A wireless charging scheduling method with limited space occupation and charging cost

Abstract

The present invention relates to a wireless charging scheduling method with limited space occupation and charging cost, which is characterized by comprising the following steps: defining a set of mobile rechargeable sensors, a set of charging stations and a set of charging equipment; defining the charging power of wireless charging; defining a wireless charging scheduling cost model; defining a wireless charging scheduling utility model; formalizing the wireless charging scheduling problem; and determining a scheduling scheme for each mobile rechargeable sensor. The present invention takes into account the space occupation problem required for charging of mobile sensors, schedules mobile sensors to charge to charging equipment under cost constraints, maximizes the total charging utility, and improves the average effect compared to traditional algorithms.

Description

Technical Field

[0001] The present invention relates to the technical field of charging scheduling of wireless rechargeable sensor networks, and in particular to a wireless charging scheduling method with limited space occupation and charging cost. Background Art

[0002] Wireless sensor networks are distributed sensor networks whose terminals are sensors that can sense and inspect the outside world. These sensors communicate wirelessly to form a multi-hop self-organizing network to achieve data collection, processing and transmission. Wireless sensor networks have been applied in many industries and play an important role in many monitoring and surveillance applications.

[0003] At present, most sensors in wireless sensor networks are usually powered by batteries, so the life of sensor nodes is also limited. If the battery is replaced manually, it will incur high labor costs. In addition, in some special environments such as bad weather, the cost of replacing batteries will be further increased. Some rechargeable devices can obtain various forms of energy from nature. Similarly, this type of charging method will be affected by bad weather and the environment, resulting in a significant reduction in energy extraction efficiency and a high degree of unpredictability and instability.

[0004] To this end, with the continuous development of science and technology, wireless power transmission technology has been born, which provides continuous and reliable power supply for rechargeable devices, replacing traditional battery power supply, greatly improving the energy replenishment problem of rechargeable sensors in wireless sensor networks, and thus greatly extending the life of traditional wireless sensor networks.

[0005] However, existing research focuses on the deployment of chargers, without considering the space occupied by charging equipment. Rechargeable sensor devices need to occupy a certain amount of space. Due to the space occupied by rechargeable sensors, the number of charging equipment equipped in a single charging station is limited. Therefore, the scheduling strategy of mobile sensors in terms of space occupation is a key issue to consider. How to arrange and allocate sensors and charging equipment to improve charging efficiency and maximize charging utility. Summary of the invention

[0006] In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a wireless charging scheduling method with limited space occupation and charging cost, so as to solve one or more problems in the prior art.

[0007] To achieve the above object, the technical solution of the present invention is as follows:

[0008] A wireless charging scheduling method with limited space occupation and charging cost, characterized by comprising the following steps:

[0009] defining a mobile rechargeable sensor set, a charging station set, and a charging device set;

[0010] Define the charging power for wireless charging;

[0011] Defining a wireless charging scheduling cost model, wherein defining the wireless charging scheduling cost model comprises the following steps:

[0012] Removable sensors i Send charging request and pair charging device j ,

[0013] Calculate i to j The required moving energy consumption E m (s i ,o j ), the calculation formula is as follows:

[0014] E m (s i ,o j )=λ·d i,j

[0015] Where: λ is the energy consumption per unit distance of the mobile sensor, d i,j For movable sensors i When sending a charging request, the assigned charging device j The distance between

[0016] Calculate i In o j The energy E obtained at the location c (s i ,o j ), the calculation formula is as follows:

[0017] E c (s i ,o j )=BR i +E m (s i ,o j )

[0018] Where: B is the rechargeable sensor s i The battery capacity, R i is the remaining power, E m (s i ,o j ) is s i to j The energy consumption required for movement,

[0019] Calculatei Arrival j The arrival time at arr (s i ,o j ), the calculation formula is as follows:

[0020]

[0021] Where: d i,j For movable sensors i When sending a charging request, the assigned charging device j The distance between the movable sensors, v i The moving speed,

[0022] Calculate the first s i Arrival at charging station l Time The calculation formula is as follows:

[0023]

[0024] Where: t arr (s i ,o j ) is s i Arrival j The arrival time at the destination is m, which is the maximum number of charging stations defined.

