CN109947130A - A kind of transmission of electricity multiple aircraft formation tour management method and system based on grid-based management - Google Patents
A kind of transmission of electricity multiple aircraft formation tour management method and system based on grid-based management Download PDFInfo
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Abstract
The transmission of electricity multiple aircraft formation based on grid-based management that the invention discloses a kind of makes an inspection tour management method and system and obtains several Meta tasks that can directly execute this method comprises: goal task is carried out cutting according to the task segmentation algorithm of WBS thought；According to ant group algorithm and Route optimization strategy, flight course planning is carried out to each Meta task, obtains the Ship's Optimum Route of each Meta task；According to reliability and expense task scheduling algorithm, more aircraft are dispatched according to corresponding Ship's Optimum Route and execute Meta task, to cooperate with completion goal task.Solves the problems such as power grid makes an inspection tour low efficiency, route track redundancy, resource redundancy is lost, management cost is high, the phenomenon that resulting in waste of resources by line inspection is evaded, Net Frame of Electric Network is maked an inspection tour and carries out grid-based management, it is Meta task that task cutting, which will be maked an inspection tour, flight course planning is carried out on the basis of Meta task, guarantee that voyage is optimal, while schedule aircraft carries out tour operation according to the course line planned, improves flight efficiency.
Description
Technical field
The present embodiments relate to technical field of intelligent equipment more particularly to a kind of transmission of electricity multimachines based on grid-based management
It forms into columns and makes an inspection tour management method and system.
Background technique
For airborne aircraft as a high and new technology tool, it is easy to operate, and flexible movements have been widely used for state
Anti-, electric power, building, agricultural surveys and draws, exploration, video display, the energy, the every field such as combats a natural disaster.It can help to shoot height using aircraft
Empty image, manpower can not reach the image in place before acquisition, help all trades and professions to solve the problems, such as a large amount of, improve working efficiency.
Tour operation is carried out using aircraft at present mainly to divide by route, makes an inspection tour transition, operation team configures, tour track is all compared
Compared with redundancy, to carry out green economy growth requirement, proposes that grid-based management multiple aircraft formation is maked an inspection tour, deepen aircraft in smart grid
It is applied in development.
Summary of the invention
The present invention provides a kind of transmission of electricity multiple aircraft formation tour management method and system based on grid-based management, existing to solve
There is the deficiency of technology.
To achieve the above object, the present invention provides technical solution below:
In a first aspect, the present invention provides a kind of transmission of electricity multiple aircraft formation tour management method based on grid-based management, it is described
Method includes:
S1, the task segmentation algorithm according to WBS thought, carry out cutting for goal task, and obtaining several can directly execute
Meta task；
S2, each Meta task is obtained to each Meta task progress flight course planning according to ant group algorithm and Route optimization strategy
Ship's Optimum Route；
S3, according to reliability and expense task scheduling algorithm, dispatch more aircraft and executed according to corresponding Ship's Optimum Route
Meta task, to cooperate with completion goal task.
Further, in the method, the step S1 is specifically included:
S1.1, goal task is subjected to cutting according to timing, obtains several subtasks；
S1.2, the subtask that step S1.1 cutting obtains successively is carried out with a hundred percent principle and same layer with standard guidelines
It examines, if not verified, return step S1.1 cutting again；If entering by examining and whether meeting granularity principle
It examines, if satisfied, then obtaining the Meta task that can directly execute, cutting terminates；If not satisfied, then entering step S1.3；
S1.3, the subtask for obtaining step S1.1 cutting carry out cutting according to space, obtain several sons of next level
Task；
S1.4, the subtask that step S1.3 cutting obtains successively is carried out with a hundred percent principle and same layer with standard guidelines
It examines, if not verified, return step S1.1 cutting again；If entering by examining and whether meeting granularity principle
It examines, if satisfied, then obtaining the Meta task that can directly execute, cutting terminates；If not satisfied, then entering step S1.5；
S1.5, the subtask for obtaining step S1.3 cutting carry out cutting according to function, obtain several sons of next level
Task；
S1.6, successively use a hundred percent principle, same layer with standard guidelines and grain the subtask that step S1.5 cutting obtains
Degree principle is tested, if not verified, return step S1.1 cutting again；If obtaining directly holding by examining
Capable Meta task, cutting terminate.
