tasks, off-peak charging is achieved, and meanwhile production requirements are guaranteed to be met.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:
FIG. 1 shows a flow diagram of a method for charging a removable device according to an embodiment of the application;
FIG. 2 shows a schematic diagram of a mobile device charging apparatus according to an embodiment of the application;
FIG. 3 illustrates a detailed vehicle dispatch diagram in accordance with an embodiment of the present application.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions of the present application better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Moreover, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It will be understood that when an element such as a layer, film, region, or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements may also be present. Also, in the specification and claims, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element or "connected" to the other element through a third element.
For convenience of description, some terms or expressions referred to in the embodiments of the present application are explained below:
automatic Guided Vehicle (AGV): the automatic guided vehicle can run along a set guiding path according to the automatic guiding device, related transportation tasks are completed, and the like, and the automatic guided vehicle is a transportation vehicle with safety protection and various transfer functions.
As described in the background art, in order to solve the problem of congestion, queuing and charging of the mobile device in the prior art, embodiments of the present application provide a mobile device charging method, a charging apparatus, a computer-readable storage medium, and a mobile device charging system.
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
Example 1
In accordance with an embodiment of the present invention, there is provided a removable device charging method embodiment, it is noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions, and that while a logical order is illustrated in the flowchart, in some cases, the steps illustrated or described may be performed in an order different than here.
Fig. 1 is a flowchart of a method for charging a removable device according to an embodiment of the present application. As shown in fig. 1, the method comprises the steps of:
step S101, acquiring initial electric quantity of all movable equipment in a preset area;
in the above steps, the preset area may be in one room, and the movable device may be an automated guided vehicle, which is not limited to the automated guided vehicle, and may also be other transportation scheduling tools using map coordinates as the moving point location.
In the above step, the initial power amount refers to the power amount available to all the mobile devices in the preset area obtained at the time of starting the time counting.
Step S102, selecting a preset number of target movable devices from the plurality of movable devices according to the sequence of the initial electric quantity from low to high, and controlling charging piles to charge the target movable devices, wherein the preset number is equal to the number of the charging piles in the preset area, and the charging piles correspond to the target movable devices one to one;
specifically, there are a plurality of mobile devices in the preset area, sort the electric quantity of a plurality of mobile devices, control earlier and fill electric pile and charge for the equipment of low electric quantity, for example, totally have six equipment, two fill electric pile, just give two supplementary electric quantities that the electric quantity is the lowest earlier to subsequent dispatch.
Step S103, determining whether the non-target mobile device in operation satisfies preset conditions after a predetermined period of time, where the preset conditions include: the endurance time of the current residual electric quantity of the non-target movable equipment is less than the preset duration;
further, it is determined after a predetermined period of time how long the power of the device that has not been charged before can be maintained, for example, twenty minutes later, the cruising time of the current remaining power of the four remaining devices is determined;
specifically, the preset time period may be set to 50min, 40min, 60min. Of course, the preset time period can be adjusted by those skilled in the art according to actual situations.
Step S104, if the preset condition is satisfied, controlling the non-target mobile apparatus to suspend the job, and controlling the target mobile apparatus to execute the job to be executed by the non-target mobile apparatus.
That is, when the time of the electric quantity endurance of the device which is not charged is relatively short, for example, the device can be continued for half an hour, the electric quantity needs to be replenished to the device in time, but the execution of the operation cannot be delayed, so that the device which is charged firstly works instead of the device which is relatively short in endurance, and the smooth execution of the task can be ensured under the condition of ensuring the orderly charging.