[0025] Calculate i In o j Charging time t c (s i ,o j ), the calculation formula is as follows:

[0026]

[0027] Where: E c (s i ,o j ) is s i In o j The energy supplement obtained at the place, Ρ(s i ,o j ) represents a mobile rechargeable sensor s i From charging device o j The charging power obtained,

[0028] Calculate the charging set N l The running time t(N l ), the calculation formula is as follows:

[0029]

[0030] Where: t c (s i ,o j ) is s i In o j Charging time at arr (s i ,o j ) is s i Arrival j The arrival time at For the first s i Arrival at charging station l time,

[0031] Get charging station q l The operating cost C(N l ), the calculation formula is as follows:

[0032] C(N l )=ξ·t(N l )

[0033] Where ξ is the charging cost per unit time, t(N l ) is the charging set N l The running time of

[0034] Defining a wireless charging scheduling utility model, wherein defining the wireless charging scheduling utility model comprises the following steps:

[0035] Calculate i In o j The charging utility U at , is calculated as follows:

[0036] U(s i ,o j )=μ i [E c (s i ,o j )-E m (s i ,o j )]

[0037] Where: E c (s i ,o j ) is s i In o j The energy gained from the place, E m (s i ,o j ) is s i to j Required moving energy consumption, μ i is the task weight coefficient,

[0038] Introduce decision variable x ij Indicates the corresponding s i and j Whether the combination is selected to join the scheduling strategy,

[0039] The charging utility of charging station q and its charging set N is calculated as follows:

[0040]

[0041] Where: U(s i ,o j ) is s i In o j The charging utility at , l is the number of charging stations, k is the number of charging equipment;

[0042] The wireless charging scheduling problem is formalized, and the formalized wireless charging scheduling problem includes the following steps:

[0043] The total operating cost of the charging set N of all charging stations q cannot exceed the maximum operating cost,

[0044] The number of charging sets N of a single charging station q shall not exceed the number of charging devices it is equipped with.

[0045] Each charging device j Only one removable sensor can be charged.

[0046] Each movable sensor i At most one charging device can be assigned to charge.

[0047] Mobile sensors assigned charging equipment i The remaining power must be sufficient to support it to reach the charging device. j ;

[0048] Determine the scheduling scheme for each mobile rechargeable sensor.

[0049] Furthermore, the charging power of wireless charging is defined as follows:

[0050]

[0051] Where: s i For mobile rechargeable sensors, o j is a charging device, and P represents a mobile rechargeable sensor s i From charging device o j The obtained charging power, α and β are two constant parameters determined by the magnetic environment and hardware, D j is the maximum charging range of the charging station, d jis a known constant and must be less than or equal to D j .

[0052] Furthermore, the corresponding s i and j Whether or not to be selected to join the scheduling strategy includes the following situations:

[0053] Define x ij is the decision variable, indicating the corresponding s i and j Whether the combination is selected to join the scheduling strategy;

[0054] If x ij =1, it means it is selected to join the scheduling strategy;

[0055] If x ij =0, it means it is not selected and cannot be added to the scheduling strategy;

[0056] If x ij =-1, there are two cases, one is s i The remaining power is not enough to support it to reach o j ,Second, if it is selected to join the scheduling strategy, the total cost will exceed the budget.

[0057] Further, the determining of the scheduling scheme for each mobile rechargeable sensor comprises the following steps:

[0058] Input parameters;

[0059] Initialize the charging set N of all charging stations, i.e., the empty set;

[0060] Initialize the number of scheduled movable sensors t to 0;

[0061] Determine whether t is less than |O|, where |O| is the number of charging devices equipped in the charging station. If so, proceed to the next step; if not, end.

[0062] Filter out the corresponding movable sensors i and charging equipment j Make the charging utility U maximum and x ij ≠-1;

[0063] Let x ij =1;

[0064] Determine whether the real-time charging cost exceeds the charging budget C. If it does not exceed the budget, move the corresponding movable sensor s i and charging equipment j Add the scheduling strategy and update the charging utility of the charging station. If it exceeds the budget, set x ij = -1 and update the charging cost of the charging station.

[0065] Furthermore, the calculation of the real-time charging cost includes the following steps:

[0066] Initialize the charging cost of all charging stations to 0;

[0067] For each combination of a mobile sensor and a charging device, if x ij =1, then update the operating time of the charging station;

[0068] For each charging station, the charging cost is calculated based on the operating time of the charging station;

[0069] Returns the charging cost at the charging station.

[0070] Compared with the prior art, the beneficial technical effects of the present invention are as follows:

[0071] (I) The present invention takes into account the space occupied by the mobile sensor for charging, and dispatches the mobile sensor to the charging device for charging under cost constraints, thereby maximizing the total charging utility. Compared with the traditional algorithm, the average effect is improved.

[0072] (ii) The wireless charging scheduling algorithm with limited space occupation and charging cost of the present invention has an approximation of (1-1 / e). Even under the conditions of limited space occupation and charging cost, it can ensure that for any given input, the algorithm can provide a solution with an objective function value that is at least (1-1 / e) times the global optimal solution, and provides a lower bound on the quality of the algorithm solution. BRIEF DESCRIPTION OF THE DRAWINGS

[0073] Figure 1 The overall flow chart of a wireless charging scheduling method with limited space occupation and charging cost according to an embodiment of the present invention is shown.

