Method and apparatus for staggered processing of resource conflicts in a task plan based on resource envelopes

Abstract

The present application relates to a method and device for staggered processing of resource conflicts in a task plan based on resource envelopes. First, a resource requirement inference network is established according to resource requirement attributes and a resource processing mode model. Then, an envelope calculation method based on maximum flow is designed to estimate the time interval of resource conflicts. Finally, a task resource consumption staggering algorithm is designed to perform staggered processing on the conflicting stage of task resource consumption, resolve resource conflicts, and improve the robustness of the plan. By using this method, it is possible to predict each time point with potential resource conflicts, and each potential time point needs to be processed according to whether there is room for adjustment, which can improve the robustness of the plan. In addition, the consumption stage staggering method is adopted in the algorithm. Compared with the method of directly delaying the task until after another conflicting task is completed, it can avoid large-scale adjustments to the plan and reduce the number of iterative corrections.

Description

Technical Field

[0001] The present application relates to the technical field of in-orbit operation mission planning of space stations, and particularly to a method and device for handling resource conflict peak shifting in a mission plan based on resource envelope. Background Art

[0002] The short-term operation plan of the Chinese space station mainly makes an overall plan for various tasks such as spacecraft launch, in-orbit major application experiments, space station platform maintenance and repair, astronaut health and support, extravehicular missions, and robotic arm operations, so as to obtain a mission plan that meets various constraints. Generally, the baseline plan for short-term tasks needs to be formulated 6 months in advance, which will lead to a large number of adjustments to the mission plan before its official implementation. In the traditional mission plan planning process, little consideration is given to resource redundancy, resulting in some tasks being concentrated in a certain time period, exacerbating resource requirements and causing a large number of resource requirement conflicts in the process of adjusting the mission plan. Therefore, it is necessary to design a planning method that increases the resource redundancy ability of the mission plan according to the characteristics of the advanced planning of the mission plan, which is of great significance for solving the problem of short-term operation mission planning of the space station. Summary of the Invention

[0003] Based on this, in view of the above technical problems, it is necessary to provide a method and device for handling resource conflict peak shifting in a mission plan based on resource envelope, which can eliminate resource conflicts and improve the robustness of the plan.

[0004] A method for handling resource conflict peak shifting in a mission plan based on resource envelope, the method comprising:

[0005] Obtain a temporarily planned mission plan, where the temporarily planned mission plan satisfies time constraints and logical constraints;

[0006] Classify the attribute types of the resources required for each task in the temporarily planned mission plan by using a resource processing mode model, and match the corresponding processing plan according to the classification result. The resources are classified into recoverable resources and non-recoverable resources according to the recovery attribute;

[0007] Select all tasks related to a certain type of resource from the temporarily planned mission plan, and extract the information of each processing stage in the tasks. Construct a corresponding directed and acyclic resource requirement network according to the attribute type of the resource, the corresponding processing plan, and the information of each processing stage in the tasks. Wherein, the resource requirement network includes a plurality of nodes and directed edges connecting two related nodes, and each node is marked with the earliest processable time, the latest processable time of the corresponding resource processing stage, and the resource processing amount required for this stage;

[0008] Predict according to the information of each node in the resource demand network to obtain the resource envelope at each processing moment in the resource demand network, where the resource envelope includes the upper resource value and the lower resource value;

[0009] Use the upper bound value of the resource envelope to perform resource constraint checking to determine the conflict moments of each resource constraint, and decouple each conflict moment in the resource demand network of recoverable resources in chronological order by adopting resource peak shifting processing to obtain the adjusted resource demand network of recoverable resources;

[0010] And output each conflict moment and the related task consumption stage in the resource demand network of non-recoverable resources, obtain an adjustment instruction, and adjust the task processing time related to each conflict moment in the resource demand network of non-recoverable resources according to the adjustment instruction to obtain the adjusted resource demand network of non-recoverable resources;

[0011] Re-predict the resource envelope of the adjusted resource demand network and re-perform resource constraint checking until all conflict moments are processed, then output the resource demand network of all adjusted resources, and adjust the temporary planning task plan according to the adjusted resource demand network to obtain the final planning task plan.

[0012] In one embodiment, the decoupling of each conflict moment in the resource demand network of recoverable resources by adopting resource peak shifting processing in chronological order includes:

[0013] Determine the current processing moment according to the earliest unprocessed resource constraint conflict moment;

[0014] Arrange the task consumption stages that generate conflicts at the current processing moment in descending order according to the resource consumption;

[0015] Adopt peak shifting processing to adjust the task belonging to the current maximum movable consumption stage, and judge whether the adjusted task meets the time constraint;

[0016] If it does not meet the time constraint, set it as the current immovable task and adjust the next task in the descending order. If it meets the time constraint, process the adjusted task and its subsequent tasks, and judge whether there is task trimming;

[0017] If there is task trimming, set the adjusted task as the current immovable task and do not retain this adjustment. If there is no task trimming, retain this adjustment.

[0018] In one embodiment, when performing peak shifting processing, preferentially adjust the task belonging to the maximum consumption stage, and adopt a delayed adjustment method to adjust the node of the corresponding task stage to be processed after the latest processing time of the node corresponding to the minimum consumption stage.

[0019] In one embodiment, the amount of postponed adjustment time is calculated using the following formula:

[0020]

[0021] In the above formula, represents the latest processing time of the task belonging to the stage with the smallest consumption, represents the earliest processing time of the task belonging to the largest stage.

[0022] In one embodiment, after re-predicting the resource envelope of the resource demand network after adjustment and re-performing resource constraint checking, the time points at which conflicts still exist after the recoverable resource adjustment and the relevant task consumption stages are also output.

[0023] In one embodiment, the predicting the resource envelope at each processing moment in the resource demand network according to the information of each node in the resource demand network includes:

[0024] Construct a set of processed nodes, a set of nodes to be processed, and a set of unprocessed nodes, and divide each node in the resource demand network into the corresponding node set according to the current processing time;

[0025] Calculate the resource flow value at the current processing time according to the nodes in the set of processed nodes, calculate the change amount of the resource flow value at the current processing moment according to the nodes in the set of nodes to be processed, and then predict the resource envelope value at the current processing time according to the resource flow value and the change amount of the resource flow value;

[0026] Judge whether the current processing moment is the termination time. If not, predict the resource envelope value at the next processing time according to the planning step length. If so, output the resource envelope values at each processing moment on the time line of the resource demand network.

[0027] In one embodiment, the calculating the change amount of the resource flow value at the current processing moment according to the nodes in the set of nodes to be processed includes:

[0028] The change amount of the resource flow value at the current processing time includes an upper bound of the change amount and a lower bound of the change amount;

[0029] Divide the nodes in the set of nodes to be processed into consumption nodes and production nodes according to the required resource processing amount of each node;

[0030] When calculating the upper bound of the change amount, the resource flow value of the consumption node is calculated first. At the current processing time, the resource flow value of the consumption node is calculated. If the latest start time of the production node is equal to the current processing time, then at the current processing time, the resource flow value of the production node is calculated, and the resource flow values of the consumption node and the production node are used as the upper bound of the change amount; otherwise, only the resource flow value of the consumption node is used as the upper bound of the change amount.

[0031] When calculating the lower bound of the change amount, the resource flow value of the production node is calculated first. At the current processing time, the resource flow value of the production node is calculated. If the latest start time of the consumption node is equal to the current processing time, then at the current processing time, the resource flow value of the consumption node is calculated, and the resource flow values of the consumption node and the production node are used as the lower bound of the change amount; otherwise, only the resource flow value of the production node is used as the lower bound of the change amount.

[0032] In one embodiment, the resource constraint check using the upper bound value of the resource envelope includes:

[0033] Sort the nodes according to the processing time order of the nodes in the resource demand network, and generate a node order set;

[0034] According to the nodes in the node order set, recommend and process the resource flow. Each time a node is advanced, check according to the resource constraints. If the check result of the current node is satisfied, continue to advance the resource flow according to the node order and check the resource constraints for the next node;

[0035] If the resource constraint check result of the current node is not satisfied, determine the processing time corresponding to this node as the conflict time of the resource constraint.

[0036] In one embodiment, before predicting according to the information of each node in the resource demand network to obtain the resource envelope at each processing time in the resource demand network, each node in the resource demand network is also checked according to the resource constraints and corresponding adjustments are made to make each node in the resource demand network satisfy the resource constraint consistency.

