Flight control task hierarchical planning method and system based on software implementation

Abstract

The invention relates to the technical field of flight control task planning, and particularly discloses a flight control task hierarchical planning method and system based on software, and the method comprises the steps: generating a monthly event set based on the flight control task demands proposed by multiple parties for a target flight control task, and carrying out the flight control task hierarchical planning according to the flight control task behavior logic; dividing each monthly event in the monthly event set into at least one initial flight control event; and determining and adjusting an initial flight control event of the flight control instruction to be adjusted based on an instruction constraint condition between the flight control instructions, and determining the flight control instruction corresponding to the adjusted initial flight control event and the flight control instruction corresponding to the initial flight control event which does not need to be adjusted as a planning result of the target flight control task according to the flight control event level. According to the method, efficient preparation, high-reliability and high-timeliness accurate planning and rapid emergency response of flight control implementation can be realized through a monthly event-flight control event-instruction layered planning mode, and powerful support is provided for long-term reliable and safe operation of spacecrafts.

Description

Background Art

[0002] The main task of flight control mission planning is to collect multi-party mission requirements, generate executable instruction-level and operation-level plans after hierarchical planning. The traditional flight control mission has a single state, fixed condition constraints, few branches and traversable ones, and fixed measurement and control resources. The traditional mission planning uses a planning method that constrains each instruction at feature points, and corresponding instruction and operation plans can be generated. However, with the change and development of flight control missions, the number of instructions is large and the instruction constraints are more complex. The traditional feature point constraint planning method for instructions can no longer meet the mission requirements.

[0003] Therefore, it is urgent to provide a technical solution to solve the above problems. Summary of the Invention

[0004] To solve the above technical problems, the present invention provides a software-based hierarchical planning method and system for flight control missions.

[0005] In the first aspect, the present invention provides a software-based hierarchical planning method for flight control missions, and the technical solution of this method is as follows:

[0006] Based on the flight control mission requirements proposed by multiple parties for the target flight control mission, generate a monthly event set for the target flight control mission, and divide each monthly event in the monthly event set into at least one initial flight control event according to the behavior logic of the target flight control mission; each initial flight control event contains at least one flight control instruction;

[0007] Based on the instruction constraint conditions between flight control instructions, determine and adjust the initial flight control event of the flight control instruction to be adjusted, and determine the flight control instructions corresponding to the adjusted initial flight control event and the flight control instructions corresponding to the initial flight control event that does not need to be adjusted as the planning result of the target flight control mission according to the flight control event level.

[0008] The beneficial effects of a software-based hierarchical planning method for flight control missions of the present invention are as follows:

[0009] The method of the present invention decomposes the rough monthly event-level planning by adopting a hierarchical planning method of "monthly event - flight control event - instruction", and gradually generates an executable instruction-level planning result, which can achieve efficient preparation for flight control implementation, accurate planning with high reliability and high timeliness, and rapid emergency response, providing strong support for the long-term reliable and safe operation of spacecraft.

[0010] On the basis of the above solution, a software-based hierarchical planning method for flight control missions of the present invention can also be improved as follows.

[0011] In an alternative approach, the behavior logic includes multiple task states, and the multiple task states include: state preparation, opening the hatch, robotic arm grasping and movement, robotic arm return, closing the hatch, and state restoration; each task state corresponds to an initial flight control event.

[0012] In an alternative approach, the instruction constraint conditions include at least one of time constraint, resource constraint, and temporal constraint.

[0013] In an alternative approach, it further includes:

[0014] After the execution of the flight control event adjustment is completed, the flight control events are combined and stored in a preset manner for subsequent call by the flight control task planning.

[0015] In a second aspect, the present invention provides a software-implemented hierarchical planning system for flight control tasks, and the technical solution of the system is as follows:

[0016] It includes: a processing module and a planning module;

[0017] The processing module is used for: generating a monthly event set of the target flight control task based on the flight control task requirements proposed by multiple parties for the target flight control task, and dividing each monthly event in the monthly event set into at least one initial flight control event according to the behavior logic of the target flight control task; each initial flight control event contains at least one flight control instruction;

[0018] The planning module is used for: determining and adjusting the initial flight control event of the flight control instruction to be adjusted based on the instruction constraint conditions between the flight control instructions, and determining the flight control instructions corresponding to the adjusted initial flight control events and the flight control instructions corresponding to the initial flight control events that do not need to be adjusted as the planning result of the target flight control task according to the flight control event level.

