CN111328029A - Decentralized task redistribution method and device - Google Patents
Decentralized task redistribution method and device Download PDFInfo
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- CN111328029A CN111328029A CN202010178147.5A CN202010178147A CN111328029A CN 111328029 A CN111328029 A CN 111328029A CN 202010178147 A CN202010178147 A CN 202010178147A CN 111328029 A CN111328029 A CN 111328029A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/06—Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W72/00—Local resource management
- H04W72/50—Allocation or scheduling criteria for wireless resources
- H04W72/53—Allocation or scheduling criteria for wireless resources based on regulatory allocation policies
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W72/00—Local resource management
- H04W72/50—Allocation or scheduling criteria for wireless resources
- H04W72/54—Allocation or scheduling criteria for wireless resources based on quality criteria
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Abstract
One embodiment disclosed herein provides a method for decentralized task reallocation, the method comprising the steps of setting a residual task amount and a residual task starting point by a task reallocation starting node; the starting node broadcasts an assistance request to at least one target node of the task reallocation, wherein the assistance request comprises the residual task amount and a residual task starting point; the originating node reassigns the remaining task amount to at most one of the at least one target node in response to a task reassignment request by the at most one consent node for the broadcasted assistance request; at most one of the consent nodes moves towards the remaining task start point after the scheduled time.
Description
Technical Field
The invention belongs to the technical field and the intelligent field of computers, and particularly relates to a decentralized task reallocation method and device and an unmanned aerial vehicle task reallocation method and device.
Background
The conventional working principle of the unmanned aerial vehicle is that a server plans the working path of the unmanned aerial vehicle and assigns a working task to the unmanned aerial vehicle, and the server knows a map of required operation, the current position and the working capacity of each unmanned aerial vehicle and formulates the task for each unmanned aerial vehicle based on the map. However, in the actual operation process, because of various internal and external factors, not every drone can smoothly complete its task, and when the communication between the drone and the server is interrupted, for example, when the server fails, the drone swarm cannot obtain a new assignment instruction, so that the whole operation task cannot be completed.
Disclosure of Invention
To address the above-described situation, the present invention provides a method for decentralized task reallocation, comprising:
setting a residual task amount and a residual task starting point by a starting node for task redistribution;
the starting node broadcasts an assistance request to at least one target node of the task reallocation, wherein the assistance request comprises the residual task amount and a residual task starting point;
the originating node reallocates the remaining task amount to at most one of the at least one target node in response to a task reallocation request by the at most one granting node for the broadcasted assistance request.
Further, the at most one consent node moves towards the remaining task start point after a scheduled time.
Correspondingly, the invention also provides a device applying the method, and a device for decentralized task reallocation, which comprises the following steps:
the setting unit is used for setting the residual task amount and the residual task starting point of the starting node for task redistribution;
a transmission unit, configured to broadcast an assistance request to at least one target node to which the task is reallocated, where the assistance request includes the remaining task amount and a remaining task starting point;
the residual task amount and the residual task starting point;
a reallocation unit, configured to, in response to a task reallocation request for the broadcasted remaining task amount by at most one of the at least one target node, reallocate the remaining task amount to the at most one of the grant nodes;
an execution unit for the at most one consent node to perform an action to move to the remaining task start point after a scheduled time.
The invention has the beneficial effects that: when the communication between the unmanned aerial vehicle and the server is interrupted, for example, when the server fails, even if a new assignment instruction cannot be directly obtained from the server, the whole operation task can be completed as much as possible through self-coordination among clusters, and the task completion degree is improved.
Drawings
FIG. 1 shows a flow chart of a method according to the invention;
fig. 2-3 show a block diagram of a drone to which the method is applied in one embodiment.
Detailed Description
The structure and functions implemented by the present invention are described in detail below with reference to the accompanying drawings.
Example one
In this embodiment, each node to which the method is applied is an unmanned aerial vehicle, and in the initial stage of the task, the server plans the operation path of the unmanned aerial vehicle and assigns an operation task to the unmanned aerial vehicle. The server knows the map of the required operation, the current position and the operation capacity of each unmanned aerial vehicle, and formulates a task for each unmanned aerial vehicle based on the map of the required operation, the current position and the operation capacity.
In the execution process of the task, the unmanned aerial vehicle periodically communicates with the server at fixed time intervals, and when the unmanned aerial vehicle cannot obtain feedback of the server, namely under the condition that the communication between the unmanned aerial vehicle and the server is interrupted, the task reallocation method is started.
The starting unmanned aerial vehicle for task redistribution sets a residual task amount and a residual task starting point according to a first condition; the first condition is, for example, comparing the self state of the unmanned aerial vehicle, such as the battery power or the power failure rate, predicting the task amount and the operation intermediate point which can be completed by the unmanned aerial vehicle in combination with the virtual task map and the planned path on the map, setting the residual task amount based on the initially assigned task amount and the predicted task amount which can be completed, and setting the residual task starting point, namely the operation intermediate point, on the virtual task map.