[0037] A resource conflict peak-shifting processing device for a task plan based on a resource envelope, the device includes:

[0038] A task plan acquisition module, configured to acquire a temporary planned task plan, where the temporary planned task plan satisfies time constraints and logical constraints;

[0039] A task attribute type classification module, which is used to classify the attribute types of the resources required for each task in the temporary planning task solution by using a resource processing mode model, and match corresponding processing solutions according to the classification results. The resources are classified into recoverable resources and non-recoverable resources according to the recovery attribute;

[0040] A resource requirement network construction module, which is used to select all tasks related to a certain type of resource from the temporary planning task solution, extract the information of each processing stage in the task, and construct a corresponding directed and acyclic resource requirement network according to the attribute type of the resource, the corresponding processing solution, and the information of each processing stage in the task. Among them, the resource requirement network includes multiple nodes and directed edges connecting two related nodes, and each node is marked with the earliest processable time, the latest processable time of the corresponding resource processing stage, and the resource processing amount required for this stage;

[0041] A resource envelope prediction module, which is used to predict according to the information of each node in the resource requirement network to obtain the resource envelope at each processing moment in the resource requirement network. The resource envelope includes a resource upper bound value and a resource lower bound value;

[0042] A resource peak-shaving processing module, which is used to use the resource envelope upper bound value to perform resource constraint checks, determine the conflict moments of each resource constraint, and decouple each conflict moment in the resource requirement network of recoverable resources in chronological order by using resource peak-shaving processing to obtain an adjusted resource requirement network of recoverable resources;

[0043] A time manual adjustment module, which is used to output each conflict moment and the related task consumption stage in the resource requirement network of non-recoverable resources, obtain an adjustment instruction, and adjust the task processing time related to each conflict moment in the resource requirement network of non-recoverable resources according to the adjustment instruction to obtain an adjusted resource requirement network of non-recoverable resources;

[0044] A final planning task solution obtaining module, which is used to re-predict the resource envelope of the adjusted resource requirement network, and re-perform resource constraint checks until all conflict moments are processed, then output the resource requirement networks of all adjusted resources, and adjust the temporary planning task solution according to the adjusted resource requirement network to obtain a final planning task solution.

[0045] A computer device, including a memory and a processor, where the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0046] Obtain a temporary planning task solution, where the temporary planning task solution satisfies time constraints and logical constraints;

[0047] Classify the attribute types of the resources required for each task in the temporary planning task plan using a resource processing mode model, and match the corresponding processing plan according to the classification result. The resources are classified into recoverable resources and non-recoverable resources according to their recovery attributes;

[0048] Select all tasks related to a certain type of resource from the temporary planning task plan, extract the information of each processing stage in the tasks, and construct a corresponding directed and acyclic resource requirement network according to the attribute type of the resource, the corresponding processing plan, and the information of each processing stage in the tasks. Among them, the resource requirement network includes multiple nodes and directed edges connecting two related nodes, and each node is marked with the earliest processable time, the latest processable time of the corresponding resource processing stage, and the resource processing amount required for this stage;

[0049] Predict according to the information of each node in the resource requirement network to obtain the resource envelope at each processing moment in the resource requirement network. The resource envelope includes an upper resource value and a lower resource value;

[0050] Use the upper bound value of the resource envelope to check the resource constraints, determine the conflict moments of each resource constraint, and decouple each conflict moment in the resource requirement network of recoverable resources in chronological order by resource peak shifting processing to obtain an adjusted resource requirement network of recoverable resources;

[0051] And output the conflict moments and related task consumption stages in the resource requirement network of non-recoverable resources, obtain an adjustment instruction, and adjust the task processing time related to each conflict moment in the resource requirement network of non-recoverable resources according to the adjustment instruction to obtain an adjusted resource requirement network of non-recoverable resources;

[0052] Re-predict the resource envelope of the adjusted resource requirement network and re-check the resource constraints until all conflict moments are processed, then output the resource requirement network of all adjusted resources, and adjust the temporary planning task plan according to the adjusted resource requirement network to obtain a final planning task plan.

[0053] A computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0054] Obtain a temporary planning task plan that meets time constraints and logical constraints;

[0055] Classify the attribute types of the resources required for each task in the temporary planning task plan using a resource processing mode model, and match the corresponding processing plan according to the classification result. The resources are classified into recoverable resources and non-recoverable resources according to their recovery attributes;

[0056] Select all tasks related to a certain type of resource from the temporary planning task plan, extract the information of each processing stage in the tasks, and construct a corresponding directed and acyclic resource requirement network according to the attribute type of the resource, the corresponding processing plan, and the information of each processing stage in the tasks. Among them, the resource requirement network includes multiple nodes and directed edges connecting two related nodes, and each node is marked with the earliest processable time, the latest processable time of the corresponding resource processing stage, and the resource processing amount required for this stage;

[0057] Predict according to the information of each node in the resource requirement network to obtain the resource envelope at each processing moment in the resource requirement network. The resource envelope includes the upper bound value and the lower bound value of the resource;

[0058] Use the upper bound value of the resource envelope to perform resource constraint checking, determine the conflict moments of each resource constraint, and decouple each conflict moment in the resource requirement network of recoverable resources in chronological order by using resource peak shifting processing to obtain the adjusted resource requirement network of recoverable resources;

[0059] And output the conflict moments and related task consumption stages in the resource requirement network of non-recoverable resources, obtain an adjustment instruction, and adjust the task processing time related to each conflict moment in the resource requirement network of non-recoverable resources according to the adjustment instruction to obtain the adjusted resource requirement network of non-recoverable resources;

[0060] Re-predict the resource envelope of the adjusted resource requirement network and re-perform resource constraint checking until all conflict moments are processed, then output the resource requirement network of all adjusted resources, and adjust the temporary planning task plan according to the adjusted resource requirement network to obtain the final planning task plan.

[0061] The above method and device for handling resource conflict peak shaving in a task plan based on resource envelope first establish a resource requirement inference network according to resource requirement attributes and a resource processing mode model, then design an envelope calculation method based on maximum flow to estimate the time interval of resource conflict, and finally design a task resource consumption peak shaving algorithm to perform peak shaving on the task resource consumption conflict stage, eliminate resource conflicts, and improve the robustness of the plan. By using this method, it is possible to predict each time point with potential resource conflicts, and each potential time point needs to be processed according to whether there is room for adjustment, which can improve the robustness of the plan. In addition, the peak shaving method for the consumption stage is adopted in the algorithm. Compared with the method of directly delaying the task until after another conflicting task is completed, it can avoid large-scale adjustments to the plan and reduce the number of iterative corrections. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 FIG. is a schematic flowchart of a method for handling resource conflict peak shaving in a task plan based on resource envelope in an embodiment;

[0063] Figure 2 FIG. is a schematic diagram of multi-consumption of platform resources in an embodiment;

[0064] Figure 3 FIG. is a schematic diagram of a man-hour balanced scheduling strategy in an embodiment;

[0065] Figure 4 FIG. is a schematic diagram of resource usage attribute constraints in an embodiment;

[0066] Figure 5 FIG. is a schematic diagram of propellant resource consumption in an embodiment;

[0067] Figure 6 FIG. is a schematic diagram of a resource requirement network in an embodiment;

[0068] Figure 7 FIG. is a schematic diagram of adjustable intervals for various types of nodes in an embodiment;

[0069] Figure 8 FIG. is a schematic flowchart of a resource consumption peak shaving processing in an embodiment;

[0070] Figure 9 FIG. is a Gantt chart of task execution satisfying resource constraints in an experimental simulation;

[0071] Figure 10 FIG. is a schematic diagram of consumption curves of various resources in an experimental simulation;

[0072] Figure 11 FIG. is a schematic diagram of a power resource envelope curve in an experimental simulation;

[0073] Figure 12It is a Gantt chart showing tasks after peak staggering processing in an experimental simulation;

[0074] Figure 13 It is a schematic diagram of power consumption and envelope curve of tasks after peak staggering processing in an experimental simulation;

[0075] Figure 14 It is a structural block diagram of a device for handling resource conflict peak staggering of a task plan based on resource envelope in an embodiment;

[0076] Figure 15 It is an internal structure diagram of a computer device in an embodiment. Detailed implementation manners

[0077] In order to make the objectives, technical solutions and advantages of the present application clearer and more understandable, the present application will be further described in detail below with reference to 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.

[0078] As Figure 1 shown, a method for handling resource conflict peak staggering of a task plan based on resource envelope is provided, including the following steps:

[0079] Step S100, obtain a temporarily planned task plan, where the temporarily planned task plan satisfies time constraints and logical constraints;

[0080] Step S110, classify the attribute types of resources required for executing each task in the temporarily planned task plan by using a resource processing mode model, and match a corresponding processing plan according to the classification result. Resources are classified into recoverable resources and non-recoverable resources according to recovery attributes;

[0081] Step S120, select all tasks related to a certain type of resource from the temporarily planned task plan, extract the information of each processing stage in the task, and construct a corresponding directed and acyclic resource demand network according to the attribute type of the resource, the corresponding processing plan and the information of each processing stage in the task. Among them, the resource demand network includes multiple nodes and directed edges connecting two related nodes, and each node is marked with the earliest processable time, the latest processable time of the corresponding resource processing stage and the required resource processing amount for this stage;

[0082] Step S130, make a prediction according to the information of each node in the resource demand network to obtain the resource envelope at each processing moment in the resource demand network. The resource envelope includes a resource upper bound value and a resource lower bound value;

[0083] Step S140: Use the upper bound of the resource envelope to perform resource constraint checking, determine the conflict moments of each resource constraint, and decouple each conflict moment in the resource demand network of recoverable resources in chronological order by adopting resource peak-shifting processing to obtain the adjusted resource demand network of recoverable resources.

