Multi-branch task planning method and system, electronic equipment and storage medium
By constructing the topology diagram and recursive algorithm of spacecraft flight control missions to judge event sets, and generating instruction planning results, the uncertainty problem of multi-branch processes in complex tasks is solved, and the efficiency and flexibility of task planning are improved.
Patent Information
- Application Number
- CN202411270533.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-11
- Publication Date
- 2025-01-14
AI Technical Summary
There are multiple branch processes in complex spacecraft flight control missions, which makes it impossible to determine the control process in advance. It is necessary to select subsequent events based on actual conditions during the mission implementation, resulting in uncertainty in the planning process and inefficiency.
By constructing a topology diagram of multi-branch tasks, obtain the event set selected by the user, and use the recursive algorithm to determine whether the event set constitutes a preset task planning path, generate instruction planning results, and realize task planning in an imaged interactive manner.
It improves the convenience and efficiency of multi-branch task planning, has good flexibility and practicality, and can quickly generate reasonable control processes in complex tasks.
Smart Images
Figure CN119311401A_ABST
Abstract
Description
Background Art
[0002] In spacecraft control, the complex flight control process that needs to be completed is generally called a mission, which has a long processing flow. Figure 1 As shown in the figure, to complete the flight control task, the control process can be decomposed into multiple events. Events are relatively independent control units, and there is a time sequence and causal relationship between events. Events correspond to several basic instructions, and by executing these instructions, the execution of events can be completed. After all events are executed, a specific task is completed.
[0003] For the control process of a fixed flow, the event decomposition is certain. The task can be decomposed into events in advance, and then the events can be decomposed into instruction sequences. During the actual execution of the task, the planning results generated in advance can be directly called. Figure 2 As shown in the figure, the task process includes N events, and the execution order is clear. Event 2 can only be executed after event 1 is executed, and event 3 can only be executed after event 2 is executed. The execution process is to execute event 1, event 2, and event N in sequence. However, for complex task processes, there are branches in the task execution process. After executing an event, the subsequent process is uncertain, and the subsequent execution event needs to be selected according to the actual situation.
[0004] like Figure 3 As shown in the figure, in a multi-branch process, event 1 has three subsequent branches (event 2, event 3, and event 4 are all possible). After event 1 is completed, one of the event branches needs to be selected for implementation. Event 4 has two branches. In this case, the control process cannot be determined in advance. During the task implementation process, an operator needs to determine the process branch and generate a planning plan based on the actual situation.
[0005] Therefore, it is urgent to provide a technical solution to solve the above problems. Summary of the invention
[0006] In order to solve the above technical problems, the present invention provides a multi-branch task planning method, system, electronic device and storage medium.
[0007] In a first aspect, the present invention provides a multi-branch task planning method, the technical solution of the method is as follows:
[0008] Construct a topological map of all events involved in the multi-branch task, and obtain a set of events selected by the user from the topological map;
[0009] Determine whether the event set constitutes a preset task planning path corresponding to the multi-branch task, and obtain a determination result;
[0010] When the judgment result is yes, the instruction sequence corresponding to each event on the task planning path formed by the event set is merged in sequence to generate the instruction planning result of the multi-branch task.
[0011] The beneficial effects of a multi-branch task planning method of the present invention are as follows:
[0012] The method of the present invention performs task planning in a graphical interactive manner, which improves the convenience of multi-branch task planning while also improving the efficiency of task planning, and has good flexibility and practicality.
[0013] Based on the above scheme, the multi-branch task planning method of the present invention can also be improved as follows.
[0014] In an optional manner, the step of determining whether the event set constitutes a preset task planning path corresponding to the multi-branch task includes:
[0015] Based on a recursive algorithm, it is determined whether the event set constitutes a preset task planning path corresponding to the multi-branch task.
[0016] In an optional manner, the step of constructing a topology graph of all events involved in the multi-branch task includes:
[0017] Based on the event configuration information of the multi-branch task, the topology graph of all events involved in the multi-branch task is constructed.
[0018] In an optional manner, the event configuration information includes: the event name, location information, connection relationship and instruction sequence of each event in the multi-branch task.
[0019] In an optional manner, the method further includes:
[0020] When the judgment result is no, a prompt message indicating that the task planning is wrong is output.
[0021] In a second aspect, the present invention provides a multi-branch task planning system, the technical solution of which is as follows:
[0022] Includes: processing module, judgment module and planning module;
[0023] The processing module is used to: construct a topological map of all events involved in the multi-branch task, and obtain an event set selected by a user from the topological map;
[0024] The judgment module is used to: judge whether the event set constitutes a preset task planning path corresponding to the multi-branch task, and obtain a judgment result;
[0025] The planning module is used to: when the judgment result is yes, sequentially merge the instruction sequences corresponding to each event on the task planning path composed of the event set to generate the instruction planning result of the multi-branch task.
[0026] The beneficial effects of a multi-branch task planning system of the present invention are as follows:
[0027] The system of the present invention performs task planning through a graphical interactive manner, which improves the convenience of multi-branch task planning while also improving the efficiency of task planning, and has good flexibility and practicality.
[0028] Based on the above scheme, the multi-branch task planning system of the present invention can also be improved as follows.
[0029] In an optional manner, the judgment module is specifically used to:
[0030] Based on a recursive algorithm, it is determined whether the event set constitutes a preset task planning path corresponding to the multi-branch task.
[0031] In an optional manner, the step of constructing a topological graph of all events involved in the multi-branch task in the processing module includes:
[0032] Based on the event configuration information of the multi-branch task, the topology graph of all events involved in the multi-branch task is constructed.
[0033] In a third aspect, a technical solution of an electronic device of the present invention is as follows:
[0034] The invention comprises a memory, a processor and a program stored in the memory and running on the processor. When the processor executes the program, the steps of the multi-branch task planning method of the present invention are implemented.
[0035] In a fourth aspect, the present invention provides a computer-readable storage medium having the following technical solution:
[0036] Instructions are stored in the computer-readable storage medium. When the computer-readable storage medium reads the instructions, the computer-readable storage medium executes the steps of the multi-branch task planning method of the present invention.
[0037] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS
[0038] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present invention. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings. In the accompanying drawings:
[0039] Figure 1 This is a diagram of task decomposition relationship;
[0040] Figure 2 Schematic diagram of task planning for fixed processes;
[0041] Figure 3 It is a schematic diagram of a multi-branch process;
[0042] Figure 4 A schematic diagram of a flow chart of an embodiment of a multi-branch task planning method of the present invention;
[0043] Figure 5 This is an example diagram of a graphical interactive interface;
[0044] Figure 6 is a schematic diagram of an event set;
[0045] Figure 7 Selecting the wrong schematic for a branching event;
[0046] Figure 8 A schematic diagram of a process interruption error;
[0047] Fig. 9 A schematic diagram of the path planned for the mission;
[0048] Fig.10 A schematic diagram of the structure of an embodiment of a multi-branch task planning system of the present invention;
[0049] Fig.11 The figure is a schematic structural diagram of an embodiment of an electronic device of the present invention. DETAILED DESCRIPTION
[0050] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein.
[0051] Figure 4A flow chart of an embodiment of a multi-branch task planning method provided by the present invention is shown, and the multi-branch task planning method can be executed by an electronic device such as a terminal device or a server. The terminal device can be any fixed or mobile terminal such as a user equipment (UE), a mobile device, a user terminal, a terminal, a cellular phone, a cordless phone, a personal digital assistant (PDA), a handheld device, a computing device, a vehicle-mounted device, a wearable device, etc. The server can be a single server or a server cluster composed of multiple servers. Any electronic device can implement the multi-branch task planning method by calling computer-readable instructions stored in a memory through a processor. Figure 4 As shown, the following steps are included:
[0052] S1. Construct a topological map of all events involved in a multi-branch task, and obtain an event set selected by a user from the topological map.
[0053] Among them, the multi-branch task is a spacecraft flight control task with multiple branches. The topology diagram is displayed in a graphical interactive interface. Figure 5 As shown in the figure, in the interactive interface, boxes represent events, connecting arrows represent the connection relationship between events, and a topology diagram of multi-branch tasks is displayed. Users can select event sets through the interactive interface. The specific selection method is: users determine the control flow on the graphical interactive interface according to the actual task status and requirements. Users select events by clicking the box corresponding to the event with the mouse; or they can click the box of an already selected event to cancel the selection of the event. Figure 6 As shown in the figure, after the user selects an event (the color of the selected event box becomes darker), the event set obtained is {Event 1, Event 2, Event 3, Event 4, Event 6, Event 8}. When the operator selects an event, he does not necessarily click and select it in the order of the flow between events. He just selects the events to form a set without considering the order of the events.
[0054] S2. Determine whether the event set constitutes a preset task planning path corresponding to the multi-branch task, and obtain a determination result. In S2, specifically:
[0055] Based on a recursive algorithm, it is determined whether the event set constitutes a preset task planning path corresponding to the multi-branch task.
[0056] Wherein, the number of preset task planning paths corresponding to the multi-branch task is multiple. When the task planning path formed by the event set is any one of the multiple preset task planning paths, it is determined that the event set forms the preset task planning path corresponding to the multi-branch task.
[0057] The recursive algorithm is used to determine the correctness of the event set selected by the user (whether it can form the preset task planning path corresponding to the multi-branch task), and to determine the event execution order of the selected event set according to the connection relationship between the events and arrange them into a process. There are two types of errors in determining the correctness of the event set:
[0058] 1) Wrong branch event selection: Figure 7 As shown, event A has multiple branches such as event B and event C. If you select event A, you can only select one event from the subsequent branch events of event A. If you select multiple subsequent branch actions, a branch event selection error will occur and you cannot determine which branch event to execute next.
[0059] 2) Process interruption error: The selected events must be connected according to the defined relationship and must be able to form a process (preset task planning path). If the events cannot be connected together to form a task planning path, and an event is missing in the middle, a process interruption error will occur. Figure 8 As shown, the selected event set is {event 1, event 4, event 9}, which cannot be connected to form a task planning path. If event 6 is added, a task path can be planned.
[0060] After judging the correctness of the event set selected by the user, the order of each action in the action set of the user selected event will be determined according to the event connection relationship using a recursive algorithm to form an action sequence. Assume that the action set A includes N actions (each action corresponds to an event), denoted as A = {A1, A2, ..., A N}, the algorithm is shown in Table 1 below.
[0061] Table 1:
[0062]
[0063]
[0064] Through the recursive algorithm in Table 1, the action set (action set of selected events) obtained by the user through the graphical interactive interface is processed to determine the correctness of the interaction and analyze the actions to form an action sequence with a connection relationship. The sorted action sequence (task planning path) is saved in the action queue B, and the arrows between the actions are saved in Arrow. Fig. 9 As shown, the user selected 8 events, namely event 1, event 2, event 3, event 4, event 10, event 14, event 16, and event 17, to form an action set A of selected events. Through a recursive algorithm, the order between the actions is obtained to generate a task planning path for the event set.
[0065] S3. When the judgment result is yes, the instruction sequences corresponding to each event on the task planning path formed by the event set are merged in sequence to generate the instruction planning result of the multi-branch task.
[0066] Each event is set with a different instruction sequence. For example, the task planning path is: event 1 → event 3 → event 5, the instruction sequence corresponding to event 1 is: {D1, D2, D3}, the instruction sequence corresponding to event 3 is: {D6, D7}, and the instruction sequence corresponding to event 5 is: {D10, D11, D12}. The instruction planning result generated based on sequential merging is: {D1, D2, D3, D6, D7, D10, D11, D12}.
[0067] In an optional manner, the step of constructing a topology graph of all events involved in the multi-branch task includes:
[0068] Based on the event configuration information of the multi-branch task, the topology graph of all events involved in the multi-branch task is constructed.
[0069] The event configuration information includes: the event name, position information (position X and position Y), connection relationship (start event and point event) and instruction sequence of each event in the multi-branch task. The event configuration information file format is shown in Table 2 below.
[0070] Table 2:
[0071]
[0072] It should be noted that the event configuration information first defines the event, including the event name, the position coordinates in the graphical interface, and the instruction sequence for event expansion. Then the connection relationship between events is defined. A connection relationship consists of a start event and a point event. The start event and the point event have been defined in the previous file. A connection relationship represents an arrow from the start event to the point event.
[0073] In an optional manner, the method further includes:
[0074] When the judgment result is no, a prompt message indicating that the task planning is wrong is output.
[0075] If the event set cannot generate a task planning path, a prompt message indicating a task planning error is output to the user. The prompt message can be a text prompt box or a language prompt tone, and the specific method is not limited here.
[0076] The technical solution of this embodiment performs task planning through a graphical interactive method, which not only improves the convenience of multi-branch task planning, but also improves the efficiency of task planning, and has good flexibility and practicality.
[0077] Fig.10 FIG. 2 is a schematic diagram showing a structure of an embodiment of a multi-branch task planning system 200 provided by the present invention. Fig.10 As shown, the system 200 includes: a processing module 210, a judgment module 220 and a planning module 230;
[0078] The processing module 210 is used to: construct a topological map of all events involved in the multi-branch task, and obtain an event set selected by the user from the topological map;
[0079] The determination module 220 is used to determine whether the event set constitutes a preset task planning path corresponding to the multi-branch task, and obtain a determination result;
[0080] The planning module 230 is used to: when the judgment result is yes, sequentially merge the instruction sequences corresponding to each event on the task planning path formed by the event set to generate the instruction planning result of the multi-branch task.
[0081] In an optional manner, the determination module 220 is specifically configured to:
[0082] Based on a recursive algorithm, it is determined whether the event set constitutes a preset task planning path corresponding to the multi-branch task.
[0083] In an optional manner, the step of constructing a topology graph of all events involved in the multi-branch task in the processing module 210 includes:
[0084] Based on the event configuration information of the multi-branch task, the topology graph of all events involved in the multi-branch task is constructed.
[0085] In an optional manner, the event configuration information includes: the event name, location information, connection relationship and instruction sequence of each event in the multi-branch task.
[0086] In an optional manner, it further includes: a prompt module;
[0087] The prompt module is used to: when the judgment result is no, output a prompt message of task planning error.
[0088] The technical solution of this embodiment performs task planning through a graphical interactive method, which not only improves the convenience of multi-branch task planning, but also improves the efficiency of task planning, and has good flexibility and practicality.
[0089] The above-mentioned parameters and steps for each module to implement corresponding functions in the multi-branch task planning system 200 of this embodiment can refer to the parameters and steps in the embodiment of the multi-branch task planning method above, and will not be repeated here.
[0090] like Fig.11 As shown, an electronic device 300 according to an embodiment of the present invention includes a processor 320, the processor 320 is coupled to a memory 310, and the memory 310 stores at least one computer program 330, and the at least one computer program 330 is loaded and executed by the processor 320, so that the electronic device 300 implements any of the above-mentioned multi-branch task planning methods, specifically:
[0091] The electronic device 300 may have relatively large differences due to different configurations or performances, and may include one or more processors 320 (Central Processing Units, CPU) and one or more memories 310, wherein the one or more memories 310 store at least one computer program 330, and the at least one computer program 330 is loaded and executed by the one or more processors 320, so that the electronic device 300 implements any multi-branch task planning method provided in the above embodiments. Of course, the electronic device 300 may also have components such as a wired or wireless network interface, a keyboard, and an input and output interface for input and output, and the electronic device 300 may also include other components for implementing device functions, which will not be described in detail here.
