CN115456344A - Directional wireless charging cooperation scheduling method with space occupation - Google Patents
Directional wireless charging cooperation scheduling method with space occupation Download PDFInfo
- Publication number
- CN115456344A CN115456344A CN202210966816.4A CN202210966816A CN115456344A CN 115456344 A CN115456344 A CN 115456344A CN 202210966816 A CN202210966816 A CN 202210966816A CN 115456344 A CN115456344 A CN 115456344A
- Authority
- CN
- China
- Prior art keywords
- charging
- angle
- mobile
- discretization
- chargeable sensing
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
- G06Q10/063—Operations research, analysis or management
- G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
- G06Q10/06315—Needs-based resource requirements planning or analysis
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
- G06Q50/06—Electricity, gas or water supply
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/40—Circuit arrangements or systems for wireless supply or distribution of electric power using two or more transmitting or receiving devices
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
Abstract
The invention discloses a directed wireless charging cooperative scheduling method with space occupation, which comprises the following steps: constructing a cooperative scheduling pricing model of the directional wireless charger by utilizing the mobile chargeable sensing equipment set, the directional wireless charger set and the charging power of the directional wireless charger; formalizing a directed wireless charging cooperation scheduling problem with space occupation through a pricing model, and calculating a charging angle set under optimal arrangement; formulating a discretization scheme of the directed wireless charging cooperation scheduling angle with space occupation; and calling a directed wireless charging cooperation scheduling algorithm with space occupation to obtain a scheduling scheme of each mobile chargeable sensing device. The invention provides a directed wireless charging cooperative scheduling method with space occupation, which can determine a cooperative charging scheduling scheme of a mobile chargeable sensing device on the premise of meeting the benefit of a charging provider and having no space occupation conflict, and minimize the total cost.
Description
Technical Field
The invention relates to the technical field of wireless chargeable sensor network charging scheduling, in particular to a directional wireless charging cooperation scheduling method with space occupation.
Background
With the development of the internet of things technology, wireless sensing equipment is used in more and more scenes, including military, agriculture, traffic and other fields, and meanwhile, the energy supplement problem of a large number of sensor equipment has attracted extensive attention in academia and industry; although some sensor devices can absorb various forms of energy from the surrounding environment, such as solar and wind energy, the efficiency of extraction of these energy sources is highly unpredictable and unstable due to environmental and weather influences, in contrast to wireless power transmission, which is preferred because it can provide a continuous and reliable energy supply.
Radio frequency charging is used as a wireless charging technology with long distance and one-to-many characteristics, and is widely applied to large-scale low-power consumption sensor networks; based on the characteristic of radio frequency charging, a plurality of chargeable devices in a public charging time can share the charging cost together, so that the individual cost is reduced.
Although there is research on cooperative charging scheduling, the research on the cooperative charging scheduling is rare, and practical factors such as directional charging which does not relate to charging power and charging angle are ignored, and the problem of space occupation of the chargeable devices is not considered, that is, each chargeable device occupies a certain space, and one charger cannot charge a wireless number of chargeable devices at the same time, so that the cooperative scheduling on the directional wireless charging with space occupation is practical.
In addition, in the current cooperative charging scheduling research, the deep research on the payment mode is lacked, and a reasonable pricing rule cannot be established from the economic perspective; although previous research ensures the benefit of the charging demander by optimizing charging population, the benefit guarantee problem of the charging service provider is often ignored, and more providers cannot be encouraged to participate in the charging wireless network. In the present invention, therefore, pricing rules based on charging are introduced.
Disclosure of Invention
This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. In this section, as well as in the abstract and the title of the invention of this application, simplifications or omissions may be made to avoid obscuring the purpose of the section, the abstract and the title, and such simplifications or omissions are not intended to limit the scope of the invention.
The present invention has been made in view of the above-mentioned problems.
Therefore, the technical problem solved by the invention is as follows: the existing cooperative charging scheduling method ignores the problems of directional charging and space occupation of chargeable equipment related to charging power and charging angle.
In order to solve the technical problems, the invention provides the following technical scheme: a directed wireless charging cooperative scheduling method with space occupation comprises the following steps: constructing a cooperative scheduling pricing model of the directional wireless charger by utilizing the mobile chargeable sensing equipment set, the directional wireless charger set and the charging power of the directional wireless charger; formalizing a directed wireless charging cooperation scheduling problem with space occupation through the pricing model, and acquiring a charging angle set under optimal arrangement; formulating a discretization scheme of the directed wireless charging cooperation scheduling angle with space occupation based on the directed wireless charging cooperation scheduling problem; and calling a directed wireless charging cooperation scheduling algorithm with space occupation to obtain a scheduling scheme of each mobile chargeable sensing device.
As a preferred scheme of the directional wireless charging cooperative scheduling method with space occupation, the method comprises the following steps: the set of mobile chargeable sensing apparatuses and the set of directed wireless chargers comprise,
the mobile chargeable sensing equipment set is N = { o = 1 ,o 2 ,…,o n Each moving chargeable sensor o i E is N, i is more than or equal to 1 and less than or equal to N, all the movable chargeable sensing equipment are homogeneous and have the same upper energy limit E MAX ；
The directed wireless charger set is M = { s = 1 ,s 2 ,…,s m Each directed wireless charger s j Belongs to the element M, j is more than or equal to 1 and less than or equal to M, and a charging facility is arranged to fix the charging distance d j The mobile chargeable sensing equipment needs to be moved to a charging facility for charging;
the movable rechargeable sensing equipment and the directional wireless charger are distributed on a two-dimensional plane, and considering that the moving distance is far greater than the charging distance d in most scenes j Arbitrarily moving chargeable sensing device o i And directed wireless charger s j Move between neglecting d j Determined only by the euclidean distance between the two, i.e. | | s j o i ||。
As a preferred scheme of the directional wireless charging cooperative scheduling method with space occupation, the method comprises the following steps: the obtaining of charging power to the wireless charger includes,
the mobile chargeable sensing apparatus o i Slave directed wireless charger s j Derived charging power pr(s) j ,o i ,θ ij ) The calculation of (a) includes that,
wherein, theta ij Representation of a mobile chargeable sensing device o i And directed wireless charger s j The charging angles between, alpha, beta and mu are represented by movementChargeable sensing device o i And directed wireless charger s j Three constants determined by the magnetic field environment and hardware parameters, d j Representation of a mobile chargeable sensing device o i And directed wireless charger s j D represents a directional wireless charger s j The maximum charging distance of the battery pack,
represents a maximum charging angle of the charger;
due to d j Is a known constant and certainly does not exceed D in the system model of the invention, so if at the maximum charging angle of the charger, o i Positive power is always available in mW.
