Task scheduling method and device based on ad hoc network and beidou satellite positioning

Abstract

This invention discloses a task scheduling method and apparatus based on ad hoc networks and BeiDou satellite positioning. The method includes: after several multi-module devices are networked and connected to BeiDou satellites, feeding back the BeiDou satellite positioning addresses corresponding to the multi-module devices to the task center host; obtaining task execution information, including task information and task execution address of the target task; determining the target multi-module device to execute the target task and sending the task information to the target multi-module device; and feeding back the task execution information, environmental information, and travel trajectory information during the execution of the target task to the task center host. This invention, by networking multiple multi-module devices and combining them with precise BeiDou satellite positioning, enables rapid task scheduling through the task center host, finding the multi-module device closest to the task execution address and executing the corresponding target task, greatly improving task scheduling efficiency.

Description

Technical Field

[0001] This invention relates to the field of task scheduling technology, and in particular to a task scheduling method and apparatus based on ad hoc networks and BeiDou satellite positioning. Background Technology

[0002] Due to the rapid development of technology, more and more different types of communication methods have emerged, including 3G networks, 4G networks, and now 5G networks, as well as BeiDou satellite and TianTong satellite. However, these different types of networks all require base stations for communication. Although BeiDou satellite and TianTong satellite communication do not rely on base stations, they consume more resources and are subject to delays and packet loss. They are generally used only in emergency situations.

[0003] Existing communication methods are prone to base station network paralysis in the event of communication disruptions such as geological disasters and forest fires. Satellite communication is not well-suited for such large-scale rescue operations. At this time, a new communication method is urgently needed to perform corresponding task scheduling and other operations. Summary of the Invention

[0004] In view of the above problems, the present invention is proposed to provide a task scheduling method and apparatus based on ad hoc networks and BeiDou satellite positioning to overcome or at least partially solve the above problems.

[0005] Other features and advantages of the invention will become apparent from the following detailed description, or may be learned in part by practice of the invention.

[0006] According to a first aspect of the present invention, a task scheduling method based on ad hoc networks and BeiDou satellite positioning is provided, the task scheduling method based on ad hoc networks and BeiDou satellite positioning includes:

[0007] After several of the aforementioned multi-module devices are networked and connected to the BeiDou satellite, the BeiDou satellite positioning address corresponding to the multi-module devices is fed back to the mission center host.

[0008] The task execution instructions are obtained through the task center host, the task execution instructions are parsed, and task execution information is obtained, including the task information of the target task and the task execution address.

[0009] Based on the task execution address and the BeiDou satellite positioning addresses of each multi-module device in the current ad hoc network, the target multi-module device for executing the target task is determined based on the Cluster-tree scheduling algorithm, and the task information is sent to the target multi-module device.

[0010] When the target multi-module device executes the target task, it synchronously collects task execution information, environmental information, and travel trajectory information during the execution of the target task, and controls the data transmission module pre-installed on the target multi-module device to feed back the task execution information, environmental information, and travel trajectory information during the execution of the target task to the task center host.

[0011] In some embodiments of the present invention, determining the target multi-module device for executing the target task based on the task execution address and the BeiDou satellite positioning addresses of each multi-module device in the current ad hoc network, using a Cluster-tree scheduling algorithm, and sending the task information to the target multi-module device includes:

[0012] The working status of each multi-module device in the ad hoc network is obtained, and the working status of the multi-module device includes task execution status and idle status.

[0013] The task execution address and navigation distance among various multi-module devices in the current ad hoc network are calculated based on the Cluster-tree scheduling algorithm.

[0014] If the multi-module device with the shortest navigation distance is in an idle state, then the current multi-module device is used as the target multi-module device to execute the target task.

[0015] If the multi-module device with the shortest navigation distance is in the task execution state, then the current multi-module device is removed, and the navigation distance of the remaining multi-module devices is recalculated. This process is repeated until the target multi-module device is obtained.

[0016] In some embodiments of the present invention, the calculation of the task execution address and the navigation distance among the various multi-module devices in the current ad hoc network based on the Cluster-tree scheduling algorithm includes:

[0017] Based on the number of nodes corresponding to the self-organizing network formed by several of the aforementioned multi-module devices, the initial address and the address offset corresponding to each node are calculated.

[0018] The network address corresponding to each node is calculated based on the address offset corresponding to each node;

[0019] Based on the initial address, the distance to the network address corresponding to each node is calculated to obtain the navigation distance.