Exemplarily, the method further comprises: acquiring estimated charging time consumption of each non-target movable device, wherein the estimated charging time consumption refers to time consumed by the non-target movable device for charging from current residual electric quantity to full electric quantity; determining the estimated duration of the first non-target movable equipment according to the duration of the current residual electric quantity of the non-target movable equipment and the estimated charging time, wherein the estimated duration of the first non-target movable equipment refers to the remaining duration of the first non-target movable equipment when the second non-target movable equipment is charged to full electric quantity from the current moment, and the duration of the current residual electric quantity of the first non-target movable equipment is longer than the duration of the current residual electric quantity of the second non-target movable equipment. For example, if the current remaining capacity of the first non-target mobile device is 80, the estimated charging time is 18 minutes, the current remaining capacity of the second non-target mobile device is 79, the estimated charging time is 19 minutes, the estimated charging time is 288 minutes, the current remaining capacity of the second non-target mobile device is 284 minutes, and the estimated charging time is 288-19=269 minutes after the second non-target mobile device is fully charged.
In a specific embodiment, obtaining the estimated charge time of each non-target mobile device includes: acquiring the total consumed time required by full charge of each non-target movable device; acquiring the percentage of the current residual capacity of each non-target mobile device to the full capacity; and determining the estimated charging time of each non-target movable device according to the total time required by full charging and the percentage. For example, if the total time required for the non-target mobile device to be fully charged is 100min and the current remaining capacity of the non-target mobile device is 60% of the full capacity, the estimated charge time of the non-target mobile device is 100 × (1-60%) =40min.
Further, the method further comprises: controlling a second non-target movable device to perform tentative operation when the estimated duration of the first non-target movable device is less than the preset duration, wherein the estimated duration of the first non-target movable device refers to the remaining duration of the first non-target movable device when the second non-target movable device starts to be charged to a full charge from the current moment, and the duration of the current remaining charge of the first non-target movable device is greater than the duration of the current remaining charge of the second non-target movable device; and controlling the target mobile equipment which is fully charged to execute the operation to be executed by the second non-target mobile equipment. For example, after working for a period of time, it is found that the estimated duration of the first non-target mobile device is less than 50min, that is, if the second non-target mobile device starts to be charged to full capacity from the current time, the duration of the first non-target mobile device is relatively short, which may affect the execution of the task, so to avoid this, the second non-target mobile device is temporarily set to operate, and the fully charged device is made to replace the second non-target mobile device to execute, that is, the second non-target mobile device is charged for more time. And equipment with enough power consumption replaces equipment with insufficient power consumption in time, so that the production requirement is ensured.
Further, after controlling the second non-target mobile device to hold the job, the method further comprises: controlling the second non-target movable equipment to move to an idle charging pile closest to the second non-target movable equipment; and controlling the idle charging pile closest to the second non-target mobile equipment to charge the second non-target mobile equipment. Namely, for the equipment of the tentative operation, the electric quantity is supplemented in time to prepare for subsequent task scheduling.
Furthermore, as long as any movable equipment which suspends work is provided with an idle charging pile, electric energy is timely supplemented according to the principle of being nearby, so that peak-off charging is guaranteed, and working efficiency is improved.
In some embodiments, when the preset condition is satisfied, controlling the non-target mobile apparatus to suspend a job and controlling the target mobile apparatus to execute a job to be executed by the non-target mobile apparatus includes: controlling the target mobile device to execute the operation to be executed by the non-target mobile device when the preset condition is met and the target mobile device is fully charged; if some non-target movable equipment meets the preset conditions and all or part of the target movable equipment is fully charged, the fully charged target movable equipment is preferentially selected to replace the non-target movable equipment for operation; and if the preset condition is met and the target mobile equipment is not fully charged, controlling the target mobile equipment to be charged temporarily and controlling the target mobile equipment to execute the operation to be executed by the non-target mobile equipment. And if the target movable equipment is not fully charged, the target movable equipment is selected according to the sequence of the electric quantity from top to bottom and replaced according to the principle of proximity so as to improve the working efficiency. After the target mobile equipment is controlled to suspend charging, the non-target mobile equipment meeting the preset conditions is controlled to move to an idle charging pile, and the idle charging pile is controlled to charge the non-target mobile equipment. Namely, under the condition of insufficient electric quantity, the electric quantity needs to be supplemented in time.
