Method, device and equipment for resource guarantee of cooling unit in underwater vehicle

Abstract

This application relates to the field of underwater vehicle control technology, and discloses a method, apparatus, and equipment for ensuring cooling unit resources in an underwater vehicle. The underwater vehicle includes a refrigeration pump assembly and spare parts. The method includes: acquiring resource allocation information, including the failure rate and maintenance rate of the refrigeration pump assembly, the mission execution time of the underwater vehicle, and the minimum mission success rate required; using the minimum mission success rate as a constraint, and based on the failure rate, maintenance rate, and mission execution time, searching for multiple alternative redundant configurations of the refrigeration pump assembly and spare parts; using minimizing mission execution cost as a first optimization objective, minimizing the space occupied by the refrigeration pump assembly and spare parts as a second optimization objective, and using the alternative redundant configurations as a reference, searching for redundant configurations of the refrigeration pump assembly and spare parts. This method can balance the cooling capacity of the refrigeration pump assembly and the heat dissipation requirements of the underwater vehicle.

Description

Technical Field

[0001] This application relates to the field of underwater vehicle control technology, and in particular to a method, apparatus and equipment for ensuring cooling unit resources in an underwater vehicle. Background Technology

[0002] Underwater vehicles can include, but are not limited to, remotely operated underwater vehicles (ROVs), autonomous underwater vehicles (AUVs), and underwater gliders (UGs). Underwater vehicles have advantages such as large underwater operating depths and strong environmental adaptability, and are widely used in fields such as marine resource exploration and subsea pipeline inspection.

[0003] As underwater vehicles evolve towards higher power density, longer endurance, and quieter operation, the heat generated by their internal electronic equipment is gradually increasing, leading to higher demands for heat dissipation. Currently, the cooling pump units in underwater vehicles consist of branch pipes extending to various electronic devices. These branch pipes converge and connect to a seawater heat exchanger. Freshwater circulation within these branch pipes transfers heat from the electronic devices to the seawater heat exchanger. The seawater heat exchanger contains two sets of isolated and unconnected pipes. One set transports seawater, while the other transports freshwater from the branch pipes. Heat exchange between these two sets of pipes transfers heat from the freshwater to the cooler seawater, thus cooling the electronic equipment. However, in some technologies, the cooling capacity of the cooling pump unit cannot fully match the heat dissipation requirements, resulting in problems such as insufficient or redundant heat dissipation capacity, excessively high heat dissipation costs, and excessive space occupied by the cooling pump unit. Summary of the Invention

[0004] This application provides a method, device, computer equipment, and readable storage medium for ensuring cooling unit resources in an underwater vehicle, which can balance the cooling capacity of the refrigeration pump set and the heat dissipation requirements of the underwater vehicle.

[0005] To achieve the above objectives, the main technical solutions adopted in this application include: In a first aspect, embodiments of this application provide a method for ensuring the resource availability of a cooling unit in an underwater vehicle, the underwater vehicle including a refrigeration pump assembly and spare parts, the method comprising: Obtain resource allocation information, including the failure rate and maintenance rate of the refrigeration pump group, the mission execution time of the underwater vehicle, and the minimum mission success rate to be achieved; Using the minimum task success rate as a constraint, and based on the failure rate, the maintenance rate, and the task execution time, multiple alternative redundant configurations for the refrigeration pump unit and the spare parts are identified. Minimizing task execution cost is the first optimization objective, minimizing the space occupied by the refrigeration pump group and the spare parts is the second optimization objective, and the alternative redundancy configuration is used as a reference to search for redundancy configurations of the refrigeration pump group and the spare parts.

[0006] Secondly, embodiments of this application provide a cooling unit resource support device for an underwater vehicle, the underwater vehicle including a refrigeration pump set and spare parts, the device comprising: The information acquisition module is used to acquire resource allocation information, including the failure rate and maintenance rate of the refrigeration pump group, the mission execution time of the underwater vehicle, and the minimum mission success rate to be achieved. The configuration lookup module is used to find multiple alternative redundant configurations of the refrigeration pump group and the spare parts based on the failure rate, the maintenance rate and the task execution time, with the minimum task success rate as a constraint. The configuration search module is used to search for redundant configurations of the refrigeration pump group and the spare parts, with minimizing the task execution cost as the first optimization objective, minimizing the space occupied by the refrigeration pump group and the spare parts as the second optimization objective, and using the alternative redundant configurations as a reference.

[0007] Thirdly, embodiments of this application provide a computer device, including: A memory and a processor are communicatively connected, the memory storing computer instructions, and the processor executing the computer instructions to perform the cooling unit resource assurance method in an underwater vehicle as described in any of the preceding claims.