[0020] In some embodiments of the present invention, calculating the initial address and the address offset corresponding to each node based on the number of nodes corresponding to the self-organizing network formed by the plurality of multi-module devices includes:

[0021] Determine whether there is a number of nodes greater than 1 corresponding to the self-organizing network;

[0022] Based on the determination of the number of nodes, the initial address and the address offset corresponding to each node are calculated.

[0023] In some embodiments of the present invention, calculating the address offset between the initial address and the address corresponding to each node based on the determination result of the number of nodes includes:

[0024] When the number of nodes is 1, the address offset between the initial address and the address corresponding to each node is calculated based on the following formula:

[0025] C skip (d)=1+C m ×(L m -d-1);

[0026] In the formula, C skip (d) represents the address offset of the node with parent node depth d, L m C represents the maximum node depth in the ad hoc network, where the initial address is the maximum node depth. m This represents the maximum number of child nodes corresponding to the initial address.

[0027] In some embodiments of the present invention, calculating the address offset between the initial address and the address corresponding to each node based on the determination result of the number of nodes includes:

[0028] When there are more than 1 nodes, the address offset between the initial address and the address corresponding to each node is calculated based on the following formula:

[0029]

[0030] In the formula, C skip (d) represents the address offset of the node with parent node depth d, L m C represents the maximum node depth in the ad hoc network, where the initial address is the maximum node depth. m R is the maximum number of child nodes corresponding to the initial address. m This represents the total number of nodes in the ad hoc network.

[0031] In some embodiments of the present invention, the network address corresponding to each node is calculated based on the address offset corresponding to each node, and is obtained by the following formula:

[0032] A i =A p +C skip (d)×(i-1)+1, i∈[1,R] m ];

[0033] In the formula, Cskip (d) is the address offset corresponding to the node with parent node depth d, A i Let A be the network address corresponding to the i-th node. p R is the initial address for scheduling the parent node at depth d. m This represents the total number of nodes in the ad hoc network.

[0034] In some embodiments of the present invention, the network address corresponding to each node is calculated based on the address offset corresponding to each node, and is obtained by the following formula:

[0035] A n =A p +C skip (d)×R m +n, n∈[1, C m -R m ];

[0036] In the formula, C skip (d) is the address offset corresponding to the node with parent node depth d, A n Let A be the network address corresponding to the nth node. p C is the initial address for scheduling the parent node at depth d. m R is the maximum number of child nodes corresponding to the initial address. m This represents the total number of nodes in the ad hoc network.

[0037] In some embodiments of the present invention, the step of calculating the distance to the network address corresponding to each node based on the initial address to obtain the navigation distance includes:

[0038] When the node is not a terminal node, the navigation distance N is calculated using the following formula:

[0039]

[0040] In the formula, A is the initial address of the parent node scheduling at depth d, and C... skip (d) is the address offset of the node with parent node depth d, D is the execution address of the target task in the ad hoc network, and [*] represents the Gaussian rounding function;

[0041] When the node is a terminal node, the navigation distance N is the execution address D of the target task in the ad hoc network.

[0042] According to a second aspect of the present invention, a task scheduling device based on ad hoc networks and BeiDou satellite positioning is provided, the task scheduling device based on ad hoc networks and BeiDou satellite positioning includes:

[0043] The positioning transmission module is used to feed back the BeiDou satellite positioning address corresponding to the multi-module device to the mission center host after the network of several of the multi-module devices is completed and connected to the BeiDou satellite.

[0044] The task parsing module is used to obtain task execution instructions through the task center host, parse the task execution instructions, and obtain task execution information, including the task information of the target task and the task execution address;

[0045] The task scheduling module is used to determine the target multi-module device to execute the target task based on the task execution address and the BeiDou satellite positioning address of each multi-module device in the current ad hoc network, and to send the task information to the target multi-module device.

[0046] The data feedback module is used to synchronously collect task execution information, environmental information, and travel trajectory information when the target multi-module device executes the target task, and control the data transmission module pre-installed on the target multi-module device to feed back the task execution information, environmental information, and travel trajectory information to the task center host.

