Equipment charging scheduling method, equipment task processing method and related equipment

Abstract

The invention discloses an equipment charging scheduling method, an equipment task processing method and related equipment. The method comprises the following steps: obtaining the residual electric quantity of each mobile device running in a preset track, wherein each mobile device respectively executes a corresponding target task according to a preset sequence; taking the mobile device as a first device in response to the situation that the residual electric quantity of the mobile device is lower than the first preset electric quantity; second equipment is determined outside the preset track, the second equipment is scheduled to continue to execute the target task of the first equipment in the current sequence, and the current sequence is the sequence of the first equipment in the preset sequence; the first device is scheduled to a charging area to be charged, and the charging area is located outside the preset track. According to the scheme, charging scheduling can be carried out on each mobile device under the condition that the task execution continuity in the preset track is maintained.

Description

Technical Field

[0001] This application relates to the field of equipment scheduling technology, and in particular to an equipment charging scheduling method, an equipment task processing method, and related equipment. Background Technology

[0002] In automated scenarios such as warehouse sorting and intelligent inspection, multiple mobile devices are often required to perform target tasks such as handling, inspection, and delivery along a trajectory.

[0003] Due to the inherent limitations of mobile device battery life, some devices may run out of power during extended tasks, necessitating charging. Currently, charging is scheduled by the user, requiring users to monitor the battery levels of each device and schedule charging when the battery is low.

[0004] However, directly pausing the device to charge it will disrupt the original order of tasks within the trajectory, potentially affecting the overall task execution efficiency. Summary of the Invention

[0005] The main technical problem addressed by this application is to provide a device charging scheduling method, a device task processing method, and related equipment, which can schedule the charging of each mobile device while maintaining the continuity of task execution within a preset trajectory.

[0006] The first aspect of this application provides a device charging scheduling method, the method comprising: obtaining the remaining battery power of each mobile device running within a preset trajectory, and each mobile device executing a corresponding target task in a preset order; in response to the remaining battery power of a mobile device being lower than a first preset battery power, designating the mobile device as a first device; determining a second device from outside the preset trajectory, and scheduling the second device to continue executing the target task of the first device in the current order, wherein the current order is the order of the first device in the preset order; and scheduling the first device to a charging area for charging, wherein the charging area is located outside the preset trajectory.

[0007] A second aspect of this application provides a device task processing method, the method comprising: a mobile device acquiring scheduling task information sent by a control device; wherein the scheduling task information is sent to the mobile device by the control device executing the above-described device charging scheduling method; and executing the task corresponding to the scheduling task information.

[0008] A third aspect of this application provides an electronic device including a memory and a processor coupled to each other. The memory stores program data, and the processor executes the program data to implement any step of the above-described device charging scheduling method and device task processing method.

[0009] A fourth aspect of this application provides a computer-readable storage medium storing program data executable by a processor, the program data being used to implement any step of the above-described device charging scheduling method and device task processing method.

[0010] The above solution obtains the remaining battery power of each mobile device running within a preset trajectory. In response to a mobile device's remaining battery power falling below a first preset level, the mobile device is designated as the first device, and a second device is identified from outside the preset trajectory. The second device is then scheduled to continue executing the target task of the first device in the current order. Each mobile device executes its corresponding target task in a preset order, and the current order is the order in which the first device is positioned within the preset order. This allows for timely scheduling of the second device from outside the preset trajectory to take over the target task in the original order when the mobile device's battery power falls below the first preset level. Furthermore, scheduling the first device to a charging area outside the preset trajectory for charging reduces task interruptions caused by insufficient battery power. It also maintains the continuity and stability of the target tasks within the preset trajectory, ensuring they are executed in the preset order. In addition, it enables timely charging and scheduling of low-battery mobile devices, effectively balancing device operation and energy replenishment, and improving overall task execution efficiency and the continuity of device use.

[0011] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this application. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in this application, the accompanying drawings required in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Among them: Figure 1 This is a flowchart illustrating the first embodiment of the device charging scheduling method of this application; Figure 2 This is an example schematic diagram of an embodiment of the preset trajectory of this application; Figure 3 This application Figure 1 A flowchart illustrating an embodiment of step S13; Figure 4 This is a flowchart illustrating the second embodiment of the device charging scheduling method of this application; Figure 5 This is a flowchart illustrating an embodiment of the device task processing method of this application; Figure 6 This is a schematic diagram of the structure of an embodiment of the charging scheduling device of this application; Figure 7This is a schematic diagram of the structure of an embodiment of the task processing device of this application; Figure 8 This is a schematic diagram of the structure of an embodiment of the electronic device of this application; Figure 9 This is a schematic diagram of the structure of an embodiment of the computer-readable storage medium of this application. Detailed Implementation

[0013] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0014] The terms "first" and "second" in this application are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such processes, methods, products, or apparatus.

[0015] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0016] In this document, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " generally indicates that the preceding and following related objects have an "or" relationship. Furthermore, "many" in this document means two or more. Moreover, the term "at least one" in this document means any combination of at least two of any one or more of a plurality of objects. For example, including at least one of A, B, and C can mean including any one or more elements selected from the set consisting of A, B, and C.

[0017] This application provides the following embodiments, and each embodiment is described in detail below.