[0019] The beneficial effects of a software-implemented hierarchical planning system for flight control tasks according to the present invention are as follows:

[0020] The system of the present invention adopts a hierarchical planning method of "monthly event - flight control event - instruction", decomposes the rough monthly event-level planning, and gradually generates an executable instruction-level planning result, which can achieve efficient preparation for flight control implementation, accurate planning with high reliability and high timeliness, and rapid emergency response, providing strong support for the long-term reliable and safe operation of spacecraft.

[0021] Based on the above solution, a software-implemented hierarchical planning system for flight control tasks according to the present invention can also be improved as follows.

[0022] In an alternative embodiment, the behavioral logic includes multiple task states, including: state preparation, hatch opening, robotic arm grasping and movement, robotic arm return, hatch closing, and state restoration; each task state corresponds to an initial flight control event.

[0023] In an alternative embodiment, the instruction constraint conditions include at least one of: time constraint, resource constraint, and tense constraint.

[0024] In an alternative embodiment, it further includes: a storage module; the storage module is used for:

[0025] After the execution of the flight control event adjustment is completed, the flight control events are combined and stored in a preset manner for subsequent invocation in flight control task planning.

[0026] In a third aspect, the technical solution of an electronic device according to the present invention is as follows:

[0027] It includes a memory, a processor, and a program stored on the memory and running on the processor. When the processor executes the program, it implements the steps of the flight control task hierarchical planning method based on software implementation according to the present invention.

[0028] In a fourth aspect, the technical solution of a computer-readable storage medium provided by the present invention is as follows:

[0029] The computer-readable storage medium stores instructions. When the computer-readable storage medium reads the instructions, it causes the computer-readable storage medium to execute the steps of the flight control task hierarchical planning method based on software implementation according to the present invention.

[0030] The above description is only an overview of the technical solution of the present invention. In order to be able to more clearly understand the technical means of the present invention, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features, and advantages of the present invention more obvious and understandable, the specific embodiments of the present invention are hereinafter specifically exemplified. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The drawings are only used to illustrate the embodiments and are not considered to limit the present invention. Moreover, throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0032] Figure 1 is a schematic flowchart of an embodiment of a flight control task hierarchical planning method based on software implementation according to the present invention;

[0033] Figure 2 is a schematic diagram of the hierarchy of flight control task hierarchical planning based on software implementation;

[0034] Figure 3 is a schematic diagram of flight control event splitting;

[0035] Figure 4 is a schematic diagram of time constraints;

[0036] Figure 5 is a schematic diagram of a time constraint network;

[0037] Figure 6 is a schematic diagram of the calculation process of the time constraint network;

[0038] Figure 7 is a schematic diagram of the overall process of the hierarchical planning of flight control tasks implemented based on software;

[0039] Figure 8 is a schematic diagram of the software architecture of the hierarchical planning of flight control tasks implemented based on software;

[0040] Figure 9 is a schematic diagram of the structure of an embodiment of a system for hierarchical planning of flight control tasks implemented based on software according to the present invention;

[0041] Figure 10 is a schematic diagram of the structure of an embodiment of an electronic device according to the present invention. Detailed implementation manners

[0042] Hereinafter, exemplary embodiments of the present invention will be described in more detail with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein.

[0043] Figure 1 shows a schematic diagram of the process of an embodiment of a method for hierarchical planning of flight control tasks implemented based on software. The method for hierarchical planning of flight control tasks implemented based on software can be executed by an electronic device such as a terminal device or a server. Among them, the terminal device can be any fixed or mobile terminal such as a user equipment (UE), a mobile device, a user terminal, a terminal, a cellular phone, a cordless phone, a personal digital assistant (PDA), a handheld device, a computing device, a vehicle-mounted device, a wearable device, etc. The server can be a single server or a server cluster composed of multiple servers. Any electronic device can implement the method for hierarchical planning of flight control tasks implemented based on software by a processor calling computer-readable instructions stored in a memory. As Figure 1 shown, the method includes the following steps:

[0044] S1. Based on the flight control task requirements proposed by multiple parties for the target flight control task, generate a monthly event set for the target flight control task, and according to the behavior logic of the target flight control task, divide each monthly event in the monthly event set into at least one initial flight control event.

