Multi-task-oriented sensor scheduling method and system

Abstract

The invention discloses a multi-task-oriented sensor scheduling method and system, and belongs to the technical field of sensor scheduling. In the scheme of the invention, an alternate agent collects all tasks to obtain a first task list, and formulates a sensor scheduling scheme according to the requirements of all the tasks on a sensor; other agents collect all the tasks to obtain a second task list, and if the number of the tasks in the second task list is larger than that in the first task list, a reverse ticket is put; if not, sponsoring to form a ticket; then counting whether the whole ticket is approved by the round value agent, if so, carrying out sensor scheduling based on a sensor scheduling scheme, and selecting a new round value agent to enter the next round value period; otherwise, the agent which puts the reverse ticket publishes the second task list, and selects a new round agent to enter the next round period. According to the scheme, multi-task-oriented multi-sensor resource collaborative scheduling is realized.

Description

Technical Field

[0001] The present application belongs to the technical field of sensor scheduling, and more specifically, to a multi-task oriented sensor scheduling method and system. Background Art

[0002] Under the distributed conditions of future maritime formations, the platforms within the formation will be characterized by wide-area distribution and clustered aggregation, and the sensor resources within the formation will be further elementized.

[0003] As the types and numbers of sensors in a formation increase, and different sensors have different perception types, perception capabilities, perception accuracy, and work plans, it becomes increasingly difficult to coordinate and optimize the scheduling of multi-task sensor resources within the formation. Summary of the invention

[0004] In response to the above defects or improvement needs of the prior art, the present application provides a multi-task oriented sensor scheduling method and system, which aims to solve the technical problem that sensor resources in the current distributed formation are difficult to reasonably schedule and allocate.

[0005] To achieve the above objectives, in a first aspect, the present application provides a multi-task oriented sensor scheduling method, the sensor scheduling method comprising the following steps:

[0006] The rotating agent collects all tasks, obtains the first task list, and formulates a sensor scheduling plan based on the sensor requirements of all tasks;

[0007] Other agents collect all tasks and get the second task list. If the second task list has more tasks than the first task list, they vote against it; otherwise, they vote in favor.

[0008] The rotating agent counts whether all votes are in favor. If so, the sensor is scheduled based on the sensor scheduling plan and a new rotating agent is selected to enter the next rotation cycle; otherwise, the agent that voted against publishes the second task list and selects a new rotating agent to enter the next rotation cycle.

[0009] Preferably, a sensor scheduling scheme is formulated according to the sensor requirements of all tasks, specifically:

[0010] According to the information that different sensors are required for tasks in different time periods, a sensor scheduling scheme is formulated in which each sensor is applied to different tasks in different time periods;

[0011] In the sensor scheduling scheme, if the same sensor is applied to different tasks in the same time period, a sensor with the same function that is idle in the time period is selected for replacement, thereby updating the sensor scheduling scheme.

[0012] Preferably, the idle sensors within the time period are selected for replacement, specifically:

[0013] If there is an idle sensor with the same function within the time period, the idle sensor with the same function is used for replacement;

[0014] If it does not exist, the time period is divided into multiple small time periods, and the idle sensor combinations with the same function in each small time period are selected for replacement; if multiple sensor combinations exist, the sensor combination with the least number of sensors is selected for replacement.

[0015] Preferably, the task's requirements for sensors are specifically as follows:

[0016]

[0017] Among them, Demand Ti Represents the set of requirements for task Ti; It means that task Ti is between time period tn1 and tn2 and requires sensor sj1; It indicates that between time periods tn3 and tn4, sensor sj2 is required.

[0018] Preferably, the sensor scheduling scheme is specifically manifested as follows:

[0019]

[0020] Among them, Sch Si represents the scheduling set of sensors Si; It means that sensor Si is scheduled to task Task1 between time periods tm1 and tm2; It indicates that the sensor Si is scheduled to the task Task2 between the time periods tn3 and tn4.