Further, the method further comprises: acquiring the percentage of the current residual electric quantity of each piece of mobile equipment to the full electric quantity and the full electric endurance time of each piece of mobile equipment; and determining the endurance time of the current residual electric quantity of each piece of movable equipment according to the percentage and the full-electricity endurance time. If the full-electricity endurance time is 100min, and the current remaining capacity of the mobile device accounts for 50% of the full-electricity capacity, the endurance time of the current remaining capacity is 100 × 50% =50min.
According to the movable equipment charging method, the initial electric quantity of all movable equipment in the preset area is obtained, then sequencing is carried out according to the sequence of the initial electric quantity from low to high, the movable equipment with the lower initial electric quantity is selected to be charged first, then the electric quantity of other equipment is monitored after a preset time period to determine whether the electric quantity is lower, under the condition of lower electric quantity, the electric quantity is supplemented timely, the equipment with the higher electric quantity is controlled to execute tasks, and the production requirement is guaranteed to be met while off-peak charging is achieved.
Example 2
The embodiment of the present application further provides a charging apparatus for a removable device, and it should be noted that the charging apparatus for a removable device according to the embodiment of the present application may be used to execute the charging method for a removable device provided in the embodiment of the present application. The following describes a mobile device charging apparatus provided in an embodiment of the present application.
Fig. 2 is a schematic diagram of a mobile device charging apparatus according to an embodiment of the application. As shown in fig. 2, the apparatus includes:
a first obtaining unit 10, configured to obtain initial electric quantities of all mobile devices in a preset area;
a processing unit 20, configured to select a preset number of target mobile devices from the multiple mobile devices according to a sequence from a low initial electric quantity to a high initial electric quantity, and control charging piles to charge the target mobile devices, where the preset number is equal to the number of the charging piles in the preset area, and the charging piles correspond to the target mobile devices one to one;
a first determination unit 30 for determining whether the non-target movable device being operated satisfies a preset condition after a predetermined period of time, the preset condition including: the endurance time of the current residual electric quantity of the non-target movable equipment is less than the preset duration;
the first control unit 40 is configured to control the non-target mobile apparatus to suspend a job and control the target mobile apparatus to execute a job to be executed by the non-target mobile apparatus when the preset condition is satisfied.
In the scheme, the first obtaining unit obtains initial electric quantity of all movable devices in a preset area, the processing unit sorts the initial electric quantity in a sequence from low to high, the movable devices with lower initial electric quantity are selected to be charged first, the first determining unit determines whether electric quantity of other devices is lower or not after a preset time period, and under the condition of lower electric quantity, the first control unit supplements the electric quantity in time, controls the devices with higher electric quantity to execute tasks, and ensures that production requirements are met while off-peak charging is achieved.
Further, the apparatus further includes a second obtaining unit and a second determining unit, where the second obtaining unit is configured to obtain an estimated charging time of each non-target mobile device, where the estimated charging time refers to a time consumed by the non-target mobile device to charge from a current remaining power to a full power; the second determining unit is configured to determine an estimated duration of the first non-target mobile device according to a duration of a current remaining power of the non-target mobile device and an estimated charging time, where the estimated duration of the first non-target mobile device refers to a remaining duration of the first non-target mobile device when the second non-target mobile device starts to be charged to a full power from a current time, and the duration of the current remaining power of the first non-target mobile device is greater than the duration of the current remaining power of the second non-target mobile device.
Specifically, the second obtaining unit includes a first obtaining module, a second obtaining module and a determining module, and the first obtaining module is configured to obtain total consumed time required by full charging of each non-target mobile device; the second obtaining module is used for obtaining the percentage of the current residual electric quantity of each non-target movable device to the full electric quantity; the determination module is used for determining the estimated charging time of each non-target movable device according to the total time required for full charging and the percentage.
In some embodiments, the apparatus further includes a second control unit and a third control unit, the second control unit is configured to control the second non-target movable device to temporarily operate if an estimated duration of the first non-target movable device is less than the preset duration, where the estimated duration of the first non-target movable device refers to a remaining duration of the first non-target movable device when the second non-target movable device is charged to a full charge from a current time, and the duration of the current remaining charge of the first non-target movable device is greater than the duration of the current remaining charge of the second non-target movable device; the third control unit is used for controlling the fully charged target movable equipment to execute the operation to be executed by the second non-target movable equipment.