[0047] The technical solutions provided in the embodiments of the present invention have at least the following technical effects or advantages:

[0048] This invention provides a task scheduling method and apparatus based on ad hoc networks and BeiDou satellite positioning. The task scheduling method described in this invention networkes multiple multi-module devices and combines this with precise BeiDou satellite positioning. Through the task center host, target tasks can be quickly scheduled, locating the multi-module device closest to the task execution address and executing the corresponding target task. This significantly improves task scheduling efficiency. Compared to existing communication methods, this invention combines ad hoc networks with BeiDou satellite positioning, enabling smooth communication transmission and positioning functions even when base stations are down and large-scale target tasks need to be executed, thus achieving rapid task scheduling.

[0049] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0050] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0051] Figure 1 A flowchart illustrating a task scheduling method based on ad hoc networks and BeiDou satellite positioning provided in an embodiment of the present invention;

[0052] Figure 2 This is a flowchart illustrating the process of determining the target multi-module device for performing the target task in an embodiment of the present invention.

[0053] Figure 3 This is a schematic diagram illustrating the principle structure of a task scheduling method based on self-organizing network and BeiDou satellite positioning, provided in an embodiment of the present invention. Detailed Implementation

[0054] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings.

[0055] The accompanying drawings illustrate various structural schematics according to embodiments of the present disclosure. These drawings are not to scale, and some details have been enlarged for clarity, and some details may have been omitted. The shapes of the various regions and layers shown in the drawings, as well as their relative sizes and positional relationships, are merely exemplary and may deviate from reality due to manufacturing tolerances or technical limitations. Furthermore, those skilled in the art can design regions / layers with different shapes, sizes, and relative positions as needed.

[0056] In the context of this disclosure, when a layer / component is referred to as being "above" another layer / component, that layer / component may be directly above the other layer / component, or there may be an intermediate layer / component between them. Additionally, if a layer / component is "above" another layer / component in one orientation, then when the orientation is reversed, that layer / component may be "below" the other layer / component. In the context of this disclosure, similar or identical components may be denoted by the same or similar reference numerals.

[0057] To better understand the above technical solutions, the following will describe the above technical solutions in detail with reference to specific implementation methods. It should be understood that the embodiments of this disclosure and the specific features in the embodiments are detailed descriptions of the technical solutions of the present invention, rather than limitations on the technical solutions of the present invention. In the absence of conflict, the embodiments of the present invention and the technical features in the embodiments can be combined with each other.

[0058] Figure 1This is a flowchart illustrating a task scheduling method based on ad hoc networks and BeiDou satellite positioning provided in an embodiment of the present invention, as shown below. Figure 1 As shown, the task scheduling method based on self-organizing networks and BeiDou satellite positioning includes the following steps:

[0059] S1. After the network of several multi-module devices is completed and connected to the BeiDou satellite, the BeiDou satellite positioning address corresponding to the multi-module device is fed back to the mission center host.

[0060] In this embodiment of the invention, the multi-module device is a device pre-configured with a self-organizing network module, a BeiDou module, and a data transmission module; the self-organizing network module is used to form a self-organizing network with other multi-module devices and to transmit task information with the mission center host or other multi-module devices; the BeiDou module is used for the multi-module device to communicate with the BeiDou satellite to obtain the BeiDou satellite positioning address of its current location; the data transmission module is used to communicate with the mission center host to transmit task execution information, environmental information, and travel trajectory information when the multi-module device performs the target task.

[0061] S2. Obtain task execution instructions through the task center host, parse the task execution instructions, and obtain task execution information, including the task information of the target task and the task execution address;

[0062] In this embodiment of the invention, the task center host acquires task execution instructions input from external functional devices, or acquires task execution instructions directly edited and generated by staff through the task center host. The task execution instructions are used by each of the multi-module devices within the self-organizing network to execute corresponding target tasks. The target tasks may be, for example, environmental data acquisition tasks, network data acquisition tasks, personnel or equipment scheduling tasks, etc. After acquiring the task execution instructions, task execution information is obtained by parsing the task execution instructions. The task execution information includes the task information of the target task and the task execution address. The task information of the target task is used to indicate specific information related to the target task to be executed, such as the purpose of the task, the task objective, etc. The task execution address is the address of the location where the target task is executed, such as the BeiDou satellite positioning address, etc.