As a preferred scheme of the directional wireless charging cooperative scheduling method with space occupation, the method comprises the following steps: the directed wireless charging collaborative scheduling pricing model includes,
setting G j Indicating the directed wireless charger s j Of a charging group of, then s j The mobile chargeable sensing device is required to be given i Actual supplementary energy E for charging i (s j ) The calculation of (a) includes that,
E i (s j )＝E i +2b i ||s j o i ||
wherein E is i Indicating a need for charging, b i Represents unit mobile energy consumption;
when the charging angle is theta ij While, the mobile chargeable sensing device o i In the charging group G j Charging time T in i (s j ,θ ij ) The calculation of (a) includes that,
setting phi j Represents G j Set of charging angles of a mobile chargeable sensing device for said charging group G j And charging angle set phi j The charging time of the charging group is the maximum charging time of all the movable chargeable sensing devices in the charging group;
the maximum charging time T (G) j ,Φ j ) The calculation of (a) includes that,
when the charging angles are integrated to phi j Time, charging group G j Cost c (G) of j ,Φ j ) The calculation of (a) includes that,
wherein, A j Indicates a charge price, a j Indicates a unit charge continuation price, T j Indicating a charging time threshold for the directed wireless charger;
the constraints of realistic pricing rules include,
A j ≥a j T j 。
as a preferred scheme of the directional wireless charging cooperative scheduling method with space occupation, the method comprises the following steps: the formalized calculation of the directed wireless charging collaborative scheduling problem with space occupation includes,
wherein s.t. represents a constraint with space-occupied directed wireless charging cooperative scheduling problem, G j′ Indicating a directed wireless charger s j′ Of the charging group, theta i′j Representation of a mobile chargeable sensing device o i′ And directed wireless charger s j The angle of charge between the two electrodes,
indicating a charging group G j The minimum angular interval of the mobile chargeable sensing devices, equation (5-1) indicates that the goal is to minimize the total cost, constraint (5-2) indicates that all the mobile chargeable sensing devices are ensured to be charged, constraint (5-3) indicates that each mobile chargeable sensing device is ensured to be charged by only one directed wireless charger, constraint (5-4) indicates that there is no space occupancy conflict, and constraint (5-5) ensures that the mobile chargeable sensing devices are within the maximum charging angle;
in order to ensure the existence of a feasible solution of the cooperative scheduling problem, three conditions need to be met for solving;
first, the remaining energy of any of the mobile chargeable sensing apparatuses should be sufficient to reach the farthest directed wireless charger, i.e.,
second, the energy requirements of any such mobile chargeable sensing apparatus can be met upon returning to the initial position, i.e.,
third, there is sufficient space to place all of the mobile chargeable sensing devices, i.e.,
if the above three conditions are not met, a simple pre-treatment can be performed before the problem is solved: removing mobile chargeable sensing devices that do not satisfy constraints (5-6) and constraints (5-7); after removal, if the constraints (5-8) are still not met, the mobile inflatable sensing device with the largest remaining energy is removed because its demand is not so urgent until there is enough space.
As a preferred scheme of the directional wireless charging cooperative scheduling method with space occupation, the method comprises the following steps: the calculation of the set of charging angles in the optimal arrangement includes,
considering, without loss of generality, that each of said mobile chargeable sensing devices occupies a space of length x and the antenna of the mobile chargeable sensing device is located in the center of the front part of the space, the charging group G j Minimum angular separation of mid-travel chargeable sensing apparatus
The calculation of (a) includes that,
given a charging group G of k mobile chargeable sensing devices j ＝{o 1 ,o 2 ,…,o k }，E 1 (s j )≥E 2 (s j )≥…≥E k (s j ) K is more than or equal to 1, and o is determined according to the non-increasing sequence of the actual charge quantity i The obtained corresponding charging angles are also numbered according to the sequence to form a charging angle set under the optimal arrangement;
the calculation of the charging angle in the optimal arrangement includes,
wherein, theta 1j Indicating a mobile chargeable sensing device o 1 And directed wireless charger s j The angle of charging in between.
As a preferred scheme of the directional wireless charging cooperative scheduling method with space occupation, the method comprises the following steps: the obtaining of the directed wireless charging cooperative scheduling angle discretization scheme with space occupation comprises,
given a charging group G of k mobile chargeable sensing devices j ＝{o 1 ,o 2 ,…,o k }，E 1 (s j )≥E 2 (s j )≥…≥E k (s j ) K is not less than 1, to o k-1 And o k Respectively carrying out angle discretization;
if k is odd, o k-1 And o k The setting of the discretization interval of (a) includes,
if k is an even number, o k-1 And o k The setting of the discretization interval of (2) includes,
wherein o is k Denotes the kth mobile chargeable sensor, [ theta ] k-1,j Indicating a mobile chargeable sensing device o k-1 And directed wireless charger s j Between the charging ofAn angle;
charging power after discretization of directed wireless charger
The calculation of (a) includes that,
wherein the content of the first and second substances,
represents o k Maximum power in discretization interval, ε represents discretization error, v represents discretization charging angle, n i Representing the number of the divided areas after the angle dispersion;
based on
A discretization angle set can be obtained;
the calculation of the discretized angle includes,
wherein the content of the first and second substances,
represents o i The v-th discrete charging angle of (c),
represents o k Minimum power in the discretization interval;
based on o k-1 And o k The discretization angle set calculates the discretization o k-1 And o k And the discretization angle corresponds to the charging angle set under the optimal arrangement.
As a preferred scheme of the directional wireless charging cooperative scheduling method with space occupation, the method comprises the following steps: the invoking a directed wireless charging cooperative scheduling algorithm with space occupation comprises,
a1: inputting parameters: a mobile chargeable sensing equipment set N, a directed wireless charger set M, three constants alpha, beta and mu determined by magnetic field environment and hardware parameters of the directed wireless charger and the mobile chargeable sensing equipment, a maximum charging angle delta and a charging requirement E i Unit mobile energy consumption b i Minimum angular interval
Charging unit price a j Charge starting value A j Time threshold value T j Charging distance d j ；
A2: initializing all charging groups and charging angle sets for all s j E.g. M, set
A3: setting a set N 'of uncovered mobile chargeable sensing devices, and initializing N' = N;
a4: if it is
Executing steps A5 to A7, otherwise executing step A8;
a5: for each s j E M, finding a charging group G 'which minimizes the average marginal cost after discretization' j And corresponding charging angle set phi' j ；
A6: finding out the charger with the smallest average marginal cost in all the directional wireless charger charging groups, wherein the calculation of the charger with the smallest average marginal cost comprises,
a7: update G j ＝G′ j ，Φ j ＝Φ′ j G' j The medium mobile chargeable sensing device is deleted from N ', namely N' = N '\ G' j Returning to the step A4;
a8: return all (G) j ,Φ j )。
As a preferred solution of the directional wireless charging cooperative scheduling method with space occupation described in the present invention, wherein: also comprises a step of adding a new type of additive,
for each s j E M, finding a charging group G 'which minimizes the average marginal cost after discretization' j And corresponding charging angle set phi' j The specific process comprises the following steps of,
a5.1: setting the number l of the increased mobile chargeable sensing devices, and increasing the charging group G after the increased number l of the mobile chargeable sensing devices j (l) And a temporary set of uncovered mobile chargeable sensing devices N * Initialization l =0,G j (l)＝G j ，N * ＝N′；
A5.2: based on E i (s j ) For G j All the movable chargeable sensing devices are sequenced according to a non-increasing sequence to obtain a sequence
A5.3: if it is
And l<If not, executing the step A5.4 to the step A5.7, otherwise, executing the step A5.8;
a5.4: take out N * In E i (s j ) A minimum mobile chargeable sensing device, the calculation of which comprises,
a5.5: from N * In deleting o i I.e. N * ＝N * \{o i }；
A5.6: let l = l +1, G j (l)＝G j (l-1)∪{o i H, will o i Adding Q j The foremost end;
a5.7: find G j (l) Is set of charging angles under the near-optimal arrangement and recorded as
Returning to the step A5.3;
a5.8: finding a case where l >0, such that the average marginal cost is minimal, and returning as a result, the calculation of the minimum average marginal cost includes,
wherein the content of the first and second substances,
represents G j (l) The set of charging angles at the near-optimal arrangement of (a).
