A task orchestration method and device

Abstract

The application discloses a task arrangement method and device, wherein the task arrangement method comprises the following steps: obtaining a task demand and a route plan; the task demand comprises a voyage operation area corresponding to each task, a task equipment requirement and an operation sea condition requirement; setting operation area information of the voyage operation area according to the task demand and the route plan; and performing task arrangement of a task equipment according to the operation area information of the voyage operation area and the task demand. The application can solve the problem that the difficulty of maritime task arrangement is high.

Description

Technical Field

[0001] This application relates to the field of intelligent mothership technology, specifically to a task orchestration method and apparatus. Background Technology

[0002] A smart mothership, also known as an intelligent unmanned system mothership, is a large, advanced oceanographic research vessel (public platform) with a forward-thinking concept. It boasts a spacious deck and can carry dozens of air, sea, and submersible unmanned systems equipped with various observation instruments. Furthermore, smart motherships feature extremely long ranges (thousands of kilometers) and extended voyage cycles, enabling them to perform a large volume of data-driven tasks. Therefore, scheduling voyages for smart motherships requires consideration of numerous internal and external factors, with these factors interacting and iterating repeatedly, resulting in a high level of complexity in mission scheduling. Summary of the Invention

[0003] To address the aforementioned technical problems, this application is proposed. Embodiments of this application provide a task scheduling method and apparatus, which can solve the problem of high difficulty in scheduling maritime tasks.

[0004] According to one aspect of this application, a task scheduling method is provided, comprising: obtaining task requirements and route planning; wherein the task requirements include the voyage operation area, task equipment requirements, and operation sea state requirements corresponding to each task; setting the operation area information of the voyage operation area according to the task requirements and the route planning; and performing task scheduling of the task equipment according to the operation area information of the voyage operation area and the task requirements.

[0005] In one embodiment, after setting the operation area information of the voyage operation area according to the task requirements and the route plan, the task scheduling method further includes: adjusting the operation area information of the voyage operation area according to the newly added task requirements and / or the newly added route plan; wherein, the task scheduling of the task equipment according to the operation area information of the voyage operation area and the task requirements includes: adjusting the task scheduling of the task equipment according to the adjusted operation area information of the voyage operation area.

[0006] In one embodiment, the operation area information of the voyage operation area includes the start and end times of the task, the center point of the voyage operation area, and the radius of the voyage operation area; wherein, the task scheduling of task equipment based on the operation area information of the voyage operation area and the task requirements includes: allocating task equipment according to the operation area information of the voyage operation area and the task requirements; determining a mounting platform according to the task equipment and equipment mounting rules; wherein, the mounting platform is used to mount the task equipment; and scheduling the mounting platform according to the start and end times of the voyage operation area, the center point of the voyage operation area, and the radius of the voyage operation area.

[0007] In one embodiment, the platform includes multiple payload positions, each payload position carrying multiple task devices. After the task devices are scheduled according to the work area information of the voyage operation area and the task requirements, the task scheduling method further includes: when an abnormality occurs during the execution of the task, adjusting the work area information of the voyage operation area or adjusting the task scheduling of the task devices; wherein, the task scheduling of the task devices includes the type and quantity of the task devices carried by the platform and / or the operation schedule of the platform.

[0008] In one embodiment, adjusting the work area information of the voyage work area or adjusting the task scheduling of the task equipment when an anomaly occurs during the execution of the task includes: adjusting the start and end times of the task in the corresponding voyage work area when a navigation anomaly or workload deviation occurs during the execution of the task; adjusting the type and quantity of the task equipment carried by the platform and / or the work schedule of the platform when a personnel anomaly occurs during the execution of the task and the personnel anomaly affects the execution of the task; and adjusting the start and end times of the operation in the corresponding voyage work area when a personnel anomaly occurs during the execution of the task and the personnel anomaly affects navigation.

[0009] In one embodiment, adjusting the work area information of the voyage work area or adjusting the task scheduling of the task equipment when an abnormality occurs during the execution of the task includes: adjusting the type and quantity of the task equipment carried by the platform and / or the work schedule of the platform when an equipment failure occurs during the execution of the task; adjusting the work schedule of the platform or adjusting the start and end times of the task in the voyage work area when an equipment operation failure occurs during the execution of the task.

[0010] In one embodiment, the operation area information of the voyage operation area further includes: the sea state level of the voyage operation area; adjusting the operation area information of the voyage operation area or adjusting the task scheduling of the task equipment when an anomaly occurs during the execution of the task includes: when an abnormal weather occurs during the execution of the task, lowering the sea state level of the voyage operation area or replacing the platform and the task equipment that support the sea state level; wherein, the sea state level represents the sea state level that the task equipment or the platform supports for operation.