[0074] Figure 2 An algorithm flow chart of determining a scheduling scheme for each mobile rechargeable sensor in a wireless charging scheduling method with limited space occupation and charging cost according to an embodiment of the present invention is shown.

[0075] Figure 3 A schematic diagram of the scenario structure of a wireless charging scheduling method with limited space occupation and charging cost according to an embodiment of the present invention is shown.

[0076] Figure 4 A comparison chart of total charging utility data of a wireless charging scheduling method with limited space occupation and charging cost according to an embodiment of the present invention and a traditional method for changing the charging cost budget is shown.

[0077] Figure 5A comparison chart of total charging utility data of a wireless charging scheduling method with limited space occupation and charging cost according to an embodiment of the present invention and a traditional method of changing the number of mobile rechargeable sensors is shown.

[0078] Figure 6 A comparison chart of total charging utility data of a wireless charging scheduling method with limited space occupation and charging cost according to an embodiment of the present invention and a traditional method for changing the battery capacity of a mobile rechargeable sensor is shown.

[0079] Figure 7 A comparison chart of total charging utility data of a wireless charging scheduling method with limited space occupation and charging cost according to an embodiment of the present invention and a traditional method for changing the unit time operation cost is shown.

[0080] Figure 8 A comparison chart of total charging utility data of a wireless charging scheduling method with limited space occupation and charging cost according to an embodiment of the present invention and a traditional method of changing the number of charging devices when the number of charging stations is changed is shown.

[0081] Fig. 9 A comparison chart of total charging utility data of a wireless charging scheduling method with limited space occupation and charging cost according to an embodiment of the present invention and a traditional method in which the number of charging devices is changed while the number of charging stations remains unchanged is shown. DETAILED DESCRIPTION

[0082] In order to make the purpose, technical solution and advantages of the present invention clearer, the following is a further detailed description of a wireless charging scheduling method with space occupancy and limited charging cost proposed by the present invention in combination with the accompanying drawings and specific embodiments. According to the following description, the advantages and features of the present invention will be clearer. It should be noted that the drawings are in a very simplified form and use non-precise proportions, which are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention. In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, please refer to the accompanying drawings. It should be noted that the structure, proportion, size, etc. illustrated in the drawings of this specification are only used to match the content disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no technical substantive significance. Any modification of the structure, change of the proportional relationship or adjustment of the size, without affecting the effect that the present invention can produce and the purpose that can be achieved, should still fall within the scope of the technical content disclosed by the present invention.

[0083] Embodiment 1:

[0084] See also Figure 1 and Figure 3 :

[0085] Step 1: Define a set of mobile rechargeable sensors, a set of charging stations, and a set of charging devices. The mobile rechargeable sensor set is S = {s1, ..., s n}, each mobile rechargeable sensor s i ∈S, with the same battery capacity B and remaining charge R i , unit moving energy consumption λ, moving speed v, task weight coefficient μ i .

[0086] Furthermore, the charging station set is Q = {q1, ..., q m}, belongs to the same charging provider, the charging cost per unit time is ξ, and each charging station q m ∈Q is equipped with several charging devices.

[0087] Furthermore, the charging device set is O = {o1, ..., o k ,...,o mk}, the mobile rechargeable sensor needs to be moved to the charging device for charging.

[0088] Furthermore, the mobile rechargeable sensor and the charging station and the charging equipment equipped therewith are distributed on a two-dimensional plane. i ∈S, it can be assigned to any charging device o j ∈O, which can be expressed as (s i ,o j ), the movable sensor s i When sending a charging request, the assigned charging device j The distance between them is d i,j .

[0089] Step 2: Define the charging power of wireless charging, where the charging power of wireless charging is defined as shown in the following formula 1:

[0090]

[0091] Where: s i For mobile rechargeable sensors, o j For charging equipment, Ρ(s i ,o j ) represents a mobile rechargeable sensor s i From charging device o j The obtained charging power, α and β are two constant parameters determined by the magnetic environment and hardware, D j is the maximum charging range of the charging station, d j is a known constant and must be less than or equal to D j .

[0092] Step 3: Define a wireless charging scheduling cost model. In order to complete the sensing work, the mobile rechargeable sensor must return to the initial position. The definition of the wireless charging scheduling cost model includes the following steps:

[0093] Step 3.1: Removable Sensors i Send charging request and pair charging device j ;

[0094] Step 3.2: Calculate the movable sensors s i To charging device j The required moving energy consumption E m (s i ,o j ), the calculation formula is shown in Formula 2:

[0095] E m (s i ,o j )=λ·d i,j (2)

[0096] Where: λ is the energy consumption per unit distance of the mobile sensor, d i,j For movable sensors i When sending a charging request, the assigned charging device j The distance between.