As a preferred scheme of the directional wireless charging cooperative scheduling method with space occupation, the method comprises the following steps: the method also comprises the following steps of,
find G j (l) The specific procedure of the set of charging angles under the approximately optimal arrangement of (1) includes,
a5.7.1: to obtain G j (l) The number of middle-moving chargeable sensing devices, i.e. k = | G j (l)|；
A5.7.2: if k is an odd number, executing the step A5.7.3, otherwise, executing the step A5.7.4;
a5.7.3: calculating Q based on equation (7-1) j Middle o k-1 Based on the formula (7-2), calculating Q j Middle o k The discretization interval of (2) enters step A5.7.5;
a5.7.4: calculating Q based on equation (7-3) j Middle o k-1 Based on the formula (7-4), calculating Q j Middle o k The discretization interval of (2) enters step A5.7.5;
a5.7.5: to o is k-1 And o k Performing angle discretization based on k-1 And o k The discretization angle set calculates the discretization o k-1 And o k A charging angle set under optimal arrangement corresponding to the discretization angle;
a5.7.6: for each discretization angle, obtaining a corresponding charging angle set under optimal arrangement, and setting omega j (l) The method comprises the steps of collecting charging angle sets under all candidate optimal arrangements after angle discretization;
a5.7.7: finding a set of charging angles under an optimal arrangement that minimizes charging time for a charging group
Returning to the set of charging angles under the optimal arrangement, the calculation of the set of charging angles under the optimal arrangement comprising,
the invention has the beneficial effects that: the directed wireless charging cooperative scheduling method with space occupation provided by the invention considers the practical problem that the rechargeable device needs to occupy a certain space for the first time, and can determine the cooperative charging scheduling scheme of the mobile rechargeable sensing device on the premise of meeting the benefit of a charging provider and having no space occupation conflict, thereby minimizing the total cost; compared with the prior art, the directed wireless charging cooperative scheduling method with space dedication has obvious advantages in the aspect of total cost.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise. Wherein:
fig. 1 is a schematic view of a scene structure of a directional wireless charging cooperative scheduling method with space occupation according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating calculation of a minimum angle interval of a directional wireless charging cooperative scheduling method with space occupation according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a charging angle set under an optimal arrangement of a directional wireless charging cooperative scheduling method with space occupation according to an embodiment of the present invention;
fig. 4 is an angle discretization schematic diagram of a directional wireless charging cooperative scheduling method with space occupation according to an embodiment of the present invention;
fig. 5 is a flowchart of a directional wireless charging cooperative scheduling algorithm with space occupation of a directional wireless charging cooperative scheduling method with space occupation according to an embodiment of the present invention;
FIG. 6 shows a charging group G 'with minimum discretized average marginal cost by finding a method for collaborative scheduling of directional wireless charging with space occupation according to an embodiment of the present invention' j And a corresponding set of charging angles Φ' j A flow chart;
fig. 7 shows a method for finding a directional wireless charging cooperative scheduling method with space occupation according to an embodiment of the present invention j (l) A charging angle set flow chart under the approximate optimal arrangement of (1);
fig. 8 is a schematic coordinate diagram of a mobile chargeable sensing device and a directional wireless charger in a directional wireless charging cooperative scheduling method with space occupation according to a second embodiment of the present invention;
fig. 9 is a total cost data graph of changing the number of mobile chargeable sensing devices according to a directional wireless charging cooperative scheduling method with space occupation according to a third embodiment of the present invention;
fig. 10 is a total cost data graph of the number of directional wireless chargers according to a directional wireless charging cooperative scheduling method with space occupation according to a third embodiment of the present invention;
fig. 11 is a total cost data graph of a directional wireless charging cooperative scheduling method with space occupation, which changes the length of the space occupation according to a third embodiment of the present invention;
fig. 12 is a total cost data graph of a method for directional wireless charging cooperative scheduling with space occupation for varying discretization error according to a third embodiment of the present invention;
fig. 13 is a runtime data graph for changing the number of mobile chargeable sensing devices according to a directional wireless charging cooperative scheduling method with space occupation according to a third embodiment of the present invention;
fig. 14 is a runtime data diagram of a directional wireless charging cooperative scheduling method with space occupation to change discretization error according to a third embodiment of the present invention;
fig. 15 is a total cost data graph of changing the number of mobile chargeable sensing devices in a small-scale experiment of a directional wireless charging cooperative scheduling method with space occupation according to a third embodiment of the present invention;
fig. 16 is a running time data graph of changing the number of mobile chargeable sensing devices in a small-scale experiment of a directional wireless charging cooperative scheduling method with space occupation according to a third embodiment of the present invention;
fig. 17 is a schematic physical diagram of a directional wireless charging cooperative scheduling method with space occupation according to a fourth embodiment of the present invention;
fig. 18 is a schematic diagram of a scheduling result of a directional wireless charging cooperative scheduling method with space occupation according to a fourth embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, specific embodiments accompanied with figures are described in detail below, and it is apparent that the described embodiments are a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making creative efforts based on the embodiments of the present invention, shall fall within the protection scope of the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
Furthermore, the references herein to "one embodiment" or "an embodiment" refer to a particular feature, structure, or characteristic that may be included in at least one implementation of the present invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
The present invention will be described in detail with reference to the drawings, wherein the cross-sectional views illustrating the structure of the device are not enlarged partially in general scale for convenience of illustration, and the drawings are only exemplary and should not be construed as limiting the scope of the present invention. In addition, the three-dimensional dimensions of length, width and depth should be included in the actual fabrication.
Meanwhile, in the description of the present invention, it should be noted that the terms "upper, lower, inner and outer" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation and operate, and thus, cannot be construed as limiting the present invention. Furthermore, the terms first, second, or third are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The terms "mounted, connected and connected" in the present invention are to be understood broadly, unless otherwise explicitly specified or limited, for example: can be fixedly connected, detachably connected or integrally connected; they may be mechanically, electrically, or directly connected, or indirectly connected through intervening media, or may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1
Referring to fig. 1 to 7, for an embodiment of the present invention, a method for cooperative scheduling of directional wireless charging with space occupation is provided, including:
s1: a collaborative scheduling pricing model of the directed wireless chargers is built by utilizing the mobile chargeable sensing device sets, the directed wireless charger sets and charging power of the directed wireless chargers. It should be noted that:
set of mobile chargeable sensing devices as N = { o = 1 ,o 2 ,…,o n Each moving chargeable sensor o i E is N, i is more than or equal to 1 and less than or equal to N, all the movable chargeable sensing equipment are homogeneous and have the same upper energy limit E MAX (ii) a Directed wireless charger set is M = { s = 1 ,s 2 ,…,s m Each directed wireless charger s j Belongs to M, j is more than or equal to 1 and less than or equal to M, and a charging facility is arranged to fix the charging distance d j The mobile chargeable sensing equipment needs to be moved to a charging facility for charging;
it should be noted that the mobile chargeable sensing device and the directional wireless charger are both distributed on a two-dimensional plane, and considering that in most of scenes, the moving distance is far greater than the charging distance d j Thus arbitrarily moving the chargeable sensing device o i And directed wireless charger s j Move between neglecting d j Determined only by the euclidean distance between the two, i.e. | | s j o i A scene schematic diagram is shown in fig. 1;