[0045] Among them, the target flight control task is the target task of the flight control system, specifically referring to the main responsibilities and functions that the flight control system (abbreviated as "flight control") undertakes during the flight of the aircraft. In this embodiment, the target flight control task is defaulted to the flight control task within a natural month. The flight control task requirements are the requirements proposed by multiple parties (multiple client terminals). The monthly event set contains multiple monthly events, and each monthly event represents the flight control event set of a certain week (the first week to the fourth week) or the whole month within the corresponding natural month. Different flight control task requirements correspond to different monthly event sets, which are specifically determined according to the actual situation and are not restricted here.

[0046] Among them, the behavior logic includes multiple task states, and the multiple task states include: state preparation, opening the hatch, robotic arm grasping and movement, robotic arm returning, closing the hatch, and state restoration; each task state corresponds to an initial flight control event. Each monthly event is correspondingly divided into at least one initial flight control event, and there are time constraints and partial resource constraints between the initial flight control events belonging to the same monthly event. Each initial flight control event contains at least one flight control instruction. The flight control event is the middle layer, with time constraints, resource constraints, and temporal constraints, and contains a series of sequentially executed instructions.

[0047] S2. Based on the instruction constraint conditions between the flight control instructions, determine the initial flight control event of the flight control instruction to be adjusted and make adjustments, and according to the flight control event level, determine the flight control instructions corresponding to the adjusted initial flight control event and the flight control instructions corresponding to the initial flight control event that does not need to be adjusted as the planning result of the target flight control task.

[0048] Among them, the instruction constraint conditions include at least one of time constraint, resource constraint, and temporal constraint. The time constraint refers to the constraint of a certain time period, such as 8 - 10 o'clock; the resource constraint refers to the constraint limit of invoking resources, such as robotic arm movement; the temporal constraint refers to a preset time interval between two instructions, such as 2 hours. After the adjustment of the flight control event is completed, a planning result containing the corresponding instruction sequence is generated according to the flight control event level.

[0049] Among them, such as Figure 2As shown, the hierarchical planning levels of the software-based flight control tasks are: "monthly event layer - flight control event layer - instruction layer". In the hierarchical planning of software-based flight control tasks, the monthly event is the highest layer. Each monthly event corresponds to at least one initial flight control event, and there are time constraints and partial resource constraints among the initial flight control events belonging to the same monthly event. The flight control event is the middle layer, with time constraints, resource constraints, and temporal constraints, and contains a series of sequentially executed instructions. The instruction is the lowest layer and the execution layer in the hierarchical planning of software-based flight control tasks. The hierarchical planning of software-based flight control tasks ultimately has to be implemented in generating an executable instruction sequence, and each instruction has a temporal constraint with a global time point or a temporal constraint with other instructions.

[0050] It should be noted that the earliest start time and the latest end time attributes of the monthly event are the time constraints of the monthly event, and the measurement and control mode attribute is the station resource constraint of the monthly event. Each monthly event needs to be split into one or more flight control events, and the number of splits will vary according to the duration and complexity of the monthly event. The specific splitting method is determined by expert experience, and the splitting rules can be iteratively added.

[0051] In an alternative approach, it further includes:

[0052] After the adjustment of the flight control event is completed, the flight control events are combined and stored in a preset manner for subsequent call in flight control task planning.

[0053] Among them, the preset manner is defaulted to adding attribute values or labels. Some monthly events have different splitting methods of flight control events in different task states, and there are only minor differences among these splitting methods. By adding parameter attributes to the monthly event to control the existence of each flight control event under this monthly event, various branches in different task states can be realized. For example Figure 3 As shown, assume that the monthly event A is split into 2 flight control events (event X and event Y) in stage M and into 3 flight control events (event X, event Y, and event Z) in stage N, and the first 2 flight control events are the same. By adding a parameter attribute to the monthly event A, with the parameter being a, the first 2 flight control events appear and the third one does not; with the parameter being b, all 3 flight control events appear. At this time, the monthly event A has a branch in stage M with parameter a and a branch in stage N with parameter b.