[0011] In one embodiment, after scheduling the tasks of the equipment based on the work area information of the voyage work area and the task requirements, the task scheduling method further includes: generating a load list and a work schedule based on the task scheduling of the equipment; wherein, the load list includes a list of task equipment carried by each platform and a list of materials required to complete the task, and the work schedule includes the work time node corresponding to each platform; and executing the tasks of the voyage work area according to the load list and the work schedule.

[0012] According to another aspect of this application, a task scheduling device is provided, comprising: an acquisition module for acquiring task requirements and route planning; wherein the task requirements include the voyage operation area, task equipment requirements, and sea state requirements corresponding to each task; a setting module for setting the operation area information of the voyage operation area according to the task requirements and the route planning; and a scheduling module for scheduling the task equipment according to the operation area information of the voyage operation area and the task requirements.

[0013] According to another aspect of this application, a task scheduling system is provided, comprising: an information input module for receiving input task requirements and route planning; a scheduling module for executing the task scheduling method described in any of the above embodiments; and an output module for outputting a generated load list and job schedule.

[0014] The task scheduling method and apparatus provided in this application, combined with task requirements and route planning, introduces a voyage operation area, localizes the global tasks of the voyage, greatly reduces the probability of equipment competition and conflict, reduces data processing complexity, and each task can also be clustered and coordinated, ultimately providing staff with a streamlined and well-organized task scheduling function, supporting large-scale, open task planning settings. Attached Figure Description

[0015] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments of this application in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain this application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0016] Figure 1 This is a system architecture diagram of the task orchestration system to which this application applies.

[0017] Figure 2 This is a schematic diagram of the structure of the voyage operation area and the mission operation area provided in an exemplary embodiment of this application.

[0018] Figure 3 This is a flowchart illustrating a task orchestration method provided in an exemplary embodiment of this application.

[0019] Figure 4 This is a schematic diagram of the structure of a task orchestration apparatus provided in an exemplary embodiment of this application.

[0020] Figure 5 This is a structural diagram of an electronic device provided in an exemplary embodiment of this application. Detailed Implementation

[0021] Hereinafter, exemplary embodiments according to this application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments of this application. It should be understood that this application is not limited to the exemplary embodiments described herein.

[0022] Application Overview

[0023] The intelligent mothership, also known as the intelligent unmanned system mothership, is a large oceanographic research vessel with advanced concepts and technologies. It provides an unprecedented tool for conducting marine scientific research, expanding marine science, and promoting the development of the marine economy. The intelligent mothership has a spacious deck and can carry dozens of air, sea, and submersible unmanned systems equipped with different observation instruments. It can be deployed in batches in target sea areas and conduct adaptive networking for mission-oriented purposes to achieve three-dimensional dynamic observation of specific targets. The intelligent mothership has a very long range (thousands of kilometers) and a very long voyage cycle (3-8 months). It can rely on unmanned systems (USV) and research equipment (DEV) to perform a large number of data tasks. Therefore, the information-based operation scheduling of the intelligent mothership has several challenges: (1) The route planning and mission requirements are driven together. The intelligent mothership route planning (which areas to pass through) needs to be formulated based on the spatial distribution of a large number of task requirements (where to do the task). The task requirements also need to refer to the intelligent mothership route planning. The two are iteratively related, and the complexity of the operation plan is high. Moreover, a change in one will lead to changes in multiple tasks, which brings high difficulty to task scheduling; (2) Limited equipment resources. Even though the intelligent mothership has a strong loading capacity, the specific models and capabilities of air, sea, and submarine unmanned systems (USV) and scientific research equipment (DEV) are still limited. Multiple tasks compete for the right to use equipment resources at the same time and space. The software system needs to automatically identify competition conflicts and minimize unnecessary competition; (3) Low collaboration efficiency. When scientific research equipment is used for tasks, it needs to be loaded and disassembled on unmanned systems and deployed and retrieved on the mothership deck. If the tasks are not planned reasonably, it will lead to increased workload, increased error rate, and increased failure rate; (4) The uncertainty brought by long voyage and long endurance is extremely high. On the one hand, the weather and sea conditions during ocean voyages are difficult to predict accurately, which has a significant impact on the operation of unmanned systems and scientific research equipment. On the other hand, long-term missions may also lead to equipment failures and unexpected personnel working conditions, resulting in continuous operational difficulties. This requires agile adjustments to the operational plan to avoid encountering intractable situations during the voyage that could affect mission execution and the safety of personnel.

[0024] This application proposes a task scheduling method and apparatus that combines task requirements and route planning, introduces a voyage operation area, localizes the global tasks of the voyage, greatly reduces the probability of equipment competition and conflict, reduces data processing complexity, and allows each task to be clustered and coordinated. Ultimately, it provides staff with a streamlined and well-organized task scheduling function, and supports large-scale, open task planning settings.