further, the mobile chargeable sensing device o i Slave directed wireless charger s j Acquired charging power pr(s) j ,o i ,θ ij ) The calculation of (a) includes that,
wherein, theta ij Representation of a mobile chargeable sensing device o i And directed wireless charger s j With the charging angles between, alpha, beta and mu representing the charging angle by the mobile chargeable sensing device o i And directed wireless charger s j Three constants determined by the magnetic field environment and hardware parameters, d j Representation of a mobile chargeable sensing device o i And directed wireless charger s j D represents a directional wireless charger s j The maximum charging distance of the battery pack,
represents a maximum charging angle of the charger;
note that, d is due to j Is a known constant and certainly does not exceed D in the system model of the invention, so if at the maximum charging angle of the charger, o i Positive power is always available in units of mW;
still further, the directed wireless charging collaborative scheduling pricing model includes,
in order to complete the sensing operation, the mobile chargeable sensing device must return to the initial position, and thus set G j Indicating directed wireless charger s j Of a charging group of, then s j Need to move the chargeable sensing device o i Actual supplementary energy E for charging i (s j ) The calculation of (a) includes that,
E i (s j )＝E i +2b i ||s j o i ||
wherein, E i Indicating a need for charging, b i Represents unit mobile energy consumption;
when the charging angle is theta ij While moving the chargeable sensing device o i In the charging group G j Charging time T in i (s j ,θ ij ) The calculation of (a) includes that,
setting phi j Represents G j Charging angle set of middle-mobile chargeable sensing device for charging group G j And charging angle set phi j The charging time of the charging group is that of the charging groupMaximum charging time of all mobile chargeable sensing devices;
maximum charging time T (G) j ,Φ j ) The calculation of (a) includes that,
when the charging angles are integrated to phi j In time, charging group G j Cost c (G) j ,Φ j ) The calculation of (a) includes that,
wherein A is j Indicates a charge price, a j Indicates the recharging unit price, T j Indicating a charging time threshold for the directed wireless charger;
the constraints of realistic pricing rules include,
A j ≥a j T j
s2: a directional wireless charging cooperation scheduling problem with space occupation is formalized through a pricing model, and a charging angle set under optimal arrangement is obtained. It should be noted that:
calculations formalizing a directed wireless charging collaborative scheduling problem with space occupation include,
wherein s.t. represents a constraint with space-occupied directed wireless charging cooperative scheduling problem, G j′ Indicating a directed wireless charger s j′ Of the charging group, theta i′j Indicating a mobile chargeable sensing device o i′ And directed wireless charger s j The equation (5-1) represents the goal of minimizing the total cost, the constraint (5-2) represents ensuring that all mobile chargeable sensing devices are charged, the constraint (5-3) represents ensuring that each mobile chargeable sensing device is charged by only one directed wireless charger, the constraint (5-4) represents ensuring that there is no space occupancy conflict, and the constraint (5-5) ensures that the mobile chargeable sensing devices are within the maximum charging angle;
it should be noted that, in order to ensure the existence of a feasible solution of the cooperative scheduling problem, the solution needs to satisfy three conditions;
first, the remaining energy of any mobile chargeable sensing device should be sufficient to reach the farthest directed wireless charger, i.e.,
second, the energy requirements of any mobile chargeable sensing device can be met after returning to the initial position, i.e.,
third, there is sufficient space to place all of the mobile chargeable sensing devices, i.e.,
if the above three conditions are not met, a simple pre-treatment can be performed before the problem is solved: removing mobile chargeable sensing devices that do not satisfy constraints (5-6) and constraints (5-7); after removal, if the constraints (5-8) are still not met, removing the mobile chargeable sensing device with the largest residual energy, since its need is not so urgent until there is enough space;
furthermore, in consideration of the problem of space occupation, the minimum angle interval between any two adjacent mobile chargeable sensing devices needs to be calculated so as to avoid space occupation conflict; without loss of generality, consider that each mobile chargeable sensing device occupies a space of length x, and the antenna of the mobile chargeable sensing device is located at the center of the front of the space, and the charging group G j Minimum angular separation of mid-travel chargeable sensing apparatus
The calculation of (a) includes that,
as shown in fig. 2, if the angle difference between two adjacent mobile chargeable sensing apparatuses is not less than the minimum angle interval, it must be collision-free;
still further, as shown in fig. 3, the charging angle set of the entire charging group can be represented by the charging angle of one mobile chargeable sensing device, given a charging group G of k mobile chargeable sensing devices j ＝{o 1 ,o 2 ,…,o k }，E 1 (s j )≥E 2 (s j )≥…≥E k (s j ) K is more than or equal to 1, and o is determined according to the non-increasing sequence of the actual charge quantity i The obtained corresponding charging angles are also numbered according to the sequence to form a charging angle set under the optimal arrangement;
the calculation of the set of charging angles under optimal arrangement includes,
wherein, theta 1j Indicating a mobile chargeable sensing device o 1 And directed wireless charger s j The angle of charging in between.
S3: and formulating a discretization scheme of the directed wireless charging cooperation scheduling angle with space occupation based on the directed wireless charging cooperation scheduling problem. It should be noted that:
the acquisition of the directed wireless charging cooperative scheduling angle discretization scheme with space occupation comprises,
given a charging group G of k mobile chargeable sensing devices j ＝{o 1 ,o 2 ,…,o k }，E 1 (s j )≥E 2 (s j )≥…≥E k (s j ) K is not less than 1, to o k-1 And o k Respectively carrying out angle discretization;
if k is an odd number, o k-1 And o k The setting of the discretization interval of (2) includes,
if k is an even number, o k-1 And o k The setting of the discretization interval of (a) includes,
wherein o is k Indicating the kth mobile chargeable sensor，θ k-1,j Indicating a mobile chargeable sensing device o k-1 And directed wireless charger s j A charging angle therebetween;
charging power after discretization of directed wireless charger
The calculation of (a) includes that,
wherein the content of the first and second substances,
represents o k Maximum power in discretization interval, ε represents discretization error, v represents discretization charging angle, n i Representing the number of the divided areas after the angle dispersion;
based on
A discretized angle set can be obtained;
the calculation of the set of discretized angles includes,
wherein the content of the first and second substances,
represents o i The v-th discrete charging angle of (c),
represents o k Minimum power in discretization interval;
it should be noted that, as shown in fig. 4, the discretization interval is divided into 3 sub-intervals, and any angular power in the same sub-intervalAll are considered as the corresponding power of the interval edge angle; based on o k-1 And o k The discretization angle set of (1) and calculating the discretized o k-1 And o k And the discretization angle corresponds to the charging angle set under the optimal arrangement.
S4: and calling a directed wireless charging cooperation scheduling algorithm with space occupation to obtain a scheduling scheme of each mobile chargeable sensing device. It should be noted that:
invoking a directed wireless charging cooperative scheduling algorithm with space occupation, as shown in the flowcharts of fig. 5-7, comprises the specific steps of,
a1: inputting parameters: a mobile chargeable sensing equipment set N, a directed wireless charger set M, three constants alpha, beta and mu determined by magnetic field environment and hardware parameters of the directed wireless charger and the mobile chargeable sensing equipment, a maximum charging angle delta and a charging requirement E i Energy consumption per unit movement b i Minimum angular interval
Charging unit price a j Charge starting value A j Time threshold value T j Charging distance d j ；
A2: initializing all charging groups and charging angle sets for all s j E.g. M, set
A3: setting a set N 'of uncovered mobile chargeable sensing devices, and initializing N' = N;
a4: if it is
Executing steps A5 to A7, otherwise executing step A8;
a5: for each s j E M, finding a charging group G 'which minimizes the average marginal cost after discretization' j And corresponding charging angle set phi' j ；
A6: finding out the charger with the minimum average marginal cost in all the directional wireless charger charging groups, wherein the calculation of the charger with the minimum average marginal cost comprises,