[0008] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer instructions, the computer instructions being used to cause a computer to execute the cooling unit resource assurance method in an underwater vehicle as described in any of the preceding claims.

[0009] In some embodiments of this application, the technical solutions use the lowest mission success rate as a constraint. Multiple alternative redundant configurations, derived based on failure rate, maintenance rate, and mission execution time, ensure that the hardware of the cooling pump unit does not fail completely during the underwater vehicle's mission execution period, thus guaranteeing successful mission completion. By minimizing mission execution cost and space occupation as optimization objectives, the alternative redundant configurations can be further screened or optimized, ensuring that the final redundant configuration meets heat dissipation requirements without resulting in an overabundance of cooling pump units and spare parts. In summary, the technical solutions of this application can balance the cooling capacity of the cooling pump unit with the heat dissipation requirements of the underwater vehicle. Attached Figure Description

[0010] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0011] Figure 1 A flowchart illustrating a cooling unit resource guarantee method provided for some embodiments of this application; Figure 2 A schematic diagram of a cooling unit resource protection device in an underwater vehicle provided for some embodiments of this application; Figure 3 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation

[0012] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0013] Currently, some technologies design the refrigeration pump units of underwater vehicles based on maximum heat dissipation requirements. However, the heat dissipation requirements of underwater vehicles vary significantly under different operating conditions, leading to serious resource waste when heat dissipation requirements are low. Other technologies employ redundant designs for critical pump components such as pumps and valves to ensure navigation reliability, but the limited space and maximum weight capacity of underwater vehicles increase design complexity. Still other technologies use the same redundancy design for different pump components, but the varying lifespans of these components can result in some components being redundant while others are insufficient.

[0014] In view of this, this application provides a method for ensuring cooling unit resources in an underwater vehicle, which can balance the cooling capacity of the refrigeration pump set and the heat dissipation requirements of the underwater vehicle, thereby solving problems such as resource waste, excessive space occupation, and excess or insufficient pump set components. Specifically, the underwater vehicle of this application may include a refrigeration pump set and spare parts. The spare parts are backup pump set components, such as water pumps, valves, and controllers. Both the refrigeration pump set and the spare parts support redundant configuration. When the refrigeration pump set fails during operation, on the one hand, spare parts can be used to replace components in the refrigeration pump set to complete the fault repair; on the other hand, the backup refrigeration pump set can be activated to ensure the normal heat dissipation of the underwater vehicle. Before the underwater vehicle performs a mission (e.g., before the underwater vehicle is launched), based on the cooling unit resource assurance method of this application, the redundant configuration of the refrigeration pump set and spare parts, and the number of refrigeration pump sets operating in parallel at different times during mission execution can be planned in advance. This can prevent resource waste caused by excessive energy consumption of the refrigeration pump set. At the same time, it can also avoid problems such as pump sets and spare parts taking up too much space, pump sets or spare parts being too heavy, and spare parts being excessive or insufficient.

[0015] The cooling unit resource guarantee method can be applied to electronic devices. Electronic devices can include, but are not limited to, tablets, desktop computers, and laptops. (See also...) Figure 1 This is a flowchart illustrating a cooling unit resource guarantee method provided in some embodiments of this application. Figure 1 The cooling unit resource guarantee method includes the following steps: Step S101: Obtain resource allocation information, which includes the failure rate and maintenance rate of the refrigeration pump set, the mission execution time of the underwater vehicle, and the minimum mission success rate to be achieved.

[0016] Specifically, the failure rate refers to the rate at which a single refrigeration pump unit fails per hour. The maintenance rate refers to the replacement rate of spare parts for a single failed refrigeration pump unit. Mission execution duration refers to the length of the mission execution period. The mission execution period begins when the underwater vehicle enters the water and ends when the underwater vehicle completes its mission and surfaces. The minimum mission success rate refers to the minimum probability that at least one refrigeration pump unit will not fail during the underwater vehicle's mission execution period.

[0017] The electronic device implementing the method of this application can display a human-computer interaction interface. Based on the human-computer interaction interface, it can receive resource allocation information input by the user.

[0018] Step S102: Using the minimum task success rate as a constraint, and based on the failure rate, maintenance rate, and task execution time, find multiple alternative redundant configurations for the refrigeration pump set and spare parts.

[0019] Specifically, in this step, the possible combinations of redundant quantities of refrigeration pump units and spare parts can be determined based on the failure rate and maintenance rate of the refrigeration pump units; this is known as the alternative redundancy configuration. The alternative redundancy configuration is used to ensure that, after the task execution time, the probability that at least one refrigeration pump unit will not fail is not lower than the minimum task success rate.

