CN116796994A - Multi-terminal scheduling method, storage medium and electronic equipment - Google Patents
Multi-terminal scheduling method, storage medium and electronic equipment Download PDFInfo
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Abstract
The present invention relates to the field of data processing, and in particular, to a multi-terminal scheduling method, a storage medium, and an electronic device. Comprising the following steps: responding to a task relay request of the first terminal, and acquiring corresponding response information by each second terminal; each second terminal generates a relay capability value of each second terminal according to the task relay request and the corresponding response information; and the first terminal determines a first target relay terminal from the plurality of second terminals according to the relay capability value and sends a first relay command to the first target relay terminal. When any terminal in the working area cannot complete the corresponding preset task due to temporary obstacles or other reasons, the relay request can be initiated to other terminals in the same working area, and a second terminal with the best capability of completing the relay task is allocated to continuously complete the preset task, so that the task completion rate can be greatly improved.
Description
Technical Field
The present invention relates to the field of data processing, and in particular, to a multi-terminal scheduling method, a storage medium, and an electronic device.
Background
With the development of technology, autopilot has been widely used in our daily production and life. The automatic driving system drives the target object to move between the departure place and the destination through the target vehicle capable of realizing automatic driving, so that corresponding functions, such as functions of express delivery, automatic charging, automatic oiling and the like, are realized.
In order to meet the use requirement in a fixed working area, a plurality of automatic driving trolleys are arranged at different positions of the fixed working area to complete corresponding work. However, during actual use, some obstacles may be temporarily placed at some locations in the stationary work area. Such as by enclosing an area with a meter fence or warning line. Meanwhile, due to the existence of the barriers, the running route of a part of the automatic driving trolley is blocked, and the preset task cannot be completed at the designated position, so that the completion rate of the task is reduced.
Disclosure of Invention
Aiming at the technical problems, the invention adopts the following technical scheme:
according to one aspect of the present invention, there is provided a multi-terminal scheduling method, comprising the steps of:
responding to the task relay request of the first terminal, each second terminal obtains corresponding response information A 1 、A 2 、…、A i 、…、A z The method comprises the steps of carrying out a first treatment on the surface of the Wherein A is i For response information corresponding to the ith second terminal, z is the total number of the second terminals, i=1, 2, … and z; the first terminal is a terminal which cannot finish a preset task in a working area; the second terminal is the rest terminals except the first terminal in the same working area;
each second terminal requests according to task relay and corresponding response information A 1 、A 2 、…、A i 、…、A z Generating a relay capability value B of each second terminal 1 、B 2 、…、B i 、…、B z ，B i The relay capability value corresponding to the ith second terminal is used for representing the parameters of the relay capability of the corresponding second terminal for completing the current task;
each second terminal sends the corresponding relay capability value to the first terminal;
and the first terminal determines a first target relay terminal from the plurality of second terminals according to the relay capability value and sends a first relay command to the first target relay terminal.
Further, the task relay request includes a relay position and a required energy value W 1 Relay time interval [ T ] 1 ，T 2 ]；A i ＝(A i 1 、A i t1 、A i t2 、A i w ) Wherein T is 1 For relay start time, T 2 For relay termination time A i 1 For the current position of the ith second terminal, A i t1 For the start time of the idle period nearest to the current time of the ith second terminal, A i t2 For the termination time of the idle period of the ith second terminal nearest to the current time, A i w The current available remaining energy value of the ith second terminal;
each second terminal requests according to task relay and corresponding response information A 1 、A 2 、…、A i 、…、A z Generating a relay capability value for each second terminal, including:
according to relay position and A i 1 Generating a time loss value A corresponding to the ith second terminal i △t Energy loss value DeltaW i ；
According to W 1 、T 1 、T 2 、A i t1 、A i t2 、A i w 、A i △t DeltaW i Generating a first capability sub-decision value B corresponding to the ith second terminal i 1 Second capability determination value B i 2 Third capability sub-determination value B i 3 ；
B i 1 、B i 2 B (B) i 3 The following conditions are satisfied:
if at the same time satisfy B i 1 >0，B i 2 >0，B i 3 >0 and A i t2 -A i t1 -A i △t >DeltaT, according to A i w 、△W i 、A i t2 、A i t1 、A i △t 、W 1 And generating a relay capability value B of the ith second terminal by delta T i ；B i The following conditions are satisfied:
wherein DeltaT is the completion energy value W 1 The length of time spent on replenishment; max () is a function taking the maximum value.
