Method, device and computer equipment for scheduling aircraft in and out of warehouse transfer

Abstract

The present application relates to a method, device and computer equipment for scheduling aircraft in and out of the warehouse. The method includes: obtaining a set of aircraft to be transferred, a category of transfer equipment and a category of transfer process corresponding to the aircraft to be transferred; each type of transfer process is carried out in different transfer areas and corresponds to a type of transfer equipment; each type of transfer equipment is equipped with a corresponding transfer group; according to the pre-set transfer equipment exclusivity constraints, aircraft transfer timing constraints, aircraft transfer collision avoidance constraints and transfer equipment transfer guarantee timing constraints, with the goal of minimizing the completion time of the fleet transfer, minimizing the transfer time of the transfer group and minimizing the load balancing index, a scheduling model is constructed; a distributed estimation algorithm is used to solve the scheduling model, obtain the scheduling result, and perform aircraft in and out of the warehouse transfer scheduling according to the scheduling result. This method can be used to perform timing planning for the cross-domain synchronous transfer of multiple aircraft in and out of the warehouse.

Description

Technical Field

[0001] The present application relates to the technical field of resource scheduling, and in particular to a method, device and computer equipment for scheduling aircraft in-and-out transfer. Background Art

[0002] During the cyclic operation of aircraft fleet dispatching and recovery, due to the different support function divisions in the deck area, frequent transfer operations are required between the offshore platform and the hangar, as well as between the parking spaces of the offshore platform. When preparing for direct dispatch, the aircraft stored in the hangar needs to be transferred to the offshore platform for support operations; and when the fleet is recovered and prepared for another dispatch, the faulty or missionless aircraft needs to be transferred to the hangar for maintenance or stay, and the mission aircraft in the hangar is supplemented and transferred to the offshore platform to perform dispatch support operations. Therefore, as an important link in the deck support of each stage, the reasonable and coordinated planning of the timing and route of multi-aircraft transfer is of great significance to the safety and timeliness of the deck support.

[0003] In response to this problem, current research mainly focuses on path planning in offshore platform or hangar domains, and there is a lack of research on the timing planning of cross-domain synchronous transportation of multiple aircraft entering and exiting the warehouse. The key factors that need to be considered include the collision avoidance safety of single-machine path planning, the transportation capacity constraints of multi-machine synchronous transportation, and the conflict detection and resolution of the transportation process. The traditional method based on commander experience scheduling can no longer meet the needs of optimal timeliness and quantitative performance indicators in medium and large-scale collaborative transportation. Summary of the invention

[0004] Based on this, it is necessary to provide an aircraft in-and-out transfer scheduling method, device, computer equipment and storage medium to address the above technical problems.

[0005] A method for scheduling aircraft in-and-out transfer, the method comprising:

[0006] Obtain a set of aircraft to be transferred, a type of transfer equipment, and a type of transfer process corresponding to the aircraft to be transferred; each type of transfer process is performed in different transfer areas and corresponds to a type of transfer equipment; each type of transfer equipment is configured with a corresponding transfer group;

[0007] According to the time when the transport group transfers from the parking position after the current transfer process ends to the parking position at the beginning of the next transfer process, the transfer guarantee time is obtained, and according to the transfer guarantee time of each type of the transport group, the transfer time of the transport group is obtained;

[0008] According to the pre-built transfer path library, the transfer group transfers the aircraft to be transferred in the set of aircraft to be transferred, and obtains the aircraft transfer time. According to the aircraft transfer time and the transfer guarantee time corresponding to the transfer group, the transfer group load is obtained, and the load balancing index is obtained according to each of the transfer group loads; the transfer path library includes feasible transfer paths between any pair of parking positions in the transfer area;

[0009] According to the pre-set transport equipment exclusivity constraints, aircraft transfer timing constraints, aircraft transfer collision avoidance constraints and transport equipment transfer guarantee timing constraints, a scheduling model is constructed with the goal of minimizing the fleet transfer completion time, minimizing the transport group transfer time and minimizing the load balancing index;

[0010] Solve the scheduling model to obtain the aircraft in-and-out transfer scheduling result, and perform aircraft in-and-out transfer scheduling according to the aircraft in-and-out transfer scheduling result.

[0011] In one embodiment, the method further includes: obtaining the transfer time of the transport group according to the transfer guarantee time of each type of the transport group:

[0012]

[0013] Among them, CTT is the transfer time of the transportation group. The kth type of transfer group consists of process O ij After completion, the parking position is transferred to process O eg The time of the parking space before the start, k∈Kz, Kz is the set of transportation group categories, l∈Lz k ,Lz k is the set of the k-th type of transportation group, Lz k ={1,2,…,|Lz k |}, i∈I, I is the set of aircraft to be transferred, I={1,2,…,Nf}, j∈Jz i , Jz i is the actual phase mission set of aircraft i, Jz i ={1,2,…,Nz i},Nz i is the number of transfer stages for the i-th aircraft, and Nz i ≤3, e∈I, g∈Jz e , Yz ijeg is the decision variable, O ij is the jth transfer process of the i-th aircraft, O eg This is the g-th transfer process for the e-th aircraft.

[0014] In one embodiment, the further step further includes: obtaining the transport group load according to the aircraft transfer time and the transfer guarantee time corresponding to the transport group:

[0015]

[0016] Among them, TB kl is the kth (k∈Kz)th class lth (l∈Lz k ) transport group load k∈Kz, Kz is the transport group category set, l∈Lz k ,Lz k is the set of the kth type of transfer group, i∈I, I is the set of aircraft to be transferred, I={1,2,…,Nf}, j∈Jz i , Jz i is the actual phase mission set of aircraft i, represents the load weight of the transfer time of the kth (k∈Kz) type of transportation group relative to the transfer operation time, P ij is the parking position of the i-th aircraft before the j-th stage transfer, TR(P ij ,P i(j+1) )for Abbreviation for Sz ij The time is from parking position P ij Transfer to parking position P i(j+1) The transit time, For Sz ij The aircraft is at parking position P ij Transfer to parking position P i(j+1) The transfer path corresponds to the layout state of the interference parking position, Sz ij For the transfer process O ij The start time of the operation, For the kth type of equipment, process O ij After completion, the parking position is transferred to process O eg The time of the parking position before the start, Xz ijl is the decision variable, M ij is the set of available transfer equipment for the j-th stage transfer of the i-th aircraft, According to the load of each dispatch group, the load balancing index is obtained as follows:

[0017]

[0018] Among them, LBT is the load balancing indicator, TB kl is the kth (k∈Kz)th class lth (l∈Lz k ) transport group loads, k∈Kz, Kz is the transport group category set, l∈Lz k,Lz k is the set of the k-th type of transportation group, Lz k ={1,2,…,|Lz k |}, γ k represents the load variance weight of the kth (k∈Kz) type dispatch group, is the load mean of the kth (k∈Kz) type dispatching group.