[0084] Step S150: Output the conflict moments and related task consumption phases in the resource demand network of non-recoverable resources, obtain adjustment instructions, and adjust the task processing times related to each conflict moment in the resource demand network of non-recoverable resources according to the adjustment instructions to obtain the adjusted resource demand network of non-recoverable resources.

[0085] Step S160: Re-predict the resource envelope of the adjusted resource demand network and re-perform resource constraint checking until all conflict moments are processed. Then output the resource demand network of all adjusted resources, and adjust the temporary planned task scheme according to the adjusted resource demand network to obtain the final planned task scheme.

[0086] In this embodiment, first establish a resource demand network according to the resource demand attributes and the resource processing mode model, then design an envelope calculation method based on the maximum flow to estimate the resource conflict time interval, and finally design a task resource consumption peak-shifting algorithm to perform peak-shifting processing on the task resource consumption conflict phase to eliminate resource conflicts and improve the robustness of the scheme.

[0087] Specifically, in the method steps as Figure 1 shown, steps S100 to S120 are the process of constructing the resource demand network. After that, in fact, each node in the resource demand network is also checked according to resource constraints and corresponding adjustments are made to obtain a short-term operation task scheme for the space station that meets time constraints, logical constraints, and resource constraints. However, considering the characteristics of the advanced planning of the space station's short-term operation, the uncertainty of the temporal relationship of the tasks in the scheme will further affect the resource processing of the tasks. To eliminate the influence of this uncertainty, the envelope of various resource demand changes is predicted using the resource demand network, that is, the upper and lower extreme value boundaries of resource consumption and production are deduced according to all possible execution situations at each moment on the time line. This prediction is actually an overestimation of the resource demand. Using its upper bound value (maximum resource consumption) to perform resource constraint consistency checking again, and modifying the time interval of resource conflicts by adopting task resource consumption peak-shifting can ensure a certain resource margin within a certain limit, reduce the impact of subsequent task modifications on the scheme, and increase the robustness of the scheme to cope with disturbances.

[0088] In the following text, first, the process of constructing a resource demand network is introduced, and then the process of modifying each node in the resource demand network according to resource constraint detection is introduced to obtain a short-term operation task plan for the space station that meets time constraints, logical constraints, and resource constraints. Based on this, an envelope calculation method for the maximum flow is introduced to estimate the resource conflict time interval. Finally, a task resource consumption peak shifting algorithm is introduced to perform peak shifting on the task resource consumption conflict stage to obtain a final operation task plan that meets time constraints, logical constraints, and resource constraints and has strong robustness to perturbations.

[0089] In step S100, the obtained temporary planning task plan should meet time constraints and logical constraints.

[0090] In step S110, first, it is necessary to analyze the attributes of task resource requirements to establish a resource processing mode model, and use the resource processing mode model to classify tasks according to attributes and match the corresponding processing modes. In fact, it is to convert the resource information of each task in the obtained temporary planning task plan into a processable mode.

[0091] Specifically, if the resources required to execute a task include platform resources, the platform resource processing mode model is used to divide the resources required to execute the task into 8 attribute types, including: shared continuous recoverable resources, shared discrete recoverable resources, exclusive discrete recoverable resources, exclusive continuous recoverable resources, shared continuous non-recoverable resources, shared discrete non-recoverable resources, exclusive discrete non-recoverable resources, and exclusive continuous non-recoverable resources.

[0092] Regarding the classification of resources, according to whether they are continuous, recoverable, exclusive or shared, the above 8 attribute types can also be divided into two major categories. For example, according to whether they are recoverable, they can be divided into recoverable resources and non-recoverable resources.

[0093] Among them, shared resources can support multiple tasks simultaneously, while exclusive resources can only support one task at the same time. The processing volume of discrete resources remains a fixed value that does not change during the entire task processing stage, and the processing volume of continuous resources is proportional to the task processing time. When recoverable resources are consumed, the consumed resources will be released at the end of the processing stage, and the total resource amount remains unchanged. When non-recoverable resources are consumed, the total resource amount gradually decreases as the resources are used and needs to be replenished through productive tasks.

[0094] Specifically, from the resource demand attributes, it can be seen that the processing of platform resources for short-term operation tasks of the space station adopts a multi-category and multi-stage method, that is, the same task can process multiple types of platform resources during execution, and the processing of each type of resource can be divided into multiple stages. For example Figure 2As shown, the task consumes electric power in three stages, with different power levels in each stage.

[0095] During the execution of the task, the processing mode of platform resources in each processing stage depends on the resource attributes. Each type of platform resource can be classified from three attribute dimensions: usage attribute, numerical attribute, and recovery attribute. Table 1 shows the attribute classification of some platform resources in the short-term operation task planning of the space station.

[0096] Table 1 Attribute Classification of Platform Resources in Short-Term Operation of the Space Station

[0097]

[0098] It can be seen from Table 1 that although the resources belong to different categories, there are resources with the same attributes, such as payload attachment points, scientific experiment cabinets, and extravehicular experiment devices, etc. They all belong to exclusive, discrete, and recoverable resources. For resources with the same attributes, the same resource processing method can be adopted. Therefore, in actual planning, the resource processing mode can be determined and processed only according to the resource attributes, without specifically identifying the resource categories.

[0099] There are a total of 8 attribute combination methods from the three attribute dimensions of usage attribute, numerical attribute, and recovery attribute, namely shared continuous recoverable resources, shared discrete recoverable resources, exclusive discrete recoverable resources, exclusive continuous recoverable resources, shared continuous non-recoverable resources, shared discrete non-recoverable resources, exclusive discrete non-recoverable resources, and exclusive continuous non-recoverable resources. The characteristics of the processing mode of each combined attribute are shown in Table 2, where: shared resources can support multiple tasks simultaneously; exclusive resources can only support one task at the same time; discrete resources have a fixed processing value throughout the processing stage and remain unchanged; the processing value of continuous resources is proportional to the processing time; when recoverable resources are consumed, the consumed resources will be released at the end of the processing stage, and the total resource amount remains unchanged; when non-recoverable resources are consumed, the total resource amount gradually decreases with the use of resources and needs to be replenished through productive tasks, such as the on-orbit data download task will release the on-orbit data storage space.

[0100] Table 2 Processing Mode of Resources with Combined Attributes

[0101]

[0102] Each type of platform resource will correspond to a group of the above 8 combined attributes according to its own physical properties as its processing mode, and is equipped with a unique ID as the only identifier of the resource. During the planning process, the algorithm will automatically identify the resource processing mode and consume or replenish according to the resource demand attributes of the task.

[0103] In this embodiment, the resources required to execute the task also include man-time resources. The man-time required to execute the task is divided into exclusive discrete resources using the man-time resource processing mode model, and the man-time balanced scheduling strategy is used to arrange the man-time for each task. Then, the man-time resources are processed according to the exclusive discrete irreversible resources.

[0104] Specifically, man-hour resources can be divided into exclusive and discrete resources based on their attributes. Except for astronaut rotation tasks, tasks generally consume man-hours in multiple stages, so the following only discusses the consumption pattern of man-hour resources. Man-hour resources are different from platform resources in three aspects: (1) The man-hour demand of tasks adopts the "skill + number of people" model; (2) Man-hour resources need to consider the astronauts' work and rest time in the constraints; (3) Man-hour resources are restored on a daily basis and cannot be restored within a day. Therefore, man-hour resources have their own independent consumption pattern.

[0105] The consumption of man-hour resources can be divided into two steps: one is to determine the staff, and the other is to allocate working hours. In the short-term operation mission planning of the space station:

[0106] When the mission does not require astronauts' skills, astronauts are not differentiated. Therefore, when allocating astronaut tasks, the man-hour balance scheduling strategy is adopted. That is, when the mission requires man-hours, the idle astronauts are sorted from small to large according to the total working hours. According to the number of people required, the astronauts with less working hours are given priority to complete the corresponding tasks. The strategy process is as follows: Figure 3 shown.

[0107] Once the working astronauts are determined, the man-time can be consumed as exclusive discrete non-recoverable resources, that is, the occupied astronauts are not allowed to complete other tasks at the same time. The working hours are the single-person working hours required by the mission. After the mission is completed, the astronauts' working hours on that day are reduced until the working hours are restored on the second day.

[0108] In this embodiment, after the platform resources and man-time resources required to execute the task are re-described using the resource processing mode model, and then the resource requirement network is used to perform variable-step deduction on the resource requirements of each task to adjust the resource requirement network, it is also necessary to construct resource constraints for platform resources and man-time resources separately.

[0109] Specifically, the platform resource constraints are due to the limited energy and equipment on the space station. A reasonable short-term operation mission plan for the space station requires resource constraint judgment to meet the resource requirements of the mission. The following will analyze the resource constraints that need to be considered in the short-term operation mission planning of the space station.