a7: update G j ＝G′ j ，Φ j ＝Φ′ j G' j The medium mobile chargeable sensing device is deleted from N ', namely N' = N '\ G' j Returning to the step A4;
a8: return all (G) j ,Φ j )；
Further, step A5 is performed for each s j E M, finding a charging group G 'which minimizes the average marginal cost after discretization' j And corresponding charging angle set phi' j The specific process comprises the following steps of,
a5.1: setting the number l of the increased movable chargeable sensing devices, and increasing the charging group G after the l movable chargeable sensing devices j (l) And a temporary set of uncovered mobile chargeable sensing devices N * Initialization l =0,G j (l)＝G j ，N * ＝N′；
A5.2: based on E i (s j ) For G j All the movable chargeable sensing devices are sequenced according to a non-increasing sequence to obtain a sequence
A5.3: if it is
And l<If not, executing the step A5.4 to the step A5.7, otherwise, executing the step A5.8;
a5.4: take out N * In E i (s j ) A minimum mobile chargeable sensing device, the calculation of the minimum mobile chargeable sensing device comprising,
a5.5: from N * Middle deletion removes o i I.e. N * ＝N * \{o i }；
A5.6: let l = l +1, G j (l)＝G j (l-1)∪{o i H, will o i Adding Q j The foremost end;
a5.7: find G j (l) Is set of charging angles under the near-optimal arrangement and recorded as
Returning to the step A5.3;
a5.8: where l >0 is found, such that the average marginal cost is minimal, and returned as a result, the calculation of the minimum average marginal cost includes,
wherein the content of the first and second substances,
represents G j (l) A set of charging angles under an approximately optimal arrangement of (a);
still further, step A5.7 finds G j (l) The specific procedure of the set of charging angles under the approximately optimal arrangement of (1) includes,
a5.7.1: to obtain G j (l) The number of middle-moving chargeable sensing devices, i.e. k = | G j (l)|；
A5.7.2: if k is odd, executing step A5.7.3, otherwise, executing step A5.7.4;
a5.7.3: calculating Q based on equation (7-1) j Middle o k-1 Based on the formula (7-2), calculating Q j Zhong o k The discretization interval of (2) enters step A5.7.5;
a5.7.4: calculating Q based on equation (7-3) j Middle o k-1 Based on the formula (7-4), calculating Q j Middle o k The discretization interval of (2) enters step A5.7.5;
A5.7.5: to o is to k-1 And o k Performing angle discretization based on k-1 And o k The discretization angle set calculates the discretization angle set o k-1 And o k A charging angle set under optimal arrangement corresponding to the discretization angle;
a5.7.6: for each discretization angle, obtaining a corresponding charging angle set under optimal arrangement, and setting omega j (l) The method comprises the steps of collecting charging angle sets under all candidate optimal arrangements after angle discretization;
a5.7.7: finding a set of charging angles under an optimal arrangement that minimizes charging time for a charging group
Returning to the charging angle set under the optimal arrangement, the calculation of the charging angle set under the optimal arrangement comprises,
it should be noted that the directional wireless charging cooperation scheduling method with space occupation provided by the invention considers the practical problem that the chargeable device needs to occupy a certain space for the first time, and has a time complexity of
Compared with the prior art, the directed wireless charging cooperation scheduling method with space special use has obvious advantages in the aspect of total cost; on the premise of meeting the benefit of a charging provider and having no space occupation conflict, a cooperative charging scheduling scheme of the mobile chargeable sensing equipment can be determined, and the total cost is minimized;
further, the time complexity of the directional wireless charging cooperative scheduling algorithm with space occupation provided by the invention is
The polynomial time algorithm of (2) is additionally explained;
according to
Is provided with
In step A5.7, the pair o is required k-1 And o k The angle discretization is respectively carried out, and the maximum discretization interval is considered not to exceed 0, delta]Thus in the worst case, there are
(ii) a condition; for each one
Calculating out
At most, take O (n) time, so the time complexity of step 5.7 is
In step A5, step A5.7 is performed a maximum of n times, so the temporal complexity of step A5 is
While step A5 is executed mn times at most throughout the algorithm; thus, the algorithm has a time complexity of
Example 2
Referring to fig. 8, a second embodiment of the present invention is different from the first embodiment in that a verification test of the directional wireless charging cooperative scheduling method with space occupation is provided to verify the real effect of the method.
The set of directed wireless chargers is as follows: m = { s = 1 ,s 2 The mobile chargeable sensing equipment set is as follows: n = { o 1 ,o 2 ,o 3 ,o 4 ,o 5 ,o 6 And the directional wireless charger and the mobile chargeable sensing device are distributed on a 40m by 40m two-dimensional plane, the coordinates of the directional wireless charger are (10, 10) and (30, 30) respectively as shown in fig. 8, and are indicated by triangles in the figure, and the coordinates of the mobile chargeable sensing device are (0, 5), (2, 10), (25, 10), (35, 35), (20, 10) and (38, 39) respectively, and are indicated by circles in the figure. The charging distance of the directed wireless charger is d 1 ＝0.4m,d 2 =0.5m, setting E MAX Table 1 shows the relevant parameters of the mobile rechargeable sensing device, and table 2 shows the distance between the mobile rechargeable sensing device and the directional wireless charger, which is rounded to a decimal point that is one bit after the actual result is retained, and then the rules are adopted in the embodiments.
Table 1: mobile chargeable sensing device related parameters.
Table 2: distance between the mobile chargeable sensing device and the directional wireless charger.
| o 1 | o 2 | o 3 | o 4 | o 5 | o 6 | |
| s 1 | 11.2m | 8.0m | 15.0m | 35.4m | 10.0m | 40.3m |
| s 2 | 39.1m | 34.4m | 20.6m | 7.1m | 22.4m | 12.0m |
Setting α =0.11, β =0.01, μ =7.38, d =2m,
then the mobile chargeable sensing device o i Slave directed wireless charger s j The obtained charging power is expressed as:
the unit is mW, o i From s j The actual energy charge is shown in table 3;
table 3: o i From s j To make actual replenishment of chargeEnergy.
| o 1 | o 2 | o 3 | o 4 | o 5 | o 6 | |
| s 1 | 271.8J | 245.0J | 330.0J | 498.6J | 660.0J | 795.0J |
| s 2 | 550.5J | 509.1J | 397.4J | 215.7J | 857.8J | 342.7J |
Setting A 1 ＝22，a 1 ＝0.001，T 1 ＝6000s，A 2 ＝20，a 2 ＝0.0015，T 2 =7000s, x =0.4m, minimum angular interval
After the formalization is completed, pretreatment is required: o 5 Does not satisfy the constraint (5-7), o 6 Do not satisfy the constraint (5-6), are deleted;
thus, the remaining mobile chargeable sensing devices are all retained; a discretization scheme is defined, let epsilon =0.1, to be used.
The specific process of the directed wireless charging cooperative scheduling algorithm with space occupation is as follows:
a1: inputting parameters: mobile chargeable sensing equipment set N = { o = 1 ,o 2 ,o 3 ,o 4 }, directed wireless charger set M = { s = 1 ,s 2 }, and other parameters;
a2: initializing all charging groups and charging angle sets, i.e. for all s j Is e.g. M, order
A3: initialization of N' = { o = 1 ,o 2 ,o 3 ,o 4 }；
A4: if it is
Executing steps A5 to A7, otherwise executing step A8;
a5: for each s j E M, finding a charging group G 'with minimum discretized average marginal cost' j And corresponding charging angle set phi' j (ii) a By s 1 For example, enter A5.1;
a5.1: the initialization is such that l =0 and,
N * ＝{o 1 ,o 2 ,o 3 ,o 4 }；
a5.2: based on E i (s 1 ) For G 1 All the movable chargeable sensing devices are sequenced according to a non-increasing sequence to obtain a sequence
A5.3: if it is
And l<If not, executing the step A5.4 to the step A5.7, otherwise, executing the step A5.8; both conditions are satisfied here;
a5.4: take out N * In E i (s j ) Minimum mobile chargeable sensing device, in this case o 2 ；
A5.5: from N * In deleting o 2 I.e. N * ＝{o 1 ,o 3 ,o 4 }；
A5.6: let l =1,G 1 (1)＝G 1 (0)∪{o 2 }＝{o 2 H, will o 2 Adding Q 1 Front-end, Q j ＝{o 2 }；
A5.7: find the set of charging angles under the current approximate optimal arrangement and record as
Returning to the step A5.3; here, A5.7.1 is entered;
a5.7.1: to obtain G 1 (1) The number of middle-moving chargeable sensing devices, i.e. k = | G 1 (1)|＝1；
A5.7.2: if k is odd, executing step A5.7.3, otherwise, executing step A5.7.4;
a5.7.3: calculating Q based on equation (7-1) j Middle o k-1 Based on the formula (7-2), calculating Q j Middle o k The discretization interval of (2) enters step A5.7.5; is k odd, but since k =1, only o needs to be considered 1 Obtaining an interval [0 DEG, 26.6 DEG ] according to the formula (7-2)]；
A5.7.5: to o is 1 The discretization power can be obtained by carrying out angle discretization with epsilon =0.1 in S6
The corresponding discretization angles are 0.0 degree, 26.0 degrees and 26.6 degrees;
a5.7.6: for each discretization angle, obtaining a corresponding charging angle set under optimal arrangement, and setting omega 1 (1) The method comprises the steps of collecting charging angle sets under all candidate optimal arrangements after angle discretization; then omega at this time 1 (1)＝{{0.0°}，{26.0°}，{26.6°}}；
A5.7.7: finding the situation with the shortest time, i.e.