[0020] For example, assuming a minimum task success rate of 98%, the failure rate of the refrigeration pump unit is... (i.e., an average of one failure every 5 hours), the repair rate is (That is, the refrigeration pump unit is repaired once every 2 hours on average), and the task execution time is 50 hours.

[0021] Let's assume the following redundant configurations exist: Redundancy configuration C1: The number of redundant refrigeration pump units is 2, and the number of redundant spare parts is 2; Redundancy configuration C2: The number of redundant refrigeration pump units is 12, and the number of redundant spare parts is 5; Redundancy configuration C3: The number of redundant refrigeration pump units is 14, and the number of redundant spare parts is 2.

[0022] For redundant configuration C1, during the latter half of the task execution, all the refrigeration pump units may have failed and all spare parts may have been replaced. The probability that at least one refrigeration pump unit will not fail is much lower than the minimum task success rate. For redundant configurations C2 and C3, the probability that at least one refrigeration pump unit will not fail after the task is completed is higher than the minimum task success rate. Therefore, redundant configurations C2 and C3 can be used as alternative redundant configurations.

[0023] Step S103: Minimize the task execution cost as the first optimization objective, minimize the space occupied by the refrigeration pump group and spare parts as the second optimization objective, and search for redundant configurations of the refrigeration pump group and spare parts with alternative redundant configurations as a reference.

[0024] Specifically, the alternative redundancy configurations identified in step S102 are primarily used to ensure that the hardware of the refrigeration pump units will not be completely damaged during the mission execution period. To achieve this, some alternative redundancy configurations may be too large. This could lead to resource waste, excessive space occupation, and surplus spare parts. Therefore, in step S103, with the optimization objectives of minimizing mission execution cost and space occupation, the alternative redundancy configurations can be further screened or optimized. This ensures that the final redundancy configuration meets heat dissipation requirements without resulting in an overabundance of refrigeration pump units and spare parts. For example, after screening in step S103, the final determined redundancy configuration can achieve the following objectives: after the mission is completed, most spare parts have been replaced, and the number of refrigeration pump units without failure is not excessive. This balances the cooling capacity of the refrigeration pump units with the heat dissipation requirements of the underwater vehicle.

[0025] In summary, the technical solutions of some embodiments of this application, using the lowest mission success rate as a constraint, and multiple alternative redundant configurations obtained based on failure rate, maintenance rate, and mission execution time, can ensure that the hardware of the cooling pump group will not all fail during the mission execution period of the underwater vehicle, thereby ensuring the smooth completion of the mission. By using the minimization of mission execution cost and space occupation as optimization objectives, the alternative redundant configurations can be further screened or optimized, so that the final redundant configuration meets the heat dissipation requirements without the problem of excess cooling pump groups and spare parts. In conclusion, the technical solution of this application can balance the cooling capacity of the cooling pump group and the heat dissipation requirements of the underwater vehicle.

[0026] In some embodiments, in step S102 above, alternative redundant configurations can be found based on a Markov process. Specifically, the state is defined as (i,j), where i represents the number of non-faulty refrigeration pump units, and j represents the remaining number of spare parts. The value of i is... The value of j is... .in, This indicates the number of redundant refrigeration pump units, and S indicates the number of redundant spare parts.

[0027] The state transition matrix can include the following transition rates: ,in, This indicates the rate at which a single refrigeration pump unit fails per hour. This represents the failure rate when i refrigeration pump units are running in parallel.

[0028] ,in, This indicates the repair rate of a single faulty refrigeration pump unit. Indicates the number of refrigeration pump unit failures. Indicates in In the event of a refrigeration pump unit failure, the repair rate of the failed refrigeration pump unit.

[0029] For example, the state transition matrix includes the state transitions shown in Table 1.

[0030] Table 1 State Transitions When i≥1, it means that the heat dissipation function of the underwater vehicle is operating normally; when i=0, the heat dissipation function of the underwater vehicle fails, and it enters the failure absorption state, and no longer performs state transition.

[0031] Step S102, using the lowest task success rate as a constraint, and based on the failure rate, maintenance rate, and task execution time, identifies multiple alternative redundant configurations for the refrigeration pump unit and spare parts. This may include: Obtain the initial redundancy configuration; Based on the failure rate, maintenance rate, and task execution time, a state probability distribution corresponding to the initial redundancy configuration is constructed. Here, a state refers to the combination of the number of non-faulty refrigeration pump units and the remaining number of spare parts. The state probability distribution represents the probability of the refrigeration pump units and spare parts being in each state after the task execution time. Based on the state probability distribution, determine the task success rate corresponding to the initial redundant configuration; If the success rate of the task corresponding to the initial redundant configuration is not lower than the minimum task success rate, then the initial redundant configuration will be used as the alternative redundant configuration.