[0110] In this embodiment, the platform resource constraints include usage attribute constraints and recovery attribute constraints.

[0111] Among them, the usage attributes are divided into exclusive and shared, mainly describing the number of tasks that the resource can support at the same time. Therefore, the usage attribute constraint can be expressed as:

[0112]

[0113] In formula (1), represents the number of tasks that have a demand for resource k at time t, and M k is the maximum number of tasks that resource k can support at the same time, where the exclusive resource is 1 and the shared resource is ∞. K represents the set of all resources, and T represents the set of all moments on the time line. As Figure 4 shown, the consumption process of the robotic arm resources is given. Since the robotic arm is an exclusive resource, it can support at most one task execution at any moment.

[0114] Among them, the recovery attribute constraint includes the constraint for recoverable resources and the constraint for non-recoverable resources. The main difference lies in whether the resource will be released after being consumed, resulting in consumption accumulation.

[0115] Among them, for recoverable resources, since the resources will be released when they are used up, it is only necessary to meet the constraint of the immediate available amount of the resources, that is:

[0116]

[0117] In formula (2), represents the consumption amount of recoverable resource k by task i at time t, represents the available amount of recoverable resource k at time t, and A represents the set of all tasks.

[0118] For non-recoverable resources, since the consumption amount will gradually accumulate, it is necessary to meet the cumulative usage constraint. In the short-term operation task planning of the space station, the resources adopt a multi-stage supply method, that is, the supply amount of each type of resource may be slightly different in different time periods, rather than remaining unchanged. Therefore, it is necessary to ensure that the cumulative value of the consumption amount of non-recoverable resources in each time period does not exceed the total amount limit in the current time period:

[0119]

[0120] In formula (3), represents the consumption amount of non-recoverable resource k by task i at time t, represents the quantity of resource k replenished by task i in j time periods, represents the available amount of resource k in the p-th time period.

[0121] As Figure 5As shown, the propellant consumption process is given. The resource upper limit is 1000 kg. When Task 5 is executed, due to the over-limit of resource consumption, a constraint conflict occurs.

[0122] Specifically, regarding the man-hour resource constraint, as the main body of task execution, the working man-hours of astronauts themselves belong to a relatively special and extremely important type of resource. When planning and scheduling the man-hours of astronauts, multiple factors need to be comprehensively considered. Currently, in the short-term operation of the space station, the man-hour resources of astronauts are mainly constrained from three aspects: the working time range of astronauts, the working duration, and the number of working days.

[0123] Among them, to ensure the physical and mental health of astronauts, the work and rest time of astronauts during their stay in space need to be consistent with that on the ground. Therefore, two time points are defined: the starting time point of the day TP Day and the starting time point of the night TP Night , [TP Day , TP Night is the daily working time interval of astronauts. Except for special overtime situations, tasks should be arranged to be executed during working hours as much as possible. Then the working time range constraint is:

[0124] T AstWork ∈[TP Day , TP Night (4)

[0125] Among them, the daily working duration of astronauts should not exceed the upper limit of the working duration of astronauts, unless they need to execute emergency tasks or other tasks with higher priorities. Taking the International Space Station as an example, the daily working duration of astronauts is 6 hours, and the rest of the time is used for eating, exercising, and dealing with personal affairs, etc. Then the working duration constraint of astronauts is expressed as:

[0126]

[0127] In formula (5), H AstWork represents the daily working duration of astronauts, represents the maximum daily working duration of astronauts.

[0128] Among them, the working time of astronauts per week is generally 6 days. Except for special situations, rest time is generally not occupied. Then the working days constraint of astronauts is expressed as:

[0129]

[0130] In formula (6), D AstWork represents the number of working days of astronauts per week, represents the maximum number of working days of astronauts per week.

[0131] After converting the resource information of each task in the temporary planning task plan using the resource demand pattern model, in step S120, all tasks related to a certain type of resource are selected from the temporary planning task plan, and the information of each processing stage in the tasks is extracted. According to the attribute type of the resource, the corresponding processing plan, and the information of each processing stage in the tasks, a corresponding directed and acyclic resource demand network is constructed.

[0132] In this embodiment, a corresponding resource demand network can be constructed according to each type of resource in the temporary planning task plan.

[0133] Specifically, the resource demand network is a directed and acyclic network that describes the resource requirements in the short-term operation task plan of the space station. It is mainly used for checking the consistency of resource constraints in the short-term operation task plan of the space station, assisting in the continuous iterative correction of the plan to obtain the final task plan, as Figure 6 shown in the network schematic diagram. During the planning process, each type of resource has a resource demand network to describe its evolving set over time during the execution of the short-term operation task plan of the space station, such as the power consumption resource demand network, the heat dissipation resource demand network, etc.

[0134] Since the short-term operation tasks of the space station can perform multi-stage processing on the same resource, in order to directly display the resource processing process, the tasks are disassembled into independent resource processing stages in the resource demand network. The time information and resource processing information of each stage are intuitively displayed in the network, and the resource attributes can also be reflected in the network through the configuration of nodes and related information.

[0135] Specifically, the nodes and directed edges in the resource demand network are represented by a triple as:

[0136] Net R (V Resource ,E R ,E P )(7)

[0137] In formula (7), V Resource represents the set of nodes of the resource processing stage, E R represents the set of directed edges of the resource processing stage within the task, and E P represents the set of directed edges of the resource processing stage between tasks.

[0138] Specifically, each node in the resource demand network is marked with the nominal processing time, the earliest available processing time, and the latest available processing time of the node, and is also marked with the task ID to which the node belongs;

[0139] When the resource is continuous, each resource processing stage can be disassembled into a stage start node, a transition node, and a stage end node. InFigure 6 In it, they are represented by and respectively. Under the three types of nodes, a parameter set is correspondingly marked as: and represent the nominal processing time, the earliest available processing time, and the latest available processing time of each type of node respectively.

[0140] In the resource network, the processing of the resource flow only occurs at the nodes. Therefore, at each node, the starting node of the task phase to which this node belongs, the starting point of the marking phase, and the resource processing volume are marked respectively At the transition node, the transition point of the phase and the resource processing volume are marked And at the terminating node of the phase, the terminating point of the phase and the resource processing volume are marked

[0141] Furthermore, the resource processing volume of the continuous resource changes with time during the entire resource processing phase. Therefore, to accurately describe the resource processing process, between and a phase transition point is added can be obtained through, while needs to be calculated through the planning step size t step as follows:

[0142]

[0143] In formula (8), m represents the sequence number of the phase transition. Through the above processing, a continuous resource processing process is approximated as multiple discrete processing nodes, and the number of phase transition points is:

[0144]

[0145] Since for continuous resources, is the processing rate per unit time of this phase. Therefore, when the phase processing mode is the resource consumption mode:

[0146]

[0147]

[0148] When the resource recovery attribute is recoverable:

[0149]

[0150] If it is a non-recoverable resource, then is zero.

[0151] When the resources are discrete, only the start node and the end node of each resource processing stage are retained, and the resource processing amount at the start point of the stage is marked at the start node of the stage, and the resource processing amount at the end point of the stage is marked at the end node of the stage.

[0152] Furthermore, since the resource processing amount of discrete resources remains fixed throughout the resource processing stage, only the start point of the stage is retained in the network and the end point of the stage and can be obtained separately through the following formulas:

[0153]

[0154]

[0155] In formulas (13) and (14), represents the start point of the task to which this processing stage belongs, represents the time interval between the start point of the task and the start time of the resource processing period, represents the time interval between the start point of the task and the end time of the resource processing period, represents the earliest start point of the task, represents the latest start point of the task. It should be noted here that resource processing is only carried out during the execution of the task. Therefore, t ns and t ne need to ensure that they are within the task execution interval, that is:

[0156]

[0157] In formula (15), represents the end point of the task.

[0158] The resource processing amount at the start point of the stage needs to be determined according to the processing mode of this stage. If this stage is a consumption mode, then:

[0159]

[0160] In formula (16), represents the resource processing amount of this stage. For discrete resources, it is the total processing amount. If it is a production mode, then:

[0161]

[0162] And the resource processing amount at the end point of the stage depends on the recovery attribute of the resource. If it is a recoverable resource, the resource is released at the end of the resource processing:

[0163]

[0164] If it is a non-recoverable resource, then it is 0.

[0165] In the triple, E R is the set of directed edges inside the resource processing stage. In Figure 6 it is represented by from the node with an earlier processing time to the node with a later processing time. The capacity of the edge E R between nodes is +∞, and the flow is not restricted during reasoning. E P represents the set of directed edges between resource processing stages, which is represented by in the figure and is used to map the timing relationship between tasks.

[0166] The resource demand network is an ordered mapping of the resource demands in the short-term operation task plan of the space station. The premise for constructing the resource demand network is that the time constraints and logical constraints between tasks are satisfied, that is, the time and logical constraint reasoning processing of the short-term operation task plan of the space station has been completed. The horizontal axis in the resource demand network is the time axis, and the nodes are arranged strictly in the order of processing time horizontally.

