A Sensor Scheduling Method and System for Multi-Tasks

Abstract

The present application discloses a multi-task-oriented sensor scheduling method and system, belonging to the technical field of sensor scheduling. In the solution of the present application, the rotating proxy collects all tasks to obtain a first task list, and formulates a sensor scheduling plan according to the requirements of all tasks in it for sensors; other proxies collect all tasks to obtain a second task list, and if there are more tasks in the second task list than in the first task list, they vote against; otherwise, they vote in favor; subsequently, the rotating proxy counts whether all votes are in favor. If so, sensor scheduling is performed based on the sensor scheduling plan, and a new rotating proxy is selected to enter the next rotation cycle; otherwise, the proxy that votes against announces the second task list, and a new rotating proxy is selected to enter the next rotation cycle. The solution of the present application realizes the collaborative scheduling of multi-sensor resources for multi-tasks.

Description

Technical Field

[0001] This application belongs to the technical field of sensor scheduling, and more specifically, relates to a sensor scheduling method and system for multi-tasks. Background Art

[0002] Under the distributed conditions of future maritime formations, the platforms within the formation show the characteristics of wide-area distribution and grouped aggregation, and the sensor resources within the formation are further factorized.

[0003] As the types and quantities of sensors within the formation are increasing, and the sensing types, sensing capabilities, sensing accuracies, and work plans of different sensors are different, it is becoming increasingly difficult to perform collaborative optimization scheduling on sensor resources for multi-tasks within the formation range. Summary of the Invention

[0004] In view of the above deficiencies or improvement requirements of the prior art, this application provides a sensor scheduling method and system for multi-tasks, aiming to solve the technical problem that it is difficult to reasonably schedule and allocate sensor resources in current distributed formations.

[0005] To achieve the above objective, in the first aspect, this application provides a sensor scheduling method for multi-tasks. The sensor scheduling method includes the following steps:

[0006] The rotating agent collects all tasks to obtain a first task list, and formulates a sensor scheduling plan according to the requirements of all tasks for sensors.

[0007] Other agents collect all tasks to obtain a second task list. If the number of tasks in the second task list is more than that in the first task list, they vote against; otherwise, they vote in favor.

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

[0009] Preferably, formulating a sensor scheduling plan according to the requirements of all tasks for sensors specifically means:

[0010] Formulate a sensor scheduling plan in which each sensor is applied to different tasks at different time periods according to the information that different sensors are required for tasks at different time periods.

[0011] In the sensor scheduling plan, if there are the same sensors applied to different tasks at the same time period, select the idle sensors with the same function within that time period for replacement, thereby updating the sensor scheduling plan.

[0012] Preferably, select the sensors that are idle during the said time period for replacement, specifically:

[0013] During the said time period, if there are idle sensors with the same function, use the idle sensors with the same function for replacement;

[0014] If not, divide the said time period into multiple small time periods, select the idle sensors with the same function within each small time period and combine them for replacement; if there are multiple combinations of sensors, select the combination with the least number of sensors for replacement.

[0015] Preferably, the requirements of the task for the sensors are specifically expressed as:

[0016]

[0017] Among them, Demand Ti represents the requirement set of task Ti; means that task Ti requires sensor sj1 between time periods tn1 and tn2; means that between time periods tn3 and tn4, sensor sj2 is required.

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

[0019]

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

[0021] In a second aspect, the present application provides a multi-task-oriented sensor scheduling system, and the sensor scheduling system includes multiple agents;

[0022] The agent is used to sequentially become the rotating agent or other agents according to the preset rotation order;

[0023] The agent is used to sequentially become the rotating agent or other agents according to the preset rotation order;

[0024] The rotating agent is used to collect all tasks to obtain the first task list, formulate a sensor scheduling scheme according to the requirements of all tasks for the sensors; is also used to send the first task list to other agents; is also used to count all votes, and if the vote is unanimous, publish the sensor scheduling scheme and enter the next rotation cycle;

[0025] The other agents are used to collect all tasks to obtain a second task list. If the number of tasks in the second task list is more than that in the first task list, they will vote against the rotating agent; otherwise, they will vote in favor of the rotating agent. They are also used to determine whether to vote against. If so, they will share the second task list and enter the next rotation cycle.

[0026] Preferably, the sensor scheduling system further includes a central control unit and multiple sensors. The central control unit is used to receive the sensor scheduling scheme issued by the rotating agent and schedule each sensor to complete tasks according to the sensor scheduling scheme.

[0027] In a third aspect, the present application provides an electronic device, including: a memory for storing a program; a processor for executing the program 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 manner of the first aspect.