[0025] Exemplary System

[0026] Figure 1 This is a system architecture diagram of the task orchestration system to which this application applies, such as Figure 1As shown, the mission scheduling system includes three information input modules: route planning module D1, mission requirements module D2, and voyage operation area module D3; six scheduling modules: operation area adjustment module F1, load adjustment module F2, schedule adjustment module F3, scientific research equipment selection module F4, payload rule setting module F5, and platform selection module F6; and two output modules: load list module D4 and operation schedule table module D5.

[0027] The route planning module D1 is used for route planning, such as obtaining the intelligent mothership's speed, stopping points, and dwell time at each stopping point, to formulate an overall plan. The task requirement module D2 is used to obtain task requirements proposed by scientists. Each task requirement includes several tasks, and each task includes the voyage's operational area, equipment requirements, and sea state requirements. The voyage operational area module D3, based on information from the route planning module D1 and the task requirement module D2, estimates or extracts information to generate operational area information. Figure 2 This is a schematic diagram of the structure of the voyage operation area and the mission operation area provided in an exemplary embodiment of this application, as shown below. Figure 2 As shown, the voyage operation area 1 can be circular. Within the circular voyage operation area 1, there are multiple polygonal task operation areas 2. The voyage operation area 1 contains multiple tasks, which is equivalent to an abstract area that accommodates the task operation areas 2. Within the voyage operation area 1, tasks are allowed to be executed concurrently. The voyage operation area 1 and the route 3 refer to each other. The key information of the voyage operation area is the start and end time, the center point, and the radius of the operation area.

[0028] The F1 module for adjusting the work area is used to adjust the start and end times, center point, and radius of tasks within a voyage's work area. Tasks are associated with voyage work areas; each task should belong to a specific voyage work area. In special cases, an isolated task without adjacent tasks should also have its own dedicated voyage work area. The start and end times of tasks within a voyage work area represent the earliest and latest boundaries of the start and end times of all tasks within that area. The use of unmanned aerial vehicles (USVs) and research equipment (DEVs) is irrelevant between different voyage work areas; competition for USVs and DEVs only needs to be considered within the same voyage work area. The voyage work area divides all tasks throughout the voyage temporally and spatially, and voyage work areas are sequentially linked. Tasks within a voyage work area can be mixed and scheduled. Changes in the parameters of the voyage's operational area will not affect the existing results of the scientific equipment selection module F4 and the platform selection module F6. However, if an operational area is deleted or added, or if the operational area for a task is changed, the scientific equipment selection module F4 and the platform selection module F6 for the corresponding task scope will need to be reset. Indirectly, the corresponding data in the load adjustment module F2 and the schedule adjustment module F3 will also be cleared.

[0029] The research equipment selection module F4 is used to select research equipment. The types and technical parameters of the research equipment are determined by the task requirements in the task requirements module D2. The specific research equipment (DEV) is determined by the inventory in the smart mothership warehouse combined with the resource allocation of the current voyage's operating area. Assigning multiple research equipment (DEV) to the same task means that multiple devices can execute in parallel (clustered), greatly improving efficiency.

[0030] The F5 module, which sets the payload rules, is used to configure the payload rules for the entire mission orchestration system. This system uses a set of empirical data, pre-created and maintained over a long period. These rules define the number of payload slots available for each unmanned system (USV), and each payload slot can carry and provide information support for several types of research equipment (DEVs). These rules were developed and adapted over a long period. As long as the rules are met, any model of unmanned system (USV) and research equipment (DEV) can be used interchangeably. This provides support for resource backup, temporary swapping, and the parallel (clustered) execution of multiple devices for a single mission.

[0031] The platform selection module F6 is used to select unmanned systems (USVs). After the payload adjustment module F2 and the scheduling adjustment module F3 determine the payload configuration and mission schedule, the system can automatically recommend suitable platforms, which are the USVs. The USV serves as a payload platform for the system to select in the platform selection module F6. A simple manual judgment is then performed to determine the specific USV target for the mission. Assigning multiple research vehicles (DEVs) to the same mission requires multiple USVs to carry them. Ultimately, the parallel (clustered) execution of multiple devices is commanded and controlled using mobile USVs.

[0032] The scheduling adjustment module F3 is used for scheduling and adjusting schedules. Within the start and end time range of the current voyage's operational area, it schedules all unmanned systems (USVs) involved in all tasks within the operational area to fulfill the task's operational requirements. The overall workload of the task (e.g., the area of ​​the voyage's operational area) is shared by the launching operations of multiple USVs. This depends on the operating speed of the USVs (e.g., the area they can cover per unit time), the size of the participating cluster (number of USVs), and the total operational time (cumulative working time of the USV cluster). If there are any available or insufficient dates in the task schedule, the start and end times of the current voyage's operational area should be adjusted.

[0033] The payload adjustment module F2 is used to adjust and schedule the payload configuration of unmanned systems (USVs). Based on the scheduling results of the scheduling adjustment module F3, for each USV performing a mission, the payload configuration is determined or adjusted according to three conditions: the current date, the selected mission equipment, and minimizing modifications to the existing USV payload equipment. This can adjust the research equipment (DEV) carried on the USV, or adjust the USV itself. If a USV or research equipment (DEV) malfunctions, it can be replaced with a spare part of the same type. If replacement is not possible, the schedule can be changed.