Further, in the method, the step S2 is specifically included:
S2.1, the initial route of each Meta task is obtained to each Meta task progress flight course planning according to ant group algorithm；
S2.2, the whole Minimal Flight Paths obtained to step S2.1 carry out intersection conflict verification, if verification to there is intersection conflict,
Then the initial route return step S2.1 of the lower Meta task of priority in intersection conflict is planned again；If verification is not to handing over
Fork conflict, then obtain the Ship's Optimum Route of each Meta task, planning terminates.
Further, the objective function in the method, in flight course planning are as follows:
Further, in the method, the step S3 is specifically included:
S3.1, according to reliability and expense task scheduling algorithm, determine optimal scheduling scheme；
S3.2, according to the optimal scheduling scheme, dispatch more aircraft and execute member according to corresponding Ship's Optimum Route and appoint
Business, to cooperate with completion goal task.
Further, the objective function in the method, in reliability and expense task scheduling algorithm are as follows:
Minf (S)=a*CostG(S)+b*lnRG(S)
Wherein, a, b are regulatory factor.
Second aspect, the present invention provides a kind of transmission of electricity multiple aircraft formation Patrol Management System based on grid-based management, described
System includes:
Goal task is carried out cutting, if obtaining for the task segmentation algorithm according to WBS thought by task cutting module
The dry Meta task that can directly execute；
Flight course planning module, for carrying out flight course planning to each Meta task according to ant group algorithm and Route optimization strategy,
Obtain the Ship's Optimum Route of each Meta task；
Flight dispatch module, for dispatching more aircraft according to correspondence according to reliability and expense task scheduling algorithm
Ship's Optimum Route execute Meta task, to cooperate with completion goal task.
Management method and system are maked an inspection tour in a kind of transmission of electricity multiple aircraft formation based on grid-based management provided in an embodiment of the present invention,
It solves the problems such as power grid makes an inspection tour low efficiency, route track redundancy, resource redundancy is lost, management cost is high, has evaded by route
The phenomenon that tour results in waste of resources makes an inspection tour Net Frame of Electric Network and carries out grid-based management, and will make an inspection tour task cutting is Meta task,
Flight course planning is carried out on the basis of Meta task, guarantees that voyage is optimal, while schedule aircraft is maked an inspection tour according to the course line planned
Operation improves flight efficiency, saves the problem of wasting by the repetition voyage that line inspection generates, in addition, passing through the boat planned
Line, multi-machine collaborative completes goal task, while establishing fence, and the flight range of specification aircraft avoids aircraft from colliding
Accident.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other attached drawings according to these attached drawings.
Fig. 1 is that management method is maked an inspection tour in a kind of transmission of electricity multiple aircraft formation based on grid-based management that the embodiment of the present invention one provides
Flow diagram；
Fig. 2 is task level network diagram in the embodiment of the present invention one；
Fig. 3 is the schematic diagram of task cutting method in the embodiment of the present invention one；
Fig. 4 is the feasible path schematic diagram of aircraft in the embodiment of the present invention one；
Fig. 5 is a kind of transmission of electricity multiple aircraft formation Patrol Management System based on grid-based management provided by Embodiment 2 of the present invention
Structural schematic diagram.
Specific embodiment
In order to completely describe technical solution provided in an embodiment of the present invention, and it is easy to be easily absorbed on a cognitive level by the user, below with reference to
The present invention is described in further detail for drawings and examples.It is understood that specific embodiment described herein is only
For explaining only the invention, rather than limitation of the invention.It also should be noted that for ease of description, in attached drawing only
Show part related to the present invention rather than entire infrastructure.
Embodiment one
Attached drawing 1 is please referred to, is patrolled for a kind of transmission of electricity multiple aircraft formation based on grid-based management that the embodiment of the present invention one provides
Depending on the flow diagram of management method, this method based on the transmission of electricity multiple aircraft formation Patrol Management System of grid-based management by being held
Row, which can be by software and or hardware realization.This method specifically comprises the following steps:
S1, the task segmentation algorithm according to WBS thought, carry out cutting for goal task, and obtaining several can directly execute
Meta task.
It should be noted that the thought of WBS (Work Breakdown Structure, work breakdown structure (WBS)) is applied to
Grid-based management machine patrols the cutting of task, by cutting several times, obtains task hierarchical network (can refer to Fig. 2), top layer is
The needing to be finally completed of the task, bottom are the Meta task layer that can be directly executed, and middle layer is subtask.