[0054] In this embodiment, it should be noted that:

[0055] 1) Transformation and planning of flight control event constraints. The temporal constraints of flight control events can be fully represented by thirteen logical relationships, and the resource constraints need to be transformed into time interval constraints for subsequent planning processing. A time interval consists of a start time point and an end time point. The set of all points that can be used as start or end times is the global time point set. The sources of global time points are twofold: ① The entry and exit points of Station A, the entry and exit points of Station B, the entry into the shadow point, the exit from the shadow point, etc. extracted from the forecast file. ② Important moments in this planning, such as the rocket launch moment, the rocket-boat separation moment, the start and end moments of orbit control, and other custom key points. The time intervals formed by the start and end time points related to resources in the global time points are the basic intervals, such as the shadow area, the illumination area, the ground-based measurement and control area, the remote control interval of Ground Station A, the remote control interval of Ground Station B, etc. The new time intervals formed by the basic intervals through interval operation expressions such as intersection and union are the application intervals, such as the remote control interval of Station A under illumination, the remote control interval of Station B from 8 am to 12 pm, etc. The basic intervals and application intervals contain resource attributes. Each event can compare its own resource constraints with the resource attributes of the interval to find the basic interval or application interval that meets its own resource constraints. An event can only meet its own resource constraints within the time range of the corresponding interval, and the resource constraints are thus transformed into time interval constraints, and the constraint range is the time range of the corresponding interval. After the temporal constraints and resource constraints of the flight control events are both clear, temporal planning begins. The first step is to select appropriate basic or application intervals according to the resource constraints and duration of the events and put them in to generate an initial event sequence, and display it on the Gantt chart. The second step is to detect conflicts according to the temporal constraints between two events and between the events and the global time points, and resolve the conflicts while ensuring that the events are always within the corresponding intervals. After the conflict resolution is completed, an event sequence that meets the temporal constraints and resource constraints is obtained.

[0056] 2) Disassembly instructions for flight control events. Instructions are the smallest units of the hierarchical planning of flight control tasks implemented based on software and are also the final results of the planning. There are three ways to decompose flight control events into instructions:

[0057] ① Expansion. Flight control events are directly disassembled into corresponding instructions according to the original instructions. Each instruction needs to have a duration attribute, and the start time is determined by the start time and duration of the previous instruction. When an instruction is cancelled, the next instruction automatically moves forward.

[0058] ② Binding. First, identify an important instruction in the flight control event, and other instructions are bound to this important instruction at a relative time interval. These instructions all have a time offset attribute, and the start time of each instruction is determined by the start time of the bound important instruction and the offset. If an instruction in the bound instructions is cancelled, the start times of the remaining instructions will not change.

[0059] ③ Expansion + Binding. The flight control event is expanded into multiple important instructions and multiple ordinary instructions, and each important instruction is bound to a string of related instructions. The bound instructions move with the important instruction. If the bound important instruction is cancelled, the entire string of bound instructions is cancelled.

[0060] 3) Time Constraint Handling Method Based on Time Sorting Scheduling Algorithm.

[0061] ① Time Constraint Model: When dealing with the planning activities of practical problems, it is necessary to handle the constraint relationships of the planning activities. By representing the time conditions existing between planning activities through time constraints, some unreasonable activity sequences in actual execution can be avoided. By establishing time constraints, problems related to time knowledge, such as planning scheduling and temporal reasoning, can be effectively described and solved. As a special case of the constraint satisfaction problem, the time constraint problem can be solved using the methods of the constraint satisfaction problem, or a dedicated solution method can be established according to the characteristics of time constraints.

[0062] ② Simple Time Constraint Problem: The constraint satisfaction problem is to find an assignment that satisfies the constraint relationships between all variables within a certain value range, which consists of variables, the value ranges of variables, and the constraints between variables. Time constraint handling is a part of the planning and scheduling engine, and the data comes from the time information obtained by parsing the spacecraft model and status. During the model establishment process, 13 constraint relationships are used, and the start time and end time of task execution are defined. During the constraint handling process, a time constraint network is used for constraint representation and propagation. When the planning is completed, the planning results are displayed in the form of a timeline, and the results are sent to the executing agency for execution. Figure 4 Shows the relationships and uses among time constraints, time constraint networks, and timelines. After adding an action at each step in the planning, it is necessary to check whether the time constraints are satisfied and obtain the execution time of the actions in the planning. This requires using a time constraint network for calculation, and the time constraint network is as Figure 5 shown. By solving the time constraint network, the feasible time for actions can be obtained. The time constraint network can calculate the distances between all time points through the shortest path algorithm between all vertices to obtain the result. The process of calculating the time constraint network is as Figure 6 shown. The algorithm can check whether all time constraints are satisfied. When there are unsatisfied time constraints, it is necessary to backtrack in the planning. When all time constraints are satisfied, the execution time of the actions in the planning results can be obtained.