Further, in generating the first capability sub-decision value B corresponding to the ith second terminal i 1 Second capability determination value B i 2 Third capability sub-determination value B i 3 Thereafter, the method further comprises:
if not meeting B i 1 >0，B i 2 >0，B i 3 >0 and A i t2 -A i t1 -A i △t >DeltaT, then B i ＝0。
Further, Δt satisfies the following condition:
where v is the average energy replenishment rate.
Further, according to relay position and A i 1 Generating a time loss value A corresponding to the ith second terminal i △t Energy loss value DeltaW i Comprising:
calling a navigation interface to generate a relay position and A i 1 Path information between them;
generating a time loss value A corresponding to the ith second terminal according to the path information i △t Energy loss value DeltaW i 。
Further, the first terminal and the plurality of second terminals are both located in the same first local area network;
before each second terminal obtains the corresponding response information in response to the task relay request of the first terminal, the method further comprises the following steps:
the first terminal sends the task relay request to the first local area network in a broadcast mode.
Further, each second terminal and the target receiving terminal are in the same second local area network, and the response information is the network signal strength of the second local area network currently received by the corresponding second terminal;
after each second terminal obtains the corresponding response information, the method further comprises the following steps:
each second terminal respectively sends corresponding response information to the first terminal through the first local area network;
and the first terminal determines at least one second target relay terminal from the plurality of second terminals according to the network signal intensity of the second local area network currently received by each second terminal, and sends a second relay command to each second target relay terminal.
Further, the first terminal determines a first target relay terminal from the plurality of second terminals according to the relay capability value, including:
and determining the second terminal corresponding to the maximum value in the plurality of relay capability values as the first target relay terminal.
According to a second aspect of the present invention, there is provided a non-transitory computer readable storage medium storing a computer program which when executed by a processor implements a multi-terminal scheduling method as described above.
According to a third aspect of the present invention, there is provided an electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing a multi-terminal scheduling method as described above when executing the computer program.
The invention has at least the following beneficial effects:
in the invention, when the first terminal cannot complete the preset task, the task relay request is sent to other terminals in the same working area, namely a plurality of second terminals. When each second terminal receives the task relay request, the second terminal acquires the parameter information related to the completion of the preset task, namely the response information. And the corresponding relay capacity value of the second terminal is calculated according to the task relay request and the corresponding response information, and then the first terminal can determine the first target relay terminal which is most suitable for task relay from the plurality of second terminals according to the relay capacity value and send a first relay command to the first target relay terminal. When any terminal in the working area cannot complete the corresponding preset task due to temporary obstacles or other reasons, a relay request can be initiated to other terminals in the same working area, and a second terminal with the best capability of completing the relay task is allocated to continuously complete the preset task. Therefore, by the relay method, a plurality of terminals in the same working area can be regulated and controlled to jointly complete the same preset task, and the task completion rate can be greatly improved. Meanwhile, the regulation and control method can further fully utilize a plurality of terminals in the same working area, so that the working efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a multi-terminal scheduling method according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.
According to an aspect of the present invention, as shown in fig. 1, there is provided a multi-terminal scheduling method, including the steps of:
s100: responding to the task relay request of the first terminal, each second terminal obtains corresponding response information A 1 、A 2 、…、A i 、…、A z . Wherein A is i And z is the total number of the second terminals, i=1, 2, … and z, which are response information corresponding to the ith second terminal. The first terminal is a terminal which cannot complete a preset task in a working area. The second terminal is the rest of terminals except the first terminal in the same working area.