[0018] Please see Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the device charging scheduling method of this application. The method may include the following steps: S11: Obtain the remaining battery power of each mobile device running within the preset trajectory, and each mobile device executes the corresponding target task in a preset order.

[0019] Mobile devices can include devices capable of self-control and navigation, such as mobile robots (e.g., industrial robots, cleaning robots), intelligent vehicles, etc. For example, mobile devices can include AGVs (Automated Guided Vehicles) and AMRs (Automated Mobile Robots). It is understood that mobile devices can be any self-moving device, and this application does not limit the scope of mobile devices. In some application scenarios, mobile devices can be scheduled to perform corresponding tasks. Optionally, a control device can schedule multiple mobile devices, sending target tasks to each mobile device to schedule them to run within a preset trajectory in a preset order and execute their respective target tasks.

[0020] In some implementations, the preset trajectory can be represented in the form of a topology map. Since different mobile devices use different preset trajectory topology maps, and different mobile devices may have different algorithms for recognizing the preset trajectory, the control device can send a configuration file of the preset trajectory to each mobile device. This allows each mobile device to obtain and recognize the preset trajectory based on the configuration file, and then navigate and run according to the preset trajectory to execute the corresponding target task.

[0021] Optionally, the configuration file for the preset trajectory can be a file in a structured data exchange format. Mobile devices can read and save this configuration file to identify the preset trajectory corresponding to it. The configuration file can contain trajectory configuration information and corresponding area information. For example, the configuration file for the preset trajectory can be a JSON (JavaScript Object Notation) file; however, this application is not limited to this type of configuration file.

[0022] Optionally, the preset trajectory includes key points, branch points, and parallel points. Key points form the preset trajectory and can be critical inflection points. Parallel points are working points branching off from the preset trajectory. Branch points are points between parallel points and mapped points on the preset trajectory. Mapped points on the preset trajectory are points mapped from parallel points to the preset trajectory, such as a parallel point reaching a mapped point on the preset trajectory via a branch point. The preset trajectory configuration file contains trajectory configuration information and corresponding region information. For example, it may include relevant location information for each point on the preset trajectory (such as the location information of key points, branch points, and parallel points) and corresponding region identifiers (such as region IDs).

[0023] Optionally, the preset trajectory can be a circular trajectory or a non-circular trajectory, such as a straight trajectory, a curved trajectory, a polygonal trajectory, etc. It is understood that the preset trajectory can represent the movement path of the mobile device to perform the target task. The preset trajectory can be configured according to the specific target task. This application does not limit the preset trajectory.

[0024] Optionally, the configuration file may include at least one of the following: key points, branch points, parallel points, and region identifiers (such as region IDs) for a preset trajectory (such as a loop trajectory). The region identifier represents the identification information of the region where the corresponding preset trajectory is located.

[0025] For example, the configuration file for the preset trajectory contains the following: { "all": [ { "areaId": "1", "singleCircle": [ { "keyPoint": [ "10000262", "10000185", "10000210", "10000159", "10000286", "10000166", "10000294" ], "parallelPoint": [ "10000191-10000190", "10000193-10000192", "10000193-10000196", "10000195-10000194", "10000195-10000197", "10000162-10000163", "10000286-10000164" ] } ] } ] } In the above configuration file, areaId represents the region ID, singleCircle represents the preset trajectory of a single wheel, keyPoint represents the key point, and parallelPoint represents the parallel point. Optionally, the configuration file may also include information such as branch points, points between key points, and mapping points. Optionally, the configuration file may also include relevant location information such as charging exit points and charging entry points. This application does not impose any restrictions on the configuration file.

[0026] In some implementations, please refer to Figure 2 The preset trajectory is a loop trajectory, such as a closed loop trajectory. The loop trajectory includes key points, branch points, and parallel points. The key points that form the loop of the trajectory can be represented as the key points for identifying the loop trajectory; for example, key points are the key inflection points of the loop. For instance, the loop of the trajectory can be composed of key points A, B, C, D, E, F, G, H, and I. Optionally, key points can be configured according to the direction of the loop trajectory, such as the order from key point A to key point I, clockwise, or counterclockwise. Optionally, after obtaining the key points, the path points between any two adjacent key points can be obtained through graph planning or path planning, thus obtaining the points included in the entire loop trajectory. For example, by planning the route from key point A to key point B, key point B to key point C, key point C to key point D, key point D to key point E, key point E to key point F, key point F to key point G, key point G to key point H, key point H to key point I, and key point I to key point A, the entire loop direction and all the points included in the loop can be obtained.

[0027] Parallel points are work points that branch off from the loop. Because some processes are not located on the loop itself, they need to branch off from the loop, but they are still part of the loop's operational trajectory. For example, work points branching off from the loop are used for processes such as load loading / unloading or inspection. For instance, parallel points may include N3 and N6, each with a corresponding mapping point on the loop: N1 is the mapping point of parallel point N3 on the loop, and N4 is the mapping point of parallel point N6 on the loop.

[0028] A branch point is a point between a parallel point and a mapping point on the loop. That is, a parallel point reaches a mapping point on the loop via a branch point, or a mapping point on the loop reaches a parallel point via a branch point. A branch point is neither a point on the loop nor a parallel point; it represents the points traversed from a point on the loop (i.e., a mapping point) to a parallel point. N2 and N5 are branch points. Branch points can serve as connection points between branch tasks (such as the task corresponding to a parallel point) and loop tasks. For example, a mobile device can travel from a mapping point on the loop, through a branch point, to a parallel point to complete load loading / unloading or testing, and then return to the mapping point on the loop via a branch point to continue executing tasks on the loop.