[0092] A computer-readable storage medium according to an embodiment of the present invention stores at least one computer program, and the at least one computer program is loaded and executed by a processor so that the computer implements any of the above-mentioned multi-branch task planning methods.
[0093] Optionally, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, and the like.
[0094] In an exemplary embodiment, a computer program product or a computer program is also provided, the computer program product or the computer program comprising computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the electronic device performs any of the above-mentioned multi-branch task planning methods.
[0095] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects and represent the definition of a specific order or sequence. The order of use of similar objects can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than the order shown or described.
[0096] Those skilled in the art know that the present invention can be implemented as a system, method or computer program product. Therefore, the present disclosure can be specifically implemented in the following forms, namely: it can be complete hardware, it can be complete software (including firmware, resident software, microcode, etc.), or it can be a combination of hardware and software, which is generally referred to as "circuit", "module" or "system" herein. In addition, in some embodiments, the present invention can also be implemented in the form of a computer program product in one or more computer-readable media, and the computer-readable medium contains computer-readable program code.
[0097] Any combination of one or more computer-readable media can be used. Computer-readable media can be computer-readable signal media or computer-readable storage media. Computer-readable storage media can be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination of the above. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.
[0098] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.
Claims
1. A multi-branch task planning method, characterized in that: include: Construct a topological map of all events involved in the multi-branch task, and obtain a set of events selected by the user from the topological map; Determine whether the event set constitutes a preset task planning path corresponding to the multi-branch task, and obtain a determination result; When the judgment result is yes, the instruction sequence corresponding to each event on the task planning path formed by the event set is merged in sequence to generate the instruction planning result of the multi-branch task.
2. The multi-branch task planning method according to claim 1, characterized in that: The step of determining whether the event set constitutes a preset task planning path corresponding to the multi-branch task includes: Based on a recursive algorithm, it is determined whether the event set constitutes a preset task planning path corresponding to the multi-branch task.
3. The multi-branch task planning method according to claim 1, characterized in that: The steps of constructing a topology graph of all events involved in a multi-branch task include: Based on the event configuration information of the multi-branch task, the topology graph of all events involved in the multi-branch task is constructed.
4. The multi-branch task planning method according to claim 3, characterized in that: The event configuration information includes: the event name, location information, connection relationship and instruction sequence of each event in the multi-branch task.
5. The multi-branch task planning method according to any one of claims 1 to 4, characterized in that: Also includes: When the judgment result is no, a prompt message indicating that the task planning is wrong is output.
6. A multi-branch task planning system, characterized in that: include: Processing module, judgment module and planning module; The processing module is used to: construct a topological map of all events involved in the multi-branch task, and obtain an event set selected by a user from the topological map; The judgment module is used to: judge whether the event set constitutes a preset task planning path corresponding to the multi-branch task, and obtain a judgment result; The planning module is used to: when the judgment result is yes, sequentially merge the instruction sequences corresponding to each event on the task planning path composed of the event set to generate the instruction planning result of the multi-branch task.
7. The multi-branch task planning system according to claim 6, characterized in that: The judgment module is specifically used for: Based on a recursive algorithm, it is determined whether the event set constitutes a preset task planning path corresponding to the multi-branch task.
8. The multi-branch task planning system according to claim 6, characterized in that: The step of constructing a topological graph of all events involved in the multi-branch task in the processing module includes: Based on the event configuration information of the multi-branch task, the topology graph of all events involved in the multi-branch task is constructed.
9. An electronic device, characterized in that: The electronic device includes a processor, the processor is coupled to a memory, at least one computer program is stored in the memory, and the at least one computer program is loaded and executed by the processor so that the electronic device implements the multi-branch task planning method as described in any one of claims 1 to 5.
10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores at least one computer program, and the at least one computer program is loaded and executed by the processor so that the computer-readable storage medium implements the multi-branch task planning method as described in any one of claims 1 to 5.