Further, the first terminal and the plurality of second terminals are both located in the same first local area network. The first local area network may be a wireless local area network, such as a WiFi network in its operating area. The description will be given taking, as an example, a case where the usage scenario is a scenario in which the vehicles in the same parking lot are automatically charged. The first local area network may be a WiFi network that may cover the parking lot that has been set up.
Prior to S100, the method further comprises:
s110: the first terminal sends the task relay request to the first local area network in a broadcast mode.
When a certain terminal is blocked in the moving process and cannot reach a preset position or cannot complete a preset task due to other reasons, the terminal is the first terminal, and the first terminal sends a task relay request to the first local area network in a broadcasting mode. Thereby, the remaining terminals, i.e. the second terminal, can be made to receive the request.
S200: each second terminal requests according to task relay and corresponding response information A 1 、A 2 、…、A i 、…、A z Generating a relay capability value B of each second terminal 1 、B 2 、…、B i 、…、B z ，B i And the relay capability value is used for indicating the parameters of the relay capability of the corresponding second terminal for completing the current task.
The response information is information of the matching degree between the second terminal and the current task relay request. Thus, the relay capability value of each second terminal can be generated by the task relay request and the corresponding response information.
S300: and each second terminal transmits the corresponding relay capability value to the first terminal.
S400: and the first terminal determines a first target relay terminal from the plurality of second terminals according to the relay capability value and sends a first relay command to the first target relay terminal.
Specifically, S400 includes:
s401: and determining the second terminal corresponding to the maximum value in the plurality of relay capability values as the first target relay terminal.
In the invention, when the first terminal cannot complete the preset task, the task relay request is sent to other terminals in the same working area, namely a plurality of second terminals. When each second terminal receives the task relay request, the second terminal acquires the parameter information related to the completion of the preset task, namely the response information. And the corresponding relay capacity value of the second terminal is calculated according to the task relay request and the corresponding response information, and then the first terminal can determine the first target relay terminal which is most suitable for task relay from the plurality of second terminals according to the relay capacity value and send a first relay command to the first target relay terminal. When any terminal in the working area cannot complete the corresponding preset task due to temporary obstacles or other reasons, a relay request can be initiated to other terminals in the same working area, and a second terminal with the best capability of completing the relay task is allocated to continuously complete the preset task. Therefore, by the relay method, a plurality of terminals in the same working area can be regulated and controlled to jointly complete the same preset task, and the task completion rate can be greatly improved.
Meanwhile, in this embodiment, each terminal has two identities, one is an initiator of the task relay and the other is a receiver of the task relay. And when the terminal is the identity of the initiator of the task relay, namely, the first terminal can select one first target relay terminal to carry out task relay according to the received multiple relay capability values. The first terminal also has the capability to schedule the remaining terminals at this time. Each first terminal is also a dispatch platform in this embodiment and also has the identity of the dispatcher. Since some devices for performing scheduling control cannot be installed in some working areas with severe requirements, the existing related schemes cannot be used normally in the working areas. In the solution of this embodiment, there is no need to re-arrange a related scheduling control server in the working area. So as to improve the applicability of the scheme.
As another possible embodiment of the present invention, the task relay request includes a relay location, a required energy value W 1 Relay time interval [ T ] 1 ，T 2 ]。A i ＝(A i 1 、A i t1 、A i t2 、A i w ) Wherein T is 1 For relay start time, T 2 For relay termination time A i 1 For the current position of the ith second terminal, A i t1 For the start time of the idle period nearest to the current time of the ith second terminal, A i t2 For the termination time of the idle period of the ith second terminal nearest to the current time, A i w Is the current available remaining energy value of the ith second terminal.