[0167] Next, each node in the resource demand network is detected according to the resource constraints and corresponding adjustments are made to obtain a set of planning task plans that meet the resource constraints.

[0168] In this embodiment, checking each node in the resource demand network according to the resource constraints and making corresponding adjustments includes: sorting each node according to the processing time order of each node in the resource demand network, generating a node order set, and recommending and processing the resource flow according to the nodes in the node order set. Each time a node is advanced, it is checked according to the resource constraints. If the check result of the current node is satisfied, the resource flow is continued according to the node order, and the next node is checked for resource constraints. If the resource constraint check result of the current node is not satisfied, the task corresponding to this node is adjusted, and after the adjustment, it returns to the previous node adjacent to this node to re-check the resource constraints, and the resource flow is continued according to the node order until all nodes in the node order set satisfy the resource constraint check, then a set of planning task plans that meet the resource constraints is obtained.

[0169] Specifically, when performing resource requirement detection based on the resource requirement network, if the resource constraint check result of the current node is not satisfied, the adjustment of the task corresponding to this node includes: obtaining the current time. If the current time is greater than or equal to the nominal processing time of the start node of the phase to which the current node belongs and less than or equal to the nominal processing time of the end node of the phase, then this resource processing phase is a conflict phase, and the task to which it belongs is a resource conflict task. According to the conflict resolution strategy, determine the task to be adjusted and its adjustment information. According to the time constraint and logical constraint of the task, re-determine the execution time of the task to be adjusted and its subsequent related tasks, generate an updated temporary task plan. According to the updated temporary task plan, update the resource processing phase time information of the adjusted task and its subsequent tasks in the resource requirement network, and update the node sequence set.

[0170] In this embodiment, the specific steps of the platform resource constraint detection algorithm are shown in Algorithm 1 as follows:

[0171]

[0172]

[0173] For the above algorithm, the resource flow is only processed at the nodes and remains unchanged between the nodes, enabling the resource inference to advance with variable step sizes, reducing the number of resource calculation steps, and improving the calculation efficiency. There will be multiple resource requirement networks in the planning. Since each network can be inferred independently and without mutual influence, parallel inference can be performed.

[0174] The processing time of each node in Step 2 is not necessarily t ns 、t nm or t ne , and any time point in or can also be selected as the processing time.

[0175] The conflict resolution strategy in Step 5-(2) is formulated by comprehensively considering factors such as the priority, importance, and time redundancy of the conflict tasks. In this embodiment, existing strategies can be adopted for the conflict resolution strategy.

[0176] In the resource requirement network, according to the relationship between the task start point end point and the current time t, the resource processing nodes can be divided into three categories: nodes belonging to tasks that have been completed, that is, nodes belonging to tasks in the process of execution, that is, nodes belonging to tasks that have not been executed, that is,

[0177] In the resource demand network, task adjustment affects the nodes of tasks being executed and tasks not yet executed, but has no impact on the nodes of tasks that have been completed. Therefore, in each calculation process of resource flow advancement after task adjustment, only in Step 5-(5) does the time need to be rolled back to the processing time of the nearest non-affected node, that is, the last stage node of the previous completed task.

[0178] In this embodiment, similarly, the demand for man-hours by tasks is also divided by stage. Therefore, the man-hour resources can also construct a resource demand network, and the specific steps of the man-hour resource demand reasoning algorithm are shown in Algorithm 2:

[0179]

[0180] For the above algorithm, in Step 3, since man-hours are cyclically restored on a daily basis, it is necessary to divide the resource processing nodes on a daily basis and perform man-hour reasoning on a daily basis. In Step 4, since there is no distinction between astronauts during the short-term operation of the space station, when performing man-hour resource reasoning, compared with only one resource flow for a type of platform resource, the man-hour resource flow will be differentiated according to the number of astronauts on the station. Each differentiated resource flow represents the working man-hours of an astronaut. When performing specific resource node processing, astronauts are selected according to the man-hour balanced scheduling strategy and the working man-hours are arranged.

[0181] When the execution time of a task is adjusted due to constraint conflicts, the resource processing nodes will be adjusted accordingly, and the day on which they are located may change. Therefore, when the task is adjusted, Step 3 needs to be repeated to update the day on which the node is located.

[0182] Immediately afterwards, for the resource demand network after resource constraint checking, based on the idea of maximum flow, the resource envelope is calculated by selecting the extreme resource processing situation (only consumption or only production) at a moment, including: constructing a set of processed nodes, a set of nodes to be processed, and a set of unprocessed nodes, and dividing each node in the resource demand network into the corresponding node set according to the current processing time, as Figure 7 shown, and calculating the resource flow value at the current processing time according to the nodes in the set of processed nodes, calculating the change amount of the resource flow value at the current processing moment according to the nodes in the set of nodes to be processed, then predicting the resource envelope value at the current processing time according to the resource flow value and the change amount of the resource flow value, and finally determining whether the current processing moment is the termination time. If not, predicting the resource envelope value at the next processing time according to the planning step length. If so, outputting the resource envelope values at each processing moment on the time line of the resource demand network.

[0183] Specifically, the set of processed nodes contains all nodes whose latest processing time is before the current processing time t, that is:

[0184]

[0185] Specifically, the set of nodes to be processed includes all nodes whose earliest processing time is before the current processing time t and whose latest processing time is after the current processing time t, that is

[0186]

[0187] Specifically, the set of unprocessed nodes includes all nodes whose earliest processing time is after the current processing time t, that is:

[0188]

[0189] When calculating the resource envelope, since the nodes in have been processed, so the resource flow value at the current processing time t is:

[0190]

[0191] In formula (22), represents the set of processed nodes, V C represents the nodes in the set of processed nodes, and respectively represent the required resource processing amounts of the nodes corresponding to different resource processing stages.

[0192] While the nodes in have not been processed yet, so they will not affect the resource flow at the current processing time t. Therefore, the change in the resource flow caused by the nodes in is:

[0193]

[0194] And it is actually when processing the nodes that the resource flow branches to form the resource envelope. Since each node in can select any time point within the adjustment interval as the processing time of the node, which makes it uncertain whether each v p is processed at the current processing time t, resulting in multiple branches of execution situations. In order to calculate the upper and lower bounds of the resource envelope in all possible execution situations, in this embodiment, calculating the change in the resource flow value at the current processing time according to the nodes in the set of nodes to be processed includes: the change in the resource flow value at the current processing time includes the upper bound of the change and the lower bound of the change. According to the required resource processing amounts of the nodes, the nodes in the set of nodes to be processed are divided into consumption nodes and production nodes.

[0195] When calculating the upper bound of the change amount, the resource flow value of the consumption node is calculated first. At the current processing time, the resource flow value of the consumption node is calculated. If the latest initial time of the production node is equal to the current processing time, the resource flow value of the production node is calculated at the current processing time, and the resource flow values of the consumption node and the production node are used as the upper bound of the change amount. Otherwise, only the resource flow value of the consumption node is used as the upper bound of the change amount. When calculating the lower bound of the change amount, the resource flow value of the production node is calculated first. At the current processing time, the resource flow value of the production node is calculated. If the latest initial time of the consumption node is equal to the current processing time, the resource flow value of the consumption node is calculated at the current processing time, and the resource flow values of the consumption node and the production node are used as the lower bound of the change amount. Otherwise, only the resource flow value of the production node is used as the lower bound of the change amount.

[0196] Specifically, the nodes in or are divided into consumption points v , and the nodes in p+ or are divided into production points v . Then, the extreme value sampling method is used to select the processing time of each v p- . The specific method is as follows: p (1) When calculating the upper bound of the resource envelope, the calculation of resource consumption is prioritized. For v

[0197] , processing is performed at the current processing time t. For v p+ , if the latest processing time p- of the node is equal to t, processing is performed at the current processing time t. Otherwise, no processing is performed. The change amount of the resource flow value at time t is

[0198] (2) When calculating the lower bound of the resource envelope, the calculation of resource production is prioritized. For v p- , processing is performed at the current processing time t. For v p+ , if the latest processing time of the node is equal to t, processing is performed at the current processing time t. Otherwise, no processing is performed. The change amount of the resource flow value at time t is

[0199] Furthermore, predicting the resource envelope value at the current processing time based on the resource flow value and the change amount of the resource flow value includes: the envelope value at the current processing time includes the upper envelope value and the lower envelope value. The upper envelope value is predicted based on the resource flow value and the upper bound of the change amount, and the lower envelope value is predicted based on the resource flow value and the lower bound of the change amount.

[0200] In this embodiment, a specific step of the resource envelope maximum flow algorithm is also provided as shown in Algorithm 3:

[0201]

[0202] It should be noted that in Step 4, when there is no change, the resource flow value at the current processing time t is the same as that at the previous time t - 1, that is:

[0203] When the number of nodes in increases, then it becomes:

[0204]

[0205] In formula (24), is the newly added set of processed nodes.

[0206] In Step 5, at each moment, it is necessary to recalculate and and it has nothing to do with and at the previous time.