[0019] In one embodiment, the method further includes: obtaining the completion time of the transfer of the fleet according to the completion time of the transfer operation of the last transfer process of each aircraft to be transferred:

[0020]

[0021] Among them, C max represents the completion time of the fleet transfer, i∈I, I is the set of aircraft to be transferred, I={1,2,…,Nf}, j∈Jz i , Jz i is the actual phase mission set of aircraft i, Jz i ={1,2,…,Nz i},Nz i is the number of transfer stages for the i-th aircraft, Indicates the end time of the transfer operation of the last transfer process of the i-th aircraft.

[0022] In one embodiment, the method further includes: obtaining a switching time constraint for cross-process transfer according to the mooring and unmooring time of the aircraft to be transferred before and after the transfer, and obtaining a transfer timing constraint for the aircraft according to the switching time constraint for the cross-process transfer as follows:

[0023]

[0024]

[0025] Among them, Sz ij is the decision variable, Sz ij For the transfer process O ij The start time of the operation, Sz i(j+1) For the transfer process O i(j+1) The start time of the operation, Ez ij is the decision variable, Ez ij For the transfer process O ij The end time of the operation, tx is the mooring and unmooring time of the aircraft before and after the transfer, i∈I, I is the set of aircraft to be transferred, I={1,2,…,Nf}, j∈Jz i , Jz i is the actual phase mission set of aircraft i, Jz i ={1,2,…,Nz i},Nz i is the number of transfer stages for the i-th aircraft, and Nz i ≤3.

[0026] In one embodiment, the method further includes: obtaining a feasible constraint of the transfer path according to the transfer path library and the initial parking position and the target parking position of the aircraft to be transferred:

[0027]

[0028] Among them, Road t (P ij ,P i(j+1) )for Abbreviation of is the path library index, Sz ij is the decision variable, Sz ij For the transfer process O ij The start time of the operation, Ez ij is the decision variable, Ez ij For the transfer process O ij The end time of the operation, i∈I, I is the set of aircraft to be transferred, I={1,2,…,Nf}, j∈Jz i , Jz i is the actual phase mission set of aircraft i;

[0029] According to the preset aircraft posture model, the coordinates of the vertices of the aircraft convex hull of the aircraft to be transferred under the reference point posture are solved to obtain the space area occupied by the aircraft convex hull. According to the space area occupied by the aircraft convex hull, the configuration of the aircraft to be transferred is obtained. According to the configurations of multiple aircraft to be transferred at the same time on the corresponding feasible transfer path, the aircraft transfer collision avoidance constraint is obtained as follows:

[0030]

[0031]

[0032] in, is the configuration of the i-th aircraft.

[0033] In one embodiment, the method further includes: obtaining the transfer guarantee timing constraint of the transport equipment according to the end time of the transport operation of the current transport process and the transfer guarantee time of the next transport process:

[0034]

[0035]

[0036] Among them, k∈Kz, Kz is the category set of the dispatch group, For the kth type of equipment, process Oij After completion, the parking position is transferred to process O eg The time at the parking stand before the start, BM is the penalty term.

[0037] In one embodiment, the device exclusivity constraint is obtained as follows: according to the fact that the aircraft can only be allocated to any one of the transfer equipment in the transfer equipment set responsible for the transfer operation of the process in any transfer process,

[0038]

[0039] Among them, Xz ijl is the decision variable, M ij The set of available transfer equipment for the j-th stage transfer of the i-th aircraft.

[0040] An aircraft in-and-out transfer and dispatching device, the device comprising:

[0041] A data acquisition module is used to acquire a set of aircraft to be transferred, a type of transfer equipment, and a type of transfer process corresponding to the aircraft to be transferred; each type of transfer process is performed in different transfer areas and corresponds to a type of transfer equipment; each type of transfer equipment is configured with a corresponding transfer group;

[0042] A transfer group transfer time calculation module is used to obtain the transfer guarantee time according to the time when the transfer group transfers from the parking position after the current transfer process ends to the parking position at the beginning of the next transfer process, and obtain the transfer time of the transfer group according to the transfer guarantee time of each type of the transfer group;

[0043] A load balancing index calculation module is used to transfer the aircraft to be transferred in the set of aircraft to be transferred by the transfer group according to a pre-built transfer path library, obtain the aircraft transfer time, obtain the transfer group load according to the aircraft transfer time and the transfer guarantee time corresponding to the transfer group, and obtain the load balancing index according to each of the transfer group loads; the transfer path library includes feasible transfer paths between any pair of parking positions in the transfer area;

[0044] The scheduling model building module builds a scheduling model based on the pre-set transportation equipment exclusivity constraints, aircraft transfer timing constraints, aircraft transfer collision avoidance constraints and transportation equipment transfer guarantee timing constraints, with the goal of minimizing the fleet transfer completion time, minimizing the transportation group transfer time and minimizing the load balancing index;

[0045] The scheduling module solves the scheduling model to obtain the aircraft in-and-out transfer scheduling result, and performs aircraft in-and-out transfer scheduling according to the aircraft in-and-out transfer scheduling result.

[0046] A computer device comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0047] Obtain a set of aircraft to be transferred, a type of transfer equipment, and a type of transfer process corresponding to the aircraft to be transferred; each type of transfer process is performed in different transfer areas and corresponds to a type of transfer equipment; each type of transfer equipment is configured with a corresponding transfer group;

[0048] According to the time when the transport group transfers from the parking position after the current transfer process ends to the parking position at the beginning of the next transfer process, the transfer guarantee time is obtained, and according to the transfer guarantee time of each type of the transport group, the transfer time of the transport group is obtained;

[0049] According to the pre-built transfer path library, the transfer group transfers the aircraft to be transferred in the set of aircraft to be transferred, and obtains the aircraft transfer time. According to the aircraft transfer time and the transfer guarantee time corresponding to the transfer group, the transfer group load is obtained, and the load balancing index is obtained according to each of the transfer group loads; the transfer path library includes feasible transfer paths between any pair of parking positions in the transfer area;

[0050] According to the pre-set transport equipment exclusivity constraints, aircraft transfer timing constraints, aircraft transfer collision avoidance constraints and transport equipment transfer guarantee timing constraints, a scheduling model is constructed with the goal of minimizing the fleet transfer completion time, minimizing the transport group transfer time and minimizing the load balancing index;

[0051] Solve the scheduling model to obtain the aircraft in-and-out transfer scheduling result, and perform aircraft in-and-out transfer scheduling according to the aircraft in-and-out transfer scheduling result.