Returning to the charging angle set under the optimal arrangement; {0.0 ° } case of shortest time; returning to A5.3, the cycle continues until the conditions are not met, resulting in optimally arranged charge angle sets {0.0 ° }, {26.6 °, -26.6 ° }, {4.5 °, -48.6 °,57.6 ° } and {25.0 °, -28.1 °,78.1 °, -81.3 ° }, corresponding to G j (l) Are respectively { o 2 }，{o 1 ,o 2 }，{o 3 ,o 1 ,o 2 And { o } 4 ,o 3 ,o 1 ,o 2 }；
A5.8: find l>0, the case that minimizes the average marginal cost is returned as a result, i.e.
At this time G' 1 ＝{o 3 ,o 1 ,o 2 },Φ′ 1 = 4.5 °, -48.6 °,57.6 ° }; to s 2 The same operation is carried out to obtain G' 2 ＝{o 1 ,o 2 ,o 3 ,o 4 },Φ′ 2 ＝{11.0°,-32.6°,54.6°,-76.2°}；
A6: finding all directed wireless chargersThe minimum average marginal cost of the charging group of the electric appliances is not set as s j I.e. by
At this time
s 1 Selecting the selected plants;
a7: update G 1 ＝{o 3 ,o 1 ,o 2 }，Φ 1 -48.6 °,57.6 ° }, G = {4.5 °, -48.6 ° }' j The middle mobile chargeable sensing device is deleted from N ', i.e. N' = { o 4 And F, returning to the step A4;
A4：
entering A5;
a5.1: initialization l =0,G 1 (0)＝{o 3 ,o 1 ,o 2 }，N * ＝{o 4 }；
A5.2: based on E i (s 1 ) For G 1 All the movable chargeable sensing devices are sequenced according to a non-increasing sequence to obtain a sequence Q 1 ＝{o 3 ,o 1 ,o 2 }；
Steps A5.3 to A5.8 are carried out to give G' 1 ＝{o 4 ,o 3 ,o 1 ,o 2 }，Φ′ 1 ＝{25.0°,-28.1°,78.1°,-81.3°}。
Repeating steps A5 to A7 until
A8: return (G) j ,Φ j ) The end result is G 1 ＝{o 4 ,o 3 ,o 1 ,o 2 }，Φ 1 ＝{25.0°,-28.1°,78.1°,-81.3°}，
The total cost is 37.3.
Example 3
Referring to fig. 9 to 16, a third embodiment of the present invention is different from the second embodiment in that a verification test of a directional wireless charging cooperative scheduling method with space occupation is provided, and for verification and explanation of technical effects adopted in the method, a comparison test of three schemes and the method of the present invention is involved.
The other three schemes are as follows:
1) Greedy selection algorithm based on single equipment cost increment: in each iteration, all of the mobile chargeable sensing devices are traversed, and where space is sufficient, each mobile chargeable sensing device selects an available charger and charging angle that adds the least to the overall cost. And selecting the mobile chargeable sensing equipment which minimizes the total cost increment in the iteration, updating the decision result and entering the next iteration. The charging angle of the assigned mobile chargeable sensing device does not change in subsequent iterations.
2) Greedy selection algorithm based on charging group cost: in each iteration, all chargers are traversed. For each charger, the mobile chargeable sensing device with the largest actual energy supply is placed on the centerline, the other mobile chargeable sensing devices are arranged in sequence according to (12), and then the charger with the smallest cost is selected.
3) Greedy selection algorithm based on average cost of charging group: similar to a greedy selection algorithm based on charge group cost, but selects the charger with the least average charge group cost in each iteration.
The parameters are set as follows: randomly distributing directional wireless chargers and mobile chargeable sensing devices in a square two-dimensional plane of 250m × 250m, setting default parameters as follows, wherein the number of directional chargers m =30, the number of mobile chargeable sensing devices n =100, and the maximum charging angle
Space occupation length x =0.2m, energy requirement E i ∈[1500,2000]J, unit mobile energy consumption b i ∈[5,10]J/m, starting charge A j ∈[200,220]Charging unit price a j ∈[0.001,0.0015]Charging time threshold T for directed wireless charger j ∈[60000,80000]s, fixed charging distance d j ∈[0.4,0.6]m, α =0.11, β =0.01, μ =10.8, power unit mW, discretization error ∈ =0.1. Because only the scene with a certain solution after preprocessing is considered, the rest parameters are not required to be involved. The values of the key parameters will then be changed to explore their impact on the algorithm, each measurement being the average of over 100 random topologies.
As shown in fig. 9, the total cost of all algorithms increases as the number of mobile chargeable sensing devices increases, but the algorithm provided by the present invention always outputs the lowest total cost. Specifically, the algorithm provided by the present invention reduces the total cost by an average of 37.7%, 10.9%, and 10.0% respectively, as compared to the other three comparative algorithms.
As shown in fig. 10, the total cost of all algorithms decreases as the number of chargers increases. This is because with more chargers, the mobile chargeable sensing device can be moved to a closer or cheaper charger for charging. Compared with the other three comparison algorithms, the algorithm provided by the invention respectively reduces the total cost by 37.7%, 12.3% and 10.2% on average.
As shown in fig. 11, as the length of space occupied increases, fewer mobile chargeable sensing devices can be placed in the charging group, and thus the chance of cooperation decreases, requiring more chargers to be turned on. Compared with the other three comparison algorithms, the algorithm provided by the invention reduces the total cost by 42.5%, 15.6% and 15.0% respectively on average.
FIG. 12 is a graph illustrating the impact of an angle discretization error on the total cost of a directed wireless charging cooperative scheduling algorithm with space occupation. As the discretization error increases, the overall cost of the algorithm also increases. This is consistent with the approximate analysis we present.
Fig. 13 shows the effect of the number of mobile chargeable sensing devices on the algorithm run time. The run time of all algorithms increases as the number of mobile chargeable sensing devices increases. Because a greater number of mobile chargeable sensing devices are selected in each iteration, the two comparison algorithms that select on a charge group basis run faster. Although the directional wireless charging cooperation scheduling algorithm with space occupation is also selected by taking a charging group as a unit, the discretization takes much time, so the running time is relatively long. However, even if there are 120 mobile chargeable sensing devices, it only needs to be no more than 0.4s. As shown in fig. 14, the run time decreases sharply as the discretization error increases. This is because fewer discrete charging angles need to be traversed in a5.7.
Since the possible charging angles are infinite, the performance of the directional wireless charging cooperation scheduling algorithm with space occupation is compared with the optimal solution after the angle discretization in the 40m × 40m area. As shown in fig. 15, the directed wireless charging cooperative scheduling algorithm with space occupation is only 4.12% higher than the optimal solution after angle discretization. However, as shown in fig. 16, in order to obtain the optimal solution after the angle discretization, even if there are only 9 mobile chargeable sensing devices, 11.6s is needed, which is much slower than the directional wireless charging cooperative scheduling algorithm with space occupation.
Example 4
Referring to fig. 17 to 18, a verification test of the directional wireless charging cooperative scheduling method with space occupation is provided for a fourth embodiment of the present invention, and in order to further verify and explain the technical effects adopted in the method, in this embodiment, a comparison test is performed on the above four algorithms in an actual scene.