[0063] S3. Based on the task execution address and the BeiDou satellite positioning address of each multi-module device in the current ad hoc network, determine the target multi-module device to execute the target task based on the Cluster-tree scheduling algorithm, and send the task information to the target multi-module device;

[0064] See Figure 2The diagram illustrates the process of determining the target multi-module device to execute the target task according to an embodiment of the present invention. In step S3, the embodiment of the present invention determines the target multi-module device to execute the target task based on the task execution address and the BeiDou satellite positioning addresses of each multi-module device in the current ad hoc network, using a Cluster-tree scheduling algorithm. Sending the task information to the target multi-module device includes the following steps:

[0065] S31. Obtain the working status of each multi-module device in the self-organizing network. The working status of the multi-module device includes task execution status and idle status.

[0066] In this embodiment of the invention, the multi-module device to execute the target task is selected based on the working status of each multi-module device in the ad hoc network. Specifically, for multi-module devices in the task execution state, no new task is selected; for multi-module devices in the idle state, a new task is selected.

[0067] S32. Calculate the task execution address and navigation distance among various multi-module devices in the current ad hoc network based on the Cluster-tree scheduling algorithm;

[0068] The present invention's embodiment of calculating the navigation distance between the task execution address and each multi-module device in the current ad hoc network based on the Cluster-tree scheduling algorithm includes: calculating the address offset between the initial address and each node based on the number of nodes corresponding to the ad hoc network formed by the multiple multi-module devices; calculating the network address corresponding to each node based on the address offset of each node; and calculating the distance between the network address corresponding to each node based on the initial address to obtain the navigation distance.

[0069] Specifically, the step of calculating the address offset between the initial address and each node based on the number of nodes corresponding to the self-organizing network formed by the multiple multi-module devices includes: determining whether there is a number of nodes greater than 1 corresponding to the self-organizing network; and calculating the address offset between the initial address and each node based on the determination result of the number of nodes.

[0070] When the number of nodes is 1, the address offset between the initial address and the address corresponding to each node is calculated based on the following formula:

[0071] C skip (d)=1+C m ×(L m -d-1);

[0072] In the formula, C skip(d) represents the address offset of the node with parent node depth d, L m C represents the maximum node depth in the ad hoc network, where the initial address is the maximum node depth. m This represents the maximum number of child nodes corresponding to the initial address.

[0073] When there are more than 1 nodes, the address offset between the initial address and the address corresponding to each node is calculated based on the following formula:

[0074]

[0075] In the formula, C skip (d) represents the address offset of the node with parent node depth d, L m C represents the maximum node depth in the ad hoc network, where the initial address is the maximum node depth. m R is the maximum number of child nodes corresponding to the initial address. m This represents the total number of nodes in the ad hoc network.

[0076] The network address corresponding to each node is calculated based on the address offset of each node, and is obtained by the following formula:

[0077] A i =A p +C skip (d)×(i-1)+1, i∈[1,R] m ];

[0078] In the formula, C skip (d) is the address offset corresponding to the node with parent node depth d, A i Let A be the network address corresponding to the i-th node. p R is the initial address for scheduling the parent node at depth d. m This represents the total number of nodes in the ad hoc network.

[0079] In this embodiment of the invention, the network address corresponding to each node is calculated based on the address offset corresponding to each node, and obtained through the following formula:

[0080] A n =A p +C skip (d)×R m +n, n∈[1, C m -R m ];

[0081] In the formula, C skip (d) is the address offset corresponding to the node with parent node depth d, A n Let A be the network address corresponding to the nth node. p C is the initial address for scheduling the parent node at depth d.m R is the maximum number of child nodes corresponding to the initial address. m This represents the total number of nodes in the ad hoc network.

[0082] According to the embodiments of the present invention, the distance to the network address corresponding to each node is calculated based on the initial address to obtain the navigation distance, including:

[0083] When the node is not a terminal node, the navigation distance N is calculated using the following formula:

[0084]

[0085] In the formula, A is the initial address of the parent node scheduling at depth d, and C... skip (d) is the address offset of the node with parent node depth d, D is the execution address of the target task in the ad hoc network, and [*] represents the Gaussian rounding function;

[0086] When the node is a terminal node, the navigation distance N is the execution address D of the target task in the ad hoc network.

[0087] S33. If the working state of the multi-module device with the shortest navigation distance is idle, then the current multi-module device is used as the target multi-module device for executing the target task.

[0088] S34. If the working state of the multi-module device with the shortest navigation distance is in the task execution state, then the current multi-module device is removed, and the navigation distance of the remaining multi-module devices is recalculated. This process is repeated until the target multi-module device is obtained.