[0052] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the following steps:

[0053] Obtain a set of aircraft to be transferred, a type of transfer equipment, and a type of transfer process corresponding to the aircraft to be transferred; each type of transfer process is performed in different transfer areas and corresponds to a type of transfer equipment; each type of transfer equipment is configured with a corresponding transfer group;

[0054] According to the time when the transport group transfers from the parking position after the current transfer process ends to the parking position at the beginning of the next transfer process, the transfer guarantee time is obtained, and according to the transfer guarantee time of each type of the transport group, the transfer time of the transport group is obtained;

[0055] According to the pre-built transfer path library, the transfer group transfers the aircraft to be transferred in the set of aircraft to be transferred, and obtains the aircraft transfer time. According to the aircraft transfer time and the transfer guarantee time corresponding to the transfer group, the transfer group load is obtained, and the load balancing index is obtained according to each of the transfer group loads; the transfer path library includes feasible transfer paths between any pair of parking positions in the transfer area;

[0056] According to the pre-set transport equipment exclusivity constraints, aircraft transfer timing constraints, aircraft transfer collision avoidance constraints and transport equipment transfer guarantee timing constraints, a scheduling model is constructed with the goal of minimizing the fleet transfer completion time, minimizing the transport group transfer time and minimizing the load balancing index;

[0057] Solve the scheduling model to obtain the aircraft in-and-out transfer scheduling result, and perform aircraft in-and-out transfer scheduling according to the aircraft in-and-out transfer scheduling result.

[0058] The above-mentioned aircraft in-and-out transfer scheduling method, device and computer equipment obtain the set of aircraft to be transferred, the type of transfer equipment and the type of transfer process corresponding to the aircraft to be transferred, and calculate the transfer time required for the transfer group corresponding to the transfer equipment to transfer, so as to reduce the safety risk caused by the transfer of shipboard support resources to aircraft transfer. The shorter the transfer time of the transfer equipment, the fewer the disturbance factors of the shipboard environment, and the smoother the aircraft transfer. The transfer group is the main body of the aircraft transfer operation. The load balancing index of the transfer group is calculated to balance the load workload of each transfer group, and the group transfer completion time is calculated to improve the transfer time efficiency. According to the pre-set transfer equipment exclusivity constraints, aircraft transfer timing constraints, aircraft transfer collision avoidance constraints and transfer equipment transfer guarantee timing constraints, the scheduling model is constructed with the goal of minimizing the group transfer completion time, minimizing the transfer time of the transfer group and minimizing the load balancing index. By solving the scheduling model, the solution of the complex combinatorial optimization problem involving timing, equipment resource constraints and space constraints, and the coexistence of discrete scheduling decision variables and continuous path timing variables, can be obtained. The embodiments of the present invention can perform time planning for cross-domain synchronous transportation of multiple machines in and out of the warehouse to ensure the safety and efficiency of the transportation operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 A schematic diagram of a flow chart of a method for scheduling aircraft in and out of a warehouse in an embodiment;

[0060] Figure 2 A schematic diagram of multiple transfer paths for parking an obstructed aircraft in one embodiment;

[0061] Figure 3 It is a structural block diagram of an aircraft in-and-out transfer scheduling device in one embodiment;

[0062] Figure 4 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0063] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0064] In one embodiment, Figure 1 As shown, a method for scheduling aircraft in and out of the warehouse transfer is provided, comprising the following steps:

[0065] Step 102, obtaining the set of aircraft to be transferred, the type of transfer equipment and the type of transfer process corresponding to the aircraft to be transferred.

[0066] The transfer process includes offshore platform transfer, elevator transfer and hangar transfer. Each type of transfer process is carried out in different transfer areas and corresponds to a type of transportation equipment. The transfer area includes the offshore platform, hangar and aircraft lifting platform, and the offshore platform and hangar are located on different planes. Parking spaces are set on the offshore platform and the hangar. Among them, the elevator parking space is used to place aircraft entering and leaving the hangar. The transportation equipment includes offshore platform tractors, aircraft elevators and hangar tractors, and the operating areas cannot be switched between the offshore platform tractors and the hangar tractors. Each type of transportation equipment is equipped with a corresponding transportation group, which is responsible for tractor driving, safety supervision and mooring / unmooring operations during the transfer process.

[0067] Aircraft transfer in and out of the hangar includes three types of mission stages: direct dispatch preparation stage, re-dispatch preparation stage and return to storage stage. In the direct dispatch preparation stage, some aircraft are transferred from the hangar to the elevator parking position by the hangar tractor, transported to the offshore platform by the aircraft elevator, and transferred to the corresponding maintenance parking position or take-off position under the traction of the offshore platform tractor. Before performing the transfer operation of changing the parking position, the aircraft must be untied and then tied after arriving at the new parking position. The return to storage is the opposite. After the fleet completes the flight mission, most of the designated aircraft are transported to the hangar in the reverse direction of the outbound. In the re-dispatch preparation mission, the transfer problem is more common.

[0068] Step 104, obtaining the transfer guarantee time according to the time when the transport group transfers from the parking position after the current transfer process ends to the parking position when the next transfer process begins, and obtaining the transfer time of the transport group according to the transfer guarantee time of each type of transport group.

[0069] The shorter the transfer time of the transport equipment, the fewer disturbance factors in the ship's surface environment, and the smoother the aircraft transfer. Minimizing the transfer time of the transport team can reduce the safety risks caused by the transfer of ship's surface support resources to aircraft transfer.

[0070] Step 106, according to the pre-constructed transfer path library, the transfer group transfers the aircraft to be transferred in the set of aircraft to be transferred, and obtains the aircraft transfer time. According to the aircraft transfer time and transfer guarantee time corresponding to the transfer group, the transfer group load is obtained. According to the load of each transfer group, the load balancing index is obtained.

[0071] The transfer path library includes feasible transfer paths between any pair of parking positions in the transfer area; the transfer group is the main body of the transfer operation, so the load balancing index is used to balance the load workload of each transfer group.

[0072] Step 108, based on the pre-set transport equipment exclusivity constraints, aircraft transfer timing constraints, aircraft transfer collision avoidance constraints and transport equipment transfer guarantee timing constraints, a scheduling model is constructed with the goals of minimizing the fleet transfer completion time, minimizing the transport group transfer time and minimizing the load balancing index.

[0073] The scheduling model includes the following assumptions:

[0074] (1) Once the transfer operation of the aircraft by the transfer equipment is started in any transfer process, it cannot be interrupted;

[0075] (2) At the same time, any transfer process can only accept one transfer equipment for transfer;

[0076] (3) The aircraft can be transferred by any transfer equipment corresponding to each transfer process;

[0077] (4) The transfer parameters of the transfer path library are constant values ​​and are not affected by other transfer operations;

[0078] (5) Interference from sudden factors such as failures is not considered.