[0032] Specifically, the initial redundancy configuration can be generated randomly or according to a certain pattern; this application does not restrict the generation method of the initial redundancy configuration. There can be multiple initial redundancy configurations. Each initial redundancy configuration is a combination of the redundancy quantities of the refrigeration pump unit and spare parts. For example, initial redundancy configuration C4=(4,3) indicates that the redundancy quantity of the refrigeration pump unit is 4, and the redundancy quantity of the spare parts is 3; initial redundancy configuration C5=(5,2) indicates that the redundancy quantity of the refrigeration pump unit is 5, and the redundancy quantity of the spare parts is 2.

[0033] Based on each initial redundancy configuration, state transitions can be performed according to Table 1. For example, with the initial redundancy configuration C4 = (4,3), the first state transition can be performed according to Table 1. With the initial redundancy configuration C5 = (5,1), the second state transition can also be performed according to Table 1. It is understandable that the transition process is different for different initial redundancy configurations, resulting in different state probability distributions. For example, after the first state transition, the probability of state (1,1) is 45%, the probability of state (1,2) is 30%, the probability of state (0,0) is 15%, and the probability of state (0,1) is 10%; after the second state transition, the probability of state (1,1) is 50%, the probability of state (1,2) is 49%, the probability of state (0,0) is 0.05%, and the probability of state (0,2) is 0.95%.

[0034] In the state probability distribution corresponding to each initial redundancy configuration, the sum of the state probabilities of i≠0 yields the task success rate for that initial redundancy configuration. For example, the task success rate for initial redundancy configuration C4 is 45%+30%, and the task success rate for initial redundancy configuration C5 is 50%+49%. Assuming a minimum task success rate of 98%, initial redundancy configuration C5 can be used as a backup redundancy configuration, while initial redundancy configuration C4 cannot be used as a backup redundancy configuration.

[0035] Specifically, in the alternative redundancy configuration as When, its state probability distribution is defined as The rate of change of all states is shown in expression (1).

[0036] (1) in, This represents the state transition rate matrix.

[0037] At the initial moment, the state ( The probability of S is 1 (i.e., The probability of the remaining states is 0.

[0038] Furthermore, in some embodiments, determining the task success rate corresponding to the initial redundant configuration based on the state probability distribution may include: Based on the state probability distribution, the first probability that the number of non-faulty units of the refrigeration pump group is greater than or equal to 1 after the task execution time is determined, and the first probability is used as the task success rate.

[0039] Specifically, in these embodiments, the first probability As shown in expression (2).

[0040] (2) Where T represents the task execution time, This indicates the alternative redundancy configuration after task execution time T. The corresponding state probability distribution, This means adding the probabilities of states where i ≠ 0.

[0041] In other embodiments, determining the task success rate corresponding to the initial redundant configuration based on the state probability distribution may include: Based on the state probability distribution, a second probability is determined that the number of non-faulty units of the refrigeration pump group is greater than or equal to 1 at each moment during the task execution process, and this second probability is used as the task success rate.

[0042] Specifically, in these embodiments, the second probability As shown in expression (3).

[0043] (3) in, This represents the minimum number of refrigeration pump units operating normally at any given moment during the task execution period. This represents the probability that at any given moment during the task execution period, the minimum number of normally operating refrigeration pump units is greater than or equal to 1.

[0044] The difference between expressions (2) and (3) is that when calculating the task success rate based on expression (2), only the probability that the number of normally operating refrigeration pump groups is non-zero when the task execution duration T is reached is calculated, without considering whether the number of normally operating refrigeration pump groups is zero during the task execution process. When calculating the task success rate based on expression (3), the probability that the minimum number of normally operating refrigeration pump groups is non-zero at every moment during the task execution period is calculated, that is, it is necessary to consider whether the number of normally operating refrigeration pump groups is greater than or equal to 1 at every moment during the task execution period. For example, suppose that during the task execution process, all refrigeration pump groups experience a temporary failure, but after repair, some refrigeration pump groups recover and run until the end of the task. The task success rate calculated based on expression (2) will not reflect this temporary failure situation, but the task success rate calculated based on expression (3) will reflect this temporary failure situation. In practical applications, the calculation formula for the task success rate can be selected according to actual needs.