[0029] In some implementations, each mobile device can cyclically execute the corresponding target task within a circular trajectory. This includes trajectories such as trajectory direction, clockwise direction, and counter-clockwise direction, with each mobile device executing the target task sequentially. For example, each mobile device can execute the corresponding target task within the circular trajectory in the order of A→B→C→D→E→F→G→H→I→A, and this application does not impose any restrictions on this execution order.

[0030] In some implementations, each mobile device runs in a preset order along a preset trajectory (such as a loop trajectory) and executes its corresponding target task. The preset order can represent the arrangement order of the mobile devices or the arrangement order of the target tasks of the mobile devices within the loop trajectory. For example, the preset order of the mobile devices within the preset trajectory (such as the direction from A to I) is: Mobile Device 1 → Mobile Device 2 → Mobile Device 3, etc. This application does not impose any limitations on this.

[0031] In some implementations, in response to the presence of a mobile device at a branch point and / or parallel point of a loop trajectory, other mobile devices are prohibited from passing through the corresponding mapping point of the loop trajectory. For example, in response to a mobile device traveling to a mapping point of the loop trajectory and moving towards the corresponding parallel point (e.g., scheduling a mobile device from the mapping point through a branch point to the parallel point to perform a load loading / unloading task), the mapping point is marked as in use (or the corresponding parallel point is marked as in use). After the mapping point or parallel point is marked as in use, other mobile devices are prohibited from entering that branch point, that is, other mobile devices are prohibited from passing through the corresponding mapping point of the loop trajectory at this parallel point.

[0032] That is, when a mobile device exists at a branch point or parallel point, the corresponding mapping point does not have a mobile device, and / or, when a mobile device exists at a parallel point, the corresponding branch point does not have a mobile device. For example, when a mobile device exists at branch point N2 or parallel point N3, the corresponding mapping point N1 or branch point N2 will not have other mobile devices, thus avoiding trajectory overlap and controlling the order of each mobile device within the loop trajectory.

[0033] The control device can obtain the remaining power of each mobile device running within a preset trajectory to determine whether each mobile device needs to be charged.

[0034] S12: In response to the mobile device's remaining battery level being lower than a first preset battery level, the mobile device is designated as the first device.

[0035] In some embodiments, after obtaining the remaining battery power of each mobile device, it can be determined whether the remaining battery power of each mobile device is lower than a first preset battery power to determine whether the mobile device needs charging scheduling. In response to a mobile device's remaining battery power being lower than the first preset battery power, the mobile device can be designated as the first device. The first preset battery power is a pre-set battery value based on the mobile device's battery capacity, task energy consumption characteristics, charging safety threshold, etc., and serves as a baseline for triggering charging scheduling. When the remaining battery power of a mobile device drops below the first preset battery power, it indicates that its remaining battery power may not be sufficient to complete all subsequent target tasks, or that continued operation risks running out of power. Therefore, it is marked as the first device requiring priority charging, so that a targeted charging scheduling strategy can be executed subsequently.

[0036] In some embodiments, charging entry points and charging exit points can be configured for a preset trajectory. The number of charging entry points and charging exit points can be configured according to the specific actual trajectory, and this application does not limit the number. Charging exit points are configured within the preset trajectory and are points on the preset trajectory, while charging entry points are configured outside the preset trajectory and are not points on the preset trajectory. This is to reduce the waiting time of second devices outside the preset trajectory that have requested in advance, which may block other mobile devices that are performing tasks normally within the preset trajectory.

[0037] In some embodiments, there are multiple mobile devices and / or multiple charging exit points along a preset trajectory, with each charging exit point corresponding to a charging entry point. In the case of multiple mobile devices and / or multiple charging exit points, a dynamic allocation algorithm can be used to match mobile devices with charging exit points. For example, the matching criteria may include the device's remaining battery power, the distance from the device's current location to the charging exit point, the device's task priority, and the current occupancy status of the charging exit point. This approach effectively improves charging efficiency, reduces charging waiting time, ensures device battery life, and further optimizes the overall task execution process.

[0038] S13: Determine the second device from outside the preset trajectory, and schedule the second device to continue executing the target task of the first device in the current order, wherein the current order is the order of the first device in the preset order.

[0039] A second device can be determined from outside the preset trajectory for the first device, allowing the second device to replace the first device and continue executing the first device's target task in the current order. The current order refers to the order of the first devices in the preset sequence, meaning the execution order of the target tasks of each mobile device in the preset trajectory can be maintained, allowing the execution of each target task to continue. For example, in the above example, when scheduling mobile device 2 for charging, the second device can replace mobile device 2 and continue executing mobile device 2's target task in the original order.

[0040] In some implementations, when the distance between the first device and the charging outlet point is within a first preset range, the first preset range can be configured based on the actual loop trajectory distance, the moving speed of the mobile device (such as the moving speed of an unloaded device), etc. In this case, a ride can be called in advance from outside the preset trajectory so that the second device can be determined from outside the preset trajectory. This ensures that calling a ride in advance is neither too early nor too late, thus avoiding excessive waiting time.