[0079] Through the constructed scheduling model, it is possible to carry out timing planning for the cross-domain synchronous transfer of multiple machines in and out of the warehouse. By satisfying the pre-set transportation equipment exclusivity constraints, aircraft transfer timing constraints, aircraft transfer collision avoidance constraints and transportation equipment transfer guarantee timing constraints, the scheduling model can meet the requirements of optimizing timeliness, safety and quantitative performance indicators under medium and large-scale collaborative transfer.

[0080] Step 110, solving the scheduling model, obtaining the aircraft in-and-out transfer scheduling result, and performing the aircraft in-and-out transfer scheduling according to the aircraft in-and-out transfer scheduling result.

[0081] In the above-mentioned aircraft in-and-out transfer scheduling method, by obtaining the set of aircraft to be transferred, the type of transfer equipment and the type of transfer process corresponding to the aircraft to be transferred, the transfer time of the transfer group required for the transfer of the transfer equipment corresponding to the transfer is calculated to reduce the safety risk caused by the transfer of shipboard support resources to aircraft transfer. The shorter the transfer time of the transfer equipment, the fewer the disturbance factors of the shipboard environment, and the smoother the aircraft transfer. The transfer group is the main body of the aircraft transfer operation. The load balancing index of the transfer group is calculated to balance the load workload of each transfer group, and the group transfer completion time is calculated to improve the transfer time efficiency. According to the pre-set transfer equipment exclusivity constraints, aircraft transfer timing constraints, aircraft transfer collision avoidance constraints and transfer equipment transfer guarantee timing constraints, the scheduling model is constructed with the goal of minimizing the group transfer completion time, minimizing the transfer time of the transfer group and minimizing the load balancing index. By solving the scheduling model, the solution of the complex combinatorial optimization problem involving timing, equipment resource constraints and space constraints, and the coexistence of discrete scheduling decision variables and continuous path timing variables, can be obtained. The embodiments of the present invention can perform time planning for cross-domain synchronous transportation of multiple machines in and out of the warehouse to ensure the safety and efficiency of the transportation operation.

[0082] The process of aircraft transfer in and out of the warehouse during the preparation stage for re-deployment involves three aspects of transfer flow:

[0083] 1) After the interception and recovery, the fleet will be parked in the transition parking position at the bow of the ship, and after the recovery is completed, the storage and offshore platform transfer operations will be carried out in a unified manner. Among them, the aircraft that are ready to be deployed again will be transferred to the maintenance support parking positions at the midship and stern of the ship by the offshore platform tractor;

[0084] 2) Aircraft with some faults or aircraft without subsequent sortie missions need to be transferred to designated parking spaces in the hangar for maintenance or remain in the hangar;

[0085] 3) Some hangars that are assigned with sortie missions can use aircraft to carry out the outbound mission, transfer to the offshore platform maintenance parking position, join the previous wave of mission aircraft, and perform support operations before the next wave of sorties.

[0086] The transfer processes of the three directions interfere with each other, and it is necessary to coordinate the planning of the time sequence priority of each direction and coordinate the use of various types of transportation equipment resources. During the transfer process, the required equipment resources include offshore platform tractors, aircraft elevators and hangar tractors, and the operating areas cannot be switched between offshore platform tractors and hangar tractors. The occupied space resources include parking spaces and transfer path space to avoid the situation where the transferred aircraft hinders the travel of other aircraft to be transferred and the path interference problem during the simultaneous transfer of multiple aircraft, ensuring the safety and efficiency of the transfer operation.

[0087] Based on the above analysis, the Coordination Scheduling Problem of Transfer of Aircraft between Spots on Flight-deck and Hangar-bay (CSPTAS) is a complex combinatorial optimization problem involving time series, equipment resources and space constraints, and the coexistence of discrete scheduling decision variables and continuous path time series variables. There are no relevant research cases to refer to. If the impact of the transfer path and parking space constraints is ignored, the aircraft is regarded as a workpiece, the offshore platform transfer, elevator transfer and hangar transfer are regarded as different stages of operation procedures, and the transfer equipment corresponding to each transfer procedure is regarded as a parallel machine, then CSPTAS can be abstracted as a hybrid flow shop scheduling problem with mutual interference in the operation stages.

[0088] To solve the above problems, we first build a transfer path library. Specifically, when planning the transfer path between any pair of parking spaces, we consider the most complex transfer situation, that is, the offshore platforms outside the feasible path are arranged in a saturated state. Figure 2 As shown, a schematic diagram of multiple transfer routes for parking obstructed aircraft is provided. When the aircraft at position P1 needs to be transferred to the stern maintenance parking position, it is necessary to determine whether there is a feasible path based on the arrangement status of the P3, P5, and C1 parking positions, and select the optimal transfer route. Obviously, when there is an aircraft at P3, no matter what the status of the C1 and P5 parking positions is, it cannot be transferred; and when the P3 parking position is idle, route ① or route ② is selected based on the idle or occupied status of the C1 and P5 parking positions. Path selection based on the arrangement status of obstructed aircraft is more common in dense hangar environments. For this purpose, assuming that the aircraft is transferred from parking position p to parking position q, the set of parking positions that interfere with all its feasible paths is represented as A_obs(p,q), and the number of parking positions in the set is No pq .exist Figure 2 In the P1 transfer scenario shown, the set of interfering parking positions is the number set corresponding to the P3, P5, and C1 parking positions. The relevant definition of the path library is given as follows:

[0089] Definition 1: At any time t, when an aircraft is transferred from parking stand p to parking stand q, the layout state of the interfering parking stands corresponding to its transfer path is: The meaning of the state variable of the interference parking position is

[0090]

[0091] Definition 2: From any time t0, the aircraft is transferred from parking position p to parking position q, and its path state is about the arrangement state Ap t0 Function Road of (p,q) t (p,q,Ap t0(p,q)), which represents the position of the transfer route at time t (t≥t0).

[0092] Road t (p,q,Ap t0 (p,q)) is the index format of the path library. In practical applications, in order to reduce storage space, only the array state Ap is stored. t0 The path intermediate node parameters corresponding to (p,q) are used to derive the complete path in real time when the path is called.

[0093] After the transfer path library is built, the transfer completion time, load balance of the transfer group and transfer equipment transfer time are constructed as the objective functions for the aircraft fleet in and out of the warehouse and the offshore platform transfer guarantee needs. Considering that the initial parking position and target parking position of each aircraft are fixed, the transfer path and time of the aircraft are almost the same, so they are not used as the objective function of this model.