In some embodiments, the apparatus further includes a fourth control unit and a fifth control unit, the fourth control unit being configured to control the second non-target movable device to move to an idle charging post closest to the second non-target movable device after controlling the second non-target movable device to perform the tentative job; and the fifth control unit is used for controlling the idle charging pile closest to the second non-target movable equipment to charge the second non-target movable equipment.
More specifically, the first control unit includes a first control module and a second control module, and the first control module is configured to control the target mobile device to execute the operation to be executed by the non-target mobile device when the preset condition is met and the target mobile device is fully charged; the second control module is configured to control the target mobile device to temporarily charge and control the target mobile device to execute the operation to be executed by the non-target mobile device when the preset condition is satisfied and the target mobile device is not fully charged.
The device further comprises a sixth control unit, wherein the sixth control unit is used for controlling the non-target movable equipment meeting the preset conditions to move to an idle charging pile after the target movable equipment is controlled to suspend charging, and controlling the idle charging pile to charge the non-target movable equipment.
In some embodiments, the apparatus further includes a third obtaining unit and a third determining unit, where the third obtaining unit is configured to obtain a percentage of a current remaining power of each of the mobile devices to a full power and a full duration of each of the mobile devices; and the third determining unit is used for determining the endurance time of the current residual electric quantity of each piece of movable equipment according to the percentage and the full-electricity endurance time.
The mobile device charging apparatus includes a processor and a memory, the first obtaining unit, the processing unit, the first determining unit, the first control unit, and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to implement corresponding functions.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more, and the charging mode is optimized by adjusting kernel parameters.
The memory may include volatile memory in a computer readable medium, random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
Example 3
According to an embodiment of the present application, a specific vehicle scheduling charging method is provided, as shown in fig. 3, including the following steps:
s1, setting full-power endurance time (minutes), total time (minutes) required by full power and endurance warning time (dangerous critical electric quantity, which is also equal to preset time) of the AGV trolley by using a configuration file, initializing a system, and scheduling the lowest electric quantity trolley to be charged.
S11, according to the relevant hardware description of the trolley, the following configuration is carried out in a dispatching system: the full electricity duration (minute) of AGV dolly, the required total consuming time of full charge and continuation of the journey warning time, if the full electricity duration of AGV dolly is 6 hours (360 minutes), continuation of the journey warning time 50 minutes, the required total consuming time of full charge 90 minutes (1% -100%), after the System starts, establish communication connection with all AGV dollies, before receiving the task data that WMS (journey Management System, warehouse Management System) upper System issued, the state that dispatch System can poll all AGV dollies once includes current surplus electric quantity, select the AGV dolly that electric quantity is the lowest among all available AGV dollies, and dispatch this AGV dolly to fill electric pile and charge for use.
S2, obtaining the current residual electric quantity of the available trolleys according to the full-power endurance time and the total consumed time required by full power of the AGV trolleys in the configuration file, calculating the endurance time of the current residual electric quantity of the current trolleys and the estimated charging consumed time, and obtaining the charging critical value under the condition of the lowest endurance time.
And S21, before task allocation, the scheduling system reads the set values of the full-electricity endurance time and the total consumed time required by full-electricity of the AGV in the configuration file, acquires the current electric quantity of the available AGV, and calculates the endurance time of the current residual electric quantity of the current AGV and the estimated charged consumed time of the current AGV according to the three conditions.
The formula for calculating the endurance time of the current residual electric quantity of the current trolley is as follows:
wherein T is the endurance time of the current residual electric quantity of the current trolley, T 1 The full-electricity endurance time of the AGV trolley is represented by X, the current residual electricity quantity of the AGV trolley is represented by X, if the full-electricity endurance time of the No. 1 trolley is 360 minutes, the current residual electricity quantity is 60, the method is substituted into the formula 1
And calculating the endurance time of the current residual electric quantity of the current trolley to be 216 minutes.