[0063] ③ Time sorting preprocessing: After sorting the actions in the plan by time, run the P3C algorithm to calculate the simple time network, and the corresponding PPC network can be obtained. When simplifying the PPC network according to the triangle rule, since the actions in the distance graph have time constraints with all other actions, while the actions in the PPC network only have time constraints with some actions, this will affect the action selection during execution.

[0064] ④ Minimum schedulable network calculation: Use the Time Sorting Dispatchable (TSD) algorithm. The specific process is as follows: The algorithm first calls the existing time constraints in the single time network to sort and layer all actions by time. Then, according to the vertex order obtained after time sorting, perform a triangular partition on the simple time network to obtain the corresponding chordal graph as the input of the P3C algorithm. Next, call the P3C algorithm to judge the consistency of the constraints in the simple time network. If the constraints in the simple time network are consistent, the corresponding PPC network can be obtained. At this time, the calculation of the schedulable network in the offline processing is completed. Call the time sorting sub-module again to sort and layer all actions according to the latest time constraints. According to the result of time sorting, finally return the result of the algorithm, which is the minimum schedulable simple time network.

[0065] ⑤ Simulation experiment and analysis: In the test of the algorithm, compare the TSD algorithm with the Johnson Dispatchable algorithm for generating schedulable networks used in DS-1. The examples verify the algorithm from the number of actions in the plan and the number of action-related constraints respectively.

[0066] As Figure 7 shown, the overall process of the software-implemented hierarchical planning of flight control tasks in this embodiment includes nine stages:

[0067] ① Planning creation stage: Two packages need to be prepared before the planning starts. One is the configuration package, which requires 21 types of configuration files. Among them, 8 types are event and instruction-related configurations, which will be updated according to the changes in the event model, and the rest are basic attribute configurations, which will be updated according to the changes in the task status. The other is the script package, which needs to form the subsequent execution steps into a script in sequence. There are two cases when creating a plan: one is the replanning initiated by the job software through a message. The planning software selects the configuration package and the script package according to the message information and automatically creates a planning package with a global script; the other is to manually select the configuration package and the script package through the platform to create a planning package.

[0068] ② Requirement collection phase: After creating the planning package, each application center can access the planning package and submit their flight control requirements through the platform. The software can convert the requirements of each center into a standard interface format, merge them, and put them into the planning package for subsequent planning use.

[0069] ③ Data preparation phase: Manually upload various forecast, orbit control parameter files, and monthly event plan files. The software collects the above input files using execution items and performs format conversion on the above files.

[0070] ④ Resource scheduling phase: Read and parse the forecast and control parameter files, extract the station information used in this planning, and generate the result of sorting out the measurement and control conditions for subsequent planning use.

[0071] ⑤ Event planning phase: Expand the monthly event plan and its option branches into flight control events according to the monthly event configuration file, put them into the monthly event strategy file, and then convert the monthly event strategy file into a temporal planning model. Read the time points and resource constraints in the flight control event configuration, perform preliminary scheduling planning on the flight control events, call the temporal planning algorithm in the Gantt chart for conflict detection and resolution, or manually adjust. Finally, convert the temporal planning model back to the monthly event strategy file.

[0072] ⑥ Command planning phase: Decompose the flight control events into corresponding commands according to the flight control event configuration file through expansion and binding rules, generate a command summary table, and then classify and output various command plans and flight control event plans. Generate a job scheduling plan and a collaborative work procedure according to the collaborative item configuration file.

[0073] ⑦ Planning conclusion phase: Manually delete some commands in the command plan through the interface, or uniformly delete specific commands through the command deletion configuration file, and then perform format name and file name conversion on the command plan.

[0074] ⑧ Planning verification phase: Perform planning verification on the command plan for existence, timing, interval, cycle, etc. through the virtual commands in the command plan, and display the verification results on the interface.

[0075] ⑨ Result publishing phase: Sort and package and back up all planning results, and publish the resource application class plan, event and command level plan, and job item result plan in sequence.