[0097] Step 3.3: Calculate the movable sensor s i On charging device j The energy E obtained at the location c (s i ,o j ), the calculation formula is shown in Formula 3 below:

[0098] E c (s i ,o j )=BR i +E m (s i ,o j )(3)

[0099] Where: B is the rechargeable sensor s i The battery capacity, R i is the remaining power, E m (s i ,o j ) is s i to j The energy consumption required for movement.

[0100] Step 3.4: Calculate the movable sensor s iArrival at charging facility j The arrival time at arr (s i ,o j ), the calculation formula is shown in Formula 4 below:

[0101]

[0102] Where: d i,j For movable sensors i When sending a charging request, the assigned charging device j The distance between the movable sensors, v i moving speed.

[0103] Step 3.5: Calculate the first movable sensor s i Arrival at charging station l Time The calculation formula is shown in equation 5 below:

[0104]

[0105] Where: t arr (s i ,o j ) is s i Arrival j The arrival time at the destination is m, and m is the maximum number of charging stations defined.

[0106] Step 3.6: Calculate the movable sensor s i On charging device j Charging time t c (s i ,o j ), the calculation formula is shown in Equation 6 below:

[0107]

[0108] Where: E c (s i ,o j ) is s i In o j The energy supplement obtained at the place, Ρ(s i ,o j ) represents a mobile rechargeable sensor s i From charging device o j The charging power obtained.

[0109] Step 3.7: Calculate the charging set N l The running time t(N l ), the calculation formula is shown in Equation 7 below:

[0110]

[0111] Where: t c (s i ,o j ) is s i In o j Charging time at arr (s i ,o j ) is s i Arrival j The arrival time at For the first s i Arrival at charging station l time.

[0112] Step 3.8: Get the charging station q l The operating cost C is calculated as shown in Equation 8:

[0113] C(N l )=ξ·t(N l )(8)

[0114] Where ξ is the charging cost per unit time, t(N l ) is the charging set N l of running time.

[0115] Step 4: defining a wireless charging scheduling utility model, wherein defining the wireless charging scheduling utility model comprises the following steps:

[0116] Step 4.1: Calculate the movable sensors s i On charging device j Charging utility U(s i ,o j ), the calculation formula is shown in the following formula 9:

[0117] U(s i ,o j )=μ i [E c (s i ,o j )-E m (s i ,o j )](9)

[0118] Where: E c (s i ,o j ) is s i In o j The energy gained from the place, E m (s i ,oj ) is s i to j Required moving energy consumption, μ i is the task weight coefficient.

[0119] Step 4.2: Introduce decision variables x ij To represent any (s i ,o j )∈N is selected to join the scheduling strategy:

[0120] Furthermore, the decision variable x ij The following situations: If x ij =1, it means (s i ,o j ) is selected to join the scheduling strategy, if x ij = 0, it means that it is not selected and cannot be added to the scheduling strategy. ij =-1, there are two cases, one is the movable sensor s i The remaining power is not enough to support it to reach the charging device. j , the other is if (s i ,o j ) is selected to join the scheduling strategy, and the total cost will exceed the budget.

[0121] Step 4.3: Calculate the charging station q l and its charging set N l The charging efficiency U(N l ), the calculation formula is shown in the following formula 10:

[0122]

[0123] Where: U(s i ,o j ) is s i In o j The charging utility at , l is the number of charging stations, and k is the number of charging devices.

[0124] Step 5: Formalize the wireless charging scheduling problem, which includes the following questions:

[0125] Please refer to equations 11 and 12 below:

[0126]

[0127] The above formula 12 indicates that the total operating cost of the charging set of all charging stations cannot exceed the maximum operating cost C.

[0128] For further information, please refer to the following formula 13:

[0129] |Nl |≤k,1≤l≤m(13)

[0130] The above formula 13 indicates that the number of charging sets in a single charging station shall not exceed the number of charging devices it is equipped with.

[0131] For further information, please refer to the following formula 14:

[0132]

[0133] The above formula 14 represents each charging device o j A maximum of one removable sensor can be charged.

[0134] Further, please refer to the following formula 15:

[0135]

[0136] Equation 15 above indicates that each movable sensor s i At most one charging device can be assigned for charging.

[0137] Further, please refer to the following formula 16:

[0138]

[0139] The above formula 16 represents the movable sensor s assigned to the charging device i The remaining power must be sufficient to support it to reach the charging device. j .

[0140] Further, please refer to the following formula 17:

[0141]

[0142] The above formula 17 indicates that a decision variable x is defined ij To represent any (s i ,o j )∈N is selected to join the scheduling strategy, if x ij =1 means (s i ,o j ) is selected to join the scheduling strategy, if x ij = 0, it means that it is not selected and cannot be added to the scheduling strategy. ij =-1, there are two cases: one indicates that the movable sensor s i The remaining power is not enough to support it to reach the charging device. j , another way to express it is if (s i ,o j ) is selected to join the scheduling strategy, and the total cost will exceed the budget.