The formula for calculating the estimated charging time of the current trolley is as follows:
wherein T is estimated charging time consumption of the current trolley, and T 2 To be fully charged, the total time required, X is the current electrical quantity of the trolley. If the total time consumed for charging the No. 1 vehicle is 90 minutes, the current residual electric quantity is 60, and the method is substituted into the formula
And calculating the estimated charging time of the current trolley to be 36 minutes.
And S22, according to the calculation in the step S21, the endurance time and the estimated charging time of the current residual electric quantity of all the current trolleys can be obtained, and whether the charging critical condition is met or not is judged according to the relation between the trolley endurance warning time and the endurance time of the current residual electric quantity between the trolleys and the estimated charging time.
Wherein the charging threshold is defined as that the system checks whether the estimated duration time of the AGV cars in the available vehicle queue or the duration time of the current residual electric quantity is less than or equal to the duration warning time,
if the available vehicle queue exists, the available vehicle queue is judged to meet the charging critical condition, and if the available vehicle queue does not exist, the available vehicle queue does not meet the charging critical condition.
If the number 1 vehicle and the number 2 vehicles are all in a full-power state, the number 3 vehicle is started to have the residual electric quantity of 40 and is the lowest electric quantity, the vehicles are arranged to go to charge, after a task is executed, the dispatching system calculates the duration and the estimated charging time of the current residual electric quantity between the vehicles, if the current residual electric quantity of the number 1 vehicle is 80, the duration of the current residual electric quantity is 288 minutes, the estimated charging time is 18 minutes, the current residual electric quantity of the number 2 vehicle is 79, the duration of the current residual electric quantity is 284 minutes, the estimated charging time is 19 minutes, the number 3 vehicle is in a charging state, the dispatching system takes the duration as a condition, calculates the estimated duration of the number 1 vehicle is 288-19=269 minutes after the number 2 vehicle goes to charge and is in a full-power state, judges based on a charging critical condition, namely checks whether the estimated duration of the AGV vehicles in an available vehicle queue or the duration of the current residual electric quantity is lower than or equal to the estimated duration of the warning time, the estimated duration of the vehicle No. 1 is 269 minutes after calculation, the duration of the current residual electric quantity is 288 minutes, and is larger than the duration warning time, the charging critical condition is not satisfied at this time, when the vehicle No. 1 is 32 after a long-time execution of a task, the duration of the current residual electric quantity is 115 minutes, the estimated charging time is 61 minutes, the current residual electric quantity of the vehicle No. 2 is 29, the duration of the current residual electric quantity is 104 minutes, the estimated charging time is 65 minutes, the vehicle No. 3 is in a full-power standby state in a charging pile, the estimated duration of the vehicle No. 1 is 115-65=50 minutes after the vehicle No. 2 is calculated to go to the charging and full-power state, the judgment is carried out based on the charging critical condition, and the estimated duration of the vehicle No. 1 is obtained through calculation and is 50 minutes, and if the time is equal to the endurance warning time, the charging critical condition is met at the moment.
And S3, receiving the tasks issued by the WMS, distributing the tasks, and judging whether the available vehicle queue meets the charging critical condition.
S31, the WMS upper system issues task information to the scheduling system by calling a task interface provided by the scheduling system, and after receiving the task information, the scheduling system distributes the task information according to a task distribution principle of an AGV trolley which is highest in priority distribution electric quantity and closest to a task point under the condition of critical charging;
if the condition that the available vehicle queue meets the charging critical time is detected, namely the estimated endurance time of the AGV dollies in the vehicle queue is less than or equal to the endurance warning time, the lowest electric quantity dollies in the available vehicle queue are suspended from receiving the tasks, the rest of available vehicles can still execute the tasks, the AGV dollies ready for charging are rescheduled and distributed with the tasks, the charging resource lock is released, and meanwhile, the AGV dollies with the lowest electric quantity are scheduled to charge and obtain the charging resource lock.