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

[0030] Generally speaking, compared with the prior art through the above technical solutions conceived by the present application, the following beneficial effects are obtained:

[0031] (1) In the present application, sensor resource scheduling is performed based on a voting collaboration method in a multi-task and multi-sensor platform. The rotating agent generates a scheduling scheme based on task requirements, and other agents vote on this scheduling scheme based on the task requirements they collect. Thus, the scheduling scheme is finally determined. This method does not require all agents to generate scheduling schemes, reducing the global load and also ensuring the global consistency of the sensor scheduling scheme.

[0032] (2) In the present application, other agents will judge whether the scheduling scheme is reasonable according to the tasks collected locally. When the local tasks are more than those collected by the rotating agent, it can be affirmed that the extra tasks are not planned into the scheduling scheme. Therefore, the tasks collected locally are announced to update the scheduling scheme in the next rotation, thereby ensuring that the finally implemented sensor scheduling scheme can complete all task requirements.

[0033] (3) In this application, when the rotating agent generates a scheduling plan according to the tasks, it will predict sensor conflicts. If conflicts are found, it will resolve the conflicts by following the principle of minimizing the number of sensor scheduling times, thus simplifying the scheduling plan and facilitating the implementation of the scheduling plan. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 is a flowchart of a multi-task-oriented sensor scheduling method provided by an embodiment of this application.

[0035] Figure 2 is a schematic diagram of a multi-task-oriented sensor scheduling system provided by an embodiment of this application passing the sensor scheduling plan unanimously in a rotation period.

[0036] Figure 3 is a schematic diagram of a multi-task-oriented sensor scheduling system provided by an embodiment of this application failing to pass the sensor scheduling plan unanimously in a rotation period.

[0037] Figure 4 is a schematic diagram of the composition of an electronic device provided by an embodiment of this application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0038] In order to make the objectives, technical solutions and advantages of this application clearer, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not used to limit this application.

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

[0040] In the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary" or "for example" is intended to present relevant concepts in a specific manner.

[0041] In the description of the embodiments of this application, unless otherwise specified, the meaning of "a plurality" refers to two or more. For example, a plurality of agents refers to two or more agents; a plurality of sensors refers to two or more sensors.

[0042] Next, the technical solutions provided in the embodiments of this application will be introduced.

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

[0044] S1. The current rotating agent collects all tasks to obtain a first task list, and formulates a sensor scheduling plan according to the requirements of all tasks for sensors; specifically including:

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

[0046] Among them, the requirements of tasks for sensors are shown as:

[0047]

[0048] Among them, Task i represents the requirement set of task Task i ; represents that task Task i requires sensor Sensor1 between time periods tn1 and tn2; represents that between time periods tn3 and tn4, sensor Sensor2 is required.

[0049] The formulated sensor scheduling plan is shown as:

[0050]

[0051] Among them, Sensor i represents the scheduling set of sensor Sensor i ; represents that sensor Sensor i is scheduled to task Task1 between time periods tm1 and tm2; represents that sensor Sensor i is scheduled to task Task2 between time periods tn3 and tn4.

[0052] S12. In the sensor scheduling plan, if there are the same sensors applied to different tasks in the same time period, select the idle sensors with the same function in that time period for replacement, thereby updating the sensor scheduling plan.

[0053] Observe and compare the scheduling plans of each sensor Sensor i , if it is found that among them:

[0054]

[0055] Then there is a situation where sensor Sensor1 is applied to tasks Task2 and Task3 during the same time period tm3 - tm4, which constitutes a sensor scheduling conflict. Therefore, find the idle sensors that are not applied to any task during the time period tm3 - tm4: Sensor3, Sensor5, Sensor9. Among them, the function of sensor Sensor9 is the same as that of sensor Sensor1. Therefore, select sensor Sensor9 for replacement and update the sensor scheduling plan. The updated sensor scheduling plan includes:

[0056]

[0057] S13. If there is no such idle sensor Sensor9 with the same function as sensor Sensor1 during the time period tm3 - tm4, then divide the time period into multiple small time periods, and select the combination of idle sensors with the same function within each small time period for replacement;

[0058] For example, divide the time period tm3 - tm4 into time periods tm3 - tm3.5 and 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, the function of sensor Sensor 12 is the same as that of sensor Sensor1. Therefore, select sensor Sensor 12 during the time period tm3 - tm3.5.

[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, the function of sensor Sensor 24 is the same as that of sensor Sensor1. Therefore, select sensor Sensor 24 for replacement during the time period tm3.5 - tm4 and update the sensor scheduling plan. The updated sensor scheduling plan includes:

[0061]

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

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

[0064]

[0065] It can be updated to:

[0066]

[0067] It can also be updated to:

[0068]

[0069] Then select the sensor combination with the fewest 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] Update to:

[0072]

[0073] S2. Other agents collect all tasks to obtain a second task list. If there are more tasks in the second task list than in the first task list, vote against; otherwise, vote in favor;

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

[0075] If there are fewer or equal tasks in the second task list than in the first task list, it means that no new tasks have emerged. Therefore, the sensor scheduling scheme formulated in the first step covers the existing task list. Other agents vote in favor.