[0076] As Figure 8 shown, the software architecture in this embodiment includes three layers: the user interaction layer, the task planning layer, and the verification and implementation layer. Specifically:

[0077] ①The open distributed platform subsystem of the user interaction layer is the top layer of this architecture, which is used to provide the man-machine interaction operation environment and distributed interaction interfaces required by other subsystems, and realize the business process control, business management, auxiliary planning and control interface requirements of distributed collaborative planning. It provides various data inputs such as models, flight control requirements, and flight procedures to the mission planning layer, and receives various planning results from the mission planning layer and outputs them to the user. It provides various interfaces and middleware software required by the system to realize the communication and interaction interface requirements functions needed by each system of the user unit.

[0078] ②The mission planning layer is the core part of the entire architecture, including the planning model management subsystem, the planning model development management software, and the implementation layer planning subsystem. It is used to realize the development and design of the planning model according to the model parameters provided by the user, complete the management and maintenance of the planning model, and implement real-time online planning at the event level and instruction level. The interaction relationship among the three subsystems is as follows: the planning model development management software generates model information and submits it to the planning model management subsystem; after the planning model management subsystem completes model verification, it realizes model storage and management; the implementation layer planning system extracts model information, calls the planning algorithm to realize the solution at the event and instruction levels, completes the real-time or non-real-time collaborative planning and scheduling among multiple demand centers of the flight control implementation plan, and generates the flight control operation program and various planning results.

[0079] ③The implementation verification layer conducts simulation verification on the output results of the mission planning layer, and completes the verification and evaluation of the flight control event-level and instruction-level planning results, spacecraft flight control strategies and control plans in the quasi-real-time mode; submits the verified correct planning results to the flight control operation subsystem and the main mission system for use, and completes the flight control task execution work.

[0080] The technical solution of this embodiment adopts a hierarchical planning method of "monthly event - flight control event - instruction", decomposes the rough monthly event-level planning, and gradually generates executable instruction-level planning results, which can achieve efficient preparation for flight control implementation, highly reliable and highly time-effective accurate planning, and rapid emergency response, providing strong support for the long-term reliable and safe operation of spacecraft.

[0081] Figure 9 The structural schematic diagram of an embodiment of a flight control task hierarchical planning system 200 implemented based on software provided by the present invention is shown. As Figure 9 shown, the system 200 includes: a processing module 210 and a planning module 220;

[0082] The processing module 210 is configured to: generate a monthly event set for the target flight control task based on the flight control task requirements proposed by multiple parties for the target flight control task, and divide each monthly event in the monthly event set into at least one initial flight control event according to the behavior logic of the target flight control task; each initial flight control event includes at least one flight control instruction.

[0083] The planning module 220 is configured to: determine and adjust the initial flight control event of the flight control instruction to be adjusted based on the instruction constraint conditions between the flight control instructions, and determine the flight control instructions corresponding to the adjusted initial flight control event and the flight control instructions corresponding to the initial flight control event that does not need to be adjusted as the planning result of the target flight control task according to the flight control event hierarchy.

[0084] In an alternative manner, the behavior logic includes multiple task states, and the multiple task states include: state preparation, opening the hatch, robotic arm grasping and movement, robotic arm return, closing the hatch, and state recovery; each task state corresponds to an initial flight control event.

[0085] In an alternative manner, the instruction constraint conditions include at least one of time constraint, resource constraint, and temporal constraint.

[0086] In an alternative manner, it further includes: a storage module; the storage module is configured to:

[0087] After the adjustment of the flight control event is completed, combine and store the flight control events in a preset manner for subsequent invocation in flight control task planning.

[0088] It should be noted that the beneficial effects of the flight control task hierarchical planning system 200 implemented based on software provided in the above embodiments are the same as those of the flight control task hierarchical planning method implemented based on software, and will not be elaborated here. In addition, when the system provided in the above embodiments implements its functions, only the division of the above function modules is used for illustration. In practical applications, the above functions can be allocated to different function modules according to needs, that is, the system is divided into different function modules according to the actual situation to complete all or part of the functions described above. In addition, the system and method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process can be seen in the method embodiments, which will not be elaborated here.