[0041] Optionally, when the remaining battery power of the mobile device is lower than the first preset battery power and the distance from the charging outlet point is within the first preset range, the mobile device can act as the first device and initiate a ride-hailing request. Alternatively, the control device can initiate a ride-hailing request from the first device, thereby identifying a candidate device among several mobile devices (such as idle devices) outside the preset trajectory, initiating a ride-changing request to the candidate device, and determining the second device based on the candidate device.

[0042] In some embodiments, please refer to Figure 3 This embodiment can be further extended to step S13 of the above embodiment. Determining the second device from outside the preset trajectory and scheduling the second device to continue executing the target task of the first device in the current sequence can include the following steps: S131: In response to the fact that the distance between the first device and the charging exit point is within the first preset range, a vehicle replacement request is initiated to the candidate device, and the candidate device is scheduled to run to the charging entry point; wherein, the charging entry point corresponds to the charging exit point, the charging exit point is a point within the preset trajectory, the charging entry point is a point outside the preset trajectory, and the candidate device is located outside the preset trajectory.

[0043] Continue reading Figure 2 To ensure efficient charging scheduling, at least one charging exit point is set on the loop track, and each charging exit point corresponds to one charging entry point. Charging exit points are located within the preset track, while charging entry points are located outside the preset track.

[0044] If the remaining battery power of the mobile device is lower than a first preset battery level, the system continues to determine whether the distance between the first device and the charging exit point falls within a first preset range. If the distance between the first device and the charging exit point falls within the first preset range, a ride can be booked in advance, i.e., a ride-hailing request is initiated by the first device. A candidate device can be selected from several mobile devices (such as idle devices) outside the preset trajectory. Then, a ride-hailing request is initiated to the candidate device, and the candidate device is dispatched to the charging entrance point. The charging entrance point corresponds to the charging exit point in the ride-hailing request of the first device. The charging exit point is a point within the preset trajectory, while the charging entrance point is a point outside the preset trajectory. The candidate device is located outside the preset trajectory.

[0045] In some implementations, candidate devices meet preset scheduling conditions, which include at least the following: remaining battery power is higher than a second preset battery power, the second preset battery power is higher than a first preset battery power, and the second preset battery power is set higher than the first preset battery power to ensure that the second device can complete the remaining target tasks of the first device. Optionally, candidate devices determined from outside the preset trajectory also meet at least one of the following preset scheduling conditions: being in an idle state, having a task type that matches the target task of the first device (e.g., both having load loading / unloading, detection, or material transportation functions). The control device filters out candidate devices that meet the conditions by querying the status data of mobile devices outside the preset trajectory in real time (such as information including battery power, task status, function tags, current location, etc.), and can prioritize the candidate device with the closest distance from the current location to the charging entry point to shorten the candidate device scheduling response time.

[0046] Optionally, candidate devices can be selected according to preset scheduling conditions and preset scheduling factors. These preset scheduling factors may include remaining battery power, distance to the charging entry point, and whether a charging task is being performed. Mobile devices can be sorted according to these preset scheduling factors, with the highest-ranked mobile devices being prioritized as candidate devices. For example, a candidate device can be an idle device, or a mobile device currently performing a charging task. For instance, mobile devices with higher remaining battery power, closer distance to the charging entry point, and not currently performing a charging task can be selected as candidate devices. This application does not impose limitations on the preset scheduling conditions or preset scheduling factors.

[0047] In some implementations, the control device initiates a vehicle swap request to the candidate device, which can then execute the task requested by the vehicle swap request, i.e., schedule the candidate device to run to the charging entry point. This task of the candidate device cannot be interrupted by other tasks.

[0048] In some embodiments, after initiating a ride-hailing request from the first device, if no candidate device meeting the preset scheduling conditions is found outside the preset trajectory, the first device can be scheduled to continue executing the target task in response to the absence of a candidate device outside the preset trajectory for a preset time, while waiting to determine the corresponding second device for the first device at the next charging exit point. The preset time can be expressed as the time taken from initiating the ride-hailing request to the first device traveling from a distance within a first preset range to a distance within a second preset range, where the second preset range is smaller than the first preset range. For example, the time taken to travel from a distance of 20 meters to a distance of 1 meter (or 0 meters) from the charging exit point. In this case, the ride-hailing may fail, and the target task can continue to be executed. A ride-hailing request can be initiated again within the corresponding first preset range at the next charging exit point, while waiting to determine the corresponding second device for the first device at the next charging exit point, thus reducing the possibility of the first device running out of power due to continuous waiting for a replacement vehicle.

[0049] In some embodiments, after sending a vehicle replacement request to a candidate device, if the candidate device that sent the vehicle replacement request malfunctions and there is no waiting candidate device at the charging entry point, that is, if a candidate device outside the preset trajectory malfunctions, such as a fault or damage (the malfunction may not include a pause), and there is no candidate device available for replacement at the corresponding charging entry point, the first device can be scheduled to continue executing the target task, in order to wait for the corresponding second device to be determined at the next charging exit point, so as to reduce the situation where the first device's power is depleted due to continuous waiting for vehicle replacement.

[0050] S132: Determine a second device from the candidate devices located at the charging entry point.

[0051] After arriving at the charging entrance point, candidate devices queue up to wait for a replacement. Devices that have already initiated a replacement request for the first device stop and wait at the charging exit point. Once the first device arrives at the charging exit point, a second device can be selected from the candidate devices located at the charging entrance point to replace it.