As shown in fig. 17, the used related devices include a TX91501 directional wireless charger, a mobile chargeable sensing device, and a data access point for connecting a computer to transmit data. 8 mobile chargeable sensing devices and 5 directed wireless chargers are deployed in a 40m x 40m area, the mobile chargeable sensing devices are deployed randomly, and the coordinates of the directed wireless chargers are (10, 10), (10, 30), (20, 20), (30, 10), (30, 30). According to the physical test, the actual device parameters α =0.11, β =0.01, μ =7.38 are obtained. Partial default parameters are modified, and in the material experiment, energy is neededFinding E i ∈[150,200]J, initial charge A j ∈[20,22]Charging time threshold T for directional wireless charger j ∈[6000,8000]s, the remaining parameters remain unchanged.
The scheduling result of the directional wireless charging cooperative scheduling algorithm with space occupation is shown in fig. 18, a triangle represents a directional wireless charger, and a circle represents a mobile chargeable sensing device. Fig. 18 is only used to show which mobile chargeable sensing device is charging to which directional wireless charger, and does not show the actual charging angle. The quantized scheduling results and the total cost of all algorithms are given in table 4, each scheduling result is represented as a binary group, where the first value represents the assigned directional wireless charger number and the second value represents the charging angle.
Table 4: and quantifying a scheduling result and the total cost by using a physical experiment.
As can be seen from table 4, since the directional wireless charging cooperation scheduling algorithm with space occupation and the discretized optimal solution can optimize the charging angle set through the angle discretization, the charging requirements of all the mobile chargeable sensing devices can be met only by starting one directional wireless charger. In a physical experiment, compared with a greedy selection algorithm based on single equipment cost increment and a greedy selection algorithm based on charging group cost/a greedy selection algorithm based on average cost of a charging group, the total cost of a directional wireless charging cooperation scheduling algorithm with occupied space is respectively reduced by 31.3% and 34.2%.
It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
Claims (10)
1. A directed wireless charging cooperative scheduling method with space occupation is characterized by comprising the following steps:
constructing a cooperative scheduling pricing model of the directional wireless charger by utilizing the mobile chargeable sensing equipment set, the directional wireless charger set and the charging power of the directional wireless charger;
formalizing a directed wireless charging cooperation scheduling problem with space occupation through the pricing model, and acquiring a charging angle set under optimal arrangement;
formulating a discretization scheme of the directed wireless charging cooperation scheduling angle with space occupation based on the directed wireless charging cooperation scheduling problem;
and calling a directed wireless charging cooperation scheduling algorithm with space occupation to obtain a scheduling scheme of each mobile chargeable sensing device.
2. The directed wireless charging cooperative scheduling method with space occupation of claim 1, wherein: the set of mobile chargeable sensing apparatuses and the set of directed wireless chargers comprise,
the mobile chargeable sensing equipment set is N = { o = 1 ,o 2 ,…,o n Each moving chargeable sensor o i E N, all mobile chargeable sensing devices are homogeneous and have the same upper energy limit E MAX ；
The directed wireless charger set is M = { s = 1 ,s 2 ,…,s m Each directional wireless charger s j Is belonged to M, and is provided with a charging facility for fixing the charging distance d j The mobile chargeable sensing equipment needs to be moved to a charging facility for charging;
the mobile chargeable sensing equipment and the directional wireless charger are distributed on a two-dimensional plane, and the moving distance is far greater than the charging distance d in most of scenes j Arbitrarily moving chargeable sensing device o i And directed wireless charger s j Move between neglecting d j Determined only by the Euclidean distance between the twoI.e. | s j o i ||。
3. The directed wireless charging cooperative scheduling method with space occupation of claim 2, wherein: the obtaining of charging power to the wireless charger includes,
the mobile chargeable sensing apparatus o i Slave directional wireless charger s j Acquired charging power pr(s) j ,o i ,θ ij ) The calculation of (a) includes that,
wherein, theta ij Indicating a mobile chargeable sensing device o i And directed wireless charger s j With the charging angles between, alpha, beta and mu representing the charging angle by the mobile chargeable sensing device o i And directed wireless charger s j Three constants, d, determined by the magnetic field environment and hardware parameters j Representation of a mobile chargeable sensing device o i And directed wireless charger s j D represents the charger s j δ represents the charger s j The maximum charging angle of.
4. A directed wireless charging cooperative scheduling method with space occupation according to any one of claims 1 to 3, characterized in that: the directed wireless charging collaborative scheduling pricing model includes,
set G to j Indicating the directed wireless charger s j Charging group of s j The mobile chargeable sensing device is required to be given i Actual supplementary energy E for charging i (s j ) The calculation of (a) includes that,
E i (s j )＝E i +2b i ||s j o i ||
wherein E is i Indicating a need for charging, b i Represents unit mobile energy consumption;
when the charging angle isθ ij While, the mobile chargeable sensing device o i In the charging group G j Charging time T in i (s j ,θ ij ) The calculation of (a) includes that,
setting phi j Represents G j Set of charging angles of the mobile chargeable sensor apparatus of medium size, for said charging group G j And charging angle set phi j The charging time of the charging group is the maximum charging time of all the movable chargeable sensing devices in the charging group;
the maximum charging time T (G) j ,Φ j ) The calculation of (a) includes that,
when the charging angles are integrated to phi j In time, charging group G j Cost c (G) of j ,Φ j ) The calculation of (a) includes that,
wherein A is j Indicates a charge price, a j Indicates a unit charge continuation price, T j Indicating a charging time threshold for the directed wireless charger.
5. The directed wireless charging cooperative scheduling method with space occupation of claim 4, wherein: the computation of the formalized directed wireless charging collaborative scheduling problem with space occupation includes,
wherein s.t. represents a constraint with space-occupied directed wireless charging cooperative scheduling problem, G j′ Indicating directed wireless charger s j′ Of the charging group, theta i′j Representation of a mobile chargeable sensing device o i′ And directed wireless charger s j The angle of charge between the two electrodes,
indicating a charging group G j A minimum angular interval of the movable chargeable sensing apparatus.
6. The directed wireless charging cooperative scheduling method with space occupation of claim 5, wherein: the calculation of the set of charging angles in the optimal arrangement includes,
considering, without loss of generality, that each of said mobile chargeable sensing devices occupies a space of length x and the antenna of the mobile chargeable sensing device is located in the center of the front part of the space, the charging group G j Minimum angular separation of mid-travel chargeable sensing apparatus
Is calculated by，
Given a charging group G of k mobile chargeable sensing devices j ＝{o 1 ,o 2 ,…,o k }，E 1 (s j )≥E 2 (s j )≥…≥E k (s j ) K is more than or equal to 1, and o is determined according to the non-increasing sequence of the actual charge quantity i The obtained corresponding charging angles are also numbered according to the non-increasing sequence of the actual charging amount to form a charging angle set under the optimal arrangement;
the calculation of the charging angle in the optimal arrangement includes,
wherein, theta 1j Representation of a mobile chargeable sensing device o 1 And directed wireless charger s j The angle of charging in between.
7. The directed wireless charging cooperative scheduling method with space occupation of claim 6, wherein: the obtaining of the directed wireless charging cooperative scheduling angle discretization scheme with space occupation comprises,
given a charging group G of k mobile chargeable sensing devices j ＝{o 1 ,o 2 ,…,o k }，E 1 (s j )≥E 2 (s j )≥…≥E k (s j ) K is not less than 1, to o k-1 And o k Respectively carrying out angle discretization;
if k is an odd number, o k-1 And o k The setting of the discretization interval of (a) includes,
if k is an even number, o k-1 And o k The setting of the discretization interval of (2) includes,
wherein o is k Denotes the kth mobile chargeable sensor, [ theta ] k-1,j Indicating a mobile chargeable sensing device o k-1 And directed wireless charger s j A charging angle therebetween;
charging power of the discretized directed wireless charger
The calculation of (a) includes that,
wherein, the first and the second end of the pipe are connected with each other,
represents o k Maximum power in discretization interval, ε represents discretization error, v represents discretization charging angle, n i Representing the number of the divided areas after the angle dispersion;
the calculation of the discretized angle can include,
wherein the content of the first and second substances,
represents o i The v th discrete charging angle of (d);
forming a discretized angle set based on the discretized angles, based on o k-1 And o k Obtaining the discretized angle set k-1 And o k And the discretization angles correspond to the charging angles under the optimal arrangement.