[0143] Please continue reading Figure 2

[0144] Step 6: Determine a scheduling scheme for each mobile rechargeable sensor, wherein determining a scheduling scheme for each mobile rechargeable sensor comprises the following steps:

[0145] Step 6.1: Input parameters. The parameters include:

[0146] A mobile rechargeable sensor set S,

[0147] Omnidirectional charging station collection Q,

[0148] The charging station is equipped with a set of charging equipment O,

[0149] The weight coefficient set M of the movable sensor,

[0150] Mobile rechargeable sensor battery capacity B,

[0151] Energy consumption per unit distance traveled λ,

[0152] Charging cost budget C,

[0153] The two constants α, β, and

[0154] The movable sensor moving speed v,

[0155] Charging cost per unit time ξ,

[0156] Remaining power of removable sensor R i .

[0157] Step 6.2: Initialize all charging stations in charging group N l , the charging group is the set of mobile sensors served by each charging station, that is, all charging stations q l The charging set is initialized to an empty set.

[0158] Step 6.3: Initialize t=0, where t is the number of movable sensors to be scheduled.

[0159] Step 6.4: Determine whether t is less than |O|, where |O| is the number of charging devices equipped in the charging station. If so, proceed to the next step; if not, end.

[0160] Step 6.5: For each s i ∈S,o j ∈O, filter out the corresponding movable sensors s i and charging equipment j So that the charging utility U(s i ,o j) is the largest and x ij ≠-1.

[0161] Step 6.6: Let x ij =1.

[0162] Step 6.7: Determine whether the real-time charging cost exceeds the charging budget C. If it does not exceed the budget, move the corresponding movable sensor s i and charging equipment j Add the scheduling strategy and update the charging utility of the charging station. If it exceeds the budget, set x ij = -1 and update the charging cost of the charging station.

[0163] Furthermore, each charging station l ∈Q, calculate its total charging cost, the specific process is as follows:

[0164] Step 6.7.1: Initialize all charging stations q l The charging cost is cost=0.

[0165] Step 6.7.2: For each s i ∈S,o j ∈O, if x ij =1, then update the charging station q l of running time.

[0166] Step 6.7.3: For each q l ∈Q, according to charging station q l Calculation of the operating time of the charging station q l The charging cost.

[0167] Step 6.7.4: Return to the charging station l The charging cost.

[0168] In addition, the present invention provides the following comparison algorithm with the traditional one and specific experimental results:

[0169] Nearest neighbor scheduling algorithm: The charging equipment of each charging station is preferentially assigned to the mobile sensor closest to it.

[0170] Priority scheduling algorithm: The task weight coefficient of the movable sensor is used as the priority. The higher the task weight coefficient, the higher the charging priority. Charging equipment is allocated to the movable sensors with high priority first.

[0171] Round-robin scheduling algorithm: A round-robin scheduling algorithm that allocates charging equipment in order of number.

[0172] Parameter setting: Charging stations and mobile rechargeable sensors are randomly distributed in a 500m*500m square two-dimensional plane. The default parameters are set as follows: the number of charging stations is m=4, the number of charging devices is k=24, the number of mobile rechargeable sensors is n=100, the moving speed is v=0.7m / s, the unit moving energy consumption is 2J / m, α=0.11, β=0.01, the battery capacity is B=6000J, and the charging cost budget is 10000. Because only scenarios that must have solutions after preprocessing are considered, the other parameters do not need to be involved. Change the values ​​of key parameters to explore their impact on the algorithm. Each measurement value is the average of more than 100 random topologies.

[0173] Please continue reading Figure 4 , the total charging utility of all algorithms increases with the increase of charging cost budget. This is because with more budget, some movable sensors with longer distance but higher task weight coefficient can be scheduled preferentially. The wireless charging scheduling algorithm with space occupation and limited charging cost always outputs the highest total charging utility. Specifically, the wireless charging scheduling algorithm with space occupation and limited charging cost improves the total charging utility by 30.6%, 33.5%, and 238.4% on average compared with the other three comparison algorithms, respectively.

[0174] Please continue reading Figure 5 ,The total charging utility of all algorithms increases with the number of mobile rechargeable sensors. The wireless charging scheduling algorithm with space occupation and charging cost constrained always outputs the highest total charging utility. Specifically, the wireless charging scheduling algorithm with space occupation and charging cost constrained improves the total charging utility by 25.9%, 30.3%, and 228.8% on average compared with the other three comparison algorithms, respectively.

[0175] Please continue reading Figure 6 , the total charging utility of all algorithms increases with the increase of the battery capacity of the mobile rechargeable sensor. Because the battery capacity of the sensor is related to the charging time of the charger on the charging device, which is related to the charging cost, and obviously the battery capacity is related to the charging energy, which is related to the charging utility, the total charging utility increases with the increase of the battery capacity of the sensor. The wireless charging scheduling algorithm with space occupation and charging cost constraint always outputs the highest total charging utility. Specifically, the wireless charging scheduling algorithm with space occupation and charging cost constraint improves the total charging utility by 32.1%, 36.9%, and 218.9% on average compared with the other three comparison algorithms, respectively.