[0052] In some implementations, in response to the arrival of the first device at the charging exit point and the initiation of a vehicle replacement request corresponding to the first device, the first waiting candidate device can be determined as the second device from the candidate devices located at the charging entrance point.

[0053] Optionally, in response to the first device arriving at the charging exit point and having initiated a vehicle replacement request corresponding to the first device, if there is already a candidate device at the charging entry point (such as the first device or another first device that has initiated a vehicle replacement request and has been scheduled to the charging entry point), the candidate device can be directly used as the second device corresponding to the first device.

[0054] Optionally, since the order in which candidate devices outside the preset trajectory arrive at the charging entrance point is dynamic and uncertain, the first device that calls for a ride (initiates a vehicle swap request) and the candidate device that receives the vehicle swap request do not have a one-to-one correspondence. As long as the first device arrives at the charging exit point and a vehicle swap request has been initiated for the first device, a vehicle swap can be performed. That is, the second device can be determined to swap vehicles with the first device based on the candidate devices at the charging entrance point.

[0055] S133: Overwrite the task execution information of the first device for the target task to the second device, and schedule the second device to drive from the charging entry point into the preset trajectory to continue executing the target task in the current order.

[0056] In response to the arrival of the first device at the charging exit point, a vehicle swapping task is sent to both the first and second devices, enabling them to perform the swapping. The task execution information of the first device for the target task can be obtained first and then overwritten onto the second device. For example, the control device can receive the target task execution information sent by the first device, and then overwrite the target task execution information onto the second device, allowing the second device to obtain the execution status of the target task. In other words, the target task being executed by the first device within the preset trajectory is overwritten onto the second device waiting at the charging entrance point, regardless of whether the second device is moving unloaded or loaded.

[0057] Then, the second device is scheduled to move from the charging entry point onto a preset trajectory and continue executing the target task in the current sequence. For example, the second device can be scheduled to travel from the charging entry point to the charging exit point, and then from the charging exit point onto the preset trajectory, thereby replacing the first device in the current sequence to continue executing the target task. Alternatively, the second device can be scheduled to travel from the charging entry point to a target point, which is a point within the preset trajectory (such as the intersection point between the first and second devices, the next task point of the first device's target task, etc.), thereby replacing the first device in the current sequence to continue executing the target task.

[0058] Optionally, if the target task is a load movement task, the second device can be scheduled to travel from the charging entry point to the charging exit point, and then from the charging exit point to enter a preset trajectory, thereby replacing the first device's current order within the preset trajectory to continue executing the target task. Optionally, if the target task is an unloaded movement task, the second device can be scheduled to travel from the charging entry point to a target point within the preset trajectory, thereby replacing the first device's current order within the preset trajectory to continue executing the target task.

[0059] In some embodiments, to avoid disrupting the original preset order of mobile devices within a preset trajectory, a restricted area can be set at the location corresponding to the charging exit point. For example, a range of a preset size including the charging exit point can be set as the restricted area, so that subsequent mobile devices cannot cut in line to pass through the charging exit point when performing a vehicle-changing task. Optionally, before overwriting the task execution information of the first device for the target task to the second device, the restricted area corresponding to the charging exit point is opened. The restricted area is used to prohibit other mobile devices from passing through the charging exit point. Thus, when the first device performs the vehicle-changing task, opening the restricted area can prevent subsequent mobile devices from cutting in line. After overwriting the task execution information of the first device for the target task to the second device, in response to the completion of the second device's overwriting, the restricted area is closed so that subsequent mobile devices can pass normally.

[0060] In some implementations, for some target tasks, there may be loads that need to be handed over. In response to the target task being a load relocation task, a first device can be scheduled to unload the load (such as a shelf) in the target load area, and a second device can be scheduled to move to the target load area to equip the load (such as moving it under the shelf) to continue completing the load relocation task. Alternatively, the original task can be completed after the shelf is lifted.

[0061] Continue reading Figure 1 Following step S13 above, the following steps are also included: S14: The first device is dispatched to the charging area for charging, wherein the charging area is located outside the preset trajectory.

[0062] For the first device, the control device can send a charging task instruction to the first device, scheduling the first device to a charging area for charging, wherein the charging area is located outside the preset trajectory. Optionally, the first device can be scheduled from the charging exit point to the charging area outside the preset trajectory to perform the charging task, wherein the charging exit point can lead to the charging area.

[0063] Optionally, during the switching process between the first and second devices, the control device can ensure the stability of the preset order through real-time status detection. For example, when the first device starts heading to the charging area, the control device sends a notification to other mobile devices within the preset trajectory, informing them that the position of the first device will be replaced by the second device, while the order remains unchanged. When the second device arrives at the access point corresponding to the charging exit point, it is inserted into the preset order and the order information of each mobile device is updated, such as marking the second device's order as the original order position of the first device. In this way, it is ensured that each mobile device within the preset trajectory can continue to perform its tasks in the original preset order, without causing order confusion or task delays due to device switching.

[0064] Optionally, to improve scheduling flexibility, the control device also supports dynamic adjustment of the second device. For example, if a candidate device or the second device malfunctions and cannot continue traveling to the charging entry point, the control device will immediately reselect a suitable candidate device from other candidate devices outside the preset trajectory and repeat the above scheduling process to ensure that the target task of the first device can be taken over in a timely manner.