As shown in figure 3, specifically, the step S1 further comprises:
S1.1, goal task is subjected to cutting according to timing, obtains several subtasks；
S1.2, the subtask that step S1.1 cutting obtains successively is carried out with a hundred percent principle and same layer with standard guidelines
It examines, if not verified, return step S1.1 cutting again；If entering by examining and whether meeting granularity principle
It examines, if satisfied, then obtaining the Meta task that can directly execute, cutting terminates；If not satisfied, then entering step S1.3；
S1.3, the subtask for obtaining step S1.1 cutting carry out cutting according to space, obtain several sons of next level
Task；
S1.4, the subtask that step S1.3 cutting obtains successively is carried out with a hundred percent principle and same layer with standard guidelines
It examines, if not verified, return step S1.1 cutting again；If entering by examining and whether meeting granularity principle
It examines, if satisfied, then obtaining the Meta task that can directly execute, cutting terminates；If not satisfied, then entering step S1.5；
S1.5, the subtask for obtaining step S1.3 cutting carry out cutting according to function, obtain several sons of next level
Task；
S1.6, successively use a hundred percent principle, same layer with standard guidelines and grain the subtask that step S1.5 cutting obtains
Degree principle is tested, if not verified, return step S1.1 cutting again；If obtaining directly holding by examining
Capable Meta task, cutting terminate.
Wherein,
Granularity principle: in mission dicing process, cutting obtains subtask, when the execution demand and operation unit of subtask
Cutting is not continued to as Meta task when energy force vector association.
Very principle: father's straton task definition must be the sum of next straton task or Meta task, and cutting obtains
Subtask absolutely to represent father's straton task.
The same standard guidelines of same layer: same layer refers in dicing process that the subtask of same level must be by same with standard guidelines
A kind of cutting standard cutting acquisition.
S2, each Meta task is obtained to each Meta task progress flight course planning according to ant group algorithm and Route optimization strategy
Ship's Optimum Route.
It should be noted that when user submit tour task (goal task) be split after, available flight resource and
The aiming spot of tour in Meta task is known and fixed, it is assumed that aircraft traverses the preset task that each target point is completed and returns
To initial position, then the feasible driving path of aircraft can be described as W={ W1, W2 ..., Wm-1, Wm, W1 }, starting
W1 indicates aircraft starting point, W2, W3 ..., and Wm-1, Wm indicate each demand point.Fig. 4 indicates a feasible path of aircraft, S
Indicate initial position, Wi indicates operating point.
The each target point of Meta task is regarded into particle, then the objective function of the path planning is represented by the minimum of total distance
Change such as following formula, L indicates distance operator in formula, needs to refer to the location information between each node.
Multi-goal path planning is the closed path of the shortest distance of whole operating points in one traversal Meta task of design,
This is consistent with traveling salesman problem (Traveling Salesman Problem, TSP), and multiple target point flight course planning is convertible
For TSP.The physical planning process such as following figure distributes priority by task cutting system, according to starting point and mesh when task starts
Punctuate, the path planning of corresponding Meta task is carried out according to ant group algorithm, thus obtains each Meta task optimal path.In comprehensive school
During testing, when detecting intersection conflict, for the Meta task of low priority, using conflict point as new starting point, according to ant
Group's algorithm carries out the planning again in path, and two frame aircraft can be made to have a time difference at crossover node in this way.
Specifically, the step S2 further comprises:
S2.1, the initial route of each Meta task is obtained to each Meta task progress flight course planning according to ant group algorithm；
S2.2, the whole Minimal Flight Paths obtained to step S2.1 carry out intersection conflict verification, if verification to there is intersection conflict,
Then the initial route return step S2.1 of the lower Meta task of priority in intersection conflict is planned again；If verification is not to handing over
Fork conflict, then obtain the Ship's Optimum Route of each Meta task, planning terminates.
S3, according to reliability and expense task scheduling algorithm, dispatch more aircraft and executed according to corresponding Ship's Optimum Route
Meta task, to cooperate with completion goal task.
Specifically, the step S3 further comprises:
S3.1, according to reliability and expense task scheduling algorithm, determine optimal scheduling scheme；
S3.2, according to the optimal scheduling scheme, dispatch more aircraft and execute member according to corresponding Ship's Optimum Route and appoint
Business, to cooperate with completion goal task.
A more step is made of specifically, setting grid system n resource node, is expressed as set (R1 ..., Rn).