[0045] When solving the above expressions (2) or (3), if If the value of is small, a system of differential equations can be constructed and solved directly. For values ​​that are relatively large, discrete event Monte Carlo simulation or the Runge-Kutta method can be used to solve the problem. These methods are standard techniques in this field and will not be elaborated upon here.

[0046] In some embodiments, in step S103, a redundant configuration of the refrigeration pump unit and spare parts can be searched based on the Nondominated Sorting Genetic Algorithm II (NSGA-II) with an elitist strategy. Specifically, the search for redundant configurations of the refrigeration pump unit and spare parts in step S103 may include the following sub-steps 1) to 3).

[0047] 1) Generate multiple reference redundancy configurations based on alternative redundancy configurations.

[0048] Specifically, mutation operations can be performed on at least some of the candidate redundant configurations to obtain mutated redundant configurations. Mutation operations include at least one of the following: changing at least some configurations in a single candidate redundant configuration, or recombining the configurations in multiple candidate redundant configurations. Then, at least some of the redundant configurations from the candidate redundant configurations and the mutated redundant configurations are used as reference redundant configurations. By generating mutated redundant configurations, the search space for redundant configurations can be expanded, ensuring the accuracy of the results.

[0049] 2) Determine the task execution cost and space usage corresponding to each reference redundancy configuration.

[0050] Specifically, the mission execution period can be divided into multiple sub-periods, such as surface standby, diving, cruising, operations, and return. For any reference redundancy configuration, the mission execution cost corresponding to that configuration can be determined using the following method: The number of redundant refrigeration pump groups in the reference redundant configuration is used as the upper limit of the number of parallel refrigeration pump groups. The minimum cooling capacity and cooling redundancy required for each sub-period are used as constraints to determine the number of parallel refrigeration pump groups for each sub-period. Determine the energy consumption for a given time period based on the number of parallel refrigeration pump units; Based on time-period energy consumption, determine the task execution cost corresponding to the reference redundancy configuration.

[0051] Specifically, the heat generated by the underwater vehicle in the kth sub-time period. As shown in expression (4).

[0052] (4) in, This represents the power of the m-th heating device in the k-th sub-time period, where M represents the number of heating devices. This represents the environmental heat infiltration power in the k-th sub-time period. As shown in expression (5).

[0053] (5) Where U represents the overall heat transfer coefficient of the underwater vehicle's bulkhead, and A represents the heat dissipation area of ​​the underwater vehicle's compartments. Indicates seawater temperature, This indicates the temperature maintained in the cabin of the underwater vehicle.

[0054] Minimum cooling capacity required in the kth sub-time period As shown in expression (6).

[0055] (6) in, The density is that of fresh water. For the specific heat capacity of fresh water, To allow for temperature rise in the design.

[0056] Minimum cooling capacity It can also be called minimum flow rate.

[0057] Furthermore, the formula for calculating the maximum cooling capacity when n refrigeration pump units are running in parallel is shown in expression (7).

[0058] (7) in, This represents the maximum cooling capacity when n refrigeration pump units are running in parallel. This indicates the cooling capacity (also known as rated flow) of a single refrigeration pump unit. This represents the parallel efficiency correction factor. .

[0059] The formula for calculating the power consumed by n refrigeration pump groups during operation is shown in expression (8).

[0060] (8) in, This represents the power consumed by n refrigeration pump units in operation. This indicates the rated power of a single refrigeration pump unit.

[0061] Energy consumption of n refrigeration pump units during the kth sub-period. As shown in expression (9).

[0062] (9) in, This represents the power consumed by the n refrigeration pump units during the k-th sub-time period. This represents the duration of the k-th sub-period.

[0063] The number of redundant refrigeration pump groups in each reference redundancy configuration is taken as the upper limit of the number of parallel refrigeration pump groups. With expression (10) as the constraint, the parallel sequence and energy consumption sequence of the refrigeration pump groups corresponding to each reference redundancy configuration can be obtained.

[0064] (10) in, This represents the maximum cooling capacity of n refrigeration pump groups operating in parallel during the k-th sub-period, as obtained from expression (7). The minimum cooling capacity required in the k-th sub-time period , This represents the cooling redundancy for the k-th sub-period.

[0065] The parallel sequence of the refrigeration pump group corresponding to each reference redundancy configuration represents the number of refrigeration pump groups running in parallel within each sub-period, with the number of redundant refrigeration pump groups in the corresponding reference redundancy configuration as the upper limit and expression (10) as the constraint condition. For example, the parallel sequence of the refrigeration pump group corresponding to reference redundancy configuration C1 can be 2, 4, 1, ..., indicating that the number of refrigeration pump groups running in parallel in the first sub-period is 2, the number of refrigeration pump groups running in parallel in the second sub-period is 4, and so on. The parallel sequence of the refrigeration pump group is different for different reference redundancy configurations.