[0094] The efficiency of transfer time is directly related to the progress of subsequent support or maintenance operations. The shorter the transfer completion time, the sooner the support can be carried out. Therefore, minimizing the completion time of fleet transfer is the primary core indicator.

[0095] In one embodiment, the step of obtaining the group transfer completion time includes: obtaining the group transfer completion time according to the transfer operation completion time of the last transfer process of each aircraft to be transferred:

[0096]

[0097] Among them, C max Indicates the completion time of fleet transfer, Indicates the end time of the transfer operation of the last transfer process of the i-th aircraft.

[0098] In one embodiment, the step of obtaining the transfer time of the transport group includes: obtaining the transfer time of the transport group according to the transfer guarantee time of each type of transport group:

[0099]

[0100] Among them, CTT is the transfer time of the transportation group. The kth type of transfer group consists of process O ij After completion, the parking position is transferred to process O eg The time of the parking space before the start, k∈Kz, Kz is the set of transportation group categories, l∈Lz k ,Lz k is the set of the k-th type of transportation group, Lz k ={1,2,…,|Lz k |}, i∈I, I is the set of aircraft to be transferred, I={1,2,…,Nf}, j∈Jzi , Jz i is the actual phase mission set of aircraft i, Jz i ={1,2,…,Nz i},Nz i is the number of transfer stages for the i-th aircraft, and Nz i ≤3, e∈I, g∈Jz e , Yz ijeg is the decision variable, O ij is the jth transfer process of the i-th aircraft, O eg This is the g-th transfer process for the e-th aircraft. In this embodiment, the transfer time of the transport group is set as an optimization indicator to reduce the safety risk caused by the transfer of shipboard support resources to aircraft transfer. The shorter the transfer time of the transport equipment, the fewer disturbance factors of the shipboard environment, and the smoother the aircraft transfer.

[0101] In one embodiment, the transport group load is obtained according to the aircraft transit time and the transfer guarantee time corresponding to the transport group, and the load balancing index is obtained according to each transport group load. The transport group load is obtained according to the aircraft transit time and the transfer guarantee time corresponding to the transport group:

[0102]

[0103] Among them, TB kl is the kth (k∈Kz)th class lth (l∈Lz k ) transport group loads of transport groups, represents the load weight of the transfer time of the kth (k∈Kz) type of transportation group relative to the transfer operation time, P ij is the parking position of the i-th aircraft before the j-th stage transfer, TR(P ij ,P i(j+1) )for Abbreviation for Sz ij The time is from parking position P ij Transfer to parking position P i(j+1) The transit time, For Sz ij The aircraft is at parking position P ij Transfer to parking position P i(j+1) The transfer path corresponds to the layout status of the interference parking position.

[0104] S ij For the transfer process O ij The start time of the operation, Xz ijl is the decision variable, M ijis the set of available transfer equipment for the jth stage of the i-th aircraft transfer; according to the load of each transfer group, the load balancing index is obtained as follows:

[0105]

[0106] Among them, LBT is the load balancing indicator, γ k represents the load variance weight of the kth (k∈Kz) type dispatch group, is the load mean of the kth (k∈Kz) type dispatching group.

[0107] In this embodiment, the load variance of the transport group is used as the load balancing index. In actual transfer guarantee, the transport group, as the main body of the transfer operation, needs to balance the load workload of each group. Here, the offshore platform transport group and the hangar transport group are mainly considered.

[0108] In the transfer operation, the above three objective functions have certain priorities, so they are combined in lexicographic order, that is, the scheduling model takes minimizing the completion time of fleet transfer as the first objective function, and the other two objective functions are ranked as the second and third objective functions according to the decision requirements of the dispatch commander.

[0109] In one embodiment, the constraints of the scheduling model include:

[0110] Boolean variable constraints:

[0111] Decision variable Xz ijl , Yz ijeg are all Boolean 0-1 decision variables, that is

[0112]

[0113] Device exclusivity constraints:

[0114] According to the fact that an aircraft can only be assigned to any transport equipment in the transport equipment set responsible for the transport operation of the process in any transfer process, the equipment exclusivity constraint is obtained as follows:

[0115]

[0116] Aircraft transfer timing constraints:

[0117] According to the mooring and unmooring time of the aircraft to be transferred before and after the transfer, the switching time constraint of the cross-process transfer is obtained. According to the switching time constraint of the cross-process transfer, the aircraft transfer timing constraint is obtained as follows:

[0118]

[0119]

[0120] Among them, Szi(j+1) For the transfer process O i(j+1) The start time of the operation, Ez ij For the transfer process O ij The end time of the operation, tx is the mooring and unmooring time of the aircraft before and after the transfer.

[0121] The aircraft transfer timing constraints include two aspects: one is the start and end time constraints of each stage of transfer operations. The transfer time is related to the path library selection based on the layout status of the offshore platform. When it comes to elevator transfer operations, since it has been in the elevator parking position, in order to reflect the transfer time, it is advisable to expand the parking position according to different regions. The elevator parking positions on the offshore platform are E1 and E2, and the corresponding elevator parking positions in the hangar are E3 and E4 respectively. The transfer time of elevator parking positions in different regions is the one-way transfer time te of the elevator. The second aspect is the switching time constraint of cross-stage operations, which mainly considers the mooring and unmooring time tx of the aircraft before and after the transfer. The transfer timing constraints are:

[0122]

[0123] Aircraft transfer collision avoidance constraints: The safety of the aircraft transfer process is the most important constraint, which is mainly reflected in collision avoidance safety. The occurrence of transfer collision can be regarded as the intersection of space and time. Under the given conditions of the transfer path library, it is generally avoided through time sequence planning. According to the transfer path library and the initial parking position and target parking position of the aircraft to be transferred, the feasible constraints of the transfer path are obtained as follows:

[0124]

[0125] Among them, Road t (P ij ,P i(j+1) )for Abbreviation of Index for the path library;

[0126] According to the preset aircraft posture model, the coordinates of the vertices of the aircraft convex hull of the aircraft to be transferred under the reference point posture are solved to obtain the space area occupied by the aircraft convex hull. According to the space area occupied by the aircraft convex hull, the configuration of the aircraft to be transferred is obtained. According to the configurations of multiple aircraft to be transferred at the same time on the corresponding feasible transfer path, the aircraft transfer collision avoidance constraint is obtained as follows:

[0127]

[0128]

[0129] in, is the configuration of the i-th aircraft.

[0130] Transport equipment transfer guarantee timing constraints:

[0131] According to the end time of the transfer operation of the transport equipment in the current transfer process and the transfer guarantee time to the next transfer process, the transfer guarantee timing constraint of the transport equipment is obtained as follows:

[0132]

[0133]

[0134] Among them, BM is the penalty term.