[0065] In some embodiments, multiple mobile devices exist within a preset trajectory, which includes multiple charging exit points. Each charging exit point corresponds to a charging entry point, enabling charging scheduling for the multiple mobile devices. Optionally, a charging entry point can represent the location where a second device queues up for a vehicle change during charging scheduling, and a charging exit point can represent the location where the second device enters the preset trajectory after queuing for a vehicle change during charging scheduling.

[0066] Because mobile devices within the loop track must maintain an orderly task queue, disrupting the task order of mobile devices will affect the continuity of tasks within the loop track. When a low-battery device within the loop track needs to go outside the loop track to charge, a mobile device is dispatched from outside the loop track to enter the loop track to complete the task of the low-battery device, thus not disrupting the original device queue. Through the above-mentioned charging and swapping scheduling, a dynamic scheduling mechanism can achieve seamless switching between low-battery and high-battery devices while maintaining the continuity of tasks within the loop track, ensuring an orderly queue of mobile devices, and thus achieving a balance between device charging and task demand.

[0067] The above solution obtains the remaining battery power of each mobile device running within a preset trajectory. In response to a mobile device's remaining battery power falling below a first preset level, the mobile device is designated as the first device, and a second device is identified from outside the preset trajectory. The second device is then scheduled to continue executing the target task of the first device in the current order. Each mobile device executes its corresponding target task in a preset order, and the current order is the order in which the first device is positioned within the preset order. This allows for timely scheduling of the second device from outside the preset trajectory to take over the target task in the original order when the mobile device's battery power falls below the first preset level. Furthermore, scheduling the first device to a charging area outside the preset trajectory for charging reduces task interruptions caused by insufficient battery power. It also maintains the continuity and stability of the target tasks within the preset trajectory, ensuring they are executed in the preset order. In addition, it enables timely charging and scheduling of low-battery mobile devices, effectively balancing device operation and energy replenishment, and improving overall task execution efficiency and the continuity of device use.

[0068] Please see Figure 4 , Figure 4 This is a flowchart illustrating a second embodiment of the device charging scheduling method of this application. The method may include the following steps: S21: Following the trajectory order of the preset trajectory, traverse the charging exit points in sequence, and use each charging exit point as the current charging exit point.

[0069] It can traverse each charging exit point in sequence according to the preset trajectory, such as A→B→C→D→E→F→G→H→I→A, so that each charging exit point is used as the current charging exit point.

[0070] S22: Starting from the current charging exit point, proceed in reverse order of the trajectory sequence to traverse each mobile device in turn to execute the step in response to the remaining battery level of the mobile device being lower than the first preset battery level and subsequent steps.

[0071] Then, starting from the current charging exit point, proceed in the reverse direction of the trajectory sequence, that is, in the direction backward from the charging exit point. For example, if the charging exit point is located at point B, the direction of point A can be used to traverse each mobile device in sequence to execute the step in response to the first device's remaining battery level being lower than the first preset battery level, as well as subsequent steps.

[0072] Optionally, when traversing each mobile device sequentially from the current charging exit point in the reverse order of the trajectory sequence, if there are branch points or parallel points on the preset trajectory (such as a loop trajectory), the mobile devices located on the branches and / or associated points are also included and need to be traversed sequentially.

[0073] Optionally, by sequentially traversing each mobile device, it can be determined whether the remaining battery power of the mobile device is lower than a first preset battery power and whether the distance between the mobile device and the charging outlet point is within a first preset range. If the remaining battery power of the mobile device is lower than the first preset battery power and the distance between the mobile device and the charging outlet point is within the first preset range, then step S12 is executed to obtain candidate devices from outside the preset trajectory to determine the second device.

[0074] Optionally, after the above steps, during the traversal process, if there are no idle devices outside the preset trajectory that meet the preset scheduling conditions (e.g., within a preset time period), all traversals can be stopped in response to the absence of idle devices outside the preset trajectory within the preset time period, until there are idle devices outside the preset trajectory that meet the preset scheduling conditions, and then the above step S12 can be executed again. The preset scheduling conditions include remaining battery power being higher than a second preset battery power.

[0075] For example, the charging exit points are traversed in the order of the loop trajectory. Then, each mobile device is traversed sequentially from the charging exit point in the order of the vehicle queue. It is determined whether the mobile device has low battery (e.g., the remaining battery is less than a first preset battery level) and whether the distance from the charging exit point is within a first preset range. If both conditions are met, it is determined whether there is an idle device with high battery (e.g., the remaining battery is higher than a second preset battery level) outside the loop trajectory. If not, all traversals are stopped until there is an idle device with high battery outside the loop trajectory. Then, for each mobile device with low battery that meets the triggering conditions, an advance ride-hailing is triggered, and a corresponding ride-hailing request is initiated until there are no mobile devices with low battery or no idle devices with high battery.

[0076] The above scheme, through dynamic charging scheduling, achieves seamless switching between low-power and high-power devices while maintaining task continuity within the loop trajectory, ensuring an orderly queue of devices and thus balancing device charging and task requirements.

[0077] In some embodiments, each mobile device can interact with the control device to achieve the charging scheduling described above. See also... Figure 5 , Figure 5 This is a flowchart illustrating an embodiment of the device task processing method of this application. The method may include the following steps: S31: The mobile device obtains the scheduling task information sent by the control device; wherein, the scheduling task information is sent to the mobile device by the control device when executing the above-described device charging scheduling method.