[0176] Please continue reading Figure 7,The total charging utility of all algorithms decreases as the unit time operation cost of the charging station increases. This is because the charging cost is constrained, the increase in the unit time operation cost leads to a decrease in the selectable pairings, which in turn leads to a decrease in the overall charging utility.,The wireless charging scheduling algorithm with space occupation and charging cost constraints always outputs the highest,total charging utility.

[0177] Please continue reading Figure 8 and Fig. 9 ,Regardless of whether the number of charging stations changes, the total charging utilities of all algorithms ,increase with the number of charging devices.,The wireless charging scheduling algorithm with space occupancy and ,charging cost constraints always outputs the highest total charging ,utility.

[0178] Embodiment 2:

[0179] A wireless charging scheduling method with limited space occupation and charging cost according to the present invention comprises the following steps:

[0180] Refer to step 1 in Example 1:

[0181] In this embodiment S1, the set of charging stations is: Q = {q1, q2}, the set of charging equipment equipped in the charging station is: O = {o1, o2, o3, o4, o5, o6}, and the set of mobile rechargeable sensors is: S = {s1, s2, s3, s4, s5, s6, s7, s8, s9, s 10 The mobile rechargeable sensor, charging station and its equipped charging equipment are all distributed on a 50m*50m two-dimensional plane. The coordinates of the charging station are (10,10) and (30,30), the coordinates of the charging equipment are (10.5,10), (9.5,10), (9.75,9.57), (30.5,30), (29.5,30), (29.75,29.57), and the coordinates of the mobile rechargeable sensor are (0,3), (3,10), (25,35), (37,12), (22,41), (18,33), (45,9), (15,20), (49,17), (30,3). The charging distance of the charging station is d=0.5m. Assuming B = 700 J, the relevant parameters of the mobile rechargeable sensor and the distance between the mobile rechargeable sensor and the charging device are shown in Tables 1 and 2 below:

[0182] Table 1 Parameters of mobile rechargeable sensors

[0183] <![CDATA[s1]]> <![CDATA[s2]]> <![CDATA[s3]]> <![CDATA[s4]]> <![CDATA[s5]]> <![CDATA[s6]]> <![CDATA[s7]]> <![CDATA[s8]]> <![CDATA[s9]]> <![CDATA[s 10 ]]> <![CDATA[R i ]]> 250J 285J 270J 265J 210J 290J 270J 200J 275J 295J <![CDATA[μ i ]]> 0.75 0.6 0.55 0.9 0.65 0.8 0.7 0.75 0.85 0.6

[0184] Table 2 Distance between mobile rechargeable sensor and charging device

[0185] <![CDATA[s1]]> <![CDATA[s2]]> <![CDATA[s3]]> <![CDATA[s4]]> <![CDATA[s5]]> <![CDATA[s6]]> <![CDATA[s7]]> <![CDATA[s8]]> <![CDATA[s9]]> <![CDATA[s 10 ]]> <![CDATA[o1]]> 12.6m 7.5m 28.9m 26.6m 33.1m 24.2m 34.5m 11.0m 39.1m 20.7m <![CDATA[o2]]> 11.8m 6.5m 29.4m 27.6m 33.4m 24.5m 35.5m 11.4m 40.1m 21.7m <![CDATA[o3]]> 11.8m 6.8m 29.7m 27.4m 33.8m 24.9m 35.3m 11.7m 40.0m 21.2m <![CDATA[o4]]> 40.8m 34.0m 7.4m 19.1m 13.9m 12.9m 25.5m 18.4m 22.6m 27.0m <![CDATA[o5]]> 40.0m 33.2m 6.7m 19.5m 13.3m 11.9m 26.1m 17.6m 23.4m 27.0m <![CDATA[o6]]> 39.9m 33.1m 7.2m 19.0m 13.8m 12.2m 25.6m 17.6m 23.0m 26.6m

[0186] Further, referring to step 2 in Example 1: In this example, assuming α = 0.11, β = 0.01, D = 2m, then the mobile rechargeable sensor s i From charging device o j The obtained charging power is expressed as:

[0187]

[0188] Further, referring to step 3 in embodiment 1: the movable sensor s i Required by the charging device o j The actual supplementary energy is shown in Table 3 below:

[0189] Table 3 Actual energy supplement

[0190] <![CDATA[s1]]> <![CDATA[s2]]> <![CDATA[s3]]> <![CDATA[s4]]> <![CDATA[s5]]> <![CDATA[s6]]> <![CDATA[s7]]> <![CDATA[s8]]> <![CDATA[s9]]> <![CDATA[s 10 ]]> <![CDATA[o1]]> 475.2J 430.0J 487.8J 488.1J 556.1J 458.4J 499.0J 522.0J 503.2J 446.4J <![CDATA[o2]]> 473.6J 428.0J 488.8J 490.1J 556.9J 459.0J 501.0J 522.8J 505.2J 448.3J <![CDATA[o3]]> 473.5J 428.5J 489.3J 489.7J 557.5J 459.7J 500.5J 523.4J 504.9J 447.6J <![CDATA[o4]]> 531.5J 483.0J 444.9J 473.3J 517.8J 435.7J 481.0J 536.9J 470.2J 459.0J <![CDATA[o5]]> 530.0J 481.4J 443.5J 474.0J 516.6J 433.8J 482.2J 535.2J 471.9J 459.0J <![CDATA[o6]]> 529.8J 481.3J 444.4J 473.0J 517.6J 434.5J 481.2J 535.1J 471.0J 458.1J

[0191] Further, referring to step 4 in embodiment 1: the movable sensor s i On charging device j The charging efficiency obtained by charging at is shown in Table 4.

[0192] Table 4 Charging efficiency

[0193] <![CDATA[s1]]> <![CDATA[s2]]> <![CDATA[s3]]> <![CDATA[s4]]> <![CDATA[s5]]> <![CDATA[s6]]> <![CDATA[s7]]> <![CDATA[s8]]> <![CDATA[s9]]> <![CDATA[s 10 ]]> <![CDATA[o1]]> 337.5 311.3 322.5 326.3 367.5 307.5 322.5 375.0 318.8 303.8 <![CDATA[o2]]> 270.0 249.0 258.0 261.0 294.0 246.0 258.0 300.0 255.0 243.0 <![CDATA[o3]]> 247.5 228.3 236.5 239.3 269.5 225.5 236.5 275.0 233.8 222.8 <![CDATA[o4]]> 405.0 373.5 387.0 391.5 441.0 369.0 387.0 450.0 382.5 364.5 <![CDATA[o5]]> 292.5 269.8 279.5 282.8 318.5 266.5 279.5 325.0 276.3 263.3 <![CDATA[o6]]> 360.0 332.0 344.0 348.0 392.0 328.0 344.0 400.0 340.0 324.0

[0194] Further, referring to step 6 in the first embodiment: the specific process of the wireless charging scheduling algorithm with limited space occupation and charging cost is as follows:

[0195] Step 6.1: Input parameters: charging station set Q = {q1, q2}, charging station equipped charging equipment set O = {o1, o2, o3, o4, o5, o6}, mobile rechargeable sensor set S = {s1, s2, s3, s4, s5, s6, s7, s8, s9, s 10}, and other parameters.

[0196] Step 6.2: Initialize all charging stations in charging group N l , that is, all charging stations q l The charging set is initialized to an empty set.

[0197] Step 6.3: Initialize t=0.

[0198] Step 6.4: If t<|O|, proceed to the next step, otherwise end the algorithm.

[0199] Step 6.5: For each s i ∈S,o j ∈O, find the charging utility U(s i ,o j) is the largest, and x ij ≠-1 pairing (s i ,o j ), for example, the pairing that maximizes the charging utility is (s4, o8).

[0200] Step 6.6: Let x ij =1, that is, x 48 =1.

[0201] Step 6.7: Determine whether the charging cost exceeds the charging budget C. If it does not exceed the budget, pair (s i ,o j ) joins the scheduling strategy and updates the charging utility of the charging station. Otherwise, let x ij = -1 and update the charging cost of the charging station. At this time, add the pair (s4, o8) to the scheduling strategy, the charging utility of charging station q1 is 450.0, and the cost does not exceed the charging budget C. Continue to execute step 6.4, and finally get the scheduling strategy as (s1, o1), (s2, o3), (s3, o7), (s4, o8), (s5, o4), (s6, o5).