[0135] In one embodiment, the scheduling model is solved to obtain the aircraft in-and-out transfer scheduling result, and the aircraft in-and-out transfer scheduling is performed according to the aircraft in-and-out transfer scheduling result. The aircraft in-and-out transfer scheduling result includes the fleet transfer scheduling result and the dispatching equipment / group scheduling result, wherein the dispatching equipment / group scheduling result includes the dispatching equipment allocation result and the dispatching group allocation result.

[0136] It should be understood that although Figure 1 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 1 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0137] In one embodiment, Figure 3 As shown, an aircraft in-and-out transfer scheduling device is provided, including: a data acquisition module 302, a transfer group transfer time calculation module 303, a load balancing index calculation module 306, a scheduling model construction module 308 and a scheduling module 310, wherein:

[0138] The data acquisition module 302 is used to acquire the set of aircraft to be transferred, the type of transfer equipment and the type of transfer process corresponding to the aircraft to be transferred; each type of transfer process is carried out in different transfer areas and corresponds to a type of transfer equipment; each type of transfer equipment is configured with a corresponding transfer group;

[0139] The transfer group transfer time calculation module 303 is used to obtain the transfer guarantee time according to the time when the transfer group transfers from the parking position after the current transfer process ends to the parking position at the beginning of the next transfer process, and obtain the transfer time of the transfer group according to the transfer guarantee time of each type of transfer group;

[0140] The load balancing index calculation module 306 is used to transfer the aircraft to be transferred in the set of aircraft to be transferred by the transfer group according to the pre-built transfer path library, obtain the aircraft transfer time, obtain the load of the transfer group according to the aircraft transfer time and transfer guarantee time corresponding to the transfer group, and obtain the load balancing index according to the load of each transfer group; the transfer path library includes feasible transfer paths between any pair of parking positions on the offshore platform;

[0141] The scheduling model building module 308 builds a scheduling model based on the preset transportation equipment exclusivity constraints, aircraft transfer timing constraints, aircraft transfer collision avoidance constraints and transportation equipment transfer guarantee timing constraints, with the goal of minimizing the aircraft group transfer completion time, the transportation group transfer time and the load balancing index;

[0142] The scheduling module 310 solves the scheduling model, obtains the aircraft in-and-out transfer scheduling result, and performs the aircraft in-and-out transfer scheduling according to the aircraft in-and-out transfer scheduling result.

[0143] In one embodiment, the scheduling model building module 308 is further used to obtain the transfer time of the transport group according to the transfer guarantee time of each type of transport group:

[0144]

[0145] Among them, CTT is the transfer time of the transportation group. The kth type of transfer group consists of process O ij After completion, the parking position is transferred to process O eg The time of the parking space before the start, k∈Kz, Kz is the set of transportation group categories, l∈Lz k ,Lz k is the set of the k-th type of transportation group, Lz k ={1,2,…,|Lz k |}, i∈I, I is the set of aircraft to be transferred, I={1,2,…,Nf}, j∈Jz i , Jz i is the actual phase mission set of aircraft i, Jz i ={1,2,…,Nz i},Nz i is the number of transfer stages for the i-th aircraft, and Nz i ≤3, e∈I, g∈Jz e , Yz ijeg is the decision variable, O ij is the jth transfer process of the i-th aircraft, O eg This is the g-th transfer process for the e-th aircraft.

[0146] In one embodiment, the scheduling model building module 308 is further used to obtain the load of the transport group according to the aircraft transit time and the transfer guarantee time corresponding to the transport group:

[0147]

[0148] Among them, TB kl is the kth (k∈Kz)th class lth (l∈Lz k ) transport group load k∈Kz, Kz is the transport group category set, l∈Lz k ,Lz k is the set of the kth type of transfer group, i∈I, I is the set of aircraft to be transferred, I={1,2,…,Nf}, j∈Jz i , Jz i is the actual phase mission set of aircraft i, represents the load weight of the transfer time of the kth (k∈Kz) type of transportation group relative to the transfer operation time, P ij is the parking position of the i-th aircraft before the j-th stage transfer, TR(P ij ,P i(j+1) )for Abbreviation for Sz ij The time is from parking position P ij Transfer to parking position P i(j+1) The transit time, For Sz ij The aircraft is at parking position P ij Transfer to parking position P i(j+1) The transfer path corresponds to the layout state of the interference parking position, Sz ij For the transfer process O ij The start time of the operation, For the kth type of equipment, process O ij After completion, the parking position is transferred to process O eg The time of the parking position before the start, Xz ijl is the decision variable, M ij is the set of available transfer equipment for the j-th stage transfer of the i-th aircraft, According to the load of each dispatch group, the load balancing index is:

[0149]

[0150] Among them, LBT is the load balancing indicator, TB kl is the kth (k∈Kz)th class lth (l∈Lz k ) transport group loads, k∈Kz, Kz is the transport group category set, l∈Lzk ,Lz k is the set of the k-th type of transportation group, Lz k ={1,2,…,|Lz k |}, γ k represents the load variance weight of the kth (k∈Kz) type dispatch group, is the load mean of the kth (k∈Kz) type dispatching group.

[0151] In one embodiment, the scheduling model building module 308 is further used to obtain the fleet transfer completion time according to the transfer operation completion time of the last transfer process of each aircraft to be transferred:

[0152]

[0153] Among them, C max represents the completion time of the fleet transfer, i∈I, I is the set of aircraft to be transferred, I={1,2,…,Nf}, j∈Jz i , Jz i is the actual phase mission set of aircraft i, Jz i ={1,2,…,Nz i},Nz i is the number of transfer stages for the i-th aircraft, Indicates the end time of the transfer operation of the last transfer process of the i-th aircraft.

[0154] In one embodiment, the scheduling model building module 308 is further used to obtain the switching time constraint of the cross-process transfer according to the mooring and unmooring time of the aircraft to be transferred before and after the transfer, and the aircraft transfer timing constraint is obtained according to the switching time constraint of the cross-process transfer:

[0155]

[0156]

[0157] Among them, Sz ij is the decision variable, Sz ij For the transfer process O ij The start time of the operation, Sz i(j+1) For the transfer process O i(j+1) The start time of the operation, Ez ij is the decision variable, Ez ij For the transfer process O ij The end time of the operation, tx is the mooring and unmooring time of the aircraft before and after the transfer, i∈I, I is the set of aircraft to be transferred, I={1,2,…,Nf}, j∈Jz i , Jz i is the actual phase mission set of aircraft i, Jzi ={1,2,…,Nz i},Nz i is the number of transfer stages for the i-th aircraft, and Nz i ≤3.