[0089] Among them, the flight control task hierarchical planning system implemented based on software of the present invention can be a computer program (including program code) running in a computer device. For example, the flight control task hierarchical planning system implemented based on software of the present invention is an application software, which can be used to execute the corresponding steps in the flight control task hierarchical planning method implemented based on software of the present invention.

[0090] In some embodiments, the software-implemented hierarchical flight control task planning system of the present invention can be implemented in a combination of software and hardware. As an example, the software-implemented hierarchical flight control task planning system of the present invention can be a processor in the form of a hardware decoding processor, which is programmed to execute the software-implemented hierarchical flight control task planning method of the present invention. For example, the processor in the form of a hardware decoding processor can employ one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), or other electronic components.

[0091] Among them, the modules involved in the embodiments of the present invention can be implemented in software or in hardware. Among them, the name of the module does not constitute a limitation on the module itself in some cases.

[0092] An electronic device according to an embodiment of the present invention includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the software-implemented hierarchical flight control task planning method described in any one of the above. That is to say, an electronic device according to an embodiment of the present invention may include, but is not limited to, a processor and a memory; the memory is used to store the computer program; the processor is used to execute the software-implemented hierarchical flight control task planning method shown in any embodiment of the present invention by calling the computer program.

[0093] In an alternative embodiment, an electronic device is provided, as Figure 10 shown. Figure 10 The electronic device 4000 shown includes a processor 4001 and a memory 4003. Among them, the processor 4001 and the memory 4003 are connected, such as connected through a bus 4002. Optionally, the electronic device 4000 may further include a transceiver 4004, and the transceiver 4004 can be used for data interaction between this electronic device and other electronic devices, such as data sending and / or data receiving, etc. It should be noted that in actual applications, the transceiver 4004 is not limited to one, and the structure of the electronic device 4000 does not constitute a limitation on the embodiments of the present invention.

[0094] The processor 4001 can be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute various exemplary logical blocks, modules, and circuits described in connection with the disclosure of the present invention. The processor 4001 can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like.

[0095] The bus 4002 can include a path for transmitting information between the above components. The bus 4002 can be a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus 4002 can be divided into an address bus, a data bus, a control bus, etc. For the sake of representation, Figure 10 only a thick line is used to represent the bus 4002 in the figure, but it does not mean that there is only one bus or one type of bus.

[0096] The memory 4003 can be a ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, a RAM (Random Access Memory) or other type of dynamic storage device that can store information and instructions, or it can also be an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory), or other optical disc storage, optical disc storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic storage media, or other magnetic storage devices, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0097] The memory 4003 is used to store the application program code (computer program) for executing the solution of the present invention, and is controlled by the processor 4001 for execution. The processor 4001 is used to execute the application program code stored in the memory 4003 to implement the content shown in the foregoing method embodiments.

[0098] Among them, the electronic device may also be a terminal device, and the terminal device may be any terminal device that can install an application and access a web page through the application, including at least one of a smart phone, a tablet computer, a notebook computer, a desktop computer, a smart speaker, a smart watch, a smart TV, and a smart vehicle-mounted device.

[0099] It should be noted that Figure 10 The illustrated electronic device is only an example, and should not impose any limitations on the functions and usage scopes of the embodiments of the present invention.

[0100] A computer-readable storage medium according to an embodiment of the present invention has a computer program stored thereon, and when the computer program is executed by a processor, the above-mentioned flight control task hierarchical planning method implemented based on software is realized.

[0101] Optionally, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0102] In an exemplary embodiment, there is also provided a computer program product or a computer program. The computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. The processor of the electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the electronic device executes the above-mentioned flight control task hierarchical planning method implemented based on software.

[0103] Computer program code for performing the operations of the present invention may be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, executed as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0104] It should be understood that the flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code that contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, may be implemented by a dedicated hardware-based system for performing the specified functions or operations, or may be implemented by a combination of dedicated hardware and computer instructions.

[0105] The computer-readable storage medium provided by the embodiments of the present invention may be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0106] The above computer-readable storage medium carries one or more programs, which, when executed by the electronic device, cause the electronic device to execute the method shown in the above embodiments.

[0107] The above description is only a preferred embodiment of the present invention and an explanation of the applied technical principles. Those skilled in the art should understand that the scope of disclosure involved in the present invention is not limited to the technical solutions formed by the specific combination of the above technical features, and should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the technical solutions formed by mutually replacing the above features with the technical features (but not limited to) having similar functions disclosed in the present invention.