8. The directed wireless charging cooperative scheduling method with space occupation of claim 7, wherein: the invoking a directed wireless charging cooperative scheduling algorithm with space usage includes,
a1: inputting parameters: a mobile chargeable sensing equipment set N, a directed wireless charger set M, three constants alpha, beta and mu determined by magnetic field environment and hardware parameters of the directed wireless charger and the mobile chargeable sensing equipment, a maximum charging angle delta and a charging requirement E i Unit mobile energy consumption b i Minimum angular interval
Charging unit price a j Charge starting value A j Time threshold value T j Charging distance d j ；
A2: initializing all charging groups and charging angle sets for all s j E.g. M, set
A3: setting a set of uncovered mobile chargeable sensing apparatuses N ', initializing N' = N;
a4: if it is
Executing steps A5 to A7, otherwise executing step A8;
a5: for each s j ∈M，Finding a charging group G 'that minimizes the discretized average marginal cost' j And corresponding charging angle set phi' j ；
A6: finding out the charger with the smallest average marginal cost in all the directional wireless charger charging groups, wherein the calculation of the charger with the smallest average marginal cost comprises,
a7: update G j ＝G′ j ，Φ j ＝Φ′ j G' j The medium mobile chargeable sensing device is deleted from N ', namely N' = N '\ G' j Returning to the step A4;
a8: return all (G) j ,Φ j )。
9. The directed wireless charging cooperative scheduling method with space occupation of claim 8, wherein: also comprises the following steps of (1) preparing,
for each s j E M, finding a charging group G 'which minimizes the average marginal cost after discretization' j And corresponding charging angle set phi' j The specific process comprises the following steps of,
a5.1: setting the number l of the increased movable chargeable sensing devices, and increasing the charging group G after the l movable chargeable sensing devices j (l) And a temporary set of uncovered mobile chargeable sensing devices N * Initialization l =0,G j (l)＝G j ，N * ＝N′；
A5.2: based on E i (s j ) For G j All the movable chargeable sensing devices are sequenced according to a non-increasing sequence to obtain a sequence
A5.3: if it is
And l<If not, executing the step A5.4 to the step A5.7, otherwise, executing the step A5.8;
a5.4: take out N * In E i (s j ) A minimum mobile chargeable sensing device, the calculation of which includes,
a5.5: from N * In deleting o i I.e. N * ＝N * \{o i }；
A5.6: let l = l +1, G j (l)＝G j (l-1)∪{o i H, will o i Adding Q j A foremost end;
a5.7: find G j (l) Is set of charging angles under the near-optimal arrangement and recorded as
Returning to the step A5.3;
a5.8: finding a case where l >0, such that the average marginal cost is minimal, and returning as a result, the calculation of the minimum average marginal cost includes,
wherein, the first and the second end of the pipe are connected with each other,
represents G j (l) The set of charging angles at the near-optimal arrangement of (a).
10. The directed wireless charging cooperative scheduling method with space occupation of claim 9, wherein: also comprises the following steps of (1) preparing,
find G j (l) The specific procedure of the set of charging angles under the approximately optimal arrangement of (1) includes,
a5.7.1: to obtain G j (l) The number of middle-moving chargeable sensing devices, i.e. k = | G j (l)|；
A5.7.2: if k is odd, executing step A5.7.3, otherwise, executing step A5.7.4;
a5.7.3: calculating Q based on equation (7-1) j Middle o k-1 Based on the formula (7-2), calculating Q j Middle o k The discretization interval of (2) enters step A5.7.5;
a5.7.4: calculating Q based on equation (7-3) j Middle o k-1 Based on the formula (7-4), calculating Q j Middle o k The discretization interval of (2) enters step A5.7.5;
a5.7.5: to o is k-1 And o k Performing angle discretization based on k-1 And o k The discretization angle set calculates the discretization angle set o k-1 And o k A charging angle set under optimal arrangement corresponding to the discretization angle;
a5.7.6: for each discretization angle, obtaining a corresponding charging angle set under optimal arrangement, and setting omega j (l) The method comprises the steps of collecting charging angle sets under all candidate optimal arrangements after angle discretization;
a5.7.7: finding a set of charging angles under an optimal arrangement that minimizes charging time for a charging group
Returning to the set of charging angles under the optimal arrangement, the calculation of the set of charging angles under the optimal arrangement comprising,
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210966816.4A CN115456344A (en) | 2022-08-11 | 2022-08-11 | Directional wireless charging cooperation scheduling method with space occupation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210966816.4A CN115456344A (en) | 2022-08-11 | 2022-08-11 | Directional wireless charging cooperation scheduling method with space occupation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115456344A true CN115456344A (en) | 2022-12-09 |
Family
ID=84297840
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210966816.4A Pending CN115456344A (en) | 2022-08-11 | 2022-08-11 | Directional wireless charging cooperation scheduling method with space occupation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115456344A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115759505A (en) * | 2023-01-10 | 2023-03-07 | 南京邮电大学 | Task-oriented multi-mobile charging vehicle scheduling method |
-
2022
- 2022-08-11 CN CN202210966816.4A patent/CN115456344A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115759505A (en) * | 2023-01-10 | 2023-03-07 | 南京邮电大学 | Task-oriented multi-mobile charging vehicle scheduling method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109583665B (en) | Unmanned aerial vehicle charging task scheduling method in wireless sensor network | |
| Yu et al. | Placement of connected wireless chargers | |
| Le Floch et al. | Distributed optimal charging of electric vehicles for demand response and load shaping | |
| CN115456344A (en) | Directional wireless charging cooperation scheduling method with space occupation | |
| Zhong et al. | Ant colony optimization algorithm for lifetime maximization in wireless sensor network with mobile sink | |
| CN105722091A (en) | Directional charging base station deployment method of wireless rechargeable sensor network | |
| CN110034596B (en) | Multi-base-station charging method based on SOM neural network in WRSNs | |
| CN113723807B (en) | Energy storage and information system double-layer collaborative planning method, device and medium | |
| Yu et al. | Connectivity-constrained placement of wireless chargers | |
| CN110707826B (en) | Method for arranging hybrid heterogeneous wireless charger in heterogeneous wireless sensor network | |
| Madhja et al. | Adaptive wireless power transfer in mobile ad hoc networks | |
| Qian et al. | Optimal recharge scheduler for drone-to-sensor wireless power transfer | |
| CN103279661B (en) | Substation capacity Optimal Configuration Method based on Hybrid quantum inspired evolution algorithm | |
| Xu et al. | Cooperative charging as service: Scheduling for mobile wireless rechargeable sensor networks | |
| CN108650710B (en) | Resource allocation method of wireless energy supply communication network based on hybrid multiple access | |
| CN113964854A (en) | Intelligent charging and discharging method for V2G of electric vehicle | |
| CN111626492A (en) | Fuzzy multi-target opportunity constraint planning method for electric vehicle charging network | |
| Wang et al. | Toward the minimal wait-for delay for rechargeable WSNs with multiple mobile chargers | |
| CN108770001B (en) | Wireless chargeable sensor network optimization method based on memetic algorithm | |
| Liu | A genetic algorithm based scheduling scheme for WRSN | |
| Ding et al. | Optimal wireless charger placement with individual energy requirement | |
| CN108737995B (en) | Charging scheduling method for limited movement of charging vehicle | |
| CN113659670A (en) | Wireless sensor network charging method based on region division | |
| Jin et al. | Deployment optimization for target perpetual coverage in energy harvesting wireless sensor network | |
| Ding et al. | Maximizing the network lifetime of rechargeable sensor networks with a mobile charger |
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 |