[0034] The payload list module D4 is used to generate a list of scientific research equipment (DEV) carried by each unmanned system (USV), allowing staff to conduct relevant communication and preparation work regarding equipment, materials, and operational implementation, and to carry out the mission operation process.

[0035] The D5 task scheduling module generates a task scheduling table for each task area upon arrival, which is then used by all staff to reference and clarify the unmanned aerial vehicle (USV) involved in the task and the time nodes, as well as to prepare for task communication and coordination.

[0036] The payload list module D4 and the job schedule module D5 are both generated based on the information output by the job area adjustment module F1, the payload adjustment module F2, the schedule adjustment module F3, the scientific research equipment selection module F4, the mounting rule setting module F5, and the platform selection module F6. The job schedule can use task management methods such as Gantt charts, network planning techniques, and S-curve comparison methods.

[0037] The task scheduling system also includes an adjustment mechanism. When anomalies occur, such as plan deviations, unexpected sea conditions, personnel accidents, hardware malfunctions, or data errors, adjustments are made to the work area information, research equipment, unmanned system deployment, and unmanned system scheduling within the voyage's work area. This localizes the problem, enabling agile intervention, and the adjustment methods are equivalent to the planning and editing methods. For example, in scenario A: when a plan unexpected event occurs (at the mother ship level, such as navigation obstruction), the start and end times of tasks within the voyage's work area are adjusted (delayed or advanced) by adjusting the work area module F1. In scenario B: when a plan unexpected event occurs (at the task level, such as severe workload deviation), the start and end times of tasks within the voyage's work area are adjusted (delayed or advanced) by adjusting the work area module F1. Scenario C: In the event of an unexpected sea state (bad weather), adjust the sea state level of the voyage's operational area by adjusting the operational area module F1. Under high sea state conditions, unmanned aerial vehicles (USVs) or research equipment (DEVs) may not be able to support the mission. Therefore, lowering the sea state level of the operational area to the sea state level supported by the USVs and DEVs, or replacing them with USVs and DEVs that support the sea state level, can address this abnormal situation. Scenario D: When there is an abnormal personnel change, if there is no personnel accident affecting mission execution, no adjustment is required. Scenario E: When there is an abnormal personnel change at the mission level, and this personnel change affects mission execution (e.g., unmanned operation of the USV, mission preparation obstructed, etc.), similar to an unmanned aerial vehicle (USV) equipment malfunction, proceed to Scenario G for handling. Scenario F: When there is an abnormal change in mission-level personnel that affects the mother ship's navigation (e.g., urgent need to dock for medical treatment, insufficient supplies, etc.), proceed to Scenario A. Scenario G: When equipment failure (hardware failure) occurs, adjust the payload module F2 to adjust the load of unmanned systems (USVs) or research equipment (DEVs). If necessary, the scheduling module F3 can also be used to adjust the scheduling of unmanned systems (USVs). Scenario H: When a technical failure (unexpected data) occurs, but the equipment itself has no hardware failure (e.g., data does not meet requirements, software operation error, etc.), the scheduling module F3 can be used to adjust the scheduling of unmanned systems (USVs). If necessary, the start and end times of tasks in the voyage's work area can be adjusted (delayed or advanced) by adjusting the work area module F1.

[0038] The task orchestration method provided in this application can be executed based on this task orchestration system.

[0039] Exemplary methods

[0040] Figure 3 This is a flowchart illustrating a task orchestration method provided in an exemplary embodiment of this application, as shown below. Figure 3 As shown, the task orchestration method includes:

[0041] Step 100: Obtain task requirements and route planning.

[0042] The mission requirements include the voyage operation area, mission equipment requirements, and sea condition requirements for each mission.

[0043] For example, when a smart aircraft carrier sets sail for oceanographic research, the scientists conducting the research propose mission requirements, which include multiple tasks, the corresponding voyage operation area for each task, the equipment requirements, and the sea condition requirements. The mother ship then plans its route based on these mission requirements, with the two mutually referencing each other.

[0044] Step 200: Set the operation area information for the voyage operation area according to the task requirements and route planning.

[0045] Simultaneously, based on mission requirements and route planning, work area information for each work zone is set. A voyage work zone is a logical concept that aggregates work area information for all tasks, clustering them according to location and distance relationships to create the voyage work zone. The mother ship should remain within the voyage work zone. Voyages between voyage work zones are called transfers. After the voyage work zone is created, additional tasks can be added. Tasks are distributed within the voyage work zone as much as possible (purposefully clustered), allowing the mother ship to perform more tasks while remaining stationary. The division of voyage work zones localizes the problem, and the voyage work zones are independent of each other. Except for time delays or advances, data does not affect each other, thus greatly reducing algorithm complexity and improving the efficiency of data analysis and processing.