S200: each second terminal requests according to task relay and corresponding response information A 1 、A 2 、…、A i 、…、A z Generating a relay capability value for each second terminal, including:
s201: according to relay position and A i 1 Generating a time loss value A corresponding to the ith second terminal i △t Energy loss value DeltaW i 。
Specifically, S201 includes:
s211: calling a navigation interface to generate a relay position and A i 1 Path information between them.
The specific navigation interface is an interface for generating path information between two positions in the existing navigation software.
S221: generating a time loss value A corresponding to the ith second terminal according to the path information i △t Energy loss value DeltaW i 。
Typically, after having the path information, the autopilot car runs through the path for a length of time, also known as the time loss value a i △t Can also be obtained. The energy loss value is the energy consumed by the automatic driving trolley to complete the path. The electric quantity value may be specifically mentioned in this embodiment. The automatic driving trolley is driven by means of electric quantity. The main scene that aims at in this embodiment is an automatic charging scene, where the first terminal and the second terminal are all automatic driving trolleys that can be used for automatic charging. Each autonomous vehicle is provided with a battery which, on the one hand, provides energy for the travel of the vehicle and, on the other hand, also serves to charge other vehicles.
S202: according to W 1 、T 1 、T 2 、A i t1 、A i t2 、A i w 、A i △t DeltaW i Generating a first capability sub-decision value B corresponding to the ith second terminal i 1 Second capability determination value B i 2 Third capability sub-determination value B i 3 。
B i 1 、B i 2 B (B) i 3 The following conditions are satisfied:
B i 1 and the method is used for representing the magnitude relation between the available energy value and the required energy value remained after the second terminal arrives at the relay position. Such as the magnitude of the remaining rechargeable power value and the power value to be charged. If the corresponding second terminal can perform relay charging, it is necessary to ensure that the available energy value remaining after the second terminal reaches the relay position is greater than the required energy value, i.e. A i w -△W i >W 1 Likewise B i 1 >0。
Specifically, A i t1 +A i △t And the starting time of the idle period closest to the current time after the second terminal reaches the relay position. In this embodiment, if the second terminal corresponding to the second terminal is required to be able to perform relay charging, the time interval [ a ] corresponding to the idle period after the second terminal reaches the relay position needs to be changed i t1 +A i △t ，A i t2 ]May include a relay time interval [ T ] 1 ，T 2 ]I.e. [ T ] 1 ，T 2 ]∈[A i t1 +A i △t ，A i t2 ]Thereby requiring T 1 >A i t1 +A i △t And A is i t2 >T 2 . Namely B i 2 >0 and B i 3 >0。
In addition, if the corresponding second terminal is required to complete relay charging, the second terminal is required to complete charging for a longer period of time than the required energy value W 1 The length of time taken for replenishment of (a), i.e. a i t2 -A i t1 -A i △t >△T。
Further, Δt satisfies the following condition:
where v is the average energy replenishment rate. v may be set according to the situation in the actual usage scenario.
If the idle time of the vehicle to be charged is longer than DeltaT, the idle time of the vehicle to be charged is long enough for charging. I.e. T 2 -T 1 >At Δt, Δt may be calculated using the above formula.
If the idle time of the vehicle to be charged is less than DeltaT, i.e. T 2 -T 1 <DeltaT. At this time Δt=t 2 -T 1 。
Since there is a difference in the idle time length of the vehicle to be charged, in order to be able to fill the required amount of electricity to a greater extent, it is necessary to select different charging powers according to the actual Δt so that the required amount of electricity can be better filled.
S203: if at the same time satisfy B i 1 >0，B i 2 >0，B i 3 >0 and A i t2 -A i t1 -A i △t >DeltaT, according to A i w 、△W i 、A i t2 、A i t1 、A i △t 、W 1 And generating a relay capability value B of the ith second terminal by delta T i 。B i The following conditions are satisfied:
wherein DeltaT is the completion energy value W 1 Is a time period taken for replenishment. Max () is a function taking the maximum value.
