CN-121724385-B - Low-altitude task allocation method, equipment and medium

CN121724385BCN 121724385 BCN121724385 BCN 121724385BCN-121724385-B

Abstract

The invention belongs to the technical field of low-altitude flight control, and discloses a low-altitude task allocation method, equipment and a medium, wherein the method comprises the steps of acquiring and storing a historical operation characteristic parameter set of an airspace operation unit, wherein the historical operation characteristic parameter set comprises the occurrence frequency of task interruption, the occurrence probability of associated abnormality after interruption and the system influence degree index; the method comprises the steps of obtaining task association relation information to be allocated, calculating failure propagation sensitivity parameters of the task association relation information, screening candidate airspace operation units according to basic operation requirements of the task, obtaining characteristic parameter sets of the candidate airspace operation units, calculating combined risk values of the task and the candidate airspace, judging that the combined risk values are lower than a preset threshold value and are suitable allocation units, and finally determining a final execution airspace based on the combined risk values of the suitable allocation units. The method realizes the accurate matching of the task and the airspace, effectively reduces the risk of cascade failure of low-altitude operation, and improves the operation stability of the system and the utilization rate of airspace resources.

Inventors

CHEN QIANG
LI MINGYE
WU KONG
ZHANG XU
KONG DEQIANG
WANG LIDUAN

Assignees

蓝色向量智能科技(杭州)有限公司
凯乐苍穹航空科技(上海)有限公司

Dates

Publication Date: 20260512
Application Date: 20260225

Claims (7)

1. A low-altitude task allocation method, comprising: S1, acquiring and storing historical operation characteristic parameter sets of a plurality of airspace operation units, wherein the historical operation characteristic parameter sets at least comprise task interruption occurrence frequency, associated abnormality occurrence probability after interruption and system influence degree indexes, and the system influence degree indexes are obtained by carrying out weighted summation on quantized values of influence factors, namely associated task influenced quantity factors, key function limited factors and task plan reconstruction factors; S2, acquiring association relation information of a task to be allocated, and calculating failure propagation sensitivity parameters of the task based on the association relation information; the method comprises the steps of identifying an incidence relation of a task to be allocated, wherein the incidence relation at least comprises one of an execution sequence dependency relation, a data or function dependency relation and a resource sharing relation, and obtaining a failure propagation sensitivity parameter through weighted summation of three dimensions based on the identified incidence relation, wherein the three dimensions are respectively the degree of the task to be allocated as a precondition of other tasks, the influence degree of failure of the task to be allocated on a communication link and task scheduling and the number of aircrafts and task units influenced by failure of the task to be allocated; s3, screening candidate airspace operation units from the plurality of airspace operation units according to the basic operation requirement of the task to be allocated, and acquiring a historical operation characteristic parameter set corresponding to each candidate airspace operation unit; S4, calculating a combined risk value of the task to be allocated and each candidate airspace operation unit based on the failure propagation sensitivity parameter of the task to be allocated and the historical operation characteristic parameter set of each candidate airspace operation unit, wherein a formula for calculating the combined risk value is R=T× (w 1 ×f+w 2 ×p+w 3 ×S), R is the combined risk value, T is the failure propagation sensitivity parameter of the task to be allocated, f, p and S are respectively the task interruption occurrence frequency, the association abnormality occurrence probability after interruption and the system influence degree index of the candidate airspace operation units, and w 1 、w 2 、w 3 is a preset weight coefficient; S5, judging the candidate airspace operation units with the combined risk values lower than a preset risk threshold value as suitable allocation units; and S6, determining a final execution airspace running unit of the task to be allocated from the suitable allocation units based on the combined risk values of the suitable allocation units.
2. The low-altitude task allocation method according to claim 1, wherein step S1 comprises: s101, dividing a low-altitude airspace into a plurality of airspace operation units; S102, acquiring historical operation data of each airspace operation unit, wherein the historical operation data comprises task execution results of tasks executed in the unit and associated task state change data; S103, according to the historical operation data, for each airspace operation unit, the occurrence frequency of task interruption, the occurrence probability of associated abnormality after interruption and the system influence degree index are calculated in a statistical mode respectively.
3. The low-altitude task allocation method according to claim 1, wherein step S6 comprises: The proper distribution units are subjected to priority ranking according to the respective combined risk values from small to large; and selecting the proper allocation unit with the highest priority as a final execution airspace operation unit of the task to be allocated according to the sequencing result.
4. The low-altitude task allocation method according to claim 1, further comprising, after step S6: Monitoring an execution result of the task to be allocated in the final execution airspace operation unit; When the execution result is task interruption or failure and associated task abnormality is caused, updating the post-interruption associated abnormality occurrence probability and/or system influence degree index in the history operation characteristic parameter set of the final execution airspace operation unit based on the execution result and/or updating the failure propagation sensitivity parameter of the task to be distributed.
5. A low-altitude task distribution system, comprising: the system comprises a data storage module, a task plan reconstruction factor, a task interrupt generation module, a task control module and a task plan reconstruction module, wherein the data storage module is used for acquiring and storing historical operation characteristic parameter sets of a plurality of airspace operation units, and the historical operation characteristic parameter sets at least comprise task interrupt occurrence frequency, interrupt related abnormality occurrence probability and a system influence degree index; The sensitivity calculation module is used for acquiring the association relation information of the task to be distributed and calculating the failure propagation sensitivity parameter of the task based on the association relation information; the method comprises the steps of identifying an incidence relation of a task to be allocated, wherein the incidence relation at least comprises one of an execution sequence dependency relation, a data or function dependency relation and a resource sharing relation, and obtaining a failure propagation sensitivity parameter through weighted summation of three dimensions based on the identified incidence relation, wherein the three dimensions are respectively the degree of the task to be allocated as a precondition of other tasks, the influence degree of failure of the task to be allocated on a communication link and task scheduling and the number of aircrafts and task units influenced by failure of the task to be allocated; The unit screening module is used for screening candidate airspace operation units from the plurality of airspace operation units according to the basic operation requirement of the task to be allocated, and acquiring a historical operation characteristic parameter set corresponding to each candidate airspace operation unit from the data storage module; The combined risk calculation module is used for calculating a combined risk value of the task to be allocated and each candidate airspace operation unit based on the failure propagation sensitivity parameter of the task to be allocated and the historical operation characteristic parameter set of each candidate airspace operation unit, wherein a formula for calculating the combined risk value is R=T× (w 1 ×f+w 2 ×p+w 3 ×S), R is the combined risk value, T is the failure propagation sensitivity parameter of the task to be allocated, f, p and S are the task interruption occurrence frequency, the association abnormality occurrence probability after interruption and the system influence degree index of the candidate airspace operation units respectively, and w 1 、w 2 、w 3 is a preset weight coefficient; the suitability judging module is used for judging the candidate airspace operation units with the combined risk values lower than the preset risk threshold value as suitable distribution units; and the task allocation decision module is used for determining a final execution airspace running unit of the task to be allocated from the suitable allocation units based on the respective combined risk values of the suitable allocation units.
6. An electronic device, the electronic device comprising: and a memory communicatively coupled to the at least one processor, wherein, The memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-4.
7. A computer readable storage medium having stored thereon computer program instructions executable by a processor to implement the method of any of claims 1-4.