[0046] Step 300: Based on the work area information and task requirements of the voyage's work area, perform task scheduling for the equipment.

[0047] The information for the voyage's operational area includes the start and end times of the mission, the center point of the operational area, and the radius of the operational area. Mission scheduling is then conducted in conjunction with the mission requirements, including equipment requirements and sea condition requirements. For example, mission allocation and scheduling are performed for the platform (i.e., unmanned systems). This scheduling can be represented by an equipment list and a work schedule. Based on the division of the voyage's operational area, independent work scheduling is carried out within each operational area. Resource conflicts (unmanned system allocation, scientific research equipment allocation, and payload allocation represented by the unmanned system-scientific research equipment binding relationship) are resolved based on the equipment list. Date conflicts in the unmanned system's scheduling are resolved based on the work schedule.

[0048] In one embodiment, after step 200 above, the task scheduling method may further include: adjusting the operation area information of the voyage operation area according to the newly added task requirements and / or the newly added route planning; wherein, step 300 above may include: adjusting the task scheduling of the task equipment according to the adjusted operation area information of the voyage operation area.

[0049] During voyages or before the start of a route, new mission requirements can be added. These additions may necessitate new route planning, requiring a re-planning of the voyage's operational area information. This might involve adjusting the start and end times of missions within the operational area, or modifying the mission area's shape and location. It also necessitates selecting new research equipment and platforms, and rescheduling the platforms. Alternatively, missions can be added after the voyage's operational area is created. These additional missions should be distributed within the operational area's radius, allowing the mother ship to perform more missions while remaining stationary within the operational area's perimeter, thus maximizing the economic value of the operational area.

[0050] In one embodiment, the voyage operation area information includes the start and end times of the mission, the center point of the voyage operation area, and the radius of the voyage operation area; wherein, the above step 300 may include: allocating mission equipment according to the voyage operation area information and mission requirements; determining the mounting platform according to the mission equipment and equipment mounting rules; wherein, the mounting platform is used to mount the mission equipment; and arranging the mounting platforms according to the start and end times of the voyage operation area, the center point of the voyage operation area, and the radius of the voyage operation area.

[0051] The types and technical parameters of mission equipment (i.e., research equipment) are determined by mission requirements, while the specific equipment is determined by the inventory in the smart mother ship's warehouse combined with the resource allocation of the current voyage's operating area. Equipment mounting rules are a series of empirical data that define each mounting platform (i.e., unmanned system) as having several payload positions. Each payload position, due to its physical interface and load capacity, can mount several types of mission equipment (i.e., research equipment). Furthermore, the power, control, and data communication of this mission equipment (i.e., research equipment) are already supported by the mounting platform (i.e., unmanned system). Equipment mounting rules reflect the adaptability and matching capabilities between the mounting platform and the mission equipment, and are also the constraints that must be followed in equipment selection. Based on the equipment mounting rules and the determined mission equipment, mounting platforms are selected. After completing the selection of mission equipment and mounting platforms, a work schedule is created for the mounting platforms based on the start and end times of the voyage's operating area, the center point of the operating area, and the radius of the operating area. For example, a list of mission equipment to be mounted is generated daily on a per-platform basis, and then a work schedule table for the current voyage's operating area is generated, clearly defining the mounting platforms and time nodes for mission execution, so that the mission can be carried out in a reasonable and standardized manner.

[0052] In one embodiment, the platform includes multiple payload positions, each payload position carrying multiple task devices. After step 300 above, the task scheduling method may further include: when an abnormality occurs during the execution of a task, adjusting the work area information of the flight operation area or adjusting the task scheduling of the task devices; wherein, the task scheduling of the task devices includes the type and quantity of task devices carried by the platform and / or the operation schedule of the platform.

[0053] When anomalies occur during a mission, adjustments can be made to the work area information of the current voyage, or to the mission equipment and platforms, depending on the specific circumstances of the anomaly, to reduce the possibility of mission failure. By localizing the mission and dividing it into multiple voyage work areas, with independent work scheduling within each area, the scheduling of work in each voyage work area does not affect each other. Therefore, anomalies have a minimal impact on other voyage work areas, requiring fewer adjustments. Aside from time delays or advances, data remains unaffected, significantly reducing algorithm complexity and improving the efficiency of data analysis and processing, demonstrating the advantages of dividing the mission into voyage work areas.

[0054] In one embodiment, when an anomaly occurs during the execution of a task, adjusting the work area information of the voyage work area or adjusting the task scheduling of the task equipment includes: when an abnormal change in navigation or a deviation in workload occurs during the execution of a task, adjusting the start and end times of the task in the corresponding voyage work area; when an abnormal change in personnel occurs during the execution of a task, and the abnormal change in personnel affects the execution of the task, adjusting the type and quantity of task equipment carried by the platform and / or the work schedule of the platform; when an abnormal change in personnel occurs during the execution of a task, and the abnormal change in personnel affects navigation, adjusting the start and end times of the operation in the corresponding voyage work area.