Pass B i 1 >0，B i 2 >0，B i 3 >0 and A i t2 -A i t1 -A i △t >After the screening of DeltaT, the DeltaT can be determined from all the second terminals, and a plurality of second terminals which can finish the relay task can be determined. Then, can pass through B i And calculating the relay capability values of the screened second terminals.
Wherein, in the above formulaAnd the relation between the available charging time length and the delta T after the second terminal reaches the relay position is shown. />Representing the available charging quantity and W after the second terminal reaches the relay position 1 Is a size relationship of (a). As a result of the fact that,proportional to the relay capacity, +.>Is also proportional to the relay capacity and +.>And->Are all necessary factors for judging the relay ability, so +.>As an independent variable.
In addition, the exponential function of e is a direct proportional function, which accords with the change relation of the independent variable and the relay capability. And the change rate of the exponential function of e in the early stage is smaller, and the change rate in the later stage is larger. Thus, whenThe larger the corresponding B i The larger.
S204: if not meeting B i 1 >0，B i 2 >0，B i 3 >0 and A i t2 -A i t1 -A i △t >DeltaT, then B i ＝0。
After the processing in S203 and S204, a corresponding relay capability value may be configured for each second terminal, so that the first terminal may determine more accurately, which second terminal is the first target relay terminal corresponding to the present relay task.
As another possible embodiment of the present invention, each second terminal is located in the same second local area network with the target receiving terminal, and the response information is the network signal strength of the second local area network currently received by the corresponding second terminal. The second local area network may be different from the first local area network, and the second local area network may be the internet or a metropolitan area network. The target receiving terminal may be one terminal located outside the working area. The target receiving terminal may be configured to receive the information sent by the second terminal.
After S100, the method further comprises:
s500: and each second terminal respectively transmits the corresponding response information to the first terminal through the first local area network.
S600: and the first terminal determines at least one second target relay terminal from the plurality of second terminals according to the network signal intensity of the second local area network currently received by each second terminal, and sends a second relay command to each second target relay terminal.
The second target relay terminal is a second terminal corresponding to the highest network signal strength. As in an underground garage, due to the shielding of an above-ground building, there is necessarily a poor network signal strength of the second local area network in some areas, and thus a terminal in the area may not be able to normally communicate with the target receiving terminal. The first local area network is directly arranged in the underground garage, and the shielding objects in the first local area network are fewer, so that the overall network signal strength is stronger, and the communication stability of each terminal in the first local area network can be better ensured.
In this embodiment, at least one second target relay terminal may be determined according to the network signal strength of the second local area network currently received by each second terminal. And then the first terminal can send the information to be sent to the second target relay terminal through the first local area network and then the second target relay terminal sends the information to the target receiving terminal. Therefore, the smoothness and stability of the traffic between each terminal and the target receiving terminal can be ensured.
Embodiments of the present invention also provide a non-transitory computer readable storage medium that may be disposed in an electronic device to store at least one instruction or at least one program for implementing one of the methods embodiments, the at least one instruction or the at least one program being loaded and executed by the processor to implement the methods provided by the embodiments described above.
Embodiments of the present invention also provide an electronic device comprising a processor and the aforementioned non-transitory computer-readable storage medium.
Embodiments of the present invention also provide a computer program product comprising program code for causing an electronic device to carry out the steps of the method according to the various exemplary embodiments of the invention described in the present specification when the program product is run on the electronic device.
Furthermore, although the steps of the methods in the present disclosure are depicted in a particular order in the drawings, this does not require or imply that the steps must be performed in that particular order or that all illustrated steps be performed in order to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step to perform, and/or one step decomposed into multiple steps to perform, etc.
From the above description of embodiments, those skilled in the art will readily appreciate that the example embodiments described herein may be implemented in software, or may be implemented in software in combination with the necessary hardware. Thus, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (may be a CD-ROM, a U-disk, a mobile hard disk, etc.) or on a network, including several instructions to cause a computing device (may be a personal computer, a server, a mobile terminal, or a network device, etc.) to perform the method according to the embodiments of the present disclosure.