[0021] In a second aspect, the present application provides a multi-task oriented sensor scheduling system, the sensor scheduling system comprising a plurality of agents;

[0022] The agent is used to become a rotating agent or other agents in turn according to a preset rotation order;

[0023] The agent is used to become a rotating agent or other agents in turn according to a preset rotation order;

[0024] The rotating agent is used to collect all tasks, obtain a first task list, and formulate a sensor scheduling plan according to the sensor requirements of all tasks therein; it is also used to send the first task list to other agents; it is also used to count all votes, and if the votes are unanimous, the sensor scheduling plan is released to enter the next rotating cycle;

[0025] The other agents are used to collect all tasks and obtain a second task list. If the second task list contains more tasks than the first task list, a negative vote is cast to the rotating agent; otherwise, a positive vote is cast to the rotating agent; and it is also used to determine whether a negative vote is cast. If so, the second task list is shared to enter the next rotation cycle.

[0026] Preferably, the sensor scheduling system further includes a central control unit and a plurality of sensors, wherein the central control unit is used to receive a sensor scheduling plan issued by a rotating agent, and schedule each sensor to complete a task according to the sensor scheduling plan.

[0027] In a third aspect, the present application provides an electronic device, comprising: a memory for storing programs; a processor for executing the programs stored in the memory, when the program stored in the memory is executed, the processor is used to execute the method described in the first aspect or any possible implementation of the first aspect.

[0028] In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program. When the computer program runs on a processor, the processor executes the method described in the first aspect or any possible implementation of the first aspect.

[0029] In a fifth aspect, the present application provides a computer program product. When the computer program product runs on a processor, the processor executes the method described in the first aspect or any possible implementation of the first aspect.

[0030] In general, the above technical solutions conceived by this application have the following beneficial effects compared with the prior art:

[0031] (1) This application schedules sensor resources in a multi-task, multi-sensor platform based on a voting collaboration method. The rotating agent generates a scheduling plan based on task requirements, and other agents vote on the scheduling plan based on the task requirements they have collected, thereby finally determining the scheduling plan. This method does not require all agents to generate a scheduling plan, which reduces the global load and can also ensure the global consistency of the sensor scheduling plan.

[0032] (2) In this application, other agents will determine whether the scheduling plan is reasonable based on the tasks collected locally. When the local tasks are more than the tasks collected by the rotating agent, it can be confirmed that the extra tasks are not planned into the scheduling plan. Therefore, the tasks collected locally are announced, and the scheduling plan is updated in the next round of rotation. This can ensure that the sensor scheduling plan finally implemented can complete all task requirements.

[0033] (3) In this application, when the rotating agent generates a scheduling plan based on the task, it will predict the conflict of the sensor. If a conflict is found, it will resolve the conflict by adopting the principle of minimizing the number of sensor scheduling times, thereby simplifying the scheduling plan and facilitating its implementation. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a flowchart of a multi-task oriented sensor scheduling method provided in an embodiment of the present application.

[0035] Figure 2 It is a schematic diagram of a sensor scheduling scheme that is unanimously passed in a rotation cycle by a multi-task oriented sensor scheduling system provided by an embodiment of the present application.

[0036] Figure 3 It is a schematic diagram of a sensor scheduling scheme that fails to pass unanimously in a rotation cycle in a multi-task sensor scheduling system provided by an embodiment of the present application.

[0037] Figure 4 It is a schematic diagram of the composition of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0039] The terms "first", "second", etc. in the specification and claims herein are used to distinguish different objects rather than to describe a specific order of objects. For example, a first task list and a second task list are used to distinguish different task lists rather than to describe a specific order of task lists.

[0040] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0041] In the description of the embodiments of the present application, unless otherwise specified, "multiple" means two or more than two. For example, multiple agents refer to two or more agents, etc.; multiple sensors refer to two or more sensors, etc.

[0042] Next, the technical solutions provided in the embodiments of the present application are introduced.

[0043] Figure 1 is a flow chart of a multi-task oriented sensor scheduling method provided by an embodiment of the present application. Figure 1 As shown, the multi-task sensor scheduling method of the present application includes the following steps:

[0044] S1. The current rotating agent collects all tasks, obtains the first task list, and formulates a sensor scheduling plan based on the sensor requirements of all tasks; specifically, it includes:

[0045] S11. According to the information that different sensors are required for tasks in different time periods, a sensor scheduling scheme is formulated in which each sensor is applied to different tasks in different time periods;

[0046] Among them, the task's requirements for sensors are as follows:

[0047]

[0048] Among them, Task i Represents a task i The set of requirements; Represents a task i Between time periods tn1 and tn2, sensor Sensor1 is required; It indicates that between time period tn3 and tn4, sensor Sensor2 is required.