The task of submission can be expressed as T=< T1 ..., Tm >, mutually indepedent between each member subtask, not count each other
It is relied on according to relying on and running.
In order to portray the real-time demand of subtask, remember that the maximum execution time i.e. deadline of each subtask is di(1
≤i≤m)。
If subtask tiIt is scheduled for resource rjUpper execution, then rjIt can be in diPreceding successful execution tiProbability be known as resource
rjReliability, be denoted as Rij(di)。
Under the structure and performance parameters of given gridding resource, the reliability level and execution cost of task are by gridding task
Scheduling scheme determines.
Gridding task scheduling model is exactly to find optimal scheduling scheme, so that task has maximized execution reliability
And execution cost is minimum, it can be with formalized description are as follows:
ωij={ 0,1 }
Wherein, CostG(S) the workflow execution expense at scheduling scheme S, p are indicatedjExpression task tiPerformed resource
rjPrice, ciExpression task tiCalculating demand, SPjIndicate resource rjAverage treatment speed.wijIt is a variable,
Value represents subtask tiWhether resource r is dispatched tojOn, if wijEqual to 0, then task tiIt is not scheduled for resource rjOn, instead
It is then anti-.Final goal is to solve one about wijMap vector ν, be represented by ν={ ωij| i ∈ [1, m], j ∈
[1, n] }.
MaxRG(S) task execution reliability is indicated, it is assumed that at scheduling scheme S, workflow subtask ti is dispatched to riOn,
diFor subtask tiOff period, then Rti(di) are as follows:
In formula,ciFor riMiddle processing unit number,
It is using a kind of method of weighting that the Bi-objective is excellent since the optimization problem is related to two targets of reliability and expense
Change problem is converted into single-object problem.In experiment below, this paper reliability differs very with the numerical computation of expense
Greatly, therefore to the numerical value of reliability " taking logarithm " operation, final optimization object function have been carried out are as follows:
Minf (S)=a*CostG(S)+b*lnRG(S)
In formula, a, b are regulatory factor.B is bigger, shows that influence of the reliability factor to fitness function is bigger, conversely, taking
There is large effect with to fitness.
Management method is maked an inspection tour in a kind of transmission of electricity multiple aircraft formation based on grid-based management provided in an embodiment of the present invention, is solved
The problems such as power grid makes an inspection tour low efficiency, route track redundancy, resource redundancy is lost, management cost is high, has evaded and having made by line inspection
The phenomenon that at the wasting of resources, makes an inspection tour Net Frame of Electric Network and carries out grid-based management, and will make an inspection tour task cutting is Meta task, in Meta task
On the basis of carry out flight course planning, guarantee that voyage is optimal, while schedule aircraft carries out tour operation according to the course line planned, mentions
High flight efficiency saves the problem of wasting by the repetition voyage that line inspection generates, in addition, by the course line planned, multimachine
Goal task is completed in collaboration, while establishing fence, and the flight range of specification aircraft avoids aircraft collision accident.
Embodiment two
As shown in figure 5, second embodiment of the present invention provides a kind of, management is maked an inspection tour in the transmission of electricity multiple aircraft formation based on grid-based management
System, the system comprises:
Goal task is carried out cutting, obtained by task cutting module 21 for the task segmentation algorithm according to WBS thought
Several Meta tasks that can directly execute；
Flight course planning module 22, for carrying out course line rule to each Meta task according to ant group algorithm and Route optimization strategy
It draws, obtains the Ship's Optimum Route of each Meta task；
Flight dispatch module 23, for dispatching more aircraft according to right according to reliability and expense task scheduling algorithm
The Ship's Optimum Route answered executes Meta task, to cooperate with completion goal task.
A kind of transmission of electricity multiple aircraft formation Patrol Management System based on grid-based management provided in an embodiment of the present invention, solves
The problems such as power grid makes an inspection tour low efficiency, route track redundancy, resource redundancy is lost, management cost is high, has evaded and having made by line inspection
The phenomenon that at the wasting of resources, makes an inspection tour Net Frame of Electric Network and carries out grid-based management, and will make an inspection tour task cutting is Meta task, in Meta task
On the basis of carry out flight course planning, guarantee that voyage is optimal, while schedule aircraft carries out tour operation according to the course line planned, mentions
High flight efficiency saves the problem of wasting by the repetition voyage that line inspection generates, in addition, by the course line planned, multimachine
Goal task is completed in collaboration, while establishing fence, and the flight range of specification aircraft avoids aircraft collision accident.