[0055] When abnormal navigation changes occur (mother ship level, such as navigation obstruction), adjust the start and end times of tasks in the voyage's operational area (delay or advance). When workload deviations occur (task level, such as severe workload deviations), adjust the start and end times of tasks in the voyage's operational area (delay or advance). When abnormal personnel changes occur, no adjustments are needed if there are no personnel accidents affecting task execution. However, when there are abnormal personnel changes at the task level that affect task execution (such as unmanned platform operation, obstructed task preparation, etc.), similar to unexpected equipment failures on the platform, adjust the platform or task equipment deployment. If necessary, the platform scheduling can also be adjusted. When there are abnormal personnel changes at the task level that affect the mother ship's navigation (such as urgent need to dock for medical treatment, insufficient supplies, etc.), adjust the start and end times of tasks in the voyage's operational area (delay or advance).

[0056] In one embodiment, when an anomaly occurs during the execution of a mission, adjusting the work area information of the voyage work area or adjusting the mission scheduling of the mission equipment includes: when an equipment failure occurs during the execution of a mission, adjusting the type and quantity of mission equipment carried by the platform and / or the work schedule of the platform.

[0057] When equipment failure occurs, the deployment of the mounting platform or task equipment is adjusted, and the scheduling of the mounting platform can be adjusted if necessary. For example, a mounting platform with five payload positions can accommodate five types of task equipment (such as cameras). Due to task requirements, five first-series task equipment might be deployed today, and five second-series task equipment tomorrow. If a task equipment in the first series fails, it will be repaired. If repair is not possible or would delay the task progress, other task equipment in the first series that meets the equipment deployment rules will be used to replace the failed equipment. If no other task equipment that meets the equipment deployment rules can be used as a replacement, the scheduling of the mounting platform is changed, waiting for the task equipment to be repaired or for other mounting platforms to complete their tasks before executing the task of the failed equipment.

[0058] In one embodiment, when an anomaly occurs during the execution of a task, adjusting the work area information of the voyage work area or adjusting the task scheduling of the task equipment includes: when an equipment operation failure occurs during the execution of a task, adjusting the work schedule of the platform or adjusting the start and end times of the tasks in the voyage work area.

[0059] When equipment malfunctions (or technical malfunctions) occur, but the equipment itself has no hardware faults (such as data not meeting requirements, software operation errors, etc.), the scheduling of the platform can be adjusted, and if necessary, the start and end times of tasks in the flight's operating area can be adjusted (postponed or brought forward).

[0060] In one embodiment, the operation area information of the voyage operation area may further include: the sea state level of the voyage operation area; when an anomaly occurs during the execution of the mission, adjusting the operation area information of the voyage operation area or adjusting the mission scheduling of the mission equipment includes: when an abnormal weather occurs during the execution of the mission, lowering the sea state level of the voyage operation area or replacing the platform and mission equipment that support the sea state level of the operation; wherein, the sea state level of the operation indicates the sea state level that the mission equipment or platform supports for operation.

[0061] Each platform and mission equipment has parameters for adapting to sea conditions. For example, it cannot operate in sea states greater than N. Therefore, when the weather is bad, the sea state in the voyage's operating area will rise, causing the platform and mission equipment to be unable to operate. In this case, the sea state level of the voyage's operating area can be lowered to a level that the platform and mission equipment can operate at, or the platform and mission equipment can be replaced with one that can operate in that high sea state.

[0062] In one embodiment, after step 300 above, the task scheduling method may further include: generating a payload list and a work schedule based on the task scheduling of the task equipment; wherein, the payload list includes a list of task equipment carried by each platform and a list of materials required to complete the task, and the work schedule includes the work time nodes corresponding to each platform; and executing the tasks in the voyage work area according to the payload list and the work schedule.

[0063] The payload list is generated platform-by-platform, providing a list of mission equipment for each platform. Staff can use this list to prepare for equipment, materials, and operational procedures, and then proceed with the mission execution. Upon arrival at each voyage's work area, a work schedule is generated for that area, providing all staff with a clear understanding of the mission platforms and timelines, and facilitating communication and coordination. The payload list and work schedule are the visual representations of the completed mission scheduling, allowing staff to intuitively understand the schedule and execute missions within the voyage's work area accordingly.

[0064] Exemplary device

[0065] Figure 4 This is a schematic diagram of the structure of a task orchestration apparatus provided in an exemplary embodiment of this application, as shown below. Figure 4 As shown, the task scheduling device 8 includes: an acquisition module 81, which acquires task requirements and route planning; wherein, the task requirements include the voyage operation area, task equipment requirements and sea state requirements corresponding to each task; a setting module 82, which sets the operation area information of the voyage operation area according to the task requirements and route planning; and a scheduling module 83, which performs task scheduling of task equipment according to the operation area information of the voyage operation area and the task requirements.