S4, through the steps, the optimization method for achieving the AGV peak shifting charging is acted, compared with an automatic charging scheduling method of a conventional scheduling system, estimated endurance time and charging time consumption of the current residual electric quantity can be combined, reasonable charging scheduling is conducted based on charging criticality, peak shifting charging is achieved, vehicle requirements and electric quantity endurance are guaranteed, meanwhile, the problem that the AGV queues up and charges is solved, and production requirements are met to the maximum extent.
Example 4
According to an embodiment of the present application, a computer-readable storage medium is provided, where the computer-readable storage medium includes a stored program, and when the program runs, a device where the computer-readable storage medium is located is controlled to execute the method for charging a removable device.
Example 5
According to an embodiment of the present application, there is provided a mobile device charging system including: one or more processors, memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprising instructions for performing any of the above-described methods.
Example 6
According to an embodiment of the present application, a processor is provided, where the processor is configured to execute a program, where the program executes the method for charging a removable device.
Example 7
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein when the processor executes the program, at least the following steps are realized:
step S101, acquiring initial electric quantity of all movable equipment in a preset area;
step S102, selecting a preset number of target movable devices from the plurality of movable devices according to the sequence of the initial electric quantity from low to high, and controlling charging piles to charge the target movable devices, wherein the preset number is equal to the number of the charging piles in the preset area, and the charging piles correspond to the target movable devices one to one;
step S103, determining whether the non-target mobile device in operation satisfies preset conditions after a predetermined period of time, where the preset conditions include: the endurance time of the current residual electric quantity of the non-target movable equipment is less than a preset duration;
step S104, if the preset condition is satisfied, controlling the non-target mobile apparatus to suspend the job, and controlling the target mobile apparatus to execute the job to be executed by the non-target mobile apparatus.
The device herein may be a server, a PC, a PAD, a mobile phone, etc.
Example 8
The present application further provides a computer program product adapted to perform a program initialized with at least the following method steps when executed on a data processing device:
step S101, acquiring initial electric quantity of all movable equipment in a preset area;
step S102, selecting a preset number of target movable devices from the plurality of movable devices according to the sequence of the initial electric quantity from low to high, and controlling charging piles to charge the target movable devices, wherein the preset number is equal to the number of the charging piles in the preset area, and the charging piles correspond to the target movable devices one to one;
step S103, determining after a predetermined period of time whether the non-target mobile device in operation meets preset conditions, where the preset conditions include: the endurance time of the current residual electric quantity of the non-target movable equipment is less than the preset duration;
step S104, if the preset condition is satisfied, controlling the non-target mobile apparatus to suspend the job, and controlling the target mobile apparatus to execute the job to be executed by the non-target mobile apparatus.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application 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 so forth) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. 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). The memory is an example of a computer-readable medium.
Computer-readable media, including both permanent and non-permanent, removable and non-removable media, may implement the 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 phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.
From the above description, it can be seen that the above-mentioned embodiments of the present application achieve the following technical effects:
1) According to the mobile equipment charging method, the initial electric quantity of all the mobile equipment in the preset area is obtained, then sequencing is carried out according to the sequence of the initial electric quantity from low to high, the mobile equipment with the lower initial electric quantity is selected to be charged first, then the electric quantity of other equipment is monitored after a preset time period to determine whether the electric quantity is lower, under the condition of lower initial electric quantity, the electric quantity is supplemented timely, the equipment with the higher electric quantity is controlled to execute tasks, and the production requirement is guaranteed to be met while off-peak charging is achieved.