The initiating unmanned aerial vehicle broadcasts an assistance request to at least one target unmanned aerial vehicle of the task reallocation, wherein the assistance request comprises the residual task amount and a residual task starting point; particularly, the unmanned aerial vehicle uses a near field communication unit to perform the broadcast, and only the unmanned aerial vehicles around the starting unmanned aerial vehicle can receive the broadcast, namely the target unmanned aerial vehicle is all other unmanned aerial vehicles within a certain range around the starting unmanned aerial vehicle;
after receiving the broadcast, at least one target unmanned aerial vehicle compares its own parameters and task amount according to a second condition severer than the first condition, and the own parameters, such as battery power, not only can meet the original task amount of the target unmanned aerial vehicle, but also can meet the residual task amount, and if the target unmanned aerial vehicle meeting the second condition does not exist, assistance cannot be provided for the starting unmanned aerial vehicle naturally; if more than one target unmanned aerial vehicle meeting the second condition exists, at most one agreeing unmanned aerial vehicle meeting a third condition, including but not limited to consideration of surplus operation capacity and the like, should be screened out;
the granting drone feeds back information of its granting assistance to the initiating drone, the initiating drone reallocating the remaining task volume to at most one granting drone of the at least one target drone in response to a task reallocation request by the at most one granting drone for the remaining task volume that was broadcast;
the at most one agreeing drone moves to the remaining task starting point after completing its intended task.
Example two
In this embodiment, each node to which the method is applied is a lawn punching unmanned aerial vehicle. After the lawn is built, in addition to reasonable maintenance management such as fertilization, irrigation and trimming, the lawn needs to be timely perforated to form a channel for water to enter soil and create conditions for oxygen to enter, so that the physical properties and other characteristics of the lawn are improved, and the overground and underground parts of the lawn are promoted to grow. The unmanned aerial vehicle is designed for automatically and intelligently implementing the operation. At the beginning of lawn punching, the server plans the operation path of the lawn punching unmanned aerial vehicle and assigns an operation task to the unmanned aerial vehicle. The server knows the map of the required operation, the current position and the operation capacity of each unmanned aerial vehicle, and formulates a task for each unmanned aerial vehicle based on the map of the required operation, the current position and the operation capacity.
The lawn punching unmanned aerial vehicle comprises a frame, a first nail roller serving as a main implementation part of punching operation, two second nail rollers serving as a running part and a punching operation auxiliary implementation part, and a power part and a control part (not shown) which are installed on the frame. According to the working process of the unmanned aerial vehicle, components for determining the current position of the unmanned aerial vehicle, such as a GPS positioning device, are also an indispensable part of the control component, in addition, obstacle avoidance systems commonly used in the field, such as infrared sensors, ultrasonic sensors and other sensors, can also be added into the control component to perfect the function of the lawn punching unmanned aerial vehicle,
as shown in figure 2 of the drawings, in which,
the first nail roller 1 is rotatably arranged on the roller frame 4 and is fixed at the front end of the frame 3 through the roller frame 4;
two second nail rollers 2 mounted side by side at the rear end of the frame 3;
the two driving motors 5 are arranged at the middle section of the rack and respectively drive the two second nail rollers 2 to rotate through transmission chains (including but not limited to chain transmission, belt transmission and the like), so that the intelligent unmanned aerial vehicle is driven to advance and/or turn;
and the driving battery 6 is fixed on the frame and used for supplying power to the driving motor 5.
A plurality of lawn punching nails are uniformly welded on the outer surfaces of the first nail roller 1 and the second nail roller 2.
As shown in fig. 3, the first spike roller 1 has a symmetrically arranged fixing plate 11 (only one is shown in the figure for showing the internal structure), an eccentric wheel shaft 12 penetrating the inside of the first spike roller 1 is mounted at the center of the fixing plate through a bearing, a pair of eccentric wheels 13 are fixed on the eccentric wheel shaft, and the ends of the eccentric wheel shaft 12 are respectively mounted on the roller frame 4.
In the embodiment, an excitation motor 7 is installed on the frame 3 and is in transmission connection with the eccentric wheel shaft 12, and the excitation motor 7 is controlled by the driving battery 6 to supply power, so as to drive the eccentric wheel 13 to rotate, so that the first nail roller 1 is excited and vibrated, the ground pressure is increased, and the punching effect is improved.