[0049] The developed sensor scheduling scheme is expressed as:

[0050]

[0051] Among them, Sensor i Indicates sensor i The scheduling set of Indicates sensor i Between time periods tm1 and tm2, task Task1 is scheduled; Indicates sensor i Between time periods tn3 and tn4, task Task2 is scheduled.

[0052] S12: In the sensor scheduling scheme, if the same sensor is applied to different tasks in the same time period, a sensor with the same function that is idle in the time period is selected for replacement, thereby updating the sensor scheduling scheme.

[0053] Observe and compare the scheduling schemes of each sensor i If you find:

[0054]

[0055] Then there is a sensor Sensor1 that is applied to Task2 and Task3 in the same time period tm3-tm4, which constitutes a sensor scheduling conflict. Therefore, find out the idle sensors that are not applied to any task between the time period tm3-tm4: Sensor3, Sensor5, Sensor9. The function of sensor Sensor9 is the same as that of sensor Sensor1, so sensor Sensor9 is selected for replacement and the sensor scheduling plan is updated. The updated sensor scheduling plan includes:

[0056]

[0057] S13, if there is no idle sensor Sensor9 with the same function as Sensor1 between the time period tm3-tm4, then the time period is divided into multiple small time periods, and idle sensors with the same function in each small time period are selected and replaced;

[0058] For example, the time period tm3-tm4 is divided into a time period tm3-tm3.5 and a time period tm3.5-tm4.

[0059] During the time period tm3-tm3.5, the idle sensors that are not applied to any task are: Sensor2, Sensor3, Sensor5, Sensor 12 、Sensor 13 、Sensor 19 . Among them, sensor 12 The function of sensor is the same as that of sensor 1, so sensor 1 is selected between time period tm3-tm3.5. 12 .

[0060] During the time period tm3.5-tm4, the idle sensors that are not applied to any task are: Sensor3, Sensor5, Sensor 11 、Sensor 15 、Sensor 24 . Among them, sensor 24 The function of Sensor1 is the same as that of Sensor2, so select Sensor1 between time period tm3.5-tm4. 24 Replace and update the sensor scheduling plan. The updated sensor scheduling plan includes:

[0061]

[0062] S14. If there are multiple sensor combinations, select a sensor combination with the least number of sensors for replacement.

[0063] For example, the sensor scheduling scheme includes:

[0064]

[0065] Can be updated to:

[0066]

[0067] It can also be updated to:

[0068]

[0069] Then select the sensor combination with the least number of sensors for replacement, that is, the combination Sensor 12 、Sensor 24 Replace the conflicting sensor Sensor1. Finally, determine the following in the sensor scheduling scheme:

[0070]

[0071] Updated to:

[0072]

[0073] S2. Other agents collect all tasks and obtain a second task list. If the second task list contains more tasks than the first task list, they vote against it; otherwise, they vote in favor of it.

[0074] If there are more tasks in the second task list than in the first task list, it means that a new task has appeared and the new task is not covered by the sensor scheduling scheme formulated in the first step. Therefore, the sensor scheduling scheme is not suitable for the existing task list and needs to be updated. Other agents cast a negative vote.

[0075] If the number of tasks in the second task list is less than or equal to the first task list, it means that no new tasks appear. Therefore, the sensor scheduling scheme formulated in the first step covers the existing task list. The other agents vote in favor.

[0076] S3. The rotating agent counts whether all votes are in favor. If so, the sensor scheduling is performed based on the sensor scheduling plan, and a new rotating agent is selected to enter the next rotation cycle; otherwise, the agent who voted against it publishes the second task list and selects a new rotating agent to enter the next rotation cycle.

[0077] If all votes are in favor, it means that the tasks collected by other agents do not exceed the coverage of the sensor scheduling plan formulated in the first step. Therefore, all sensors in the global system can be scheduled according to the sensor scheduling plan formulated in the first step.

[0078] If it is not a unanimous vote, there are tasks collected by other agents that exceed the coverage of the sensor scheduling plan formulated in the first step. At this time, other agents who voted against publish their collected task lists and share the task lists globally. This makes it easier to update the sensor scheduling plan in the next rotation cycle so that the new sensor scheduling plan can adapt to the latest task list.