[0108] It should be noted that the terms "first", "second", etc. in the specification and claims of this application are used to distinguish similar objects, and represent a limitation on a specific order or sequence. Under appropriate circumstances, the order of use of similar objects can be interchanged so that the embodiments of the present application described herein can be implemented in an order other than the illustrated or described order.

[0109] Those skilled in the art know that the present invention can be implemented as a system, a method or a computer program product. Therefore, the present invention can be specifically implemented in the following forms, that is, it can be completely hardware, can also be completely software (including firmware, resident software, microcode, etc.), and can also be in the form of a combination of hardware and software, which is generally referred to as "circuit", "module" or "system" in this article. In addition, in some embodiments, the present invention can also be implemented in the form of a computer program product in one or more computer-readable media, which contains computer-readable program code.

[0110] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A software-based hierarchical planning method for flight control tasks, characterized in that Including: Based on the flight control task requirements proposed by multiple parties for the target flight control task, generate a monthly event set for the target flight control task, and according to the behavior logic of the target flight control task, divide each monthly event in the monthly event set into at least one initial flight control event; each initial flight control event includes at least one flight control instruction. Based on the instruction constraint conditions between flight control instructions, determine and adjust the initial flight control event of the flight control instruction to be adjusted, and according to the flight control event level, determine the flight control instructions corresponding to the adjusted initial flight control events and the flight control instructions corresponding to the initial flight control events that do not need to be adjusted as the planning result of the target flight control task.

2. The software-implemented hierarchical planning method for flight control tasks according to claim 1, wherein The behavior logic includes multiple task states, and the multiple task states include: state preparation, opening the hatch, robotic arm grasping and movement, robotic arm returning, closing the hatch, and state recovery; each task state corresponds to an initial flight control event.

3. The software-implemented hierarchical planning method for flight control tasks according to claim 1, characterized in that, The instruction constraint conditions include at least one of: time constraint, resource constraint, and tense constraint.

4. The software-implemented hierarchical planning method for flight control tasks according to any one of claims 1 to 3, characterized in that Also including: After the execution of the flight control event adjustment is completed, combine and store the flight control events in a preset manner for subsequent invocation in flight control task planning.

5. A software-implemented hierarchical planning system for flight control tasks, characterized in that, Including: A processing module and a planning module; The processing module is used to: based on the flight control task requirements proposed by multiple parties for the target flight control task, generate a monthly event set for the target flight control task, and according to the behavior logic of the target flight control task, divide each monthly event in the monthly event set into at least one initial flight control event; each initial flight control event includes at least one flight control instruction. The planning module is used to: based on the instruction constraint conditions between flight control instructions, determine and adjust the initial flight control event of the flight control instruction to be adjusted, and according to the flight control event level, determine the flight control instructions corresponding to the adjusted initial flight control events and the flight control instructions corresponding to the initial flight control events that do not need to be adjusted as the planning result of the target flight control task.

6. The software-implemented hierarchical planning system for flight control tasks according to claim 5, wherein The behavior logic includes multiple task states, and the multiple task states include: state preparation, opening the hatch, robotic arm grasping and movement, robotic arm returning, closing the hatch, and state recovery; each task state corresponds to an initial flight control event.

7. The software-implemented hierarchical planning system for flight control tasks according to claim 5, characterized in that The instruction constraint conditions include at least one of: time constraint, resource constraint, and tense constraint.

8. The software-implemented hierarchical planning system for flight control tasks according to any one of claims 5 to 7, characterized in that Also including: A storage module; the storage module is used to: After the execution of the flight control event adjustment is completed, combine and store the flight control events in a preset manner for subsequent invocation in flight control task planning.

9. An electronic device, characterized in that, The electronic device includes a processor, the processor is coupled with a memory, and at least one computer program is stored in the memory. The at least one computer program is loaded and executed by the processor so that the electronic device implements the software-based hierarchical planning method for flight control tasks as described in any one of claims 1 to 4.

10. A computer-readable storage medium, characterized in that, At least one computer program is stored in the computer-readable storage medium, and the at least one computer program is loaded and executed by a processor so that the computer-readable storage medium implements the software-based hierarchical planning method for flight control tasks as described in any one of claims 1 to 4.

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