Method provided by any embodiment of the invention can be performed in above system, has the corresponding functional module of execution method
And beneficial effect.
The above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although referring to before
Stating embodiment, invention is explained in detail, those skilled in the art should understand that: it still can be to preceding
Technical solution documented by each embodiment is stated to modify or equivalent replacement of some of the technical features；And these
It modifies or replaces, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (7)
1. management method is maked an inspection tour in a kind of transmission of electricity multiple aircraft formation based on grid-based management, which is characterized in that the described method includes:
S1, the task segmentation algorithm according to WBS thought, carry out cutting for goal task, obtain several members that can directly execute
Task；
S2, each Meta task is obtained most to each Meta task progress flight course planning according to ant group algorithm and Route optimization strategy
Excellent course line；
S3, according to reliability and expense task scheduling algorithm, dispatch more aircraft and execute member according to corresponding Ship's Optimum Route and appoint
Business, to cooperate with completion goal task.
2. the method according to claim 1, wherein the step S1 is specifically included:
S1.1, goal task is subjected to cutting according to timing, obtains several subtasks；
S1.2, the subtask that step S1.1 cutting obtains successively is examined with a hundred percent principle and same layer with standard guidelines
It tests, if not verified, return step S1.1 cutting again；If the inspection for whether meeting granularity principle entered by examining
It tests, if satisfied, then obtaining the Meta task that can directly execute, cutting terminates；If not satisfied, then entering step S1.3；
S1.3, the subtask for obtaining step S1.1 cutting carry out cutting according to space, obtain several subtasks of next level；
S1.4, the subtask that step S1.3 cutting obtains successively is examined with a hundred percent principle and same layer with standard guidelines
It tests, if not verified, return step S1.1 cutting again；If the inspection for whether meeting granularity principle entered by examining
It tests, if satisfied, then obtaining the Meta task that can directly execute, cutting terminates；If not satisfied, then entering step S1.5；
S1.5, the subtask for obtaining step S1.3 cutting carry out cutting according to function, obtain several subtasks of next level；
S1.6, the subtask that step S1.5 cutting obtains successively is used a hundred percent principle, same layer former with standard guidelines and granularity
Then test, if not verified, return step S1.1 cutting again；If obtaining directly executing by examining
Meta task, cutting terminate.
3. the method according to claim 1, wherein the step S2 is specifically included:
S2.1, the initial route of each Meta task is obtained to each Meta task progress flight course planning according to ant group algorithm；
S2.2, intersection conflict verification is carried out to whole Minimal Flight Paths that step S2.1 is obtained, it, will if verifying to there is intersection conflict
The initial route return step S2.1 of the lower Meta task of priority is planned again in intersection conflict；If verification is to without intersecting punching
It is prominent, then the Ship's Optimum Route of each Meta task is obtained, planning terminates.
4. according to the method described in claim 3, it is characterized in that, objective function in flight course planning are as follows:
5. the method according to claim 1, wherein the step S3 is specifically included:
S3.1, according to reliability and expense task scheduling algorithm, determine optimal scheduling scheme；
S3.2, according to the optimal scheduling scheme, dispatch more aircraft according to corresponding Ship's Optimum Route and execute Meta task, with
Goal task is completed in collaboration.
6. according to the method described in claim 5, it is characterized in that, objective function in reliability and expense task scheduling algorithm
Are as follows:
Minf (S)=a*CostG(S)+b*lnRG(S)
Wherein, a, b are regulatory factor.
7. a kind of transmission of electricity multiple aircraft formation Patrol Management System based on grid-based management, which is characterized in that the system comprises:
Goal task is carried out cutting, obtains several by task cutting module for the task segmentation algorithm according to WBS thought
The Meta task that can directly execute；
Flight course planning module, for carrying out flight course planning to each Meta task, obtaining according to ant group algorithm and Route optimization strategy
The Ship's Optimum Route of each Meta task；
Flight dispatch module, for according to reliability and expense task scheduling algorithm, dispatch more aircraft according to it is corresponding most
Excellent course line executes Meta task, to cooperate with completion goal task.
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| CN113379205A (en) * | 2021-05-28 | 2021-09-10 | 上海春秋航空科技有限公司 | Machine set scheduling method |
| CN113379205B (en) * | 2021-05-28 | 2023-08-18 | 上海春秋航空科技有限公司 | Machine unit scheduling method |
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