[0207] Finally, the plan is modified according to the resource envelope. Actually, it is a local optimization process based on a time, logic, and resource constraint satisfaction plan. Therefore, the integrity of the original plan cannot be damaged. During the process of peak shaving for resource consumption, since the peak consumption of non-recoverable resources is caused by cumulative resource consumption, using peak shaving can only shift the peak on the time line and cannot reduce or eliminate it. Therefore, peak shaving is only limited to recoverable resources. To sum up, the following requirements for the resource consumption peak shaving algorithm based on the resource envelope are as follows:

[0208] (1) Calculate the resource envelope for all types of resources and perform resource constraint consistency checks, but only perform peak shaving on recoverable resources, and feedback the constraint conflict time points of non-recoverable resources to the planners as the basis for manual plan adjustment;

[0209] (2) It is necessary to achieve plan adjustment with a small adjustment cost, and no tasks should be cut during the adjustment process;

[0210] (3) Different from the plan adjustment by detecting resource constraints for each node in the resource demand network, the adjusted plan does not need to ensure that the predicted consumption peak must meet the resource constraints. Instead, on the premise of meeting (2), it is necessary to make the peak drop or approach the resource threshold as much as possible.

[0211] In this embodiment, as Figure 8As shown in the figure, decoupling the resource peak shaving process for each conflict moment in the resource demand network of recoverable resources in chronological order includes: based on the earliest unprocessed resource constraint conflict moment, determining the current processing moment, sorting the task consumption phases that generate conflicts at the current processing moment in descending order according to the resource consumption, adopting peak shaving processing, adjusting the task belonging to the current maximum consumption phase that can be moved, and determining whether the adjusted task meets the time constraint. If it does not meet the time constraint, set it as the current immovable task and adjust the next task in the descending order. If it meets the time constraint, process the adjusted task and its subsequent tasks, and determine whether there is task pruning. If there is task pruning, set the adjusted task as the current immovable task and do not retain this adjustment. If there is no task pruning, retain this adjustment.

[0212] Furthermore, when performing peak shaving processing, preferentially adjust the task belonging to the maximum consumption phase, adopt a delayed adjustment method, and adjust the node of the corresponding task phase to be processed after the latest processing time of the node corresponding to the minimum consumption phase. And the delayed adjustment time amount is calculated using the following formula:

[0213]

[0214] In formula (25), represents the latest processing time of the task belonging to the minimum consumption phase, represents the earliest processing time of the task belonging to the maximum phase.

[0215] Moreover, after re-predicting the resource envelope of the adjusted resource demand network and re-checking the resource constraints, also output the time points where conflicts still exist after the adjustment of the recoverable resources and the relevant task consumption phases.

[0216] In this embodiment, a specific step of a resource consumption peak shaving algorithm based on the resource envelope is also provided as shown in Algorithm 4:

[0217]

[0218]

[0219] Regarding the above algorithm, it should be noted that:

[0220] (1) In Step 2, at time t, the earliest time point needs to be selected among the unprocessed resource constraint conflict moments of all recoverable resources. This is because adjusting one task will cause subsequent tasks to be adjusted successively due to the chain reaction, and the algorithm adopts delayed processing for conflict tasks, which may lead to new constraint conflict points for other resources at subsequent times. To solve all resource constraint conflicts at once, it is necessary to process all recoverable resources in parallel.

[0221] (2)In Step 3-(2), in order to avoid adding a large number of redundant resource constraint consistency checks and conflict decoupling steps during the correction process, a peak-shifting method for the consumption stage is designed. The basic idea of this algorithm is to perform peak-shifting processing on the resource consumption stages of each task according to the results of the resource constraint consistency check, so as to achieve the decoupling of resource constraint conflicts.

[0222] (3)In Step 6, after all resource conflicts are processed, the resource envelope is reused to perform resource constraint consistency checks, and the constraint conflict time points of non-recoverable resources and the relevant task consumption stages are output for manual modification according to them, as well as the time points and relevant task consumption stages where conflicts still exist after the processing of recoverable resources.

[0223] In order to verify the effectiveness of the peak-shifting method for task plan resource conflicts in this paper, experimental simulations are also carried out according to this method. Four types of constraints are set in the planning scenario. The attributes of each type of resource and the upper limit values of resource consumption in each stage of the planning are shown in Table 3, where the start time and end time of each stage are the interval times relative to the start time of the scenario.

[0224] Among the 177 tasks in the planning scenario, 28 tasks with close execution intervals are selected and the relevant resource processing information is configured, as shown in Table 4, where the start time and end time of the resource processing stage are the interval times relative to the start time of the task. Some tasks are set for multi-stage and multi-type resource processing.

[0225] Among the 28 selected short-term operation tasks of the space station, Tasks 3, 9, 10, 13, 78, and 122 are repeated tasks. After disassembly, they become 35 tasks. The resource processing information of the disassembled tasks is the same as that of the original tasks. The specific information of each disassembled task is shown in Table 5.

[0226] Table 3 Resource Information in the Planning of Short-Term Operation Tasks of the Space Station

[0227]

[0228] Table 4 Task Resource Processing Information in the Planning of Short-Term Operation Tasks of the Space Station (Time Unit: Hour)

[0229]

[0230] Table 5 Disassembly Information of Repeated Tasks

[0231]

[0232] Then, according to the method proposed in this article, a material demand network corresponding to each material is constructed. After reasoning about the nodes in the material demand network according to resource constraints, the following results are obtained:

[0233] The designed resource demand reasoning algorithm is used to process 35 tasks, of which 33 tasks meet the resource constraint consistency after time adjustment. Table 6 shows the comparison of task execution time before and after reasoning. The execution time in the table is the interval time with the start time of the planning scenario. Before reasoning, each task uses the nominal time as the execution time. Figure 9 The Gantt chart of the solution execution is given. By comparing the data in the chart, it can be seen that for most tasks, when there is no resource constraint conflict, the execution time is the same as the execution time obtained after time logic constraint reasoning.

[0234] Table 6 Task execution time information after resource requirement reasoning (time unit: hour)

[0235]

[0236]

[0237] Through comprehensive analysis of Table 4 and Figure 9 Based on the information in , we can get the adjustment reasons of 5 adjusted tasks and the cutting reasons of 2 cut tasks, as shown in Table 7 and Table 8. By comparing the above two tables, we can see that the adjusted tasks basically have a wider adjustable range, and the resources that cause conflicts are generally recoverable resources. It is precisely because there is no consumption accumulation in the consumption process of recoverable resources that when tasks have resource constraint conflicts, they can meet resource constraint consistency by adjusting the timeline to stagger the immediate resource consumption peak. For non-recoverable resources, unless they are cut or moved to productive tasks for execution, the consumption peak cannot be eliminated no matter how they are adjusted.

[0238] Table 7 Reasons for adjusting the adjusted tasks

[0239]

[0240] Table 8 Task pruning reasons

[0241]

[0242] like Figure 10 As shown in the figure, the consumption curves of various resources are given, from which we can clearly see the changes in resource consumption before and after resource demand reasoning. It can be seen that before reasoning, there were time periods when power, robotic arms, and propellants violated resource constraints, which were completely eliminated after reasoning. Figure 10 (c) and Figure 10It can be seen from (d) that there are one or two resource replenishment situations for the propellant and on-orbit storage space, enabling the resource constraints of subsequent tasks to be met.

[0243] However, it can be seen from the example that the resource demand reasoning method based on the resource demand network can effectively solve various resource conflict situations in the solution and meet the constraint consistency requirements of the solution. However, further analysis of the reasoning results shows that although the current solution meets the resource constraints, the interval time of some tasks is relatively close. For example, Figure 10 in (a), the power demand is relatively intensive (marked by the dotted circle) near the time points of 1370h, 1680h, and 1730h. There may be a situation where the resource constraints of subsequent tasks are not met due to the adjustment of previous tasks. To minimize the impact caused by task adjustment, the task resource demand envelope prediction method is then used to enhance the robustness of the solution.

[0244] To verify the proposed envelope-based method for staggering resource consumption. Since the short-term operation tasks of the space station in the example have a large demand for power, this example mainly focuses on the calculation of the power resource envelope and the staggering of peaks. As Figure 11 shown, the upper bound of the power resource envelope is given. It can be seen from the figure that although the resource consumption curve after resource demand reasoning is indeed lower than the upper bound of the resource envelope, due to the fact that the adjustable time interval span of some tasks in the example is generally in the interval of [24h, 120h], the upper bound of the resource envelope is overestimated. Therefore, even if the peak staggering algorithm is used, it cannot completely eliminate the resource conflicts of the upper bound of the envelope, and can only stagger the consumption peaks as much as possible.