[0079] The present application also implements a multi-task oriented sensor scheduling system, the sensor scheduling system comprising a plurality of agents;

[0080] The agent is used to become a rotating agent or other agents in turn according to a preset rotation order;

[0081] The rotating agent is used to collect all tasks, obtain a first task list, and formulate a sensor scheduling plan according to the sensor requirements of all tasks therein; it is also used to send the first task list to other agents; it is also used to count all votes, and if the votes are unanimous, the sensor scheduling plan is released and the next rotating cycle begins; otherwise, a task sharing instruction is sent to other agents who voted against;

[0082] The other agents are used to collect all tasks and obtain a second task list. If there are more tasks in the second task list than in the first task list, they cast a negative vote to the rotating agent; otherwise, they cast a positive vote to the rotating agent. They are also used to monitor whether a task sharing instruction is received. If received, the second task list is shared to enter the next rotation cycle.

[0083] Figure 2 It is a schematic diagram of a sensor scheduling scheme that is unanimously passed in a rotation cycle by a multi-task oriented sensor scheduling system provided by an embodiment of the present application.

[0084] like Figure 2 As shown, there are three other agents and one rotating agent in the system.

[0085] At the beginning of the cycle, the rotating agent and the three other agents collect tasks respectively.

[0086] The agent on duty then sends a list of its collection tasks to the three other agents.

[0087] Then the other three agents compared their own collection task lists with the received task lists. They found that their own collection task lists were consistent with the received task lists, so the other three agents voted in favor of the rotating agent.

[0088] The agent on duty will formulate a sensor scheduling plan based on the sensor requirements of all tasks in its collection task list. When all votes are in favor, the agent on duty will publish the sensor scheduling plan.

[0089] Enter the next rotation cycle.

[0090] The control unit schedules each sensor to complete the task according to the sensor scheduling plan.

[0091] Figure 3 It is a schematic diagram of a sensor scheduling scheme that fails to pass unanimously in a rotation cycle in a multi-task sensor scheduling system provided by an embodiment of the present application.

[0092] like Figure 3 As shown, there are three other agents and one rotating agent in the system.

[0093] At the beginning of the cycle, the rotating agent and the three other agents collect tasks respectively.

[0094] The agent on duty then sends a list of its collection tasks to the three other agents.

[0095] The three other agents then compare their own lists of collected tasks with the lists of tasks they received. The first and third other agents find that their lists of collected tasks are consistent with the lists of tasks they received, so they vote in favor of the rotating agent. The second other agent finds that its list of collected tasks exceeds the list of tasks it received, so it votes against it.

[0096] The agent on duty will formulate a sensor scheduling plan based on the sensor requirements of all tasks in its collection task list. If a negative vote is received, the agent on duty will not publish the sensor scheduling plan.

[0097] The second other agent publishes the task list it has collected.

[0098] Enter the next rotation cycle.

[0099] It should be understood that the above-mentioned device is used to execute the method in the above-mentioned embodiment. The implementation principle and technical effect of the corresponding program module in the device are similar to those described in the above-mentioned method. The working process of the device can refer to the corresponding process in the above-mentioned method, which will not be repeated here.

[0100] Based on the method in the above embodiment, the embodiment of the present application provides an electronic device, such as Figure 4 As shown, the electronic device may include: a processor, a communications interface, a memory, and a communications bus, wherein the processor, the communications interface, and the memory communicate with each other via the communications bus. The processor may call the logic instructions in the memory to execute the method in the above embodiment.

[0101] In addition, the logic instructions in the above-mentioned memory can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application.

[0102] Based on the method in the above embodiment, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program runs on a processor, the processor executes the method in the above embodiment.

[0103] Based on the method in the above embodiment, an embodiment of the present application provides a computer program product. When the computer program product runs on a processor, the processor executes the method in the above embodiment.

[0104] It is understood that the processor in the embodiments of the present application may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. The general-purpose processor may be a microprocessor or any conventional processor.

[0105] The method steps in the embodiments of the present application can be implemented by hardware or by a processor executing software instructions. The software instructions can be composed of corresponding software modules, and the software modules can be stored in random access memory (RAM), flash memory, read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, hard disks, mobile hard disks, CD-ROMs, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an ASIC.