[0089] It should be noted that, in this embodiment of the invention, in addition to accepting the target task sent by the task center host, the multi-module device can also choose whether to accept the target task based on the current actual needs. For example, if a certain multi-module device is selected as the target multi-module device, and its user refuses to accept the target task, then the multi-module device is removed. This embodiment of the invention determines whether a new target multi-module device needs to be selected based on whether the multi-module device has accepted the target task. If so, the navigation distance of the remaining multi-module devices is recalculated, and this process is repeated until the target multi-module device is obtained.

[0090] S4. When the target multi-module device executes the target task, the task execution information, environmental information and travel trajectory information are collected synchronously, and the data transmission module pre-installed on the target multi-module device is controlled to feed back the task execution information, environmental information and travel trajectory information to the task center host.

[0091] In this embodiment of the invention, the task execution information is the task data generated when the target multi-module device executes the target task; the environmental information is video surveillance data, image data, voice data, etc. collected by the target multi-module device when executing the target task; and the travel trajectory information is the map path information collected by the target multi-module device when executing the target task.

[0092] Since the task execution information and the synchronously collected environmental information may contain large amounts of data such as videos and images, transmitting them via the self-organizing network module would occupy the data channel. Therefore, this embodiment of the invention uses a separately configured data transmission module to transmit the task execution information, environmental information, and travel trajectory information of the multi-module device when it executes the target task with the task center host, which effectively improves the efficiency and reliability of data transmission.

[0093] In other embodiments of the present invention, when the target multi-module device executes the target task, the task center host performs real-time alarm analysis based on the task execution information, environmental information, and travel trajectory information returned by the target multi-module device. When the analysis result indicates that the travel route is incorrect, there is danger, or an emergency, the host sends alarm information to the target multi-module device to notify the user of the target multi-module device to correct the path, leave the dangerous location, or stop the dangerous operation in a timely manner, thereby improving safety.

[0094] In this embodiment of the invention, when the target multi-module device executes the target task, it can also transmit the task execution information, environmental information, travel trajectory information and corresponding alarm information to other multi-module devices in the same self-organizing network. Other multi-module devices can determine whether to receive the required data according to their needs, which can improve data transmission efficiency and save data channel resources.

[0095] In this embodiment of the invention, the task center host can also generate and store task logs based on the task execution information, environmental information, travel trajectory information and corresponding alarm information, and perform data analysis and summarization to provide reference suggestions when other multi-module devices execute related target tasks in the future, so as to improve the efficiency and security of task execution.

[0096] The task scheduling method based on self-organizing networks and BeiDou satellite positioning described in this invention has the following advantages compared to existing technologies:

[0097] 1. By networking multiple multi-module devices and combining them with the precise positioning of BeiDou satellites, the task center host can quickly schedule target tasks, find the multi-module device closest to the task execution address and execute the corresponding target task, which greatly improves the task scheduling efficiency. Compared with the existing communication methods, this embodiment of the invention combines self-organizing network with BeiDou satellite positioning. When the base station is paralyzed and a large number of target tasks need to be executed, smooth communication transmission and positioning functions can be achieved to realize rapid task scheduling.

[0098] 2. By acquiring the task execution information, environmental information, and travel trajectory information returned by the target multi-module device and performing real-time alarm analysis, the user of the target multi-module device can be notified to correct the path, leave the dangerous location, or stop the dangerous operation in a timely manner, thereby improving safety. Log files are also generated for analysis to provide a reference for the execution of similar tasks in the future.

[0099] Based on the above embodiments, as a supplement to the above... Figure 1 The present invention provides an embodiment of a task scheduling device based on ad hoc networks and BeiDou satellite positioning, which implements the method shown. Figure 1 Corresponding to the method embodiments shown, this device can be specifically applied to various electronic devices, see reference. Figure 3 As shown, the task scheduling device based on self-organizing network and BeiDou satellite positioning includes:

[0100] The positioning transmission module 100 is used to feed back the BeiDou satellite positioning address corresponding to the multi-module device to the mission center host after the network of several multi-module devices is completed and connected to the BeiDou satellite.

[0101] The task parsing module 200 is used to obtain task execution instructions through the task center host, parse the task execution instructions, and obtain task execution information, including the task information of the target task and the task execution address.