In an exemplary embodiment of the present disclosure, an electronic device capable of implementing the above method is also provided.
Those skilled in the art will appreciate that the various aspects of the invention may be implemented as a system, method, or program product. Accordingly, aspects of the invention may be embodied in the following forms, namely: an entirely hardware embodiment, an entirely software embodiment (including firmware, micro-code, etc.) or an embodiment combining hardware and software aspects may be referred to herein as a "circuit," module "or" system.
An electronic device according to this embodiment of the invention. The electronic device is merely an example, and should not impose any limitations on the functionality and scope of use of embodiments of the present invention.
The electronic device is in the form of a general purpose computing device. Components of an electronic device may include, but are not limited to: the at least one processor, the at least one memory, and a bus connecting the various system components, including the memory and the processor.
Wherein the memory stores program code that is executable by the processor to cause the processor to perform steps according to various exemplary embodiments of the present invention described in the above section of the exemplary method of this specification.
The storage may include readable media in the form of volatile storage, such as Random Access Memory (RAM) and/or cache memory, and may further include Read Only Memory (ROM).
The storage may also include a program/utility having a set (at least one) of program modules including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment.
The bus may be one or more of several types of bus structures including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures.
The electronic device may also communicate with one or more external devices (e.g., keyboard, pointing device, bluetooth device, etc.), with one or more devices that enable a user to interact with the electronic device, and/or with any device (e.g., router, modem, etc.) that enables the electronic device to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface. And, the electronic device may also communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet, through a network adapter. The network adapter communicates with other modules of the electronic device via a bus. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with an electronic device, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.
From the above description of embodiments, those skilled in the art will readily appreciate that the example embodiments described herein may be implemented in software, or may be implemented in software in combination with the necessary hardware. Thus, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (may be a CD-ROM, a U-disk, a mobile hard disk, etc.) or on a network, including several instructions to cause a computing device (may be a personal computer, a server, a terminal device, or a network device, etc.) to perform the method according to the embodiments of the present disclosure.
In an exemplary embodiment of the present disclosure, a computer-readable storage medium having stored thereon a program product capable of implementing the method described above in the present specification is also provided. In some possible embodiments, the aspects of the invention may also be implemented in the form of a program product comprising program code for causing a terminal device to carry out the steps according to the various exemplary embodiments of the invention as described in the "exemplary method" section of this specification, when the program product is run on the terminal device.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The computer readable signal medium may include a data signal propagated in baseband or as part of a carrier wave with readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A readable signal medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server. In the case of remote computing devices, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., connected via the Internet using an Internet service provider).
Furthermore, the above-described drawings are only schematic illustrations of processes included in the method according to the exemplary embodiment of the present invention, and are not intended to be limiting. It will be readily appreciated that the processes shown in the above figures do not indicate or limit the temporal order of these processes. In addition, it is also readily understood that these processes may be performed synchronously or asynchronously, for example, among a plurality of modules.
It should be noted that although in the above detailed description several modules or units of a device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit in accordance with embodiments of the present disclosure. Conversely, the features and functions of one module or unit described above may be further divided into a plurality of modules or units to be embodied.
The present invention is not limited to the above embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (10)
1. A multi-terminal scheduling method, characterized in that the method comprises the steps of:
responding to the task relay request of the first terminal, each second terminal obtains corresponding response information A 1 、A 2 、…、A i 、…、A z The method comprises the steps of carrying out a first treatment on the surface of the Wherein A is i For response information corresponding to the ith second terminal, z is the total number of the second terminals, i=1, 2, … and z; the first terminal is a terminal which cannot complete a preset task in a working area; the second terminal is the rest terminals except the first terminal in the same working area;
each second terminal requests according to task relay and corresponding response information A 1 、A 2 、…、A i 、…、A z Generating a relay capability value B of each second terminal 1 、B 2 、…、B i 、…、B z ，B i The relay capacity value corresponding to the ith second terminal is used for representing the parameter of the relay capacity of the corresponding second terminal for completing the current task;
each second terminal sends the corresponding relay capability value to the first terminal;
and the first terminal determines a first target relay terminal from a plurality of second terminals according to the relay capability value and sends a first relay command to the first target relay terminal.