[0066] The energy consumption sequence corresponding to each reference redundancy configuration represents the time-period energy consumption within each sub-period, with the number of redundant refrigeration pump groups in the corresponding reference redundancy configuration as the upper limit and expression (10) as the constraint condition. The relevant principle is similar to that of the parallel sequence of refrigeration pump groups, and will not be elaborated further.

[0067] Based on the time-period energy consumption and expression (11), the task execution cost corresponding to each reference redundancy configuration can be determined. .

[0068] in, This indicates the purchase and installation cost of a single refrigeration pump unit; This represents the incremental cost coefficient resulting from the refrigeration redundancy. This represents the cooling capacity redundancy coefficient, which can be found in the relevant description of expression (12); This represents the unit price of the r-th type of spare part; Indicates the quantity of spare parts; R indicates the type of spare parts; This represents the total energy consumption of the entire task, obtained by adding up the energy consumption of all sub-time periods. This indicates the cost of underwater electrical energy (including battery depreciation). Indicates the total volume of the spare parts; This represents the opportunity cost per unit of cabin volume; This indicates the loss caused by the failure of a single task. Indicates the number of redundant refrigeration pump units. This indicates the task success rate corresponding to the reference redundant configuration.

[0069] Furthermore, the cooling capacity redundancy coefficient This refers to the redundancy factor between the maximum cooling capacity of the refrigeration pump unit and the minimum peak cooling capacity required during the task execution period. Cooling capacity redundancy factor. The calculation formula is shown in expression (12).

[0070] (12) in, This represents the minimum peak cooling capacity required for all task execution periods, i.e., the minimum cooling capacity that is the largest among all task execution periods. For example, if the minimum cooling capacity required for sub-period S1 is 50, the minimum cooling capacity required for sub-period S2 is 65, and the minimum cooling capacity required for sub-period S3 is 30, then the minimum peak cooling capacity is 65. Other parameters can be found in the relevant expressions above, and will not be repeated here.

[0071] 3) Based on the first optimization objective, the second optimization objective, the task execution cost and space occupied by each reference redundancy configuration, select the redundancy configuration of the refrigeration pump set and spare parts from the reference redundancy configuration.

[0072] Specifically, by taking expression (13) as the objective function and taking constraints such as the space occupied by the refrigeration pump group and spare parts being less than the space threshold, the weight of the refrigeration pump group and spare parts being less than the weight threshold, and the cold capacity redundancy coefficient being greater than or equal to 1, the redundant configuration of the refrigeration pump group and spare parts can be searched.

[0073] (13) In expression (13), This indicates the task execution cost corresponding to the redundant configuration. This indicates the space occupied by the reference redundancy configuration. By comprehensively considering the task execution cost and space occupied by multiple reference redundancy configurations, the reference redundancy configuration with the relatively smaller task execution cost and space occupied can be selected as the redundancy configuration for the refrigeration pump set and spare parts.

[0074] Based on the above steps, this application can also output control reference information similar to Table 2. This control reference information includes the number of redundant refrigeration pump units corresponding to multiple reference redundancy configurations, the number of redundant spare parts, task execution cost, occupied space, task success rate, and whether it is optimal. This allows users to select the appropriate control strategy based on their actual needs.

[0075] Table 2 Regulation Strategies See also Figure 2 This is a schematic diagram of a cooling unit resource protection device in an underwater vehicle provided for some embodiments of this application. The cooling unit resource protection device includes: The information acquisition module 201 is used to acquire resource allocation information, including the failure rate and maintenance rate of the refrigeration pump set, the mission execution time of the underwater vehicle, and the minimum mission success rate to be achieved. The configuration lookup module 202 is used to find multiple alternative redundant configurations of the refrigeration pump set and spare parts based on the failure rate, maintenance rate and task execution time, with the lowest task success rate as a constraint. The configuration search module 203 is used to search for redundant configurations of the refrigeration pump group and spare parts with the first optimization objective of minimizing task execution cost, the second optimization objective of minimizing the space occupied by the refrigeration pump group and spare parts, and alternative redundant configurations as a reference.

[0076] In some embodiments, the configuration search module 203 is specifically used for: Based on the alternative redundancy configurations, generate multiple reference redundancy configurations; Determine the task execution cost and space usage for each reference redundancy configuration; Based on the first optimization objective, the second optimization objective, the task execution cost and space occupied by each reference redundancy configuration, the redundancy configurations of the refrigeration pump set and spare parts are selected from the reference redundancy configurations.