[0106] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a storage medium or transmitted through the storage medium. The computer instructions may be transmitted from a website site, a computer, a server or a data center to another website site, a computer, a server or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The storage medium may be any available medium that a computer can access or a data storage device such as a server or a data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid state disk (SSD)), etc.

[0107] It should be understood that the various numerical numbers involved in the embodiments of the present application are only used for the convenience of description and are not used to limit the scope of the embodiments of the present application.

[0108] The above content is easily understood by those skilled in the art. The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A multi-task oriented sensor scheduling method, characterized in that: The sensor scheduling method comprises the following steps: The rotating agent collects all tasks, obtains the first task list, and formulates a sensor scheduling plan based on the sensor requirements of all tasks; Other agents collect all tasks and get the second task list. If the second task list has more tasks than the first task list, they vote against it; otherwise, they vote in favor. The rotating agent counts whether all votes are in favor. If so, the sensor is scheduled based on the sensor scheduling plan and a new rotating agent is selected to enter the next rotation cycle; otherwise, the agent that voted against publishes the second task list and selects a new rotating agent to enter the next rotation cycle.

2. The sensor scheduling method according to claim 1, characterized in that: A sensor scheduling plan is formulated based on the sensor requirements of all tasks, specifically: According to the information that different sensors are required for tasks in different time periods, a sensor scheduling scheme is formulated in which each sensor is applied to different tasks in different time periods; In the sensor scheduling scheme, if the same sensor is applied to different tasks in the same time period, a sensor with the same function that is idle in the time period is selected for replacement, thereby updating the sensor scheduling scheme.

3. The sensor scheduling method according to claim 2, characterized in that: Select the idle sensors in the time period for replacement, specifically: If there is an idle sensor with the same function within the time period, the idle sensor with the same function is used for replacement; If it does not exist, the time period is divided into multiple small time periods, and the idle sensor combinations with the same function in each small time period are selected for replacement; if multiple sensor combinations exist, the sensor combination with the least number of sensors is selected for replacement.

4. The sensor scheduling method according to claim 1 or 2, characterized in that: The requirements of the task for sensors are as follows: Among them, Task i Represents a task i The set of requirements; Represents a task i Between time periods tn1 and tn2, sensor Sensor1 is required; It indicates that between time period tn3 and tn4, sensor Sensor2 is required.

5. The sensor scheduling method according to claim 1 or 2, characterized in that: The sensor scheduling scheme is specifically manifested as follows: Among them, Sensor i Indicates sensor i The scheduling set of Indicates sensor i Between time periods tm1 and tm2, task Task1 is scheduled; Indicates sensor i Between time periods tn3 and tn4, task Task2 is scheduled.

6. A multi-task oriented sensor scheduling system, characterized in that: The sensor scheduling system includes a plurality of agents; The agent is used to become a rotating agent or other agents in turn according to a preset rotation order; The rotating agent is used to collect all tasks, obtain a first task list, and formulate a sensor scheduling plan according to the sensor requirements of all tasks therein; it is also used to send the first task list to other agents; it is also used to count all votes, and if the votes are unanimous, the sensor scheduling plan is released to enter the next rotating cycle; The other agents are used to collect all tasks and obtain a second task list. If the second task list contains more tasks than the first task list, a negative vote is cast to the rotating agent; otherwise, a positive vote is cast to the rotating agent; and it is also used to determine whether a negative vote is cast. If so, the second task list is shared to enter the next rotation cycle.

7. The sensor scheduling system according to claim 6, characterized in that: The sensor scheduling system also includes a central control unit and a plurality of sensors. The central control unit is used to receive the sensor scheduling plan issued by the rotating agent and schedule each sensor to complete the task according to the sensor scheduling plan.

8. An electronic device, characterized in that: include: Memory for storing computer programs; A processor, configured to execute the program stored in the memory. When the program stored in the memory is executed, the processor is configured to execute the method according to any one of claims 1 to 5.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein when the computer program runs on a processor, the processor is enabled to execute the method according to any one of claims 1 to 5.

10. A computer program product, characterized in that When the computer program product runs on a processor, the processor is caused to execute the method according to any one of claims 1 to 5.

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