2) According to the movable equipment charging device, the first acquisition unit acquires initial electric quantity of all movable equipment in the preset area, the processing unit sequences the initial electric quantity from low to high, the movable equipment with lower initial electric quantity is selected to be charged first, the first determination unit determines whether electric quantity of other equipment is lower after a preset time period, the first control unit supplements the electric quantity in time under the condition of lower electric quantity, the equipment with higher electric quantity is controlled to execute tasks, and production requirements are met while off-peak charging is achieved.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made to the present application by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A method for charging a mobile device, comprising:
acquiring initial electric quantity of all movable equipment in a preset area;
according to the sequence from low to high of the initial electric quantity, selecting a preset number of target movable devices from the plurality of movable devices, and controlling charging piles to charge the target movable devices, wherein the preset number is equal to the number of the charging piles in the preset area, and the charging piles correspond to the target movable devices one to one;
determining whether a non-target mobile device being operated satisfies preset conditions after a predetermined period of time, the preset conditions including: the endurance time of the current residual electric quantity of the non-target movable equipment is less than a preset duration;
and under the condition that the preset condition is met, controlling the non-target movable equipment to suspend operation, and controlling the target movable equipment to execute the operation to be executed by the non-target movable equipment.
2. The method of claim 1, further comprising:
acquiring estimated charging time consumption of each non-target movable device, wherein the estimated charging time consumption refers to time consumed by the non-target movable device for charging from current residual electric quantity to full electric quantity;
and determining the estimated endurance time of the first non-target movable equipment according to the endurance time of the current residual electric quantity of the non-target movable equipment and the estimated charging time, wherein the estimated endurance time of the first non-target movable equipment refers to the residual endurance time of the first non-target movable equipment when the second non-target movable equipment starts to be charged to full electric quantity from the current moment, and the endurance time of the current residual electric quantity of the first non-target movable equipment is longer than that of the current residual electric quantity of the second non-target movable equipment.
3. The method of claim 2, wherein obtaining the estimated charge time of each of the non-target mobile devices comprises:
acquiring the total consumed time required by full charge of each non-target movable device;
acquiring the percentage of the current residual electric quantity of each non-target movable device to the full electric quantity;
and determining the estimated charging time of each non-target movable device according to the total time required for full charging and the percentage.
4. The method of claim 1, further comprising:
controlling the second non-target movable equipment to perform tentative operation under the condition that the estimated endurance time of the first non-target movable equipment is less than the preset duration, wherein the estimated endurance time of the first non-target movable equipment refers to the remaining endurance time of the first non-target movable equipment when the second non-target movable equipment starts to be charged to full charge from the current moment, and the endurance time of the current remaining charge of the first non-target movable equipment is greater than that of the current remaining charge of the second non-target movable equipment;
and controlling the target movable equipment which is fully charged to execute the operation to be executed by the second non-target movable equipment.
5. The method of claim 4, wherein after controlling the second non-target mobile device to hold the job, the method further comprises:
controlling the second non-target movable equipment to move to an idle charging pile closest to the second non-target movable equipment;
and controlling the idle charging pile closest to the second non-target movable equipment to charge the second non-target movable equipment.
6. The method according to any one of claims 1 to 5, wherein controlling the non-target movable apparatus to suspend a job and controlling the target movable apparatus to execute a job to be executed by the non-target movable apparatus if the preset condition is satisfied comprises:
controlling the target movable equipment to execute the operation to be executed by the non-target movable equipment under the condition that the preset condition is met and the target movable equipment is fully charged;
when the preset condition is met and the target movable equipment is not fully charged, controlling the target movable equipment to be charged temporarily and controlling the target movable equipment to execute the operation to be executed by the non-target movable equipment;
the method further comprises the following steps:
and after the target movable equipment is controlled to suspend charging, the non-target movable equipment meeting the preset conditions is controlled to move to an idle charging pile, and the idle charging pile is controlled to charge the non-target movable equipment.
7. The method according to any one of claims 1 to 5, further comprising:
acquiring the percentage of the current residual electric quantity of each piece of movable equipment to the full electric quantity and the full electric endurance time of each piece of movable equipment;
and determining the endurance time of the current residual electric quantity of each movable device according to the percentage and the full-electricity endurance time.