[0245] After peak staggering processing, the information of the adjusted tasks and the execution Gantt chart are respectively as Figure 12 shown in Table 9. Among the 6 adjusted tasks, tasks 183 and 184 are the repeated disassembly tasks of task 9, and task 182 is the repeated disassembly task of task 3. In fact, the tasks really adjusted by peak staggering are tasks 9, 3, and 87. From Table 6 and Figure 11 it can be known that before processing, tasks 9, 3, and 87 overlapped with multiple tasks in time during execution, had a high demand for power, and had a relatively wide adjustable interval. Therefore, they were preferentially adjusted during peak staggering processing.

[0246] Table 9 Information of adjusted tasks by peak staggering processing (time unit: hour)

[0247]

[0248] Figure 13 The power consumption curve after peak staggering processing and its upper envelope bound are given. In Figure 13In (a), by comparing the upper bound curves of resources before and after peak staggering processing, it can be seen that the peak value of the envelope upper bound in the interval [1360h, 1460h] has decreased, while the upper bound curve of resources in the interval [1460h, 1480h] has increased. This is because tasks 183 and 87 are adjusted to this interval, and there is little difference before and after at other positions on the timeline. And in Figure 13 In (b), it can be seen more clearly and in detail that after peak staggering processing, the execution times of tasks are staggered from each other, and the maximum value of resource consumption can basically be maintained at about 2000W, so that the processed task plan retains a large resource margin.

[0249] The above method for peak staggering processing of resource conflicts in a task plan based on resource envelope first establishes a resource demand inference network according to resource demand attributes and a resource processing mode model, then designs an envelope calculation method based on maximum flow to estimate the time interval of resource conflicts, and finally designs a peak staggering algorithm for task resource consumption to perform peak staggering processing on the conflict stage of task resource consumption, resolve resource conflicts, and improve the robustness of the plan. Using this method can predict each time point with potential resource conflict hazards, and each hazard time point needs to be processed according to whether there is room for adjustment, which can improve the robustness of the plan. In addition, the peak staggering method in the consumption stage is adopted in the algorithm. Compared with the method of directly delaying the task until after another conflicting task ends, it can avoid large-scale adjustments to the plan and reduce the number of iterative corrections.

[0250] It should be understood that although Figure 1 the steps in the flowchart of Figure 1 are shown in sequence according to the indication of the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover,

[0251] In one embodiment, as Figure 14 shown, a device for peak staggering processing of resource conflicts in a task plan based on resource envelope is provided, including: a task plan acquisition module 200, a task attribute type classification module 210, a resource demand network construction module 220, a resource envelope prediction module 230, a resource peak staggering processing module 240, a time manual adjustment module 250, and a final planned task plan obtaining module 260, where:

[0252] A task plan acquisition module 200, configured to acquire a temporary planning task plan, where the temporary planning task plan meets time constraints and logical constraints;

[0253] A task attribute type classification module 210, configured to classify the attribute types of resources required for each task in the temporary planning task plan by using a resource processing mode model, and match a corresponding processing plan according to the classification result. The resources are classified into recoverable resources and non-recoverable resources according to the recovery attribute;

[0254] A resource requirement network construction module 220, configured to select all tasks related to a certain type of resource from the temporary planning task plan, extract information on each processing stage in the tasks, and construct a corresponding directed and acyclic resource requirement network according to the attribute type of the resource, the corresponding processing plan, and the information on each processing stage in the tasks. Among them, the resource requirement network includes multiple nodes and directed edges connecting two related nodes, and each node is marked with the earliest processable time, the latest processable time of the corresponding resource processing stage, and the resource processing amount required for this stage;

[0255] A resource envelope prediction module 230, configured to perform prediction according to the information of each node in the resource requirement network to obtain the resource envelope at each processing moment in the resource requirement network. The resource envelope includes a resource upper bound value and a resource lower bound value;

[0256] A resource peak-shaving processing module 240, configured to use the resource envelope upper bound value to perform resource constraint checking, determine the conflict moments of each resource constraint, and decouple each conflict moment in the resource requirement network of recoverable resources in chronological order by using resource peak-shaving processing to obtain an adjusted resource requirement network of recoverable resources;

[0257] A time manual adjustment module 250, configured to output the conflict moments and related task consumption stages in the resource requirement network of non-recoverable resources, obtain an adjustment instruction, and adjust the task processing time related to each conflict moment in the resource requirement network of non-recoverable resources according to the adjustment instruction to obtain an adjusted resource requirement network of non-recoverable resources;

[0258] A final planning task plan obtaining module 260, configured to re-predict the resource envelope of the adjusted resource requirement network, and re-perform resource constraint checking until all conflict moments are processed. Then, it outputs the resource requirement networks of all adjusted resources, and adjusts the temporary planning task plan according to the adjusted resource requirement network to obtain a final planning task plan.

[0259] For the specific limitations of the device for handling resource conflict peak shaving of task plans based on resource envelopes, reference can be made to the limitations of the method for handling resource conflict peak shaving of task plans based on resource envelopes in the foregoing text, which will not be elaborated herein. Each module in the above-mentioned device for handling resource conflict peak shaving of task plans based on resource envelopes can be implemented in whole or in part by software, hardware, and their combination. The above-mentioned modules can be embedded in the processor of the computer device in hardware form or be independent of it, or be stored in the memory of the computer device in software form, so as to facilitate the processor to call and execute the operations corresponding to the above-mentioned modules.

[0260] In one embodiment, a computer device is provided. The computer device can be a terminal, and its internal structure diagram can be as Figure 15 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, it implements a method for handling resource conflict peak shaving of task plans based on resource envelopes. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer covering the display screen, or a button, a trackball, or a touchpad provided on the housing of the computer device, or an external keyboard, a touchpad, or a mouse, etc.

[0261] Those skilled in the art can understand that Figure 15 the structure shown in

[0262] is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the computer device to which the solution of this application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0263] Obtain a temporary planned task plan, where the temporary planned task plan meets time constraints and logical constraints;

[0264] Classify the attribute types of the resources required for each task in the temporary planning task plan using a resource processing mode model, and match the corresponding processing plan according to the classification result. The resources are classified into recoverable resources and non-recoverable resources according to the recovery attribute;

[0265] Select all tasks related to a certain type of resource from the temporary planning task plan, extract the information of each processing stage in the task, and construct a corresponding directed and acyclic resource demand network according to the attribute type of the resource, the corresponding processing plan, and the information of each processing stage in the task. Among them, the resource demand network includes multiple nodes and directed edges connecting two related nodes, and each node is marked with the earliest processable time, the latest processable time of the corresponding resource processing stage, and the resource processing volume required for this stage;

[0266] Predict according to the information of each node in the resource demand network to obtain the resource envelope at each processing moment in the resource demand network. The resource envelope includes the resource upper bound value and the resource lower bound value;

[0267] Use the resource envelope upper bound value to perform resource constraint checking, determine the conflict moments of each resource constraint, and decouple each conflict moment in the resource demand network of recoverable resources in chronological order using resource peak shifting processing to obtain an adjusted resource demand network of recoverable resources;

[0268] And output the conflict moments and related task consumption stages in the resource demand network of non-recoverable resources, obtain an adjustment instruction, and adjust the task processing time related to each conflict moment in the resource demand network of non-recoverable resources according to the adjustment instruction to obtain an adjusted resource demand network of non-recoverable resources;

[0269] Re-predict the resource envelope of the adjusted resource demand network and re-perform resource constraint checking until all conflict moments are processed, then output the resource demand network of all adjusted resources, and adjust the temporary planning task plan according to the adjusted resource demand network to obtain the final planning task plan.

[0270] 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 following steps are implemented:

[0271] Obtain a temporary planning task plan, and the temporary planning task plan satisfies time constraints and logical constraints;

[0272] Classify the attribute types of the resources required for each task in the temporary planning task plan using a resource processing mode model, and match the corresponding processing plan according to the classification result. The resources are classified into recoverable resources and non-recoverable resources according to the recovery attribute;

[0273] Select all tasks related to a certain type of resource from the temporary planning task plan, extract the information of each processing stage in the tasks, and construct a corresponding directed and acyclic resource requirement network according to the attribute type of the resource, the corresponding processing plan, and the information of each processing stage in the tasks. Among them, the resource requirement network includes multiple nodes and directed edges connecting two related nodes, and each node is marked with the earliest processable time, the latest processable time of the corresponding resource processing stage, and the resource processing volume required for this stage;

[0274] Predict according to the information of each node in the resource requirement network to obtain the resource envelope at each processing moment in the resource requirement network. The resource envelope includes the resource upper bound value and the resource lower bound value;

[0275] Use the resource envelope upper bound value to perform resource constraint checking, determine the conflict moments of each resource constraint, and decouple each conflict moment in the resource requirement network of recoverable resources in chronological order by using resource peak shifting processing to obtain the adjusted resource requirement network of recoverable resources;

[0276] And output the conflict moments and related task consumption stages in the resource requirement network of non-recoverable resources, obtain an adjustment instruction, and adjust the task processing time related to each conflict moment in the resource requirement network of non-recoverable resources according to the adjustment instruction to obtain the adjusted resource requirement network of non-recoverable resources;

[0277] Re-predict the resource envelope of the adjusted resource requirement network and re-perform resource constraint checking until all conflict moments are processed, then output the resource requirement network of all adjusted resources, and adjust the temporary planning task plan according to the adjusted resource requirement network to obtain the final planning task plan.