Description

Low-altitude task allocation method, equipment and medium Technical Field The invention relates to the technical field of low-altitude flight control, in particular to a low-altitude task allocation method, equipment and medium. Background The development of low-altitude flight control technology promotes the wide application of various low-altitude tasks such as inspection, monitoring, relay and the like, and multi-aircraft and multi-task parallel operation becomes a main stream scene of low-altitude operation. The low-altitude airspace is influenced by factors such as temporary control, ground object shielding, communication coverage fluctuation and the like, localized and intermittent fragmentation characteristics are presented, repeated task interruption phenomenon often occurs in the same airspace in a similar period, and airspace availability has obvious historical relevance. The failure results of different low-altitude tasks are obviously different, partial task failures only affect a single execution flow, and relay and key node task failures can cause communication link interruption and task chain breakage, thereby leading to cascade reactions of multi-aircraft cascading failure. The existing low-altitude task allocation method is used for independently processing airspace characteristics and task risks, evaluating task success probability only based on airspace historical interrupt frequency, or judging failure influence only according to task priority, and not establishing a correlation mechanism between airspace fragmentation characteristics and task failure propagation. In the prior art, differences of the propagation ranges of the failures of the same task in different airspaces are ignored, the failure influence degree of the different tasks in the same airspace is not distinguished, and finally, the high-risk tasks with systematic influence can be deployed in the airspace with the failure result easy to amplify, so that the cascade failure risk of a low-altitude operation system is obviously increased, the overall operation stability is reduced, and the fine task scheduling requirement under the complex low-altitude environment can not be met. Disclosure of Invention In view of the above, the present application provides a low-altitude task allocation method, apparatus, and medium, so as to at least partially solve the above technical problems. According to one aspect of the application, a low-altitude task allocation method is provided, which comprises the following method steps: S1, acquiring and storing historical operation characteristic parameter sets of a plurality of airspace operation units, wherein the historical operation characteristic parameter sets at least comprise task interruption occurrence frequency, associated abnormality occurrence probability after interruption and system influence degree indexes; S2, acquiring association relation information of a task to be allocated, and calculating failure propagation sensitivity parameters of the task based on the association relation information; s3, screening candidate airspace operation units from the plurality of airspace operation units according to the basic operation requirement of the task to be allocated, and acquiring a historical operation characteristic parameter set corresponding to each candidate airspace operation unit; s4, calculating a combined risk value of the task to be distributed and each candidate airspace operation unit based on the failure propagation sensitivity parameter of the task to be distributed and the historical operation characteristic parameter set of each candidate airspace operation unit; S5, judging the candidate airspace operation units with the combined risk values lower than a preset risk threshold value as suitable allocation units; and S6, determining a final execution airspace running unit of the task to be allocated from the suitable allocation units based on the combined risk values of the suitable allocation units. In one possible embodiment, step S1 includes: s101, dividing a low-altitude airspace into a plurality of airspace operation units; S102, acquiring historical operation data of each airspace operation unit, wherein the historical operation data comprises task execution results of tasks executed in the unit and associated task state change data; S103, according to the historical operation data, for each airspace operation unit, the occurrence frequency of task interruption, the occurrence probability of associated abnormality after interruption and the system influence degree index are calculated in a statistical mode respectively. In one possible embodiment, the system influence degree index is obtained by weighted summation of quantized values of at least two influence factors including an associated task influenced quantity factor, a critical function limited factor and a task plan reconstruction factor. In one possible embodiment, step S2 includes: S201, identifying an as