[0102] The task scheduling module 300 is used to determine the target multi-module device to execute the target task based on the task execution address and the BeiDou satellite positioning address of each multi-module device in the current ad hoc network, and to send the task information to the target multi-module device.

[0103] The data feedback module 400 is used to synchronously collect task execution information, environmental information and travel trajectory information when the target multi-module device executes the target task, and control the data transmission module preset on the target multi-module device to feed back the task execution information, environmental information and travel trajectory information to the task center host.

[0104] The task scheduling device based on self-organizing network and BeiDou satellite positioning described in this embodiment of the invention can execute the task scheduling method based on self-organizing network and BeiDou satellite positioning provided in the above embodiments. The task scheduling device based on self-organizing network and BeiDou satellite positioning has the corresponding functional steps and beneficial effects of the task scheduling method based on self-organizing network and BeiDou satellite positioning described in the above embodiments. For details, please refer to the embodiments of the task scheduling method based on self-organizing network and BeiDou satellite positioning described above. The embodiments of the present invention will not be repeated here.

[0105] This invention also provides an electronic device, which may include a processor and a memory, wherein the processor and memory can be connected via a bus or other means. The processor may be a Central Processing Unit (CPU). The processor may also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or combinations thereof. The memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as the program instructions / modules corresponding to the task scheduling method based on self-organizing networks and BeiDou satellite positioning in this invention embodiment. The processor executes various functional applications and data processing by running the non-transitory software programs, instructions, and modules stored in the memory, thereby implementing the task scheduling method based on self-organizing networks and BeiDou satellite positioning in the above method embodiments.

[0106] The memory may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created by the processor, etc. Furthermore, the memory may include high-speed random access memory and non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. One or more modules are stored in the memory and, when executed by the processor, perform the task scheduling method based on ad hoc networks and BeiDou satellite positioning as described in the above method embodiments. Specific details of the above electronic device can be understood by referring to the corresponding descriptions and effects in the above method embodiments, and will not be repeated here. Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it may include the processes of the embodiments of the above methods. The storage medium may be a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk drive (HDD), or a solid-state drive (SSD), etc.; the storage medium may also include a combination of the above types of memory.

[0107] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0108] Similarly, it should be understood that, in order to simplify this disclosure and aid in understanding one or more of the various aspects of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof in the description of exemplary embodiments of the invention above. Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and embodiments are to be considered exemplary only, and it should be noted that the above embodiments are illustrative of the invention and not restrictive, and that alternative embodiments can be devised by those skilled in the art without departing from its scope.

Claims

1. A task scheduling method based on ad hoc networks and BeiDou satellite positioning, characterized in that, The task scheduling method based on self-organizing networks and BeiDou satellite positioning includes: After several multi-module devices are networked and connected to the BeiDou satellite, the BeiDou satellite positioning address corresponding to the multi-module devices is fed back to the mission center host. The task execution instructions are obtained through the task center host, the task execution instructions are parsed, and task execution information is obtained, including the task information of the target task and the task execution address. Based on the task execution address and the BeiDou satellite positioning addresses of each multi-module device in the current ad hoc network, the target multi-module device for executing the target task is determined based on the Cluster-tree scheduling algorithm, and the task information is sent to the target multi-module device. When the target multi-module device executes the target task, it synchronously collects task execution information, environmental information, and travel trajectory information during the execution of the target task, and controls the data transmission module pre-installed on the target multi-module device to feed back the task execution information, environmental information, and travel trajectory information during the execution of the target task to the task center host. Based on the task execution address and the BeiDou satellite positioning addresses of each multi-module device in the current ad hoc network, the target multi-module device for executing the target task is determined using the Cluster-tree scheduling algorithm. Sending the task information to the target multi-module device includes: The working status of each multi-module device in the ad hoc network is obtained, and the working status of the multi-module device includes task execution status and idle status. The task execution address and navigation distance among various multi-module devices in the current ad hoc network are calculated based on the Cluster-tree scheduling algorithm. If the multi-module device with the shortest navigation distance is in an idle state, then the current multi-module device is used as the target multi-module device to execute the target task. If the multi-module device with the shortest navigation distance is in the task execution state, then the current multi-module device is removed, and the navigation distance of the remaining multi-module devices is recalculated. This process is repeated until the target multi-module device is obtained.