8. A mobile device charging apparatus, comprising:
the mobile device comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring initial electric quantity of all mobile devices in a preset area;
the processing unit is used for selecting a preset number of target movable devices from the plurality of movable devices according to the sequence of the initial electric quantity from low to high, and controlling charging piles to charge the target movable devices, wherein the preset number is equal to the number of the charging piles in the preset area, and the charging piles correspond to the target movable devices one to one;
a first determination unit configured to determine whether or not a non-target movable device being operated satisfies a preset condition after a predetermined period of time, the preset condition including: the endurance time of the current residual electric quantity of the non-target movable equipment is less than the preset duration;
and the first control unit is used for controlling the non-target movable equipment to suspend operation and controlling the target movable equipment to execute the operation to be executed by the non-target movable equipment under the condition that the preset condition is met.
9. A computer-readable storage medium, comprising a stored program, wherein the program, when executed, controls an apparatus in which the computer-readable storage medium is located to perform the method of any one of claims 1-7.
10. A mobile device charging system, comprising: one or more processors, memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprising instructions for performing the method of any of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211123403.6A CN115384331A (en) | 2022-09-15 | 2022-09-15 | Mobile equipment charging method, charging device and mobile equipment charging system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211123403.6A CN115384331A (en) | 2022-09-15 | 2022-09-15 | Mobile equipment charging method, charging device and mobile equipment charging system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115384331A true CN115384331A (en) | 2022-11-25 |
Family
ID=84126086
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211123403.6A Pending CN115384331A (en) | 2022-09-15 | 2022-09-15 | Mobile equipment charging method, charging device and mobile equipment charging system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115384331A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116742751A (en) * | 2023-06-19 | 2023-09-12 | 国广顺能(上海)能源科技有限公司 | System for mobile charging equipment |
-
2022
- 2022-09-15 CN CN202211123403.6A patent/CN115384331A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116742751A (en) * | 2023-06-19 | 2023-09-12 | 国广顺能(上海)能源科技有限公司 | System for mobile charging equipment |
| CN116742751B (en) * | 2023-06-19 | 2024-02-20 | 国广顺能(上海)能源科技有限公司 | System for mobile charging equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103473139B (en) | Cluster virtual machine resource allocation scheduling method | |
| CN107872067B (en) | Charging and discharging control device and method | |
| CN110350609B (en) | AGV charging management method and system, equipment and storage medium | |
| Kabir et al. | Increasing manufacturing flexibility through battery management of automated guided vehicles | |
| CN103840549A (en) | System and method for dispatching charging load space of electric vehicle | |
| CN115619051A (en) | Shared vehicle allocation method, system and computer storage medium | |
| CN111055716B (en) | Method and device for determining charging strategy, storage medium and processor | |
| CN115384331A (en) | Mobile equipment charging method, charging device and mobile equipment charging system | |
| CN103179048A (en) | Method and system for changing main machine quality of service (QoS) strategies of cloud data center | |
| CN102917014A (en) | Resource scheduling method and device | |
| CN111799775B (en) | PEV energy scheduling algorithm with double-layer structure | |
| CN104755313A (en) | Recharging of a pool of batteries | |
| CN115438948A (en) | Charging scheduling method, device and equipment for unmanned hub card and readable storage medium | |
| CA3230281A1 (en) | Electric vehicle fleet charging and energy management system | |
| CN107123986B (en) | Regional power utilization control method and device | |
| CN117360829B (en) | Automatic power change management method and device based on unmanned aerial vehicle | |
| CN110034963A (en) | A kind of elastic configuration method that application cluster is adaptive | |
| CN112379607B (en) | Simulation operation method and device, and quantity planning method, device and system | |
| CN114123413A (en) | Charging method and charging device for AGV (automatic guided vehicle) and AGV system | |
| CN113298445B (en) | Method and device for model training and unmanned equipment scheduling | |
| CN108960518A (en) | Compensation method, device, controller and the medium of deadline is estimated in generation visitor's power-up | |
| CN110994719B (en) | Charging management method and device for automation equipment | |
| CN114123384A (en) | Robot cluster charging method, system, electronic device, medium, and program product | |
| CN114030386A (en) | Electric vehicle charging control method based on user charging selection | |
| CN112498166A (en) | Vehicle charging method and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |