A command task time-space multi-domain collaborative scheduling method and device

Abstract

This application belongs to the field of command and control technology, and specifically discloses a method and device for the spatiotemporal multi-domain collaborative scheduling of command tasks. This application analyzes the time constraints and space constraints existing in the actual combat environment by comprehensively considering the execution conditions such as the priority relationship and dependency relationship between command tasks when scheduling each command task. It can generate the most optimized scheduling plan for each command task under the premise of satisfying the time constraints and space constraints, while ensuring the schedulability of the command task, improving the efficiency of task collaborative execution, and can greatly improve the level of intelligent command and combat in complex dynamic environments. It has important theoretical significance and application value.

Description

Technical Field

[0001] The present application belongs to the field of command and control technology, and more specifically, to a method and device for spatiotemporal multi-domain collaborative scheduling of command tasks. Background Art

[0002] Command and dispatch is a highly complex system engineering project. In the fields of military operations, emergency rescue, large-scale event management, etc., command and dispatch requires the rational deployment of multiple command tasks for coordinated execution in order to effectively achieve combat objectives.

[0003] Traditional command task spatiotemporal multi-domain collaborative scheduling methods usually focus on whether the task objectives are achieved and whether the task resources can be optimized, simplifying the command task operation plan into a sequence scheduling problem of task operation flow. Most studies then refer to and improve traditional scheduling algorithms, such as heuristic rules and priority-based scheduling, to generate scheduling plans for single tasks or task sequences that meet the task execution time, execution deadline, etc. However, such methods often replace the overall collaborative execution conditions of tasks with single task scheduling conditions, ignoring the time domain and space domain constraints of command task execution in actual combat environments, and are difficult to apply to the multi-domain collaborative command scheduling scenarios of time domain and space domain of large-scale command task operation plans. The spatiotemporal multi-domain collaborative constraints of command tasks include but are not limited to: 1) time constraints, such as the maximum combat duration of the command unit, the time window of the combat task, and the combat preparation time of the unit; 2) spatial constraints, such as the geographical location and regional scope of the combat target, and the plannable collaborative route. Ignoring these key constraints will lead to a greater risk of infeasibility in the generated combat plan (or scheduling plan), and the generated scheduling plan is difficult to achieve overall optimization and cannot truly guide actual operations. Summary of the invention

[0004] In view of the defects of the prior art, the purpose of this application is to provide a method and device for spatiotemporal multi-domain collaborative scheduling of command tasks, aiming to solve the problem that the prior art method for spatiotemporal multi-domain collaborative scheduling of command tasks ignores spatiotemporal constraints, resulting in the generated scheduling plan being difficult to achieve overall optimization and unable to truly guide actual operations.

[0005] To achieve the above objectives, in a first aspect, the present application provides a command task spatiotemporal multi-domain collaborative scheduling method, comprising:

[0006] S1 determines the priority relationship and dependency relationship of each command task according to the execution parameters of each command task in the command task set to be processed;

[0007] S2 performs spatial constraint analysis on each command task in the set of command tasks to be processed, and determines the first geographical execution area corresponding to each command task;

[0008] S3 performs time constraint analysis on each command task in the to-be-processed command task set according to the priority relationship and the dependency relationship, and determines the execution time sequence corresponding to all command tasks in each first geographical execution area;

[0009] S4 configures a task scheduling time window for the execution time sequence in each first geographical execution area, and generates a scheduling plan for each command task.

[0010] In some embodiments, S1 determines the priority relationship and dependency relationship of each command task according to the execution parameters of each command task in the set of command tasks to be processed, including:

[0011] S11 determines the priority relationship between any two command tasks of the same type according to the execution parameters of each command task and in chronological order;

[0012] S12: for any two command tasks of different types, determining the priority relationship between the any two command tasks of different types according to their types.

[0013] In some embodiments, S2 performs spatial constraint analysis on each command task in the set of pending command tasks to determine a first geographical execution area corresponding to each command task, including:

[0014] S21 randomly selects k command tasks from the n command tasks in the set of command tasks to be processed, and determines first execution centers of k second geographical execution areas corresponding to the k command tasks according to execution location parameters of each command task and its adjacent command tasks;

[0015] S22, for any command task in the set of command tasks to be processed, obtain the Euclidean distance between any command task and k first execution centers, and use the geographical execution area corresponding to the second execution center when the minimum Euclidean distance is obtained as the first geographical execution area of ​​any command task;

[0016] S23 calculates the two-dimensional convex hull boundary points corresponding to each first geographical execution area according to the execution location parameters corresponding to all command tasks in the first geographical execution areas corresponding to the n command tasks;

[0017] S24 updates the second execution center and the first execution center based on the two-dimensional convex hull boundary points corresponding to each first geographic execution area, and repeats S22 and S23 until the n command tasks are divided into k first geographic execution areas.

[0018] In some embodiments, S3 performs time constraint analysis on each command task in the pending command task set according to the priority relationship and the dependency relationship, and determines the execution time sequence corresponding to all command tasks in each first geographical execution area, including:

[0019] S31, for a first command task and a second command task in any first geographical execution area, converting a dependency relationship between the first command task and the second command task into a time constraint relationship, the first command task and the second command task being any two command tasks in any first geographical execution area;

[0020] S32: In the case where any command task in any first geographical execution area is a reconnaissance task, the start time of any command task is determined according to the time required to execute the remaining reconnaissance tasks with a higher priority than any command task in any first geographical execution area and the task time constraint coordination parameters; in the case where any command task is a strike task, the start time of any command task is determined according to the time required to execute the reconnaissance tasks with a lower priority than any command task in any geographical execution area, the time required to execute the reconnaissance tasks with a higher priority than any command task and the remaining strike tasks in any first geographical execution area;

[0021] S33 repeats S31 and S32 until the execution time sequences corresponding to all command tasks in the k first geographical execution areas are determined.

[0022] In some embodiments, S4 configures a task scheduling time window for the execution time sequence in each geographic execution area, and generates a scheduling plan for each command task, including:

[0023] S41 generates a scheduling plan for each command task in the first execution time sequence according to the order of priority of each command task in the first execution time sequence from high to low, wherein the first execution time sequence is an execution time sequence corresponding to any first geographical execution area;

[0024] S42 obtains the start time and end time of the collaborative scheduling window corresponding to the scheduling plan;

[0025] S43 sets a set of command tasks to be scheduled in the coordinated scheduling window, and determines the set of command tasks to be scheduled according to the start time of each command task in the first execution time sequence, the start time and the end time of the coordinated scheduling window;

[0026] S44 generates a scheduling plan for each command task in the set of command tasks to be scheduled;

[0027] S45 repeats S41 to S44 until the scheduling plans corresponding to n command tasks are obtained.

[0028] In some embodiments, S42 obtains the start time and end time of the coordinated scheduling window corresponding to the scheduling plan, including:

[0029] S421: taking the minimum value of the start time of the first reconnaissance task that has not been executed in each first geographical execution area as the start time of the coordinated scheduling window corresponding to the scheduling plan;

[0030] S422 If there is a first strike task in the first execution time sequence that has a sequential dependency with the first reconnaissance task that has not yet been executed, the end time of the collaborative scheduling window is determined based on the start time of the first strike task and the time required to execute the first strike task; otherwise, when the Pearson correlation coefficient between the second strike task that has not yet been executed in the remaining first geographical execution areas outside the first geographical execution area where the first execution time sequence is located and the first reconnaissance task that has not yet been executed is equal to 1, the end time of the collaborative scheduling window is determined based on the start time of the second strike task and the time required to execute the second strike task.

[0031] In a second aspect, the present application provides a command task spatiotemporal multi-domain collaborative scheduling device, comprising:

[0032] A first acquisition module is used to determine the priority relationship and dependency relationship of each command task according to the execution parameters of each command task in the command task set to be processed;

[0033] The second acquisition module is used to perform spatial constraint analysis on each command task in the set of command tasks to be processed, and determine a first geographical execution area corresponding to each command task;

[0034] A third acquisition module is used to perform time constraint analysis on each command task in the command task set to be processed according to the priority relationship and the dependency relationship, and determine the execution time sequence corresponding to all command tasks in each first geographical execution area;

[0035] The plan generation module is used to configure the task scheduling time window for the execution time sequence in each first geographical execution area and generate a scheduling plan for each command task.

[0036] In a third aspect, the present application provides an electronic device comprising: at least one memory for storing programs; and at least one processor for executing the programs stored in the memory, wherein when the programs stored in the memory are executed, the processor is used to execute the method described in the first aspect or any embodiments of the first aspect.

[0037] In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program. When the computer program runs on a processor, the processor executes the method described in the first aspect or any embodiments of the first aspect.

[0038] In a fifth aspect, the present application provides a computer program product. When the computer program product runs on a processor, the processor executes the method described in the first aspect or any embodiments of the first aspect.

[0039] In general, the above technical solutions conceived by this application have the following beneficial effects compared with the prior art:

[0040] The method and device for spatiotemporal multi-domain collaborative scheduling of command tasks provided in the present application analyze the time constraints and space constraints existing in the actual combat environment by comprehensively considering the execution conditions such as the priority relationship and dependency relationship between command tasks when scheduling each command task. It can generate the most optimized scheduling plan for each command task on the premise of satisfying the time constraints and space constraints, improve the efficiency of task collaborative execution while ensuring the schedulability of command tasks, and can greatly enhance the level of intelligent command and combat in complex dynamic environments. It has important theoretical significance and application value. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a flowchart of a method for spatiotemporal multi-domain collaborative scheduling of command tasks provided in an embodiment of the present application;

[0042] Figure 2 A schematic diagram of task partitioning and boundary updating in the command task spatiotemporal multi-domain collaborative scheduling method provided in an embodiment of the present application;

[0043] Figure 3 A schematic diagram of dividing task windows and collaborative scheduling windows in the command task spatiotemporal multi-domain collaborative scheduling method provided in an embodiment of the present application;

[0044] Figure 4 It is a structural diagram of a command task spatiotemporal multi-domain collaborative scheduling device provided in an embodiment of the present application;

[0045] Figure 5 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0046] 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.

[0047] The term "and / or" in this article is a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The symbol " / " in this article indicates that the associated objects are in an or relationship, for example, A / B means A or B.

[0048] The terms "first", "second", etc. in the specification and claims herein are used to distinguish different objects rather than to describe a specific order of the objects. For example, a first geographic execution area and a second geographic execution area are used to distinguish different geographic execution areas rather than to describe a specific order of the geographic execution areas.

[0049] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0050] In the description of the embodiments of the present application, unless otherwise specified, “plurality” means two or more than two.

[0051] Command task scheduling often needs to consider execution conditions such as task priority and task dependency at the same time, and needs to take into account multiple goals, such as shortest combat time, maximum target coverage, minimum resource consumption, etc. However, traditional methods find it difficult to balance different goals within the algorithm framework, and the generated combat plan is difficult to achieve overall optimization.

[0052] In order to overcome the above-mentioned defects, there is an urgent need for a new command and combat scheduling method that can comprehensively consider spatiotemporal constraints, meet multi-objective optimization requirements, have a theoretical basis and good interpretability, and is universal and scalable. Based on this, the embodiment of the present application provides a command task spatiotemporal multi-domain collaborative scheduling method and device, which fills the gap in the prior art of command task spatiotemporal multi-domain collaborative scheduling methods, can generate the most optimized combat plan under the premise of meeting multiple spatiotemporal constraints, and greatly improve the level of command and combat intelligence in complex dynamic environments, and has important theoretical significance and application value.

[0053] The embodiments of the present application are described below in conjunction with the drawings in the embodiments of the present application.

[0054] See also Figure 1 , an embodiment of the present application provides a method for spatiotemporal multi-domain collaborative scheduling of command tasks, including: steps S1 to S4.

[0055] S1 determines the priority relationship and dependency relationship of each command task according to the execution parameters of each command task in the command task set to be processed;

[0056] S2 performs spatial constraint analysis on each command task in the set of command tasks to be processed, and determines the first geographical execution area corresponding to each command task;

[0057] S3 performs time constraint analysis on each command task in the to-be-processed command task set according to the priority relationship and the dependency relationship, and determines the execution time sequence corresponding to all command tasks in each first geographical execution area;

[0058] S4 configures a task scheduling time window for the execution time sequence in each first geographical execution area, and generates a scheduling plan for each command task.

[0059] In the embodiment of the present application, by initializing a set of pending command tasks, the execution parameters of each command task in the set of pending tasks are obtained, and according to the execution parameters of each command task, the priority relationship and dependency relationship between the command tasks are set.

[0060] For example, the set of command tasks to be processed Ω includes n command tasks, which can be expressed as Ω={TF1,...,TF i ,...,TF n}, TF i is the i-th command task in the task set to be processed, i=1,2,...,n.

[0061] Define execution parameters for each command task to command task TF i For example, the corresponding execution parameters can be expressed as, TF i = <id i ,T i ,L i ,D i ,C i ,P i >. Among them, id i To command the mission TF i The task number, T i To command the mission TF i Type, L i To command the mission TF i The execution location parameter, L i =(locX i ,locY i ),locX i and locY i They represent the horizontal and vertical coordinates corresponding to the execution location parameters, D i To command the mission TF i The dependency relationship of C i To carry out command missions TF i The time required, P i To command the mission TF i The priority, P i =0,1,...,N, where N is an integer greater than 1.

[0062] In the embodiment of the present application, command tasks can be divided into two types: reconnaissance tasks and strike tasks.

[0063] For example, for any two command tasks TF in the task set to be processed i and TF j , j = 1, 2, ..., n, and j ≠ i, it is generally believed that the smaller the priority value, the higher the corresponding priority. Assume P j <P i , then there is a command task TF j Priority is higher than the command mission TF i The priority of P j >P i , then command task TF j Priority is lower than the command mission TF i The priority of j To command the mission TF j The priority, P j =0,1,...,N.

[0064] To command the mission TF i and TF j Set dependencies, for example, the strike mission must depend on the reconnaissance mission, and the command mission TF i and TF j There are several dependencies between them:

[0065] 1. Sequential dependency s (TF i ,TF j );

[0066] 2. Parallel dependencies u (TF i ,TF j );

[0067] 3. Coupling relationship couple (TF i ,TF j );

[0068] 4. Independent relationship independenttent (TF i ,TF j ).

[0069] Analyze the spatial constraints of each command task in the pending command task set Ω, determine the geographical execution area (i.e., the first geographical execution area) of each command task, and then perform time constraint analysis on the pending command task set Ω according to the priority relationship and dependency relationship of each command task obtained above, and determine the execution time sequence corresponding to all command tasks in each first geographical execution area.

[0070] According to the results of the spatiotemporal constraint analysis of command tasks, a task scheduling time window is configured for the execution time sequence in each first geographical execution area, and a detailed scheduling plan for each command task is generated to meet the schedulability of the command task within the time window and realize the spatiotemporal coordinated operation mechanism of the command task.

[0071] The method for spatiotemporal multi-domain collaborative scheduling of command tasks provided in the embodiment of the present application analyzes the time constraints and space constraints existing in the actual combat environment by comprehensively considering the execution conditions such as the priority relationship and dependency relationship between command tasks when scheduling each command task. It can generate the most optimized scheduling plan for each command task on the premise of satisfying the time constraints and space constraints, improve the efficiency of task collaborative execution while ensuring the schedulability of command tasks, and can greatly enhance the level of intelligent command and combat in complex dynamic environments. It has important theoretical significance and application value.

[0072] Furthermore, in some embodiments, S1 determines the priority relationship and dependency relationship of each command task according to the execution parameters of each command task in the set of command tasks to be processed, including:

[0073] S11 determines the priority relationship between any two command tasks of the same type according to the execution parameters of each command task and in chronological order;

[0074] S12: for any two command tasks of different types, determining the priority relationship between the any two command tasks of different types according to their types.

[0075] In the embodiment of the present application, given any two command tasks TF i and TF j , and its corresponding execution parameters can be expressed as, TF i = <id i ,T i ,L i ,D i ,C i ,P i >, TF j = <id j ,T j ,L j ,D j ,C j ,P j >. Among them, id j To command the mission TF j The task number, T j To command the mission TF j Type, L j To command the mission TF j The execution location parameter, D jTo command the mission TF j The dependency relationship of C j To carry out command missions TF j The time required is assumed to be that of command task TF i and TF j Command missions of the same type, i.e., both are reconnaissance missions or both are strike missions, can be sorted in chronological order, with higher priority given to the mission that arrived earlier.

[0076] Assume that command mission TF i and TF j For different types of command tasks, due to the sequential dependency between reconnaissance tasks and strike tasks, if the command task TF i For a reconnaissance mission, the command mission TF i Set a higher priority, P i <P j ; If command mission TF i For a strike mission, it is the command mission TF i Set a lower priority, P i >P j .

[0077] The spatiotemporal multi-domain collaborative scheduling method for command tasks provided in the embodiment of the present application avoids idleness and waste of resources by accurately matching task requirements with resource capabilities. For example, by considering the geographical location of task execution, a reasonable scheduling window is allocated to each task, reducing the scheduling time and cost of task collaboration. In addition, the embodiment of the present application also takes into account task priority and availability, and prioritizes the resources required for high-priority command tasks to ensure that critical tasks can be completed in a timely manner, improves resource utilization, and optimizes command and collaborative scheduling efficiency.

[0078] Furthermore, in some embodiments, S2 performs spatial constraint analysis on each command task in the set of pending command tasks to determine a first geographical execution area corresponding to each command task, including:

[0079] S21 randomly selects k command tasks from the n command tasks in the set of command tasks to be processed, and determines first execution centers of k second geographical execution areas corresponding to the k command tasks according to execution location parameters of each command task and its adjacent command tasks;

[0080] S22, for any command task in the set of command tasks to be processed, obtain the Euclidean distance between any command task and k first execution centers, and use the geographical execution area corresponding to the second execution center when the minimum Euclidean distance is obtained as the first geographical execution area of ​​any command task;

[0081] S23 calculates the two-dimensional convex hull boundary points corresponding to each first geographical execution area according to the execution location parameters corresponding to all command tasks in the first geographical execution areas corresponding to the n command tasks;

[0082] S24 updates the second execution center and the first execution center based on the two-dimensional convex hull boundary points corresponding to each first geographic execution area, and repeats S22 and S23 until the n command tasks are divided into k first geographic execution areas.

[0083] In the embodiment of the present application, k command tasks are arbitrarily selected from the n command tasks in the pending command task set Ω, where k=1, ..., n.

[0084] Assuming command mission TF k is any one of the k command tasks, command task TF k and its adjacent command tasks TF k′ The corresponding execution location parameters are L k and L k′ , where L k′ =(locX k′ ,locY k′ ), L k =(locX k ,locY k ),locX k and locY k Command Task TF k The horizontal and vertical coordinates of the corresponding execution location parameters, locX k′ and locY k′ Command Task TF k′ The horizontal and vertical coordinates of the corresponding execution location parameters.

[0085] Get command mission TF k and its adjacent command tasks TF k′ The midpoint of the command task TF k The execution center of the geographical execution area (i.e. the second geographical execution area) (i.e. the first execution center), that is:

[0086]

[0087] By repeating the above process, the first execution centers of k second geographical execution areas corresponding to k command tasks can be obtained.

[0088] According to the following formula, each of the n command tasks in the task set Ω to be processed (assuming TF i ) corresponding to the execution location parameter Li =(locX i ,locY i ) to the Euclidean distances between the k first execution centers, and the geographical execution area corresponding to the execution center (i.e., the second execution center) when the minimum Euclidean distance is obtained is taken as the command task TF i First geographic execution area:

[0089]

[0090] Among them, Des represents the command task TF i With the first execution center The Euclidean distance between them is l = 1, 2, ..., k. It should be noted that the second execution center is one of the k first execution centers.

[0091] For any of the n command tasks (assuming TF k ) corresponds to the first geographical execution area S k , by traversing the first geographical execution area S k All command tasks in the command task list are obtained, and the execution location parameters of these command tasks are obtained. Based on the execution location parameters of these command tasks, the Convhull algorithm is used to calculate the first geographical execution area S k The two-dimensional convex hull boundary points, that is, calculate the minimum convex polygon that satisfies the first geographic execution area S k All command tasks in are on or inside the edge of the minimum convex polygon.

[0092] The first geographical execution area S k For example, according to the first geographical execution area S k The corresponding two-dimensional convex hull boundary points and the first execution centers, for the first execution centers and the first geographical execution area S k Second Execution Center Update as follows:

[0093]

[0094] In the formula, i′ is obtained by connecting the boundary points of the two-dimensional convex hull with the first execution center. The first geographical execution area S k Divide into n′ triangular areas, A i′ is the area of ​​the i′th triangle, the first execution center Update via:

[0095]

[0096] In the formula, and The vertices of the i′th triangle are The horizontal coordinates of the other two vertices are and The vertices of the i′th triangle are The ordinates of the other two vertices are as follows: Figure 2 shown.

[0097] By repeating the above process until n command tasks are divided into k first geographical execution areas, the spatial constraint analysis of the command task set to be processed is completed.

[0098] The spatiotemporal multi-domain collaborative scheduling method for command tasks provided in the embodiments of the present application is different from the prior art which often focuses on resource allocation in a single dimension when scheduling tasks, such as only considering task objectives or resource loads, while ignoring the spatial distribution of tasks and resources and their impact on scheduling efficiency. The embodiments of the present application achieve multi-dimensional analysis and optimization of command tasks and resources by comprehensively considering the time sequence and spatial constraints of command tasks, which not only ensures that command tasks can be started and completed within the scheduled time, but also ensures that tasks can be executed at the correct location, thereby avoiding ineffective movement of resources and waste of time, and improving the accuracy and overall efficiency of command scheduling.

[0099] Further, in some embodiments, S3 performs time constraint analysis on each command task in the command task set to be processed according to the priority relationship and the dependency relationship, and determines the execution time sequence corresponding to all command tasks in each first geographical execution area, including:

[0100] S31, for a first command task and a second command task in any first geographical execution area, converting a dependency relationship between the first command task and the second command task into a time constraint relationship, the first command task and the second command task being any two command tasks in any first geographical execution area;

[0101] S32: In the case where any command task in any first geographical execution area is a reconnaissance task, the start time of any command task is determined according to the time required to execute the remaining reconnaissance tasks with a higher priority than any command task in any first geographical execution area and the task time constraint coordination parameters; in the case where any command task is a strike task, the start time of any command task is determined according to the time required to execute the reconnaissance tasks with a lower priority than any command task in any geographical execution area, the time required to execute the reconnaissance tasks with a higher priority than any command task and the remaining strike tasks in any first geographical execution area;

[0102] S33 repeats S31 and S32 until the execution time sequences corresponding to all command tasks in the k first geographical execution areas are determined.

[0103] Assume that after the above process, the set of k first geographical execution areas corresponding to n command tasks is Ω s , where Ω s ={S1,...,S k}, S1 to S k Respectively represent the first to kth first geographical execution areas.

[0104] For any first geographic execution region, assume that S i″ , i″=1,...,k, assigned to the first geographical execution area S i″ The command task set in is in, m=1,...,num(S i″ ), num(S i″ ) represents the command task set The number of command tasks included in. Get the command task collection Types of command tasks and sets of command tasks to be executed The time required for the command task in C m .

[0105] for Any command mission in TF m , if the command task TF m For the reconnaissance mission, Set its start time to and If the command task TF m For the strike mission, Set its start time to for Any two command tasks, assuming they are the first command tasks and the second command mission m1,m2=1,...,num(S i″ ), and m1≠m2. Get the first command task and the second command mission The dependencies between them are converted into time constraints:

[0106] If the first command mission and the second command mission There is a sequential dependency but The start time is earlier than End time of

[0107] If the first command mission and the second command mission There are parallel dependencies but Start time is later than Start time, task End time is before End time.

[0108] If the first command mission and the second command mission There is a coupling relationship but and Have the same start and end time.

[0109] If the first command mission and the second command mission There is an independent relationship Then there is no constraint relationship between the start time of command task execution.

[0110] Determination of execution time series: for the first geographic execution area S i″ The calculation is based on the start time of the command task waiting to be processed, as follows:

[0111] For S i″ Any command mission in TF m , if the first command task TF m For a reconnaissance mission, the start time is set to:

[0112]

[0113] In the formula, To execute the first geographical execution area S i″ Medium priority is higher than TF m The rest of the reconnaissance mission of TF j′ The time required, j′=1,...,num(S i″ ), Δ is the task time constraint coordination parameter, p1 is a random number between (0,1) to ensure that it meets the above time constraints.

[0114] If the first command task TF m For strike missions, since reconnaissance missions must be processed before strike missions, the processing of strike missions must start after all of their leading reconnaissance missions have been processed. m The start time can be set as:

[0115]

[0116] In the formula, To execute the first geographical execution area S i″ Medium priority is higher than TF m TF's reconnaissance mission j″ The time required, To perform geographic execution region S i″ Medium priority is lower than TF m TF's reconnaissance mission k″ The time required, To execute the first geographical execution area S i″ Medium priority is higher than TF m The remaining strike missions of TF j″′ The time required, j″′, k″, j″=1,...,num(S i″ ).

[0117] The above steps are repeated until the execution time sequences corresponding to all command tasks in the k first geographical execution areas are determined.

[0118] Further, in some embodiments, S4 configures a task scheduling time window for the execution time sequence in each first geographic execution area, and generates a scheduling plan for each command task, including:

[0119] S41 generates a scheduling plan for each command task in the first execution time sequence according to the order of priority of each command task in the first execution time sequence from high to low, wherein the first execution time sequence is an execution time sequence corresponding to any first geographical execution area;

[0120] S42 obtains the start time and end time of the collaborative scheduling window corresponding to the scheduling plan;

[0121] S43 sets a set of command tasks to be scheduled in the coordinated scheduling window, and determines the set of command tasks to be scheduled according to the start time of each command task in the first execution time sequence, the start time and the end time of the coordinated scheduling window;

[0122] S44 generates a scheduling plan for each command task in the set of command tasks to be scheduled;

[0123] S45 repeats S41 to S44 until the scheduling plans corresponding to n command tasks are obtained.

[0124] In the embodiment of the present application, it is assumed that the first geographical execution area S i″ All command missions in The corresponding execution time series is the first execution time series.

[0125] For the first execution time sequence, each command task in the first execution time sequence may be arranged in order from high to low priority to generate a scheduling plan corresponding to each command task in the first execution time sequence.

[0126] Define the length of the coordinated scheduling window (i.e., the coordinated scheduling window) corresponding to the scheduling plan as W, W = w start -w end , where w start is the start time of the collaborative scheduling window, w end is the end time w of the collaborative scheduling window end .

[0127] In the collaborative scheduling window, a set of command tasks to be scheduled TW is set, and according to the start time of each command task in the first execution time sequence and the start time w of the collaborative scheduling window, start and end time w end , determine the command task set TW to be dispatched, as follows:

[0128] Traverse S i″ Command mission set Compare the relationship between each command task and the coordinated scheduling window:

[0129] like The starting time of the command task in is less than w start , then add it to the waiting-for-scheduling command task set TW;

[0130] like The starting time of the command task in is greater than w start and less than w end , then add it to the command task set TW to be scheduled.

[0131] Generate a scheduling plan for each command task in the set of command tasks to be scheduled: Take the set of command tasks to be scheduled TW in the coordinated scheduling window, try to advance the execution time of reconnaissance tasks and high-priority strike tasks in the scheduling plan, and schedule the execution of other command tasks to be executed at the back end of the coordinated scheduling window, that is:

[0132] If the start time of the high-priority reconnaissance task is later than the low-priority strike task, then within the coordinated scheduling window, the start time of the reconnaissance task is set to w start ;

[0133] If the start time of the low-priority reconnaissance task is later than that of the low-priority strike task, then within the coordinated scheduling window, the start time of the reconnaissance task is set to be the same as that of the low-priority strike task;

[0134] If the start time of the high-priority strike task is later than the low-priority reconnaissance task, then within the coordinated scheduling window, the execution time of the strike task will be It is released to execute immediately after the high-priority reconnaissance task, that is, is the time required to execute the reconnaissance mission with a higher priority than the strike mission in the set of command missions to be scheduled TW, k″′=1,...,num(TW).

[0135] Repeat the above process until a scheduling plan is generated for n command tasks. Figure 3 shown.

[0136] Further, in some embodiments, S42 obtains the start time and end time of the coordinated scheduling window corresponding to the scheduling plan includes:

[0137] S421: taking the minimum value of the start time of the first reconnaissance task that has not been executed in each first geographical execution area as the start time of the coordinated scheduling window corresponding to the scheduling plan;

[0138] S422 If there is a first strike task in the first execution time sequence that has a sequential dependency with the first reconnaissance task that has not yet been executed, the end time of the collaborative scheduling window is determined based on the start time of the first strike task and the time required to execute the first strike task; otherwise, when the Pearson correlation coefficient between the second strike task that has not yet been executed in the remaining first geographical execution areas outside the first geographical execution area where the first execution time sequence is located and the first reconnaissance task that has not yet been executed is equal to 1, the end time of the collaborative scheduling window is determined based on the start time of the second strike task and the time required to execute the second strike task.

[0139] In the embodiment of the present application, the start time of the first reconnaissance task that has not been scheduled for execution in each first geographical execution area is obtained, and the first geographical execution area S i″ For example, suppose S i″ The starting time of the first reconnaissance task that has not been executed in the corresponding first execution time sequence is The minimum value is taken as the start time of the coordinated scheduling window corresponding to the scheduling plan, that is,

[0140] For any first geographical execution area S i″ Corresponding to the first execution time sequence, if there is a strike task that has a sequential dependency relationship with the first reconnaissance task that has not yet been executed (i.e., the first strike task), then the start time of the first strike task is obtained Then there is Complete the setting of the start and end time of the collaborative scheduling window. The time required to carry out the first strike mission.

[0141] If it does not exist, get the first reconnaissance task that has not been executed and record it as obj m , and remember the variables X m for obj m The geographical location of obj m Execution location parameters. i″ The corresponding command task focuses on calculating the second strike task that has not yet been executed (the geographical location of the strike task is recorded as Y o ) and the Pearson correlation coefficient of the first reconnaissance mission that has not yet been executed is r, and we have:

[0142]

[0143] In the formula, is the execution center of the first geographical execution area of ​​the first reconnaissance mission that has not yet been executed, is the execution center of the first geographical execution area where the second strike mission is located, and n′ is other non-S i″ The number of command tasks in the corresponding command task set.

[0144] When r=1, that is, there is a positive correlation between the two, the sum of the start time of the second strike task and the time required to execute the second strike task is taken as the end time of the collaborative scheduling window, completing the setting of the end time of the collaborative scheduling window.

[0145] The embodiments of the present application can respond to emergencies and unplanned changes in a timely manner by real-time monitoring of the execution status of command tasks and resource usage. For example, if a task is delayed due to an unexpected situation, the system can quickly re-evaluate the scheduling plan for subsequent tasks and automatically adjust resource allocation to minimize the impact on the overall plan. This dynamic adjustment capability not only improves the robustness of the system, but also enhances its adaptability to complex environments. In addition, the present application also supports flexible scheduling policy configuration, allowing users to customize scheduling logic according to different business needs and priorities, thereby improving the flexibility of the system.

[0146] The spatiotemporal multi-domain collaborative scheduling method for command tasks provided in the embodiments of the present application has significant advantages in improving scheduling accuracy, enhancing system adaptability, and optimizing collaborative efficiency. These advantages make the present invention have broad application prospects in command and control, emergency response, logistics management and other fields.

[0147] The command task spatiotemporal multi-domain collaborative scheduling device provided in the present application is described below. The command task spatiotemporal multi-domain collaborative scheduling device described below and the command task spatiotemporal multi-domain collaborative scheduling method described above can be referenced to each other.

[0148] See also Figure 4 An embodiment of the present application provides a command task spatiotemporal multi-domain collaborative scheduling device, including: a first acquisition module 410, a second acquisition module 420, a third acquisition module 430 and a plan generation module 440.

[0149] The first acquisition module 410 is used to determine the priority relationship and dependency relationship of each command task according to the execution parameters of each command task in the command task set to be processed;

[0150] The second acquisition module 420 is used to perform spatial constraint analysis on each command task in the set of command tasks to be processed, and determine a first geographical execution area corresponding to each command task;

[0151] The third acquisition module 430 is used to perform time constraint analysis on each command task in the command task set to be processed according to the priority relationship and the dependency relationship, and determine the execution time sequence corresponding to all command tasks in each first geographical execution area;

[0152] The plan generation module 440 is used to configure the task scheduling time window for the execution time sequence in each first geographical execution area and generate a scheduling plan for each command task.

[0153] The command task spatiotemporal multi-domain collaborative scheduling device provided in the embodiment of the present application analyzes the time constraints and space constraints existing in the actual combat environment by comprehensively considering the execution conditions such as the priority relationship and dependency relationship between the command tasks when scheduling each command task. It can generate the most optimized scheduling plan for each command task on the premise of satisfying the time constraints and space constraints, improve the task collaborative execution efficiency while ensuring the schedulability of the command tasks, and can greatly enhance the level of intelligent command and combat in complex dynamic environments, which has important theoretical significance and application value.

[0154] It can be understood that the detailed functional implementation of each of the above-mentioned units / modules can be found in the introduction of the aforementioned method embodiment, and will not be repeated here.

[0155] 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.

[0156] Based on the method in the above embodiment, the present application embodiment provides an electronic device, see Figure 5The electronic device may include: a processor (Processor) 510, a communication interface (CommunicationsInterface) 520, a memory (Memory) 530 and a communication bus 540, wherein the processor 510, the communication interface 520, and the memory 530 communicate with each other through the communication bus 540. The processor 510 may call the logic instructions in the memory 530 to execute the method in the above embodiment.

[0157] In addition, the logic instructions in the above-mentioned memory 530 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application.

[0158] Based on the method in the above embodiment, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program runs on a processor, the processor executes the method in the above embodiment.

[0159] Based on the method in the above embodiment, an embodiment of the present application provides a computer program product. When the computer program product runs on a processor, the processor executes the method in the above embodiment.

[0160] It is understandable that the processor in the embodiment of the present application may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. The general-purpose processor may be a microprocessor or any conventional processor.

[0161] The method steps in the embodiments of the present application can be implemented by hardware or by a processor executing software instructions. The software instructions can be composed of corresponding software modules, and the software modules can be stored in random access memory (RAM), flash memory, read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, hard disks, mobile hard disks, CD-ROMs, or any other form of storage medium known in the art. An exemplary storage medium is coupled to a 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.

[0162] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions may be transmitted from a website site, a computer, a server or a data center to another website site, a computer, a server or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or a data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)), etc.

[0163] It should be understood that the various numerical numbers involved in the embodiments of the present application are only used for the convenience of description and are not used to limit the scope of the embodiments of the present application.

[0164] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A command task spatiotemporal multi-domain collaborative scheduling method, characterized in that: include: S1 determines the priority relationship and dependency relationship of each command task according to the execution parameters of each command task in the command task set to be processed; S2 performs spatial constraint analysis on each command task in the set of command tasks to be processed, and determines the first geographical execution area corresponding to each command task; S3, performing time constraint analysis on each command task in the pending command task set according to the priority relationship and the dependency relationship, and determining the execution time sequence corresponding to all command tasks in each first geographical execution area; S4 configures a task scheduling time window for the execution time sequence in each first geographical execution area, and generates a scheduling plan for each command task.

2. The command task spatiotemporal multi-domain collaborative scheduling method according to claim 1, characterized in that: The step S1 determines the priority relationship and dependency relationship of each command task according to the execution parameters of each command task in the command task set to be processed, including: S11 determines the priority relationship between any two command tasks of the same type according to the execution parameters of the command tasks and in chronological order; S12: for any two command tasks of different types, determining the priority relationship between the any two command tasks of different types according to their types.

3. The command task spatiotemporal multi-domain collaborative scheduling method according to claim 1, characterized in that: S2 performs spatial constraint analysis on each command task in the set of command tasks to be processed, and determines the first geographical execution area corresponding to each command task, including: S21 randomly selects k command tasks from the n command tasks in the set of command tasks to be processed, and determines first execution centers of k second geographical execution areas corresponding to the k command tasks according to execution location parameters of each command task and its adjacent command tasks; S22, for any command task in the set of command tasks to be processed, obtaining the Euclidean distance between the any command task and the k first execution centers, and using the geographical execution area corresponding to the second execution center when the minimum Euclidean distance is obtained as the first geographical execution area of ​​the any command task; S23 calculates the two-dimensional convex hull boundary points corresponding to each first geographical execution area according to the execution location parameters corresponding to all command tasks in the first geographical execution areas corresponding to the n command tasks; S24 updates the second execution center and the first execution center based on the two-dimensional convex hull boundary points corresponding to each first geographic execution area, and repeats S22 and S23 until the n command tasks are divided into k first geographic execution areas.

4. The command task spatiotemporal multi-domain collaborative scheduling method according to claim 1, characterized in that: The step S3 performs time constraint analysis on each command task in the pending command task set according to the priority relationship and the dependency relationship to determine the execution time sequence corresponding to all command tasks in each first geographical execution area, including: S31, for a first command task and a second command task in any first geographical execution area, converting a dependency relationship between the first command task and the second command task into a time constraint relationship, wherein the first command task and the second command task are any two command tasks in any first geographical execution area; S32: In the case where any command task in any first geographical execution area is a reconnaissance task, the start time of any command task is determined according to the time required to execute the remaining reconnaissance tasks with a higher priority than the any command task in the first geographical execution area and the task time constraint coordination parameters; in the case where any command task is a strike task, the start time of any command task is determined according to the time required to execute the reconnaissance tasks with a lower priority than the any command task in the any geographical execution area, and the time required to execute the reconnaissance tasks with a higher priority than the any command task and the remaining strike tasks in the first geographical execution area; S33 repeats S31 and S32 until the execution time sequences corresponding to all command tasks in the k first geographical execution areas are determined.

5. The command task spatiotemporal multi-domain collaborative scheduling method according to claim 1, characterized in that: The step S4 configures a task scheduling time window for the execution time sequence in each first geographical execution area, and generates a scheduling plan for each command task, including: S41, for a first execution time sequence, generating a scheduling plan for each command task in the first execution time sequence according to the order of priority of each command task in the first execution time sequence from high to low, wherein the first execution time sequence is an execution time sequence corresponding to any first geographical execution area; S42 obtains the start time and end time of the collaborative scheduling window corresponding to the scheduling plan; S43 sets a set of command tasks to be scheduled in the coordinated scheduling window, and determines the set of command tasks to be scheduled according to the start time of each command task in the first execution time sequence, the start time and the end time of the coordinated scheduling window; S44 generates a scheduling plan for each command task in the set of command tasks to be scheduled; S45 repeats S41 to S44 until the scheduling plans corresponding to n command tasks are obtained.

6. The command task spatiotemporal multi-domain collaborative scheduling method according to claim 5, characterized in that: The step S42 of obtaining the start time and end time of the coordinated scheduling window corresponding to the scheduling plan includes: S421: taking the minimum value of the start time of the first reconnaissance task that has not been executed in each first geographical execution area as the start time of the coordinated scheduling window corresponding to the scheduling plan; S422 If there is a first strike task in the first execution time sequence that has a sequential dependency with the first reconnaissance task that has not yet been executed, the end time of the collaborative scheduling window is determined based on the start time of the first strike task and the time required to execute the first strike task; otherwise, when the Pearson correlation coefficient between the second strike task that has not yet been executed and the first reconnaissance task that has not yet been executed in the remaining first geographical execution areas outside the first geographical execution area where the first execution time sequence is located is equal to 1, the end time of the collaborative scheduling window is determined based on the start time of the second strike task and the time required to execute the second strike task.

7. A command task time-space multi-domain collaborative scheduling device, characterized in that: include: A first acquisition module is used to determine the priority relationship and dependency relationship of each command task according to the execution parameters of each command task in the command task set to be processed; The second acquisition module is used to perform spatial constraint analysis on each command task in the set of command tasks to be processed, and determine a first geographical execution area corresponding to each command task; A third acquisition module is used to perform time constraint analysis on each command task in the pending command task set according to the priority relationship and the dependency relationship, and determine the execution time sequence corresponding to all command tasks in each first geographical execution area; The plan generation module is used to configure the task scheduling time window for the execution time sequence in each first geographical execution area and generate a scheduling plan for each command task.

8. An electronic device, characterized in that: include: at least one memory for storing a computer program; At least one processor is 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 command task spatiotemporal multi-domain collaborative scheduling method as described in any one of claims 1-6.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program runs on a processor, the processor executes the command task spatiotemporal multi-domain collaborative scheduling method as described in any one of claims 1 to 6.

10. A computer program product, characterized in that When the computer program product runs on a processor, the processor executes the command task spatiotemporal multi-domain collaborative scheduling method as described in any one of claims 1-6.

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