[0078] For each mobile device (such as the first device, the second device, the candidate device, etc.), the above-described device charging scheduling method can be executed to send scheduling task information to the mobile device. The mobile device can receive the scheduling task information sent by the control device, such as target task, vehicle change request, running task, charging task, etc., which can be any task instruction or interactive information. This application does not restrict the scheduling task information.

[0079] S32: Execute the task corresponding to the scheduled task information.

[0080] Mobile devices can respond to scheduling task information and execute the tasks corresponding to the scheduling task information, such as executing target tasks, charging tasks, vehicle switching tasks, etc. This application does not impose any restrictions on this.

[0081] Optionally, the mobile device can send relevant information to the control device, such as remaining battery power and location information; this application does not limit this. The interaction between the mobile device and the control device can implement the device charging scheduling method of any of the above embodiments.

[0082] It is understood that in the above method of specific implementation, the order in which each step is written does not mean a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of each step should be determined by its function and possible internal logic.

[0083] In some embodiments, this application also provides a device charging scheduling apparatus for implementing the device charging scheduling method of any of the above embodiments. Please refer to... Figure 6 , Figure 6 This is a schematic diagram of the structure of an embodiment of the charging scheduling device of this application. The charging scheduling device 40 includes an acquisition module 41, a scheduling module 42, and a charging module 43. The modules are interconnected.

[0084] The acquisition module 41 is used to acquire the remaining battery power of each mobile device running within the preset trajectory, and each mobile device executes the corresponding target task in a preset order.

[0085] The scheduling module 42 is used to respond to the fact that the remaining power of the mobile device is lower than a first preset power, to designate the mobile device as the first device; to determine the second device from outside the preset trajectory, and to schedule the second device to continue to execute the target task of the first device in the current order, wherein the current order is the order of the first device in the preset order.

[0086] The charging module 43 is used to schedule the first device to the charging area for charging, wherein the charging area is located outside the preset trajectory.

[0087] It should be noted that the device charging scheduling device provided in the above embodiments and the device charging scheduling method provided in the above embodiments belong to the same concept. The specific ways in which each module and unit performs operations have been described in detail in the method embodiments, and will not be repeated here. In practical applications, the device charging scheduling device provided in the above embodiments can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. This application does not impose any limitations on this.

[0088] In some embodiments, this application also provides a device task processing apparatus for implementing the device task processing method of any of the above embodiments. Please refer to... Figure 7 , Figure 7 This is a schematic diagram of the structure of an embodiment of the device task processing apparatus of this application. The device task processing apparatus 50 includes a receiving module 51 and an execution module 52. The modules are interconnected.

[0089] The receiving module 51 is used to obtain the scheduling task information sent by the control device; wherein, the scheduling task information is sent by the control device to the mobile device when executing the above-mentioned device charging scheduling method.

[0090] The execution module 52 is used to execute the task corresponding to the scheduling task information.

[0091] It should be noted that the device task processing apparatus and the device task processing method provided in the above embodiments belong to the same concept. The specific ways in which each module and unit performs operations have been described in detail in the method embodiments, and will not be repeated here. In practical applications, the device task processing apparatus provided in the above embodiments can allocate the above functions to different functional modules as needed, that is, divide the internal structure of the device into different functional modules to complete all or part of the functions described above. This application does not impose any limitations on this.

[0092] It is understood that the device charging scheduling method and device task processing method in this application can be executed by an electronic device, which can be any device with processing capabilities, such as a mobile device, computer, server, etc., and this application does not impose any restrictions on this. In some possible implementations, the device charging scheduling method and device task processing method can be implemented by the processor calling program data stored in memory.

[0093] Regarding the above embodiments, this application provides an electronic device; please refer to [link / reference]. Figure 8 , Figure 8 This is a schematic diagram of the structure of an embodiment of the electronic device of this application. The electronic device 60 includes a memory 61 and a processor 62, wherein the memory 61 and the processor 62 are coupled to each other. The memory 61 stores program data, and the processor 62 is used to execute the program data to implement the steps of any of the embodiments of the device charging scheduling method and the device task processing method described above.

[0094] In this embodiment, processor 62 can also be referred to as a CPU (Central Processing Unit). Processor 62 may be an integrated circuit chip with signal processing capabilities. Processor 62 can also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor can be a microprocessor, or processor 62 can be any conventional processor.

[0095] The methods described in the above embodiments can be implemented as computer programs; therefore, this application proposes a computer-readable storage medium. Please refer to [link to relevant documentation]. Figure 9 , Figure 9 This is a schematic diagram of a computer-readable storage medium according to an embodiment of the present application. The computer-readable storage medium 70 stores program data 71 that can be executed by a processor. The program data 71 can be executed by the processor to implement the steps of any of the embodiments of the device charging scheduling method and the device task processing method described above.

[0096] In this embodiment, the computer-readable storage medium 70 can be a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, or a medium that can store program data 71. Alternatively, it can be a server that stores the program data 71. The server can send the stored program data 71 to other devices for execution, or it can run the stored program data 71 itself.