[0202] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0203] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A wireless charging scheduling method with limited space occupation and charging cost, characterized in that The following steps are involved: defining a mobile rechargeable sensor set, a charging station set, and a charging device set; Define the charging power for wireless charging; Defining a wireless charging scheduling cost model, wherein defining the wireless charging scheduling cost model comprises the following steps: Removable Sensors i Send charging request and pair charging device j , Calculate i to j The required moving energy consumption E m (s i ,o j ), the calculation formula is as follows: AND m (s i ,Oh j ) λ·d i,j Where: λ is the energy consumption per unit distance of the mobile sensor, d i,j For movable sensors i When sending a charging request, the assigned charging device j The distance between Calculate i In o j The energy E obtained at the location c (s i ,o j ), the calculation formula is as follows: E c (s i ,o j )=B-R i +E m (s i ,o j ) Where: B is the rechargeable sensor s i The battery capacity, R i is the remaining power, E m (s i ,o j ) is s i to j The energy consumption required for movement, Calculate i Arrival j The arrival time at arr (s i ,o j ), the calculation formula is as follows: Where: d i,j For movable sensors i When sending a charging request, the assigned charging device j The distance between the movable sensors, v i The moving speed, Calculate the first s i Arrival at charging station l Time The calculation formula is as follows: Where: t arr (s i ,o j ) is s i Arrival j The arrival time at the destination, m is the maximum number of charging stations defined, and s is calculated. i In o j Charging time t c (s i ,o j ), the calculation formula is as follows: Where: E c (s i ,o j ) is s i In o j The energy supplement obtained at the place, Ρ(s i ,o j ) represents a mobile rechargeable sensor s i From charging device o j The charging power obtained, Calculate the charging set N l The running time t(N l ), the calculation formula is as follows: Where: t c (s i ,o j ) is s i In o j Charging time at arr (s i ,o j ) is s i Arrival j The arrival time at For the first s i Arrival at charging station l time, Get charging station q l The operating cost C(N l ), the calculation formula is as follows: C(N l )=ξ·t(N l ) Where ξ is the charging cost per unit time, t(N l ) is the charging set N l The running time; Defining a wireless charging scheduling utility model, wherein defining the wireless charging scheduling utility model comprises the following steps: Calculate i In o j The charging utility U at , is calculated as follows: U(s i ,the j )=μ i [AND c (s i ,the j )-AND m (s i ,the j )] Where: E c (s i ,o j ) is s i In o j The energy gained from the place, E m (s i ,o j ) is s i to j Required moving energy consumption, μ i is the task weight coefficient, Introduce decision variable x ij Indicates the corresponding s i and j Whether the combination is selected to join the scheduling strategy, The charging utility of charging station q and its charging set N is calculated as follows: Where: U(s i ,o j ) is s i In o j The charging utility at , l is the number of charging stations, k is the number of charging devices; the wireless charging scheduling problem is formalized, and the formalized wireless charging scheduling problem includes the following steps: the total operating cost of the charging set N of all charging stations q cannot exceed the maximum operating cost, The number of charging sets N of a single charging station q shall not exceed the number of charging devices it is equipped with. j Only one removable sensor can be charged. Each movable sensor i At most one charging device can be assigned to charge. Mobile sensors assigned charging equipment i The remaining power must be sufficient to support it to reach the charging device. j ; Determine the scheduling scheme for each mobile rechargeable sensor.

2. A wireless charging scheduling method with limited space occupation and charging cost as claimed in claim 1, characterized in that: The definition of wireless charging power is as follows: Where: s i For mobile rechargeable sensors, o j is a charging device, and P represents a mobile rechargeable sensor s i From charging device o j The obtained charging power, α and β are two constant parameters determined by the magnetic environment and hardware, D j is the maximum charging range of the charging station, d j is a known constant and must be less than or equal to D j .

3. A wireless charging scheduling method with limited space occupation and charging cost as claimed in claim 2, characterized in that: The corresponding s i and j Whether or not to be selected to join the scheduling strategy includes the following situations: Define x ij is the decision variable, indicating the corresponding s i and j Whether the combination is selected to join the scheduling strategy; If x ij =1, it means it is selected to join the scheduling strategy; If x ij =0, it means it is not selected and cannot be added to the scheduling strategy; If x ij =-1, there are two cases, one is s i The remaining power is not enough to support it to reach o j ,Second, if it is selected to join the scheduling strategy, the total cost will exceed the budget.

4. A wireless charging scheduling method with limited space occupation and charging cost as claimed in claim 3, characterized in that Determining a scheduling scheme for each mobile rechargeable transmitter comprises the following steps: inputting parameters; Initialize the charging set N of all charging stations, i.e., the empty set; Initialize the number of scheduled movable sensors t to 0; Determine whether t is less than |O|, where |O| is the number of charging devices equipped in the charging station. If so, proceed to the next step; if not, end. Filter out the corresponding movable sensors i and charging equipment j Make the charging utility U maximum and x ij ≠-1; let x ij =1; Determine whether the real-time charging cost exceeds the charging budget C. If it does not exceed the budget, move the corresponding movable sensor s i and charging equipment j Add the scheduling strategy and update the charging utility of the charging station. If it exceeds the budget, set x ij = -1 and update the charging cost of the charging station.

5. A wireless charging scheduling method with limited space occupation and charging cost as claimed in claim 4, characterized in that The calculation of the real-time charging cost includes the following steps: Initialize the charging cost of all charging stations to 0; For each combination of a mobile sensor and a charging device, if x ij =1, then update the operating time of the charging station; For each charging station, the charging cost is calculated based on the operating time of the charging station; Returns the charging cost at the charging station.

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