Task allocation method and system of unmanned aerial vehicle based on 5G

Abstract

The invention relates to a 5G-based unmanned aerial vehicle task allocation method and system, and the method comprises the steps: carrying out the one-to-one transmission of a task according to an unmanned aerial vehicle under the condition that the task surplus value of a target task exceeds a first threshold value; under the condition that the task surplus value does not exceed a first threshold value, the target task is transmitted to the servers, task category labels of the unmanned aerial vehicles are set, the scores of the target task category labels can be calculated according to the task category labels corresponding to all the unmanned aerial vehicles in the coverage range of each server, and the servers with the highest scores are selected; transmitting the target task to the servers with the highest scores, so that the servers with the highest scores find the second unmanned aerial vehicle until the distribution of the target task of the second unmanned aerial vehicle is completed; according to the method and the device, network congestion caused by the fact that the target task is only transmitted between the unmanned aerial vehicles is reduced to a certain extent, the distribution efficiency of the target task is improved under the condition of not wasting computing resources, and the adaptability to the dynamic environment is improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of drone technology, and in particular, to a task allocation method and system for a 5G-based drone. Background Art

[0002] In the UAV task allocation of UAVs, multiple UAVs are usually required as intermediate nodes, and the intermediate nodes transmit tasks one-to-one until they are transmitted to the corresponding execution UAVs, and the execution UAVs can perform task calculations on the UAV tasks. At present, the transmission efficiency of one-to-one transmission through multiple UAVs is relatively low, and it is easy to cause congestion in the communication transmission network. Summary of the invention

[0003] The following is a summary of the subject matter described in detail herein. This summary is not intended to limit the scope of the claims.

[0004] The main purpose of the embodiments of the present disclosure is to propose a 5G-based UAV task allocation method, which can improve the efficiency of allocating target tasks to a second UAV.

[0005] A first aspect of an embodiment of the present application proposes a 5G-based drone task allocation method, which is applied to a drone communication system, wherein the drone communication system includes:

[0006] Multiple servers, multiple servers communicate and connect with each other;

[0007] Multiple drones, each drone flies within the communication range of at least one corresponding server, and each drone is connected to a corresponding server in communication, and each drone has a unique corresponding mission category label;

[0008] The method comprises:

[0009] Acquire a target task from a target drone; the target task is a task generated by a first drone and needs to be assigned to a second drone, the first drone, the second drone, and the target drone are all drones among the multiple drones, and the target drone is a drone currently carrying the target task;

[0010] If the task residual value of the target task is greater than a first threshold, an intermediate drone from among several drones whose distance to the target drone is less than a second threshold is selected, and if the intermediate drone is different from the second drone, the target task is assigned to the intermediate drone, and the intermediate drone is used as the target drone;

[0011] If the task residual value of the target task is less than the first threshold, the target task is assigned to the first server corresponding to the location of the target drone according to the target drone, and the first server calculates the scores of all drones corresponding to each server of the multiple servers for the target task category label according to the target task category label of the second drone, and sends the target task to the servers with the highest scores, so that the servers with the highest scores can search for the second drone within their respective communication ranges. If the second drone is within the communication range of the second server, the second server assigns the target task to the second drone; the second server is a server among the servers with the highest scores.

[0012] This application proposes a 5G-based drone task allocation method, which has at least the following beneficial effects:

[0013] The method includes: obtaining a target task from a target drone; if the task surplus value of the target task is greater than a first threshold, selecting an intermediate drone from among several drones whose distance from the target drone is less than a second threshold, and if the intermediate drone is different from the second drone, assigning the target task to the intermediate drone, and using the intermediate drone as the target drone; if the task surplus value of the target task is less than the first threshold, assigning the target task to a first server corresponding to the location of the target drone according to the target drone, and calculating the scores of all drones corresponding to each server of multiple servers for the target task category label according to the target task category label of the second drone by the first server, and sending the target task to several servers with the highest scores, so that the several servers with the highest scores can search for the second drone within their respective communication ranges, and if the second drone is within the communication range of the second server, the second server assigns the target task to the second drone;

[0014] (1) The present application sets a task residual value for the target task. When the task residual value exceeds a first threshold, the task is transmitted one-to-one according to the drones until it is transmitted to the second drone. When the task residual value does not exceed the first threshold, the target task is transmitted to the corresponding server, and multiple servers broadcast to each other, each searching for the second drone within the communication range. The present application reduces the network congestion caused by the transmission of the target task only between drones to a certain extent, improves the allocation efficiency of the target task, and improves the adaptability to the dynamic environment.

[0015] (2) The present application sets up a task category label for the drone, and can calculate the score of the target task category label based on the task category labels corresponding to all drones within the coverage range of each server, and select several servers with the highest scores to transmit the target task to the servers with the highest scores, so that the servers with the highest scores can search for the second drone within their respective communication ranges until the allocation of the second drone is completed; the present application calculates the score of the target task category label of the server based on the task category label, and selects certain servers for transmission based on the score, so as to maximize the efficiency of allocating the target task without wasting computing resources.

[0016] In some implementations, calculating the scores of all drones corresponding to each of the plurality of servers for the target task category label includes:

[0017]

[0018] Among them, label refers to the target task category label, Rr x is a server r among the multiple servers x The score of the target task category labels corresponding to all drones in Rr y is a server r among the multiple servers y The scores of target task category labels corresponding to all drones in , n is the number of the multiple servers, A xy For server x and server y The correlation degree between the task labels, λ is a constant, where:

[0019] If r x With r y Communication is connected, and r y There is no label in A. xy =1;

[0020] If r x With r y No communication connection, or x =r y , then A xy =0;

[0021] If r x With r y Communication is connected, and r y If there is a label in For r x The proportion of drones with labels in the communication range of all drones, For r yThe proportion of drones with labels in the communication range of all drones, For r x The number of drones within the communication range, For r y The number of drones within the communication range.

[0022] In some embodiments, include:

[0023]

[0024] in, For r y The number of drones with labels within the communication range, For r y The total number of drones within the communication range;

[0025] include:

[0026]

[0027] in, r x The total number of drones and the number of drones with labels within the communication range.

[0028] In some embodiments, selecting an intermediate drone from among the plurality of drones whose distance to the target drone is less than a second threshold comprises:

[0029] Selecting a number of drones whose distance to the target drone is less than a second threshold;

[0030] Calculating the degree of mission cooperation between the target UAV and a number of UAVs;

[0031] The UAV with the highest degree of cooperation in the task is selected as the intermediate UAV.

[0032] In some implementations, calculating the degree of mission cooperation between the target drone and a plurality of drones includes:

[0033]

[0034] in, For r x The degree of mission cooperation between UAV a and UAV b within the communication range, For r x The number of assigned tasks between UAV a and UAV b within the communication range, t i (a, b) is The communication time of the i-th assigned task in times, For r x The number of assigned tasks between UAV c and UAV a within the communication range, t j (a, c) is The communication time of the jth assigned task in times, S meet (a,r x ) is r x There is a set of drones with assigned tasks within the communication range of drone a.

[0035] In some implementations, before acquiring the target mission from the target drone, the method further includes:

[0036] The task value of the target task is set; wherein the task value gradually decreases with the number of assignments.

[0037] A second aspect of the embodiment of the present application proposes a 5G-based drone task allocation system, which is applied to a drone communication system. The drone communication system includes:

[0038] Multiple servers, multiple servers communicate with each other;

[0039] Multiple drones, each drone flies within the communication range of at least one corresponding server, and each drone is connected to a corresponding server in communication, and each drone has a unique corresponding mission category label;

[0040] The UAV task allocation system comprises:

[0041] A task acquisition module, used to acquire a target task from a target drone; the target task is a task generated by a first drone and needs to be assigned to a second drone, the first drone, the second drone and the target drone are all drones among the multiple drones, and the target drone is a drone currently carrying the target task;

[0042] If the task residual value of the target task is greater than a first threshold, an intermediate drone from among several drones whose distance to the target drone is less than a second threshold is selected, and if the intermediate drone is different from the second drone, the target task is assigned to the intermediate drone, and the intermediate drone is used as the target drone;

[0043] If the task residual value of the target task is less than the first threshold, the target task is assigned to the first server corresponding to the location of the target drone according to the target drone, and the first server calculates the scores of all drones corresponding to each server of the multiple servers for the target task category label according to the target task category label of the second drone, and sends the target task to the servers with the highest scores, so that the servers with the highest scores can search for the second drone within their respective communication ranges. If the second drone is within the communication range of the second server, the second server assigns the target task to the second drone; the second server is a server among the servers with the highest scores.

[0044] A third aspect of an embodiment of the present application proposes an electronic device, comprising at least one controller and a memory for communicating with the controller; the memory stores instructions that can be executed by the at least one controller, and the instructions are executed by at least one of the controllers to enable at least one of the controllers to execute the 5G-based drone task allocation method as described above.

[0045] A fourth aspect of an embodiment of the present application proposes a computer-readable storage medium, on which a computer program is stored. When the computer program is executed, the 5G-based drone task allocation method as described above is implemented.

[0046] The fifth aspect of the embodiments of the present application proposes a computer program product. When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the 5G-based drone task allocation method as described above.

[0047] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0049] Figure 1 It is a flowchart of the 5G-based UAV task allocation method provided by this application;

[0050] Figure 2 It is a structural diagram of a 5G-based drone task allocation system provided by this application;

[0051] Figure 3 It is a structural schematic diagram of the electronic device provided by this application. DETAILED DESCRIPTION

[0052] 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.

[0053] It should be noted that, although the functional modules are divided in the device schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first", "second", etc. in the specification, claims and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0054] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0055] like Figure 1 In order to solve the above defects, the embodiment of the present application proposes a 5G-based drone task allocation method, which is applied to a drone communication system. The drone communication system includes:

[0056] Multiple servers, multiple servers communicate and connect with each other;

[0057] Multiple drones, each drone flies within the communication range of at least one corresponding server, and each drone is connected to a corresponding server in communication, and each drone has a unique corresponding mission category label;

[0058] The methods include the following:

[0059] Step S110, obtaining a target task from a target drone; the target task is a task generated by the first drone and needs to be assigned to the second drone, the first drone, the second drone and the target drone are all drones among the multiple drones, and the target drone is the drone currently carrying the target task.

[0060] Step S120, if the task residual value of the target task is greater than the first threshold, an intermediate drone is selected from several drones whose distance to the target drone is less than the second threshold. If the intermediate drone is different from the second drone, the target task is transmitted to the intermediate drone, and the intermediate drone is used as the target drone.

[0061] Step S130, if the task residual value of the target task is less than the first threshold value, the target task is assigned to the first server corresponding to the location of the target drone according to the target drone, and the first server calculates the scores of all drones corresponding to each server in the multiple servers for the target task category label according to the target task category label of the second drone, and sends the target task to the servers with the highest scores, so that the servers with the highest scores can search for the second drone within their respective communication ranges. If the second drone is within the communication range of the second server, the second server assigns the target task to the second drone; the second server is a server among the servers with the highest scores.

[0062] First, let’s introduce the drone communication system:

[0063] It is mainly composed of servers and drones, where the servers are 5G-based servers, such as edge and cloud servers;

[0064] A server has its corresponding communication range.

[0065] The drone has a communication device, through which it can communicate with other devices. Each drone flies within the communication range of at least one corresponding server, and each drone is connected to the corresponding server for communication.

[0066] In this embodiment, a task category label is set for each drone.

[0067] Define task category labels in the following way:

[0068] In the field of drones, each drone has its corresponding purpose. For example, a drone used for outdoor selfies has a mission category label of "life and entertainment"; a drone used for communication cable inspections and agricultural inspections has a mission category label of "inspection"; a drone used for target tracking and attacking has a mission category label of "reconnaissance"; a drone used for academic research (such as atmospheric observation and earth science) has a mission category label of "research".

[0069] It is worth noting that the mission category label of the drone is associated with the mission category performed by the drone.

[0070] The above content is not exhaustive.

[0071] In this embodiment, each drone has a corresponding task category label label i , then the task category label set of all drones includes: Label = {(label1, label2, ...label i,...label n )}, each time a drone enters the communication range of a server, it sends the corresponding task category label to the corresponding server. For example, when drone a flies into the communication range of server A, it sends the corresponding task category label to server A. Then the server has a corresponding task category label set.

[0072] Then, the task value is set for the target task, as described in the following embodiments.

[0073] In this embodiment, the target task refers to the task that is currently required to be assigned. The initial source of the task is the first drone, and the object to which the task needs to be assigned is the second drone. In the field, the first drone and the second drone are often unable to communicate directly due to distance reasons. In this case, the first drone needs to use a medium to transmit the target task to the second drone.

[0074] If the task residual value of the target task is greater than a first threshold, an intermediate drone is selected from several drones whose distance to the target drone is less than a second threshold. If the intermediate drone is different from the second drone, the target task is transmitted to the intermediate drone, and the intermediate drone is used as the target drone.

[0075] In this embodiment, the target drone is a drone carrying a target task. It is worth noting that if the drone forwards the target task, the drone no longer carries the target task. The target drone currently carrying the target task will detect the remaining value of the task. If it exceeds the first threshold, it will continue to transmit the target task of the drone one-to-one. At this time, the target drone will find one of the drones within its communication range and use the drone (intermediate drone) as the next transmission medium, that is, transmit the task to it and use it as the target drone for the next transmission.

[0076] In this embodiment, the process of finding the intermediate drone includes:

[0077] First, all drones within the communication range of the target drone are determined, then the distance is determined, and then several drones with a distance less than a second threshold are selected as candidate drones, and finally the intermediate drones are selected.

[0078] In some embodiments, selecting an intermediate drone from among a plurality of drones whose distance to the target drone is less than a second threshold comprises:

[0079] Selecting a number of drones whose distance to the target drone is less than a second threshold;

[0080] Calculate the mission cooperation degree between the target UAV and several UAVs;

[0081] The UAV with the highest degree of mission cooperation is selected as the intermediate UAV.

[0082] The above-mentioned calculation of the mission cooperation degree between the target UAV and several UAVs includes:

[0083]

[0084] in, For r x The degree of mission cooperation between UAV a and UAV b within the communication range, For r x The number of transmission tasks between UAV a and UAV b within the communication range, t i (a, b) is The communication time of the i-th transmission task in times, For r x The number of transmission tasks between UAV c and UAV a within the communication range, t j (a, c) is The communication time of the jth transmission task in the order, S meet (a,r x ) is r x A collection of drones with transmission tasks within the communication range of drone a.

[0085] In this embodiment, the degree of task cooperation is determined by the number of historical transmission tasks and the duration of the transmission tasks between each two UAVs; in this embodiment, the assistance between each two UAVs is evaluated by the degree of task cooperation to determine whether the target task can be forwarded from one UAV to another.

[0086] In this embodiment, by defining the degree of task cooperation between drones, it is possible to provide drones with a criterion for selecting the target drone (i.e., the intermediate drone) for target task transmission. This reduces the impact of the task category on the selection of the target drone compared to the traditional solution. For example, the traditional method is to try to select drones that are as consistent as possible with the task category of the target task and are within the communication range, while the present application establishes a criterion for the degree of cooperation to improve the applicability of the drones that can be selected, and the degree of task cooperation is determined by the number of historical transmission tasks and the duration of the transmission tasks. This ensures that the drone selected for the transmitted task is a drone trusted by the drone transmitting the task, and ensures the work enthusiasm of the drone for the transmitted target task, so as to improve the reliability of the target task being transmitted in the next round, and to avoid malicious detention and leakage of the target task as much as possible.

[0087] In this embodiment, the first threshold and the second threshold can be set based on experience, which will not be described in detail here.

[0088] In this embodiment, if the task residual value of the target task is less than the first threshold value, the one-to-one transmission by drone is not continued. Instead, the drone carrying the target task is transmitted to the server within the corresponding range. For example, if drone a detects the task residual value of the target task and meets the above conditions, drone a is within the communication range of server x and server y, where it is closer to server x and farther from y. At this time, the drone can transmit the target task to server x.

[0089] If the task residual value of the target task is less than the first threshold, the target task is assigned to the first server corresponding to the location of the target drone according to the target drone, and the first server calculates the scores of all drones corresponding to each server in the multiple servers for the target task category label according to the target task category label of the second drone, and sends the target task to the servers with the highest scores, so that the servers with the highest scores can search for the second drone within their respective communication ranges. If the second drone is within the communication range of the second server, the second server assigns the target task to the second drone; the second server is a server among the servers with the highest scores.

[0090] In this embodiment, the target task category label refers to the task category label of the second UAV, such as inspection.

[0091] In this embodiment, after learning the target task category label of the second UAV, the server calculates the score of the target task category label within the communication range. For example, server x calculates the score of the target task category label within the communication range (1), and server y calculates the score of the target task category label within the communication range (2).

[0092] The following describes how to calculate the scores of all drones corresponding to the server for the target task category label:

[0093] The following is a detailed introduction:

[0094] According to the proportion of target task category labels of drones in a server range, the number of connected servers and the scores corresponding to the connected servers, the score of the target task category label of the server is calculated.

[0095] Assume the server is r x First, determine the server r among the multiple servers y ,

[0096] If r x With r y Communication is connected, and r y If there is no target task category label label, then set a parameter A xy =1;

[0097] If r x With r y No communication connection, or x =r y , then A xy =0;

[0098] If r x With r y Communication is connected, and r y If there is a label in For server x The proportion of drones with labels in the communication range of all drones, For server y The proportion of server drones with label in the communication range of all drones, For server x The number of drones within the communication range, For server y The number of drones within the communication range.

[0099] The calculation is performed as follows:

[0100]

[0101] Among them, Rr x For server r among multiple servers x The score of the target task category labels corresponding to all drones in Rr y For server r among multiple servers y The scores of target task category labels corresponding to all drones in , n is the number of multiple servers, A xy For server x and server y The correlation degree of the task labels between them, λ is a constant, which can be set based on experience.

[0102] In some embodiments:

[0103] include:

[0104]

[0105] in, For r y The number of drones with labels within the communication range, For r y The total number of drones within the communication range;

[0106] include:

[0107]

[0108] in, r x The total number of drones and the number of drones with labels within the communication range.

[0109] Compared with measuring the score of the target task category label corresponding to each server only by the task type labels corresponding to all drones in each server, it is obvious that the score of the target task category label calculated by the scheme of this embodiment is more reasonable. This is because this embodiment not only considers the server itself, but also considers the scores of the target task category labels corresponding to other servers connected to the server to jointly calculate the score of the target task category label of the server. This method uses the eigenvector centrality and task category labels (that is, the score of the target task category label of the server depends on both the target task category labels of all drones in its range and the number of other servers and their corresponding scores) to measure the score of the target task category label corresponding to each server, thereby improving the reliability of the score calculation.

[0110] Finally, the target task is sent to several servers with the highest scores so that the servers with the highest scores can search for the second UAV within their respective communication ranges. If the second UAV is within the communication range of the second server, the second server will assign the target task to the second UAV; the second server is a server among the servers with the highest scores.

[0111] It is worth noting that multiple servers can be selected based on the scores, and the number of servers selected is set based on experience. The purpose of not selecting all servers is to reduce resource consumption as much as possible, because each server broadcasts information and consumes a lot of resources. Selecting only part of the servers can greatly save computing resources.

[0112] In some embodiments of the present application, before acquiring the target mission from the target drone, the method further includes:

[0113] The task value of the target task is set; wherein the task value gradually decreases with the number of transmissions.

[0114] Because the task has a time limit, you can set the task value to decrease with the number of assignments. For example, the initial task value is 10, which means that after 10 transmissions, the task value becomes 0, which means that the second drone must be found and the target task assigned before 10 transmissions. For example, when the remaining task value is 5, the assignment needs to be accelerated, so the server assignment method can be implemented.

[0115] This embodiment has at least the following beneficial effects:

[0116] (1) The present application sets a task residual value for the target task. When the task residual value exceeds a first threshold, the task is transmitted one-to-one according to the drones until it is transmitted to the second drone. When the task residual value does not exceed the first threshold, the target task is transmitted to the corresponding server, and multiple servers broadcast to each other, each searching for the second drone within the communication range. The present application reduces the network congestion caused by the transmission of the target task only between drones to a certain extent, improves the allocation efficiency of the target task, and improves the adaptability to the dynamic environment.

[0117] (2) The present application sets up a task category label for the drone, and can calculate the score of the target task category label based on the task category labels corresponding to all drones within the coverage range of each server, and select several servers with the highest scores to transmit the target task to the servers with the highest scores, so that the servers with the highest scores can search for the second drone within their respective communication ranges until the allocation of the second drone is completed; the present application calculates the score of the target task category label of the server based on the task category label, and selects certain servers for transmission based on the score, so as to maximize the efficiency of allocating the target task without wasting computing resources.

[0118] like Figure 2 In one embodiment of the present application, a 5G-based drone task allocation system is provided, which is applied to a drone communication system. The drone communication system includes:

[0119] Multiple servers, multiple servers communicate with each other;

[0120] Multiple drones, each drone flies within the communication range of at least one corresponding server, and each drone is connected to a corresponding server in communication, and each drone has a unique corresponding mission category label;

[0121] The UAV task allocation system 1000 includes:

[0122] The task acquisition module 1100 is used to acquire a target task from a target drone; the target task is a task generated by a first drone and needs to be assigned to a second drone, the first drone, the second drone and the target drone are all drones among the multiple drones, and the target drone is a drone currently carrying the target task;

[0123] The drone transmission module 1200 selects an intermediate drone from among several drones whose distance to the target drone is less than a second threshold value if the task residual value of the target task is greater than a first threshold value, and if the intermediate drone is different from the second drone, transmits the target task to the intermediate drone and uses the intermediate drone as the target drone;

[0124] The server transmission module 1300 assigns the target task to the first server corresponding to the location of the target drone according to the target drone if the remaining task value of the target task is less than the first threshold value. The first server calculates the scores of all drones corresponding to each of the multiple servers for the target task category label according to the target task category label of the second drone, and transmits the target task to the servers with the highest scores, so that the servers with the highest scores can search for the second drone within their respective communication ranges. If the second drone is within the communication range of the second server, the second server assigns the target task to the second drone. The second server is a server among the servers with the highest scores.

[0125] It should be noted that the present 5G-based UAV task allocation system embodiment and the above-mentioned 5G-based UAV task allocation method embodiment are based on the same inventive concept, so the relevant contents of the above method embodiment are also applicable to the system embodiment and will not be described in detail here.

[0126] like Figure 3 Based on the same inventive concept, an embodiment of the present application also provides an electronic device.

[0127] The electronic device may include a processor 401 and a memory 402 storing computer programs or instructions.

[0128] Specifically, the processor 401 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiment of the present invention.

[0129] The memory 402 may include a large capacity memory for data or instructions. For example, but not limitation, the memory 402 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In appropriate cases, the memory 402 may include a removable or non-removable (or fixed) medium. In appropriate cases, the memory 402 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, the memory 402 is a non-volatile solid-state memory. The memory may include a read-only memory (ROM), a random access memory (RAM), a disk storage medium device, an optical storage medium device, a flash memory device, an electrical, optical or other physical / tangible memory storage device. Therefore, typically, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described in the 5G-based drone task allocation method provided in the above-mentioned embodiments.

[0130] The processor 401 implements any 5G-based drone task allocation method in the above embodiments by reading and executing computer program instructions stored in the memory 402.

[0131] In one example, the electronic device may further include a communication interface 403 and a bus 410. The processor 401, the memory 402, and the communication interface 403 are connected via the bus 410 and communicate with each other.

[0132] The communication interface 403 is mainly used to implement the communication between the modules, devices, units and / or devices in the embodiment of the present invention.

[0133] Bus 410 includes hardware, software or both, and the parts of electronic equipment are coupled to each other. For example, but not limitation, bus may include accelerated graphics port (AGP) or other graphics bus, enhanced industrial standard architecture (EISA) bus, front side bus (FSB), hypertransport (HT) interconnection, industrial standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 410 may include one or more buses. Although the embodiment of the present invention describes and shows a specific bus, the present invention considers any suitable bus or interconnection.

[0134] The electronic device can execute the data processing method in the embodiment of the present invention, thereby realizing Figure 1 Any 5G-based UAV task allocation method of description.

[0135] In addition, in combination with the 5G-based UAV task allocation method in the above embodiment, the embodiment of the present invention can provide a readable storage medium for implementation. The readable storage medium stores program instructions; when the program instructions are executed by the processor, any 5G-based UAV task allocation method in the above embodiment is implemented.

[0136] It should be clear that the present invention is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present invention is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present invention.

[0137] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present invention are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0138] It should also be noted that the exemplary embodiments mentioned in the present invention describe some methods or systems based on a series of steps or devices. However, the present invention is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiments, or in a different order from the embodiments, or several steps can be performed simultaneously.

[0139] The above reference is according to the method of the embodiment of the present application, the flow chart of the device (system) and the computer program product and / or the block diagram described various aspects of the present application.It should be understood that each square box in the flow chart and / or the block diagram and the combination of each square box in the flow chart and / or the block diagram can be realized by computer program instructions.These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the realization of the function / action specified in one or more square boxes of the flow chart and / or the block diagram.Such a processor can be but is not limited to a general-purpose processor, a special-purpose processor, a special application processor or a field programmable logic circuit.It can also be understood that each square box in the block diagram and / or the flow chart and the combination of the square boxes in the block diagram and / or the flow chart can also be realized by the dedicated hardware that performs the specified function or action, or can be realized by the combination of dedicated hardware and computer instructions.

Claims

1. A 5G-based UAV task allocation method, characterized in that: Applied to a UAV communication system, the UAV communication system comprises: Multiple 5G-based servers, multiple servers communicate and connect with each other; Multiple drones, each drone flies within the communication range of at least one corresponding server, and each drone is connected to a corresponding server in communication, and each drone has a unique corresponding mission category label; The method comprises: Acquire a target task from a target drone; the target task is a task generated by a first drone and needs to be assigned to a second drone, the first drone, the second drone, and the target drone are all drones among the multiple drones, and the target drone is a drone currently carrying the target task; If the task residual value of the target task is greater than a first threshold, an intermediate drone from among several drones whose distance to the target drone is less than a second threshold is selected, and if the intermediate drone is different from the second drone, the target task is transmitted to the intermediate drone, and the intermediate drone is used as the target drone; If the task residual value of the target task is less than the first threshold, the target task is assigned to the first server corresponding to the location of the target drone according to the target drone, and the first server calculates the scores of all drones corresponding to each server of the multiple servers for the target task category label according to the target task category label of the second drone, and transmits the target task to several servers with the highest scores, so that the several servers with the highest scores can search for the second drone within their respective communication ranges. If the second drone is within the communication range of the second server, the second server assigns the target task to the second drone; the second server is a server among the several servers with the highest scores.

2. The 5G-based UAV task allocation method according to claim 1, characterized in that: The calculating the scores of all drones corresponding to each of the multiple servers for the target task category label includes: Among them, label refers to the target task category label, Rr x is a server r among the multiple servers x The score of the target task category labels corresponding to all drones in Rr y is a server r among the multiple servers y The scores of target task category labels corresponding to all drones in , n is the number of the multiple servers, A xy For server x and server y The correlation degree between the task labels, λ is a constant, where: If r x With r y Communication is connected, and r y There is no label in A xy =1; If r x With r y No communication connection, or x =r y , then A xy =0; If r x With r y Communication is connected, and r y If there is a label in For r x The proportion of drones with labels in the communication range of all drones, For r y The proportion of drones with labels in the communication range of all drones, For r x The number of drones within the communication range, For r y The number of drones within the communication range.

3. The 5G-based UAV task allocation method according to claim 2, characterized in that: include: in, For r y The number of drones with label within the communication range, For r y The total number of drones within the communication range; include: in, r x The total number of drones and the number of drones with labels within the communication range.

4. The 5G-based UAV task allocation method according to claim 2, characterized in that: The step of selecting an intermediate drone from among the plurality of drones whose distance to the target drone is less than a second threshold comprises: Selecting a number of drones whose distance to the target drone is less than a second threshold; Calculating the degree of mission cooperation between the target UAV and a number of UAVs; The UAV with the highest degree of cooperation in the task is selected as the intermediate UAV.

5. The 5G-based UAV task allocation method according to claim 4 is characterized in that: The calculating the mission cooperation degree between the target UAV and the plurality of UAVs comprises: in, For r x The degree of mission cooperation between UAV a and UAV b within the communication range, For r x The number of transmission tasks between UAV a and UAV b within the communication range, t i (a,b) is The communication time of the i-th transmission task in times, For r x The number of transmission tasks between UAV c and UAV a within the communication range, t j (a,c) is The communication time of the jth transmission task in times, S meet (a,r x ) is r x A collection of drones with transmission tasks within the communication range of drone a.

6. The 5G-based UAV task allocation method according to claim 1, characterized in that: Before obtaining the target task from the target UAV, the method further includes: The task value of the target task is set; wherein the task value gradually decreases with the number of transmissions.

7. A 5G-based drone task allocation system, characterized in that: Applied to a UAV communication system, the UAV communication system comprises: Multiple 5G-based servers, multiple servers communicate and connect with each other; Multiple drones, each drone flies within the communication range of at least one corresponding server, and each drone is connected to a corresponding server in communication, and each drone has a unique corresponding mission category label; The UAV task allocation system comprises: A task acquisition module, used to acquire a target task from a target drone; the target task is a task generated by a first drone and needs to be assigned to a second drone, the first drone, the second drone and the target drone are all drones among the multiple drones, and the target drone is a drone currently carrying the target task; a drone transmission module, if the task residual value of the target task is greater than a first threshold, selecting an intermediate drone from among several drones whose distance to the target drone is less than a second threshold, and if the intermediate drone is different from the second drone, transmitting the target task to the intermediate drone, and using the intermediate drone as the target drone; The server transmission module allocates the target task to the first server corresponding to the location of the target drone according to the target drone if the remaining task value of the target task is less than the first threshold value, and the first server calculates the scores of all drones corresponding to each server of the multiple servers for the target task category label according to the target task category label of the second drone, and transmits the target task to the servers with the highest scores, so that the servers with the highest scores can search for the second drone within their respective communication ranges, and if the second drone is within the communication range of the second server, the second server allocates the target task to the second drone; the second server is a server among the servers with the highest scores.

8. An electronic device, characterized in that: It includes at least one controller and a memory for communicating with the controller; the memory stores instructions that can be executed by the at least one controller, and the instructions are executed by at least one of the controllers to enable at least one of the controllers to execute the 5G-based drone task allocation method as described in any one of claims 1 to 6.

9. A computer storage medium, characterized in that: The computer-readable storage mechanism stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the 5G-based drone task allocation method as described in any one of claims 1 to 6.

10. A computer program product, characterized in that When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the 5G-based drone task allocation method as described in any one of claims 1 to 6.

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