[0097] In some embodiments, the functions or modules of the apparatus provided in the above embodiments of this application can be used to perform the methods described in the above method embodiments. The specific implementation can be referred to the description of the above method embodiments. For the sake of brevity, this application will not repeat the details here.

[0098] The description of the various embodiments above tends to emphasize the differences between the various embodiments. The similarities or similarities between them can be referred to. For the sake of brevity, the present application will not repeat them here.

[0099] In the several embodiments provided in this application, it should be understood that the disclosed methods and apparatus can be implemented in other ways. For example, the apparatus implementations described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be electrical, mechanical, or other forms.

[0100] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0101] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0102] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause an electronic device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods of the various embodiments of this application.

[0103] Obviously, those skilled in the art should understand that the modules or steps of this application described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using computer-executable program code, and thus stored in a computer-readable storage medium for execution by a computing device, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Therefore, this application is not limited to any particular hardware and software combination.

[0104] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A device charging scheduling method, characterized in that, include: Obtain the remaining battery power of each mobile device running within a preset trajectory, and each mobile device executes its corresponding target task in a preset order; In response to the mobile device's remaining battery level being lower than a first preset battery level, the mobile device is designated as the first device; A second device is determined from outside the preset trajectory, and the second device is scheduled to continue executing the target task of the first device in the current order, wherein the current order is the order of the first device in the preset order; The first device is scheduled to be charged in the charging area, wherein the charging area is located outside the preset trajectory.

2. The method according to claim 1, characterized in that, The step of determining the second device from outside the preset trajectory includes: In response to the fact that the distance between the first device and the charging exit point is within a first preset range, a vehicle replacement request is initiated to the candidate device, and the candidate device is scheduled to run to the charging entrance point; wherein, the charging entrance point corresponds to the charging exit point, the charging exit point is a point within the preset trajectory, the charging entrance point is a point outside the preset trajectory, and the candidate device is located outside the preset trajectory; The second device is determined from the candidate devices located at the charging entry point.

3. The method according to claim 2, characterized in that, The candidate devices will queue up and wait after arriving at the charging entry point; Determining the second device from the candidate devices located at the charging inlet point includes: In response to the first device arriving at the charging exit point and having initiated a vehicle replacement request corresponding to the first device, the first waiting candidate device is determined to be the second device from the candidate devices located at the charging entrance point.

4. The method according to claim 2, characterized in that, The candidate device meets the preset scheduling conditions, which include at least the remaining power being higher than the second preset power, and the second preset power being higher than the first preset power. And / or, also includes: If no candidate device is found outside the preset trajectory within a preset time period, or if the candidate device that sent the vehicle change request is abnormal and there is no waiting candidate device at the charging entry point, the first device is scheduled to continue executing the target task, while waiting to determine the corresponding second device at the next charging exit point.

5. The method according to claim 1, characterized in that, The step of scheduling the second device to continue executing the target task of the first device in the current order includes: The task execution information of the first device for the target task is overwritten onto the second device, and the second device is scheduled to drive from the charging entrance point into the preset trajectory to continue executing the target task in the current order.

6. The method according to claim 5, characterized in that, The step of overwriting the task execution information of the first device for the target task onto the second device includes: Open the restricted area corresponding to the charging exit point; wherein, the restricted area is used to prohibit other mobile devices from passing through the charging exit point; The step of overwriting the task execution information of the first device for the target task onto the second device includes: In response to the completion of coverage by the second device, the restricted area is closed.

7. The method according to claim 5, characterized in that, Also includes: In response to the target task being a load relocation task, the first device is scheduled to unload the load in the target load area, and the second device is scheduled to run to the target load area to equip the load, so as to continue to complete the load relocation task.

8. The method according to claim 1, characterized in that, The preset trajectory is a loop trajectory; Each mobile device runs on the loop trajectory in a preset order and executes its corresponding target task; and / or, the loop trajectory includes key points, branch points, and parallel points, the key points form the loop of the loop trajectory, the parallel points are working points that branch off from the loop, and the branch points are points between the parallel points and the mapping points on the loop. And / or, also includes: Send the configuration file of the preset trajectory to each mobile device; and / or, In response to the presence of mobile devices at branch points and / or parallel points of the loop trajectory, other mobile devices are prohibited from passing through the mapping points corresponding to the loop trajectory.

9. The method according to claim 1 or 8, characterized in that, The number of mobile devices is multiple, and / or the number of charging outlet points along the preset trajectory is multiple; it also includes: According to the trajectory order of the preset trajectory, the charging exit points are traversed sequentially, so that each charging exit point is taken as the current charging exit point. Starting from the current charging exit point, proceed in reverse order of the trajectory sequence to traverse each mobile device sequentially, in order to execute the step of responding to the remaining battery level of the mobile device being lower than a first preset battery level and subsequent steps.

10. A device task processing method, characterized in that, include: The mobile device acquires scheduling task information sent by the control device; wherein the scheduling task information is sent to the mobile device by the control device executing the device charging scheduling method according to any one of claims 1 to 9; Execute the task corresponding to the scheduling task information.

11. An electronic device, characterized in that, The method includes a memory and a processor coupled to each other, the memory storing program data and the processor executing the program data to implement the steps of the method according to any one of claims 1 to 10.

12. A computer-readable storage medium, characterized in that, The system stores program data that can be executed by a processor, the program data being used to implement the steps of the method according to any one of claims 1 to 10.

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