2. The method of claim 1, wherein the task relay request includes a relay location, a required energy value W 1 Relay time interval [ T ] 1 ，T 2 ]；A i ＝(A i 1 、A i t1 、A i t2 、A i w ) Wherein T is 1 For relay start time, T 2 For relay termination time A i 1 For the current position of the ith second terminal, A i t1 For the start time of the idle period nearest to the current time of the ith second terminal, A i t2 For the termination time of the idle period of the ith second terminal nearest to the current time, A i w The current available remaining energy value of the ith second terminal;
each second terminal requests according to task relay and corresponding response information A 1 、A 2 、…、A i 、…、A z Generating a relay capability value for each second terminal, including:
according to relay position and A i 1 Generating a time loss value A corresponding to the ith second terminal i △t Energy loss value △ W i ；
According to W 1 、T 1 、T 2 、A i t1 、A i t2 、A i w 、A i △t DeltaW i Generating a first capability sub-decision value B corresponding to the ith second terminal i 1 Second capability determination value B i 2 Third capability sub-determination value B i 3 ；
B i 1 、B i 2 B (B) i 3 The following conditions are satisfied:
if at the same time satisfy B i 1 >0，B i 2 >0，B i 3 >0 and A i t2 -A i t1 -A i △t >DeltaT, according to A i w 、 △ W i 、A i t2 、A i t1 、A i △t 、W 1 And generating a relay capability value B of the ith second terminal by delta T i ；B i The following conditions are satisfied:
wherein DeltaT is the completion energy value W 1 The length of time spent on replenishment; max () is a function taking the maximum value.
3. The method according to claim 2, wherein the first capability sub-decision value B corresponding to the ith second terminal is generated i 1 Second capability determination value B i 2 Third capability sub-determination value B i 3 Thereafter, the method further comprises:
if not meeting B i 1 >0，B i 2 >0，B i 3 >0 and A i t2 -A i t1 -A i △t >DeltaT, then B i ＝0。
4. The method according to claim 2, characterized in that Δt satisfies the following condition:
where v is the average energy replenishment rate.
5. The method according to claim 2, wherein the relay location and a are based on i 1 Generating a time loss value A corresponding to the ith second terminal i △t Energy loss value DeltaW i Comprising:
calling a navigation interface to generate the relay position and A i 1 Path information between them;
generating a time loss value A corresponding to the ith second terminal according to the path information i △t Energy loss value △ W i 。
6. The method of claim 1, wherein the first terminal and the plurality of second terminals are both located in the same first local area network;
before each second terminal obtains the corresponding response information in response to the task relay request of the first terminal, the method further comprises:
the first terminal sends the task relay request to the first local area network in a broadcasting mode.
7. The method according to claim 6, wherein each of the second terminals is in the same second local area network as the target receiving terminal, and the response information is a network signal strength of the second local area network currently received by the corresponding second terminal;
after each second terminal obtains the corresponding response information, the method further comprises the following steps:
each second terminal respectively sends corresponding response information to the first terminal through the first local area network;
and the first terminal determines at least one second target relay terminal from the plurality of second terminals according to the network signal intensity of the second local area network currently received by each second terminal, and sends a second relay command to each second target relay terminal.
8. The method of claim 1, wherein the first terminal determining a first target relay terminal from a plurality of second terminals based on the relay capability values, comprises:
and determining a second terminal corresponding to the maximum value in the plurality of relay capability values as a first target relay terminal.
9. A non-transitory computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements a multi-terminal scheduling method according to any one of claims 1 to 8.
10. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements a multi-terminal scheduling method according to any one of claims 1 to 8 when executing the computer program.
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