2. The task scheduling method based on self-organizing network and BeiDou satellite positioning according to claim 1, characterized in that, The calculation of the task execution address and the navigation distance among various multi-module devices in the current ad hoc network based on the Cluster-tree scheduling algorithm includes: Based on the number of nodes corresponding to the self-organizing network formed by several of the aforementioned multi-module devices, the initial address and the address offset corresponding to each node are calculated. The network address corresponding to each node is calculated based on the address offset corresponding to each node; Based on the initial address, the distance to the network address corresponding to each node is calculated to obtain the navigation distance.

3. The task scheduling method based on self-organizing network and BeiDou satellite positioning according to claim 2, characterized in that, The calculation of the initial address and the address offset of each node based on the number of nodes corresponding to the self-organizing network formed by the multi-module devices includes: Determine whether there is a number of nodes greater than 1 corresponding to the self-organizing network; Based on the determination of the number of nodes, the initial address and the address offset corresponding to each node are calculated.

4. The task scheduling method based on ad hoc networks and BeiDou satellite positioning according to claim 3, characterized in that, The calculation of the initial address and the address offset corresponding to each node based on the determination result of the number of nodes includes: When the number of nodes is 1, the address offset between the initial address and the address corresponding to each node is calculated based on the following formula: ； In the formula, This is the address offset corresponding to the node with parent node depth d. The initial address represents the maximum node depth in the ad hoc network. This represents the maximum number of child nodes corresponding to the initial address.

5. The task scheduling method based on self-organizing network and BeiDou satellite positioning according to claim 3, characterized in that, The calculation of the initial address and the address offset corresponding to each node based on the determination result of the number of nodes includes: When there are more than 1 nodes, the address offset between the initial address and the address corresponding to each node is calculated based on the following formula: ； In the formula, This is the address offset corresponding to the node with parent node depth d. The initial address represents the maximum node depth in the ad hoc network. The maximum number of child nodes corresponding to the initial address. This represents the total number of nodes in the self-organizing network.

6. The task scheduling method based on self-organizing network and BeiDou satellite positioning according to claim 2, characterized in that, The network address corresponding to each node is calculated based on the address offset of each node, and is obtained by the following formula: ； In the formula, This is the address offset corresponding to the node with parent node depth d. Let i be the network address corresponding to the i-th node. Let be the initial address for scheduling the parent node at depth d. This represents the total number of nodes in the self-organizing network.

7. The task scheduling method based on self-organizing network and BeiDou satellite positioning according to claim 2, characterized in that, The network address corresponding to each node is calculated based on the address offset of each node, and is obtained by the following formula: ； In the formula, This is the address offset corresponding to the node with parent node depth d. This is the network address corresponding to the nth node. Let be the initial address for scheduling the parent node at depth d. The maximum number of child nodes corresponding to the initial address. This represents the total number of nodes in the self-organizing network.

8. The task scheduling method based on self-organizing network and BeiDou satellite positioning according to claim 2, characterized in that, The step of calculating the distance to the network address corresponding to each node based on the initial address to obtain the navigation distance includes: When the node is not a terminal node, the navigation distance N is calculated using the following formula: ,A<D< ; In the formula, Let be the initial address for scheduling the parent node at depth d. is the address offset corresponding to the node with parent node depth d, where D is the execution address of the target task in the ad hoc network, and [*] represents the Gaussian rounding function; When the node is a terminal node, the navigation distance N is the execution address D of the target task in the ad hoc network.

9. A task scheduling device based on ad hoc networks and BeiDou satellite positioning, applied to the method described in any one of claims 1-8, characterized in that, The task scheduling device based on self-organizing network and BeiDou satellite positioning includes: The positioning transmission module is used to feed back the BeiDou satellite positioning address corresponding to the multi-module device to the mission center host after several multi-module devices have been networked and connected to the BeiDou satellite. The task parsing module is used to obtain task execution instructions through the task center host, parse the task execution instructions, and obtain task execution information, including the task information of the target task and the task execution address; The task scheduling module is used to determine the target multi-module device to execute the target task based on the task execution address and the BeiDou satellite positioning address of each multi-module device in the current ad hoc network, and to send the task information to the target multi-module device. The data feedback module is used to synchronously collect task execution information, environmental information, and travel trajectory information when the target multi-module device executes the target task, and control the data transmission module pre-installed on the target multi-module device to feed back the task execution information, environmental information, and travel trajectory information to the task center host.

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