[0066] In one embodiment, the task scheduling device 8 can be configured to: adjust the operation area information of the voyage operation area according to the newly added task requirements and / or the newly added route planning; wherein, the aforementioned scheduling module 83 can be configured to: adjust the task scheduling of the task equipment according to the adjusted operation area information of the voyage operation area.

[0067] In one embodiment, the voyage operation area information includes the start and end times of the task, the center point of the voyage operation area, and the radius of the voyage operation area; wherein, the aforementioned scheduling module 83 can be configured to: allocate task equipment according to the voyage operation area information and task requirements; determine the mounting platform according to the task equipment and equipment mounting rules; wherein, the mounting platform is used to mount the task equipment; and schedule the mounting platform according to the start and end times of the voyage operation area, the center point of the voyage operation area, and the radius of the voyage operation area.

[0068] In one embodiment, the platform includes multiple payload positions, each payload position carrying multiple task devices. The task scheduling device 8 can be configured to: adjust the work area information of the flight operation area or adjust the task scheduling of the task devices when an abnormality occurs during the execution of a task; wherein, the task scheduling of the task devices includes the type and quantity of task devices carried by the platform and / or the operation schedule of the platform.

[0069] In one embodiment, the task scheduling device 8 can be configured to: adjust the start and end times of the tasks in the corresponding voyage operation area when abnormal navigation changes or workload deviations occur during the execution of a task; adjust the type and quantity of task equipment carried on the platform and / or the operation schedule of the platform when abnormal personnel changes occur during the execution of a task and these changes affect the execution of the task; and adjust the start and end times of the operations in the corresponding voyage operation area when abnormal personnel changes occur during the execution of a task and these changes affect navigation.

[0070] In one embodiment, the task scheduling device 8 can be configured to: adjust the type and quantity of task equipment carried on the platform and / or the work schedule of the platform when a device failure occurs during the execution of a task.

[0071] In one embodiment, the task scheduling device 8 can be configured to adjust the operation schedule of the platform or adjust the start and end times of the tasks in the flight operation area when a device malfunction occurs during the execution of a task.

[0072] In one embodiment, the operation area information of the voyage operation area may further include: the sea state level of the voyage operation area; the task scheduling device 8 may be configured to: when abnormal weather occurs during the execution of the task, reduce the sea state level of the voyage operation area or replace the carrier platform and task equipment that support the sea state level; wherein, the sea state level represents the sea state level that the task equipment or carrier platform supports for operation.

[0073] In one embodiment, the task scheduling device 8 can be configured to: generate a payload list and a work schedule based on the task scheduling of the task equipment; wherein, the payload list includes a list of task equipment carried by each platform and a list of materials required to complete the task, and the work schedule includes the work time nodes corresponding to each platform; and execute the tasks in the voyage work area according to the payload list and the work schedule.

[0074] Exemplary electronic devices

[0075] Below, for reference Figure 5 This application describes an electronic device according to embodiments thereof. The electronic device may be either or both of a first device and a second device, or a standalone device independent of them, which may communicate with the first device and the second device to receive acquired input signals from them.

[0076] Figure 5 A block diagram of an electronic device according to an embodiment of this application is illustrated.

[0077] like Figure 5 As shown, the electronic device 10 includes one or more processors 11 and memory 12.

[0078] The processor 11 may be a central processing unit (CPU) or other form of processing unit with data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.

[0079] The memory 12 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory. Non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 11 may execute the program instructions to implement the task orchestration methods and / or other desired functions of the various embodiments of this application described above. Various contents such as input signals, signal components, and noise components may also be stored in the computer-readable storage medium.

[0080] In one example, the electronic device 10 may also include an input device 13 and an output device 14, which are interconnected via a bus system and / or other forms of connection mechanism (not shown).

[0081] When the electronic device is a standalone device, the input device 13 can be a communication network connector for receiving the collected input signals from the first device and the second device.

[0082] In addition, the input device 13 may also include, for example, a keyboard, a mouse, etc.

[0083] The output device 14 can output various information to the outside, including determined distance information, direction information, etc. The output device 14 may include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, etc.

[0084] Of course, for the sake of simplicity, Figure 5 Only some of the components of the electronic device 10 relevant to this application are shown in this illustration; components such as buses, input / output interfaces, etc., are omitted. In addition, the electronic device 10 may include any other suitable components depending on the specific application.