[0158] In one embodiment, the scheduling model building module 308 is further used to obtain the feasible constraints of the transfer path according to the transfer path library and the initial parking position and the target parking position of the aircraft to be transferred:

[0159]

[0160] Among them, Road t (P ij ,P i(j+1) )for Abbreviation of

[0161] is the path library index, Sz ij is the decision variable, Sz ij For the transfer process O ij The start time of the operation, Ez ij is the decision variable, Ez ij For the transfer process O ij The end time of the operation, i∈I, I is the set of aircraft to be transferred, I={1,2,…,Nf}, j∈Jz i , Jz i is the actual stage task set of aircraft i; according to the preset aircraft posture model, the coordinates of the vertices of the aircraft convex hull of the aircraft to be transferred under the reference point posture are solved to obtain the space area occupied by the aircraft convex hull, and according to the space area occupied by the aircraft convex hull, the configuration of the aircraft to be transferred is obtained, and according to the configurations of multiple aircraft to be transferred at the same time on the corresponding feasible transfer path, the aircraft transfer collision avoidance constraint is obtained as follows:

[0162]

[0163]

[0164] in, is the configuration of the i-th aircraft.

[0165] In one embodiment, the scheduling model building module 308 is further used to obtain the transfer guarantee timing constraint of the transport equipment according to the end time of the transport operation of the current transport process and the transfer guarantee time of the next transport process:

[0166]

[0167]

[0168] Among them, k∈Kz, Kz is the category set of the dispatch group, For the kth type of equipment, process O ij After completion, the parking position is transferred to process O eg The time at the parking stand before the start, BM is the penalty term.

[0169] In one embodiment, the scheduling model building module 308 is further used to obtain the equipment exclusivity constraint as follows:

[0170]

[0171] Among them, Xz ijl is the decision variable, M ij The set of available transfer equipment for the j-th stage transfer of the i-th aircraft.

[0172] For the specific definition of the aircraft in-and-out transfer scheduling device, please refer to the definition of the aircraft in-and-out transfer scheduling method above, which will not be repeated here. Each module in the above-mentioned aircraft in-and-out transfer scheduling device can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0173] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 4 As shown. The computer device includes a processor, a memory, a network interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for scheduling aircraft in and out of the warehouse transfer is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a key, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0174] Those skilled in the art will understand that Figure 4The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0175] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method in the above embodiment when executing the computer program.

[0176] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method in the above embodiment are implemented.

[0177] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0178] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above 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.

[0179] The above-mentioned embodiments only express several implementation methods of the present application, 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 a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A method for scheduling aircraft in-and-out transfer, characterized in that: The method comprises: Obtain a set of aircraft to be transferred, a type of transfer equipment, and a type of transfer process corresponding to the aircraft to be transferred; each type of transfer process is performed in different transfer areas and corresponds to a type of transfer equipment; each type of transfer equipment is configured with a corresponding transfer group; According to the time when the transport group transfers from the parking position after the current transfer process ends to the parking position at the beginning of the next transfer process, the transfer guarantee time is obtained, and according to the transfer guarantee time of each type of the transport group, the transfer time of the transport group is obtained; According to the pre-built transfer path library, the transfer group transfers the aircraft to be transferred in the set of aircraft to be transferred, and obtains the aircraft transfer time. According to the aircraft transfer time and the transfer guarantee time corresponding to the transfer group, the transfer group load is obtained, and the load balancing index is obtained according to each of the transfer group loads; the transfer path library includes feasible transfer paths between any pair of parking positions in the transfer area; According to the pre-set transport equipment exclusivity constraints, aircraft transfer timing constraints, aircraft transfer collision avoidance constraints and transport equipment transfer guarantee timing constraints, a scheduling model is constructed with the goals of minimizing the fleet transfer completion time, minimizing the transfer time of the transport group and minimizing the load balancing index; Solving the scheduling model to obtain an aircraft in-and-out transfer scheduling result, and performing aircraft in-and-out transfer scheduling according to the aircraft in-and-out transfer scheduling result; The obtaining of the transport group load according to the aircraft transfer time and the transfer guarantee time corresponding to the transport group, and the obtaining of the load balancing index according to each transport group load include: According to the aircraft transfer time and the transfer guarantee time corresponding to the transport group, the transport group load is obtained as follows: Among them, TB kl is the transport group load of the kth class and the lth transport group, k∈Kz, Kz is the transport group category set, l∈Lz k ,Lz k is the set of the kth type of transfer group, i∈I, I is the set of aircraft to be transferred, I={1,2,…,Nf}, j∈Jz i , Jz i is the actual phase mission set of aircraft i, represents the load weight of the transfer time of the k-th transport group relative to the transfer operation time, P ij is the parking position of the i-th aircraft before the j-th stage transfer, TR(P ij ,P i ( j+1 ))for It is the abbreviation of parking space P at the time Szij. ij Transfer to parking position P i ( j+1 ) transit time, The aircraft left the parking position P at the time of Szij. ij Transfer to parking position P i ( j+1 ) corresponds to the arrangement state of the interference parking position, Szij is the transfer process O ij The start time of the operation, , For the kth type of equipment, process O ij After completion, the parking position is transferred to process O eg The time of the parking position before the start, Xz ijl is the decision variable, l∈M ij , Mij is the set of available transfer equipment for the jth stage of the i-th aircraft transfer, Yz ijeg is the decision variable, O ij is the jth transfer process of the i-th aircraft, O eg For the g-th transfer process of the e-th aircraft, According to the load of each dispatch group, the load balancing index is obtained as follows: Among them, LBT is the load balancing indicator, TB kl is the transport group load of the k-th transport group, γk represents the load variance weight of the k-th transport group, is the load mean of the kth dispatch group.

2. The method according to claim 1, characterized in that The transfer guarantee time of each type of the transport group is obtained according to the transfer guarantee time of the transport group, including: According to the transfer guarantee time of each type of transport group, the transfer time of the transport group is obtained as follows: Among them, CTT is the transfer time of the transportation group. The kth type of transfer group consists of process O ij After completion, the parking position is transferred to process O eg The time of the parking space before the start, k∈Kz, Kz is the set of transportation group categories, l∈Lz k ,Lz k is the set of the k-th type of transportation group, Lz k ={1,2,…,Lz k }, i∈I, I is the set of aircraft to be transferred, I={1,2,…,Nf}, j∈Jz i , Jz i is the actual phase mission set of aircraft i, Jz i ={1,2,…,Nz i },Nz i is the number of transfer stages for the i-th aircraft, and Nz i ≤3, e∈I, g∈Jz e , Yz ijeg is the decision variable, O ij is the jth transfer process of the i-th aircraft, O eg This is the g-th transfer process for the e-th aircraft.