[0077] In some embodiments, the mission execution period of an underwater vehicle is divided into multiple sub-periods; For any reference redundancy configuration, the configuration search module 203 determines the task execution cost corresponding to the reference redundancy configuration based on the following method: The number of redundant refrigeration pump groups in the reference redundant configuration is used as the upper limit of the number of parallel refrigeration pump groups. The minimum cooling capacity and cooling redundancy required for each sub-period are used as constraints to determine the number of parallel refrigeration pump groups for each sub-period. Determine the energy consumption for a given time period based on the number of parallel refrigeration pump units; Based on time-period energy consumption, determine the task execution cost corresponding to the reference redundancy configuration.

[0078] In some embodiments, the configuration search module 203 is specifically used to constrain the search for redundant configurations of refrigeration pump sets and spare parts by at least one of the following conditions: The space occupied by the refrigeration pump unit and spare parts is less than the space threshold; The weight of the refrigeration pump unit and spare parts is less than the weight threshold; The cooling capacity redundancy factor is greater than or equal to 1. The cooling capacity redundancy factor refers to the redundancy multiple between the maximum cooling capacity of the refrigeration pump set and the minimum peak cooling capacity required during the task execution period.

[0079] In some embodiments, the configuration search module 203 is specifically used for: A mutation operation is performed on at least some of the alternative redundant configurations to obtain a mutated redundant configuration. The mutation operation includes at least one of the following: changing at least some of the configurations in a single alternative redundant configuration, or reorganizing the configurations in multiple alternative redundant configurations. At least some of the redundant configurations from the alternative redundant configurations and the variant redundant configurations are used as reference redundant configurations.

[0080] In some embodiments, the configuration lookup module 202 is specifically used for: Obtain the initial redundancy configuration; Based on the failure rate, maintenance rate, and task execution time, a state probability distribution corresponding to the initial redundancy configuration is constructed. Here, a state refers to the combination of the number of non-faulty refrigeration pump units and the remaining number of spare parts. The state probability distribution represents the probability of the refrigeration pump units and spare parts being in each state after the task execution time. Based on the state probability distribution, determine the task success rate corresponding to the initial redundant configuration; If the success rate of the task corresponding to the initial redundant configuration is not lower than the minimum task success rate, then the initial redundant configuration will be used as the alternative redundant configuration.

[0081] In some embodiments, the configuration lookup module 202 is specifically used for: Based on the state probability distribution, the first probability that the number of non-faulty refrigeration pump units is greater than or equal to 1 after the task execution time is determined, and the first probability is used as the task success rate. Alternatively, based on the state probability distribution, determine a second probability that the number of non-faulty units of the refrigeration pump group is greater than or equal to 1 at each moment during the task execution process, and use the second probability as the task success rate.

[0082] Further functional descriptions of the above modules and units are the same as those in the corresponding embodiments described above, and will not be repeated here.

[0083] In this embodiment, the cooling unit resource protection device in the underwater vehicle is presented in the form of a functional unit. Here, a unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0084] Please see Figure 3 , Figure 3This application provides a schematic diagram of the structure of a computer device, as shown in the embodiment of the present application. Figure 3 As shown, the computer device includes one or more processors 10, memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processors can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). Figure 3 Take a processor 10 as an example.

[0085] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GDA), or any combination thereof.

[0086] The memory 20 stores instructions executable by at least one processor 10 to cause the at least one processor 10 to perform the method shown in the above embodiments.

[0087] The memory 20 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 based on the use of the computer device. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0088] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0089] This application provides a computer program product including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the method of any embodiment of this application.

[0090] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for ensuring the resource availability of a cooling unit in an underwater vehicle, characterized in that, The underwater vehicle includes a refrigeration pump assembly and spare parts, and the method includes: Obtain resource allocation information, including the failure rate and maintenance rate of the refrigeration pump group, the mission execution time of the underwater vehicle, and the minimum mission success rate to be achieved; Using the minimum task success rate as a constraint, and based on the failure rate, the maintenance rate, and the task execution time, multiple alternative redundant configurations for the refrigeration pump unit and the spare parts are identified. Minimizing task execution cost is the first optimization objective, minimizing the space occupied by the refrigeration pump group and the spare parts is the second optimization objective, and the alternative redundancy configuration is used as a reference to search for redundancy configurations of the refrigeration pump group and the spare parts.