[0076] S3. The rotating agent counts whether all votes are in favor. If so, perform sensor scheduling based on the sensor scheduling scheme and select a new rotating agent to enter the next rotation cycle; otherwise, the agent who votes against announces 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 range of the sensor scheduling scheme formulated in the first step. Therefore, all sensors in the global scope can be scheduled according to the sensor scheduling scheme formulated in the first step.

[0078] If there is not unanimous approval, there are other agents whose collected tasks exceed the coverage of the sensor scheduling scheme formulated in the first step. At this time, the other agents who vote against announce the list of tasks they have collected for global sharing of the task list, which facilitates updating the sensor scheduling scheme in the next rotation cycle so that the new sensor scheduling scheme can adapt to the latest task list.

[0079] This application also implements a multi-task-oriented sensor scheduling system, and the sensor scheduling system includes multiple agents;

[0080] The agents are used to sequentially become the rotating agent or other agents according to a preset rotation order;

[0081] The rotating agent is used to collect all tasks to obtain a first task list, formulate a sensor scheduling scheme according to the requirements of all tasks for sensors therein; is also used to send the first task list to other agents; is also used to count all votes. If the vote is unanimously approved, the sensor scheduling scheme is released and the next rotation cycle is entered; otherwise, a task sharing instruction is sent to the other agents who vote against.

[0082] The other agents are used to collect all tasks to obtain a second task list. If the tasks in the second task list are more than those in the first task list, they vote against the rotating agent; otherwise, they vote in favor of the rotating agent; are also used to monitor whether a task sharing instruction is received. If received, the second task list is shared and the next rotation cycle is entered.

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

[0084] As Figure 2 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] Subsequently, the rotating agent sends the list of tasks it has collected to the three other agents.

[0087] Subsequently, the three other agents compare the list of tasks they have collected with the received task list. It is found that the list of tasks they have collected is the same as the received task list, so the three other agents vote in favor of the rotating agent.

[0088] The rotating agent will formulate a sensor scheduling scheme according to the requirements of all tasks for sensors in the list of tasks it has collected. When receiving unanimous approval, the rotating agent releases the sensor scheduling scheme.

[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, when the logical instructions in the above-mentioned memory are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of this application.

[0102] Based on the method in the above embodiments, an embodiment of this application provides a computer-readable storage medium. The computer-readable storage medium stores a computer program. When the computer program runs on a processor, it causes the processor to execute the method in the above embodiments.

[0103] Based on the method in the above embodiments, an embodiment of this application provides a computer program product. When the computer program product runs on a processor, it causes the processor to execute the method in the above embodiments.

[0104] It can be understood that the processor in the embodiments of this application may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), 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 this application can be implemented in a hardware manner 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 a random access memory (RAM), flash memory, read-only memory (ROM), programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), registers, hard disks, removable hard disks, CD-ROMs, or any other form of storage medium well-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 processes or functions described in the embodiments of this application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a storage medium or transmitted through the storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center in a wired manner (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or a wireless manner (such as infrared, wireless, microwave, etc.). The storage medium can be any available medium that the computer can access or a data storage device such as a server or data center that includes one or more integrated available media. The available medium can be a magnetic medium (for example, floppy disk, hard disk, magnetic tape), an optical medium (for example, DVD), or a semiconductor medium (for example, solid state disk (SSD)), etc.

[0107] It can be understood that the various numerical numbers involved in the embodiments of this application are only for the convenience of description and are not used to limit the scope of the embodiments of this 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, improvements, etc. made within the spirit and principle of the present application shall be included within 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 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 the task list publishes the second task list and selects a new rotating agent to enter the next rotation cycle; 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; 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.

2. The sensor scheduling method according to claim 1, characterized in that: The requirements of the task for sensors are as follows: in, Indicates the task The demand set; Indicates the task In time period Between, demand sensors ; Indicates the time period Between, demand sensors .

3. The sensor scheduling method according to claim 1, characterized in that: The sensor scheduling scheme is specifically manifested as follows: in, Indicates sensor The scheduling set of Indicates sensor In time period Between, schedule to task ; Indicates sensor In time period Between, schedule to task .

4. 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, then the other agents cast a negative vote to the rotating agent; otherwise, the other agents cast a positive vote to the rotating agent; and are also used to determine whether a negative vote is cast. If so, then the second task list is shared and the next rotation cycle is entered; 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; 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.

5. The sensor scheduling system according to claim 4, 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.

6. An electronic device, characterized in that: include: Memory for storing computer programs; A processor, used to execute the program stored in the memory. When the program stored in the memory is executed, the processor is used to execute the method according to any one of claims 1 to 3.

7. 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 3.

8. A computer program product, characterized in that When the computer program product runs on a processor, the processor is enabled to execute the method according to any one of claims 1 to 3.

Images