The rack-mounted control unit includes:
a first communication unit that periodically communicates with the server at fixed time intervals;
the storage unit is used for receiving and storing the task information sent by the server;
the setting unit is used for setting a residual task amount and a residual task starting point, pre-judging the task amount which can be completed and the operation middle stop point (the length of the path can be used for approximately replacing the task amount to simplify pre-judging calculation) by combining a lawn map and a planned path on the lawn map based on the comparison of task information and self parameters, such as battery power or power failure rate, then setting the residual task amount based on the initially assigned task amount and the pre-judged task amount which can be completed, and setting the residual task starting point on the lawn map, namely the operation middle stop point, obviously, the unmanned aerial vehicle with the residual task amount not being zero is used as an initial node for task redistribution and then executes the next method.
A transmission unit, which is a near field communication unit, wherein the communication coverage is limited, for example, within 500 meters of a square circle, and the transmission unit of the starting unmanned aerial vehicle broadcasts an assistance request to all other unmanned aerial vehicles within the communication range under the condition that the pre-judgment result of the setting unit is "incomplete" (that is, the residual task amount is not zero), wherein the assistance request includes the residual task amount and a residual task starting point; in addition, the transmission unit also has a function of receiving an assistance request of the other unmanned aerial vehicle when the unmanned aerial vehicle is the identity of the target node;
after the at least one target unmanned aerial vehicle receives the broadcast, the setting unit of the target unmanned aerial vehicle compares the self parameter and the task amount according to a second condition which is severer than the first condition, wherein the self parameter, such as the battery power, not only can meet the original task amount of the self parameter, but also can meet the residual task amount, and if the target unmanned aerial vehicle meeting the second condition does not exist, the setting unit of the target unmanned aerial vehicle cannot provide assistance for the starting unmanned aerial vehicle naturally;
if more than one target unmanned aerial vehicle meeting the second condition exists, each target unmanned aerial vehicle transmits information of one own surplus operation capability to the starting unmanned aerial vehicle, and the starting unmanned aerial vehicle selects at most one agreement unmanned aerial vehicle with the largest surplus operation capability and confirms the agreement unmanned aerial vehicle with the agreement unmanned aerial vehicle;
the transmission unit of the unmanned aerial vehicle gives feedback of a task reallocation request approved for assistance to the starting unmanned aerial vehicle;
a reallocation unit that initiates a reallocation unit of the drone, in response to said at most one task reallocation request that agrees to the amount of remaining tasks broadcast by the drone, to transfer said amount of remaining tasks thereto;
the storage unit of the unmanned aerial vehicle is permitted to update the originally stored task data, the newly transferred residual task amount is stored as the task to be executed by the unmanned aerial vehicle, and the unmanned aerial vehicle is permitted to execute the action of moving to the residual task starting point by the control component after the scheduled time.
It will be appreciated by persons skilled in the art that numerous variations and/or modifications may be made to the invention as shown in the specific embodiments without departing from the spirit or scope of the invention as broadly described. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive. Likewise, the invention encompasses any combination of features, in particular of features in the patent claims, even if this feature or this combination of features is not explicitly specified in the patent claims or in the individual embodiments herein.
Claims (5)
1. A method of decentralized task reallocation, comprising:
setting a residual task amount and a residual task starting point by a starting node for task redistribution;
the starting node broadcasts an assistance request to at least one target node of the task reallocation, wherein the assistance request comprises the residual task amount and a residual task starting point;
the originating node reallocates the remaining task amount to at most one of the at least one target node in response to a task reallocation request by the at most one granting node for the broadcasted assistance request.
2. The method of claim 1, wherein the at most one consent node moves towards the remaining task start point after a scheduled time.
3. An apparatus for decentralized task reallocation, comprising:
the setting unit is used for setting the residual task amount and the residual task starting point of the starting node for task redistribution;
a transmission unit, configured to broadcast an assistance request to at least one target node to which the task is reallocated, where the assistance request includes the remaining task amount and a remaining task starting point;
a reallocation unit for reallocating the remaining task amount to at most one of the at least one target node in response to a task reallocation request by the at most one of the at least one target node for the broadcasted assistance request.
4. The apparatus of claim 3, further comprising:
an execution unit for the at most one consent node to perform an action to move to the remaining task start point after a scheduled time.
5. A method of decentralized task reallocation for an unmanned aerial vehicle, comprising:
the starting unmanned aerial vehicle for task redistribution sets a residual task amount and a residual task starting point according to a first condition;
the initiating unmanned aerial vehicle broadcasts an assistance request to at least one target unmanned aerial vehicle of the task reallocation, wherein the assistance request comprises the residual task amount and a residual task starting point;
the initiating drone, in response to a task reallocation request by at most one of the at least one target drone for the broadcasted assistance request, reallocate the remaining task amount to the at most one granting drone;
the at most one agreeing drone moves to the remaining task starting point after completing its intended task.
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| CN202010178147.5A CN111328029A (en) | 2020-03-14 | 2020-03-14 | Decentralized task redistribution method and device |
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Cited By (1)
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