[0278] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. 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 methods. Among them, any reference to a memory, storage, database, or other medium used in the various embodiments provided in the present application can include non-volatile and / or volatile memories. Non-volatile memories can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memories can include random access memory (RAM) or external cache memory. By way of 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 (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and Rambus dynamic RAM (RDRAM), etc.

[0279] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, 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, it should be considered as the scope described in this specification.

[0280] The above-described embodiments merely represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, 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 appended claims.

Claims

1. A method for peak-shifting processing of resource conflicts in task solutions based on resource envelopes, characterized in that, The method includes: Obtaining a temporary planning task plan that satisfies time constraints and logical constraints; Classifying the attribute types of the resources required for each task in the temporary planning task plan by using a resource processing mode model, and matching corresponding processing plans according to the classification results. The resources are classified into recoverable resources and non-recoverable resources according to the recovery attribute; Selecting all tasks related to a certain type of resource from the temporary planning task plan, and extracting the information of each processing stage in the tasks. A corresponding directed and acyclic resource requirement network is constructed according to the attribute type of the resource, the corresponding processing plan, and the information of each processing stage in the tasks. The resource requirement network includes multiple nodes and directed edges connecting two related nodes, and each node is marked with the earliest processable time, the latest processable time of the corresponding resource processing stage, and the resource processing amount required for this stage; Predicting according to the information of each node in the resource requirement network to obtain the resource envelope at each processing moment in the resource requirement network. The resource envelope includes the resource upper bound value and the resource lower bound value; Using the resource envelope upper bound value to perform resource constraint checking, determining the conflict moments of each resource constraint, and decoupling each conflict moment in the resource requirement network of recoverable resources in chronological order by using resource peak shifting processing to obtain the adjusted resource requirement network of recoverable resources; Outputting the conflict moments and related task consumption stages in the resource requirement network of non-recoverable resources, obtaining an adjustment instruction, and adjusting the task processing time related to each conflict moment in the resource requirement network of non-recoverable resources according to the adjustment instruction to obtain the adjusted resource requirement network of non-recoverable resources; Re-predicting the resource envelope of the adjusted resource requirement network and re-performing resource constraint checking until all conflict moments are processed, then outputting the resource requirement network of all adjusted resources, and adjusting the temporary planning task plan according to the adjusted resource requirement network to obtain the final planning task plan.

2. The method for staggered processing of task plan resource conflicts according to claim 1, wherein The step of decoupling each conflict moment in the resource requirement network of recoverable resources in chronological order by using resource peak shifting processing includes: Determining the current processing moment according to the earliest unprocessed resource constraint conflict moment; Sorting the task consumption stages that generate conflicts at the current processing moment in descending order according to the resource consumption amount; Performing peak shifting processing to adjust the task to which the current maximum movable consumption stage belongs, and judging whether the adjusted task satisfies the time constraint; If it does not satisfy the time constraint, set it as the current immovable task, and adjust the next task in the descending order. If it satisfies the time constraint, process the adjusted task and its subsequent tasks, and judge whether there is task trimming; If there is task trimming, set the adjusted task as the current immovable task and do not retain this adjustment. If there is no task trimming, retain this adjustment.

3. The method for staggered processing of task plan resource conflicts according to claim 2, wherein When performing peak-shaving processing, tasks belonging to the stage with the largest consumption are preferentially adjusted. The delay adjustment method is adopted to adjust the nodes of the corresponding task stage to be processed after the latest processing time of the nodes corresponding to the stage with the smallest consumption.

4. The task plan resource conflict peak-shifting processing method according to claim 3, characterized in that The delay adjustment time amount is calculated using the following formula: In the above formula, represents the latest processing time of the task belonging to the stage with the minimum consumption, represents the earliest processing time of the task belonging to the maximum stage.

5. The method for staggered processing of task plan resource conflicts according to claim 4, wherein After re-predicting the resource envelope of the adjusted resource demand network and re-performing resource constraint checks, the time points where conflicts still exist after the adjustment of recoverable resources and the relevant task consumption stages are also output.

6. The method for staggered processing of task plan resource conflicts according to claim 5, wherein The prediction of the resource envelope at each processing time in the resource demand network based on the information of each node in the resource demand network includes: Construct a set of processed nodes, a set of nodes to be processed, and a set of unprocessed nodes, and divide each node in the resource demand network into the corresponding node set according to the current processing time; Calculate the resource flow value at the current processing time based on the nodes in the set of processed nodes, calculate the change amount of the resource flow value at the current processing time based on the nodes in the set of nodes to be processed, and then predict the resource envelope value at the current processing time based on the resource flow value and the change amount of the resource flow value; Judge whether the current processing time is the termination time. If not, predict the resource envelope value at the next processing time according to the planning step length. If so, output the resource envelope values at each processing time on the time line of the resource demand network.

7. The task scheme resource conflict peak-shifting processing method according to claim 6, wherein The calculation of the change amount of the resource flow value at the current processing time based on the nodes in the set of nodes to be processed includes: The change amount of the resource flow value at the current processing time includes an upper bound of the change amount and a lower bound of the change amount; Divide the nodes in the set of nodes to be processed into consumption nodes and production nodes according to the required resource processing amount of each node; When calculating the upper bound of the change amount, calculate the resource flow value of the consumption nodes first. At the current processing time, calculate the resource flow value of the consumption nodes. If the latest start time of the production nodes is equal to the current processing time, calculate the resource flow value of the production nodes at the current processing time, and use the resource flow values of the consumption nodes and the production nodes as the upper bound of the change amount. Otherwise, only use the resource flow value of the consumption nodes as the upper bound of the change amount; When calculating the lower bound of the change amount, calculate the resource flow value of the production nodes first. At the current processing time, calculate the resource flow value of the production nodes. If the latest start time of the consumption nodes is equal to the current processing time, calculate the resource flow value of the consumption nodes at the current processing time, and use the resource flow values of the consumption nodes and the production nodes as the lower bound of the change amount. Otherwise, only use the resource flow value of the production nodes as the lower bound of the change amount.

8. The method for staggered processing of task plan resource conflicts according to claim 7, characterized in that, The resource constraint check using the upper bound value of the resource envelope includes: Sort each node according to the processing time order of each node in the resource demand network, and generate a node order set; Recommend and process the resource flow according to the nodes in the node order set. Each time a node is advanced, check according to the resource constraints. If the check result of the current node is satisfied, continue to advance the resource flow according to the node order and check the resource constraints for the next node; If the resource constraint check result of the current node is not satisfied, determine the processing time corresponding to this node as the conflict time of the resource constraint.

9. The method for staggered processing of task plan resource conflicts according to claim 8, characterized in that, Before predicting the resource envelope at each processing time in the resource demand network based on the information of each node in the resource demand network, each node in the resource demand network is also checked according to the resource constraint and adjusted accordingly, so that each node in the resource demand network satisfies the resource constraint consistency.

10. A task plan resource conflict peak-shifting processing device based on resource envelope, characterized in that The device includes: A task plan acquisition module, configured to acquire a temporary planned task plan that satisfies time constraints and logical constraints; A task attribute type classification module, configured to classify the attribute types of the resources required for each task in the temporary planned task plan by using a resource processing mode model, and match the corresponding processing plan according to the classification result. The resources are classified into recoverable resources and non-recoverable resources according to the recovery attribute; A resource demand network construction module, configured to select all tasks related to a certain type of resource from the temporary planned task plan, extract the information of each processing stage in the task, and construct a corresponding directed and acyclic resource demand network according to the attribute type of the resource, the corresponding processing plan, and the information of each processing stage in the task. The resource demand network includes multiple nodes and directed edges connecting two related nodes, and each node is marked with the earliest processable time, the latest processable time of the corresponding resource processing stage, and the required resource processing amount for this stage; A resource envelope prediction module, configured to predict according to the information of each node in the resource demand network to obtain the resource envelope at each processing time in the resource demand network. The resource envelope includes a resource upper bound value and a resource lower bound value; A resource peak shifting processing module, configured to use the resource envelope upper bound value to perform resource constraint check, determine the conflict time of each resource constraint, and decouple each conflict time in the resource demand network of recoverable resources in chronological order by using resource peak shifting processing to obtain the adjusted resource demand network of recoverable resources; A time manual adjustment module, configured to output the conflict times and related task consumption stages in the resource demand network of non-recoverable resources, obtain an adjustment instruction, and adjust the task processing times related to each conflict time in the resource demand network of non-recoverable resources according to the adjustment instruction to obtain the adjusted resource demand network of non-recoverable resources; A final planned task plan obtaining module, configured to re-predict the resource envelope of the adjusted resource demand network and re-perform resource constraint check until all conflict times are processed, then output the resource demand networks of all adjusted resources, and adjust the temporary planned task plan according to the adjusted resource demand network to obtain the final planned task plan.

Images