[0085] Computer program products can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0086] Computer-readable storage media may take the form of any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may, for example, include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0087] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A task orchestration method, characterized in that, include: Obtain task requirements and route planning; wherein, the task requirements include the voyage operation area, task equipment requirements and sea state requirements corresponding to each task; the voyage operation area is created by clustering based on the operation area information of all tasks according to the location and distance relationship, and the tasks are associated with the voyage operation area. The voyage operation area divides all tasks during the entire voyage in time and space, and the voyage operation area is in a sequential relationship. Based on the task requirements and the route plan, the operation area information for the voyage is set; the operation area information includes the start and end times of the task, the center point of the voyage operation area, and the radius of the voyage operation area; and Based on the work area information of the voyage and the task requirements, the task equipment is scheduled. When an anomaly occurs during the execution of the task, adjust the work area information of the voyage work area or adjust the task arrangement of the task equipment.

2. The task orchestration method according to claim 1, characterized in that, After setting the work area information of the voyage work area according to the task requirements and the route plan, the task scheduling method further includes: Adjust the operation area information of the voyage operation area according to the new task requirements and / or the new route planning; The step of scheduling tasks for equipment based on the work area information of the voyage's work area and the task requirements includes: Based on the adjusted work area information of the voyage's work area, the task arrangement of the mission equipment is adjusted.

3. The task orchestration method according to claim 1, characterized in that, The step of scheduling tasks for equipment based on the work area information of the voyage's work area and the task requirements includes: Based on the work area information of the voyage's work area and the task requirements, allocate task equipment; Based on the mission equipment and equipment mounting rules, a mounting platform is determined; wherein, the mounting platform is used to mount the mission equipment; The mounting platforms are arranged according to the start and end times of the voyage operation area, the center point of the voyage operation area, and the radius of the voyage operation area.

4. The task orchestration method according to claim 3, characterized in that, The platform includes multiple payload bays, each payload bay carrying multiple mission devices. After the mission devices are scheduled according to the operation area information of the flight operation area and the mission requirements, the mission scheduling method further includes: The task scheduling of the task equipment includes the type and quantity of the task equipment mounted on the platform and / or the operation schedule of the platform.

5. The task orchestration method according to claim 4, characterized in that, When an anomaly occurs during the execution of the task, adjusting the work area information of the voyage work area or adjusting the task scheduling of the task equipment includes: When abnormal navigation changes or workload deviations occur during the execution of the task, the start and end times of the task in the corresponding voyage operation area shall be adjusted. When abnormal personnel changes occur during the execution of the task, and these abnormal personnel changes affect the execution of the task, the type and quantity of the task equipment carried by the platform and / or the work schedule of the platform shall be adjusted. If an abnormal change in personnel occurs during the execution of the task, and the abnormal change in personnel affects navigation, the start and end times of the operation in the corresponding voyage operation area shall be adjusted.

6. The task orchestration method according to claim 4, characterized in that, When an anomaly occurs during the execution of the task, adjusting the work area information of the voyage work area or adjusting the task scheduling of the task equipment includes: When a device malfunction occurs during the execution of the task, the type and quantity of the task device mounted on the platform and / or the work schedule of the platform shall be adjusted. When a device malfunction occurs during the execution of the task, the work schedule of the platform or the start and end times of the task in the voyage work area shall be adjusted.

7. The task orchestration method according to claim 4, characterized in that, The operation area information of the voyage operation area also includes: the sea state level of the operation area; adjusting the operation area information of the voyage operation area or adjusting the task scheduling of the task equipment when an anomaly occurs during the execution of the task includes: When abnormal weather occurs during the execution of the mission, the sea state level of the voyage operation area shall be lowered or the platform and mission equipment that support the sea state level shall be replaced; wherein, the sea state level refers to the sea state level that the mission equipment or the platform supports for operation.

8. The task orchestration method according to claim 1, characterized in that, After scheduling tasks for equipment based on the work area information of the voyage's work area and the task requirements, the task scheduling method further includes: Based on the task arrangement of the task equipment, a load list and a work schedule are generated; wherein, the load list includes a list of task equipment carried by each platform and a list of materials required to complete the task, and the work schedule includes the work time nodes corresponding to each platform; The tasks for the voyage's operational area shall be executed in accordance with the load list and the work schedule.

9. A task orchestration device, characterized in that, include: The acquisition module acquires task requirements and route planning. The task requirements include the voyage operation area, task equipment requirements, and sea state requirements for each task. The voyage operation area is created by clustering all task operation area information according to location and distance relationships. Tasks are associated with voyage operation areas. The voyage operation area divides all tasks during the entire voyage in time and space. The voyage operation areas are sequentially linked. The setting module, based on the task requirements and the route plan, sets the operation area information for the voyage operation area; the operation area information includes the start and end times of the task, the center point of the voyage operation area, and the radius of the voyage operation area; and The scheduling module schedules tasks for equipment based on the work area information of the voyage's work area and the task requirements. When an anomaly occurs during the execution of the task, adjust the work area information of the voyage work area or adjust the task arrangement of the task equipment.

10. A task orchestration system, characterized in that, include: Information input module, which is used to receive input task requirements and route plans; The orchestration module is used to execute the task orchestration method according to any one of claims 1-8; as well as The output module is used to output the generated load list and job schedule.

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