2. The method according to claim 1, characterized in that, The search yields the redundant configuration of the refrigeration pump unit and the spare parts, including: Based on the aforementioned alternative redundancy configurations, multiple reference redundancy configurations are generated; Determine the task execution cost and space usage corresponding to each of the aforementioned reference redundancy configurations; Based on the first optimization objective, the second optimization objective, the task execution cost and space occupied by each of the reference redundancy configurations, the redundancy configurations of the refrigeration pump group and the spare parts are selected from the reference redundancy configurations.

3. The method according to claim 2, characterized in that, The mission execution period of the underwater vehicle is divided into multiple sub-periods. For any of the aforementioned reference redundancy configurations, the mission execution cost corresponding to the reference redundancy configuration is determined based on the following method: The number of redundant refrigeration pump groups in the reference redundancy configuration is used as the upper limit of the number of parallel refrigeration pump groups. The minimum cooling capacity and cooling redundancy required for each sub-period are used as constraints to determine the number of parallel refrigeration pump groups for each sub-period. Based on the number of parallel refrigeration pump units, determine the energy consumption for each time period; Based on the energy consumption during the specified time period, the task execution cost corresponding to the reference redundancy configuration is determined.

4. The method according to claim 3, characterized in that, When searching for redundant configurations of the refrigeration pump unit and the spare parts, at least one of the following conditions shall be used as constraints: The space occupied by the refrigeration pump unit and the spare parts is less than the space threshold; The weight of the refrigeration pump unit and the spare parts is less than the weight threshold. The cooling capacity redundancy coefficient is greater than or equal to 1. The cooling capacity redundancy coefficient refers to the redundancy multiple between the maximum cooling capacity of the refrigeration pump set and the minimum peak cooling capacity required during the task execution period.

5. The method according to claim 2, characterized in that, Based on the alternative redundancy configurations, multiple reference redundancy configurations are generated, including: A mutation operation is performed on at least some of the candidate redundancy configurations to obtain a mutated redundancy configuration, the mutation operation including at least one of the following: changing at least some of the configurations in a single candidate redundancy configuration, or recombining the configurations in multiple candidate redundancy configurations; At least a portion of the redundant configurations in the alternative redundant configurations and the variant redundant configurations are used as the reference redundant configurations.

6. The method according to claim 1, characterized in that, Using the minimum task success rate as a constraint, and based on the failure rate, the maintenance rate, and the task execution time, multiple alternative redundant configurations for the refrigeration pump unit and the spare parts are identified, including: Obtain the initial redundancy configuration; Based on the failure rate, the maintenance rate, and the task execution time, a state probability distribution corresponding to the initial redundancy configuration is constructed. Here, a state refers to the combination of the number of non-faulty units of the refrigeration pump group and the remaining number of spare parts. The state probability distribution characterizes the probability that the refrigeration pump group and the spare parts are in each state after the task execution time. Based on the state probability distribution, the task success rate corresponding to the initial redundancy configuration is determined; If the task success rate corresponding to the initial redundancy configuration is not lower than the minimum task success rate, then the initial redundancy configuration will be used as the alternative redundancy configuration.

7. The method according to claim 6, characterized in that, Determining the task success rate corresponding to the initial redundancy configuration based on the state probability distribution includes: Based on the state probability distribution, a first probability is determined that the number of non-faulty refrigeration pump units is greater than or equal to 1 after the task execution time, and the first probability is used as the task success rate. Alternatively, based on the state probability distribution, a second probability is determined that the number of non-faulty units of the refrigeration pump group is greater than or equal to 1 at each moment during the task execution process, and the second probability is used as the task success rate.

8. A cooling unit resource protection device for an underwater vehicle, characterized in that, The underwater vehicle includes a refrigeration pump unit and spare parts, and the device includes: The information acquisition module is used to acquire resource allocation information, including the failure rate and maintenance rate of the refrigeration pump group, the mission execution time of the underwater vehicle, and the minimum mission success rate to be achieved. The configuration lookup module is used to find multiple alternative redundant configurations of the refrigeration pump group and the spare parts based on the failure rate, the maintenance rate and the task execution time, with the minimum task success rate as a constraint. The configuration search module is used to search for redundant configurations of the refrigeration pump group and the spare parts, with minimizing the task execution cost as the first optimization objective, minimizing the space occupied by the refrigeration pump group and the spare parts as the second optimization objective, and using the alternative redundant configurations as a reference.

9. A computer device, characterized in that, include: A memory and a processor are communicatively connected, the memory stores computer instructions, and the processor executes the computer instructions to perform the cooling unit resource assurance method in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing a computer to perform the cooling unit resource assurance method in any one of claims 1 to 7.

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