3. The method according to claim 1, characterized in that The steps to obtain the fleet transfer completion time include: According to the end time of the transfer operation of the last transfer process of each aircraft to be transferred, the completion time of the transfer of the fleet is obtained as follows: Among them, C max represents the completion time of the fleet transfer, i∈I, I is the set of aircraft to be transferred, I={1,2,…,Nf}, j∈Jz i , Jz i is the actual phase mission set of aircraft i, Jz i ={1,2,…,Nz i },Nz i is the number of transfer stages for the i-th aircraft, and Nz i ≤3, Indicates the end time of the transfer operation of the last transfer process of the i-th aircraft.

4. The method according to claim 1, characterized in that: The steps to obtain the aircraft transfer timing constraints include: According to the mooring and unmooring time of the aircraft to be transported before and after the transport, the switching time constraint of the cross-process transport is obtained. According to the switching time constraint of the cross-process transport, the transport timing constraint of the aircraft is obtained as follows: Among them, Sz ij is the decision variable, Sz ij For the transfer process O ij The start time of the operation, Sz i ( j+1 ) is the transfer process O i ( j+1 ) start time, Ez ij is the decision variable, Ez ij For the transfer process O ij The end time of the operation, tx is the mooring and unmooring time of the aircraft before and after the transfer, i∈I, I is the set of aircraft to be transferred, I={1,2,…,Nf}, j∈Jz i , Jz i is the actual phase mission set of aircraft i, Jz i ={1,2,…,Nz i },Nz i is the number of transfer stages for the i-th aircraft, and Nz i ≤3.

5. The method according to claim 1, characterized in that The steps for obtaining the aircraft transfer collision avoidance constraints include: According to the transfer path library and the initial parking position and target parking position of the aircraft to be transferred, the feasible constraints of the transfer path are obtained as follows: Among them, Road t (P ij ,P i ( j+1 ))for Abbreviation of is the path library index, Sz ij is the decision variable, Sz ij For the transfer process O ij The start time of the operation, Ez ij is the decision variable, Ez ij For the transfer process O ij The end time of the operation, i∈I, I is the set of aircraft to be transferred, I={1,2,…,Nf}, j∈Jzi, Jzi is the actual stage task set of aircraft i; According to the preset aircraft posture model, the coordinates of the vertices of the aircraft convex hull of the aircraft to be transferred under the reference point posture are solved to obtain the space area occupied by the aircraft convex hull. According to the space area occupied by the aircraft convex hull, the configuration of the aircraft to be transferred is obtained. According to the configurations of multiple aircraft to be transferred at the same time on the corresponding feasible transfer path, the aircraft transfer collision avoidance constraint is obtained as follows: in, is the configuration of the i-th aircraft.

6. The method according to claim 1, characterized in that The steps of obtaining the transfer guarantee timing constraints of the transport equipment include: According to the end time of the transfer operation of the transport equipment in the current transfer process and the transfer guarantee time to the next transfer process, the transfer guarantee timing constraint of the transport equipment is obtained as follows: Among them, k∈Kz, Kz is the category set of the dispatch group, For the kth type of equipment, process O ij After completion, the parking position is transferred to process O eg The time at the parking stand before the start, BM is the penalty term.

7. The method according to claim 1, characterized in that The steps to obtain device exclusivity constraints include: According to the fact that an aircraft can only be assigned to any transport equipment in the transport equipment set responsible for the transport operation of the process in any transfer process, the equipment exclusivity constraint is obtained as follows: Among them, Xz ijl is the decision variable, Mij ​​is the set of available transfer equipment for the j-th stage transfer of the i-th aircraft.

8. An aircraft in-and-out transfer and dispatching device, characterized in that: The device comprises: A data acquisition module is used to acquire a set of aircraft to be transferred, a type of transfer equipment, and a type of transfer process corresponding to the aircraft to be transferred; each type of transfer process is performed in different transfer areas and corresponds to a type of transfer equipment; each type of transfer equipment is configured with a corresponding transfer group; A transfer group transfer time calculation module is used to obtain the transfer guarantee time according to the time when the transfer group transfers from the parking position after the current transfer process ends to the parking position at the beginning of the next transfer process, and obtain the transfer time of the transfer group according to the transfer guarantee time of each type of the transfer group; A load balancing index calculation module is used to transfer the aircraft to be transferred in the set of aircraft to be transferred by the transfer group according to a pre-built transfer path library, obtain the aircraft transfer time, obtain the transfer group load according to the aircraft transfer time and the transfer guarantee time corresponding to the transfer group, and obtain the load balancing index according to each of the transfer group loads; the transfer path library includes feasible transfer paths between any pair of parking positions in the transfer area; The scheduling model building module builds a scheduling model based on the pre-set transportation equipment exclusivity constraints, aircraft transfer timing constraints, aircraft transfer collision avoidance constraints and transportation equipment transfer guarantee timing constraints, with the goal of minimizing the fleet transfer completion time, minimizing the transportation group transfer time and minimizing the load balancing index; A scheduling module solves the scheduling model to obtain an aircraft in-and-out transfer scheduling result, and performs aircraft in-and-out transfer scheduling according to the aircraft in-and-out transfer scheduling result; The load balancing index calculation module is further used to obtain the load of the transport group according to the aircraft transfer time and the transfer guarantee time corresponding to the transport group: Among them, TB kl is the transport group load of the kth class and the lth transport group, k∈Kz, Kz is the transport group category set, l∈Lz k ,Lz k is the set of the kth type of transfer group, i∈I, I is the set of aircraft to be transferred, I={1,2,…,Nf}, j∈Jz i , Jz i is the actual phase mission set of aircraft i, represents the load weight of the transfer time of the k-th transport group relative to the transfer operation time, P ij is the parking position of the i-th aircraft before the j-th stage transfer, TR(P ij ,P i ( j+1 ))for It is the abbreviation of parking space P at the time Szij. ij Transfer to parking position P i ( j+1 ) transit time, The aircraft left the parking position P at the time of Szij. ij Transfer to parking position P i ( j+1 ) corresponds to the arrangement state of the interference parking position, Szij is the transfer process O ij The start time of the operation, , For the kth type of equipment, process O ij After completion, the parking position is transferred to process O eg The time of the parking position before the start, Xz ijl is the decision variable, l∈M ij , Mij is the set of available transfer equipment for the jth stage of the i-th aircraft transfer, Yz ijeg is the decision variable, O ij is the jth transfer process of the i-th aircraft, O eg For the g-th transfer process of the e-th aircraft, According to the load of each dispatch group, the load balancing index is obtained as follows: Among them, LBT is the load balancing indicator, TB kl is the transport group load of the k-th transport group, γk represents the load variance weight of the k-th transport group, is the load mean of the kth dispatch group.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

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