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CN-121998312-A - Task scheduling method and device, electronic equipment and storage medium

CN121998312ACN 121998312 ACN121998312 ACN 121998312ACN-121998312-A

Abstract

The embodiment of the invention provides a task scheduling method and device, electronic equipment and a storage medium. The method comprises the steps of formulating conventional inspection tasks according to the growth stage of target crops to obtain task queues, wherein the task queues comprise conventional inspection tasks, issuing the conventional inspection tasks to an inspection robot to be executed by the inspection robot, adjusting the inspection tasks in the task queues based on the execution results of the conventional inspection tasks, ordering the inspection tasks in the adjusted task queues according to a target ordering strategy to obtain a task execution list, and issuing the inspection tasks in the task execution list to the inspection robot to be executed by the inspection robot. The scheme can solve the problem of disjoint of the traditional static scheduling scheme, the crop growth stage and the execution result of the inspection task, and realize the dynamic generation and adjustment of the inspection task by a two-dimensional task driving algorithm based on the growth stage and the execution result, thereby realizing the intelligent and expandable inspection task management capability.

Inventors

  • WU YINGJIE
  • LIU RUOHAN

Assignees

  • 浙江镁浦绿动未来科技有限公司

Dates

Publication Date
20260508
Application Date
20251230

Claims (15)

  1. 1. A method for task scheduling, comprising: Formulating a conventional inspection task according to the growth stage of the target crop to obtain a task queue, wherein the task queue comprises the conventional inspection task; Issuing the conventional inspection task to an inspection robot to be executed by the inspection robot; Based on the execution result of the conventional inspection task, adjusting the inspection task in the task queue, and sorting the inspection task in the adjusted task queue according to a target sorting strategy to obtain a task execution list; and sending the inspection task in the task execution list to the inspection robot so as to be executed by the inspection robot.
  2. 2. The method of claim 1, wherein adjusting the inspection task in the task queue based on the execution result of the regular inspection task comprises: If the execution result of any routine inspection task indicates that the inspection area is abnormal, generating an abnormal inspection task, adding the abnormal inspection task into the task queue, and/or, If the continuous N times of execution results of any group of routine inspection tasks indicate that the inspection area is not abnormal in a first preset period from the current moment onwards, the execution frequency of non-executed inspection tasks in the group of routine inspection tasks is reduced, or the non-executed inspection tasks in the group of routine inspection tasks are combined with at least one inspection task in the task queue, wherein the inspection area and the routine inspection tasks with the same task type belong to the same group, N is an integer greater than or equal to 2, and/or, If any routine inspection task fails to be executed and the number of continuous failures of the routine inspection task in a second preset time period from the current moment does not reach a preset number of times threshold, calculating the next execution time of the routine inspection task, adding the routine inspection task to the task queue again, if any routine inspection task fails to be executed and the number of continuous failures of the routine inspection task in the second preset time period reaches the preset number of times threshold, recording the execution log of the routine inspection task and/or outputting first warning information, and/or, If any conventional inspection task is interrupted, freezing the conventional inspection task, recording an execution log of the conventional inspection task, and continuing to execute the conventional inspection task based on breakpoint information in the execution log when a preset recovery condition is met, wherein the freezing comprises the steps of reserving the conventional inspection task in the task queue, and prohibiting the conventional inspection task from participating in sorting and issuing.
  3. 3. The method of claim 2, wherein adjusting the inspection task in the task queue based on the execution result of the regular inspection task further comprises: If any conventional inspection task is interrupted and the freezing time of the conventional inspection task exceeds a preset duration threshold, reevaluation of the conventional inspection task is initiated to judge whether the conventional inspection task needs to be continuously executed, and/or second warning information is output, wherein the operation of continuously executing the conventional inspection task based on the breakpoint information is executed when a preset recovery condition is met, and the operation is executed when the conventional inspection task needs to be continuously executed.
  4. 4. The method of claim 2, wherein the exception review task is configured with a corresponding urgency level that belongs to one of a plurality of preset urgency levels, each of the plurality of preset urgency levels having a corresponding response requirement, the target ordering policy being one of at least one preset ordering policy, the at least one preset ordering policy comprising an urgent priority policy that orders the inspection task according to the response requirement corresponding to the urgency level of the inspection task.
  5. 5. The method of claim 4, wherein the formulating a regular inspection task according to a growth stage of the target crop is periodically performed according to a preset inspection time window, and the plurality of preset emergency levels include a high emergency level and a general emergency level; The response requirement corresponding to the high emergency level comprises that the corresponding inspection task is executed at the latest reachable point in time after the inspection task currently being executed; The response requirements corresponding to the general emergency level comprise that when a user set time window is not received, the corresponding inspection task is executed in the next inspection time window, and when the user set time window is received, the corresponding inspection task is executed in the user set time window.
  6. 6. The method of any of claims 1-5, wherein the target ordering policy is one of at least one preset ordering policy, the at least one preset ordering policy comprising a scoring priority policy that orders the inspection tasks according to their priority scoring results; and when the target sorting strategy is the scoring priority strategy, sorting the patrol tasks in the adjusted task queue according to the target sorting strategy, wherein the sorting comprises the following steps: For each patrol task in the adjusted task queue, Respectively carrying out priority scoring on a plurality of data corresponding to the inspection task according to a preset priority scoring rule to obtain priority scores corresponding to the plurality of data respectively; Weighting and summing the priority scores corresponding to the various data according to preset weights to obtain a priority scoring result of the inspection task; sorting the patrol tasks in the adjusted task queue according to the priority grading result; The multiple data comprise at least two kinds of plant diseases and insect pests grade of a patrol area of the patrol task, crop growth stage urgency of the patrol area of the patrol task, historical anomaly frequency of anomaly of the patrol area of the patrol task, distance between the patrol area of the patrol task and a current travelling path, electric quantity estimated value required for executing the patrol task exceeds the electric quantity difference of the residual electric quantity of the patrol robot, and test grade of the patrol area of the patrol task; The preset priority grading rule comprises at least two items of higher plant and insect damage grade, higher corresponding priority scores, higher urgency of the growing stage, higher corresponding priority scores, higher history abnormal frequency, higher corresponding priority scores, higher distance, higher corresponding priority scores, lower corresponding priority scores, higher test grade and higher corresponding priority scores.
  7. 7. The method of claim 6, wherein the sorting the patrol tasks in the adjusted task queue by a target sorting policy, further comprising: The preset weight corresponding to at least part of the data in the plurality of data is adjusted in response to the weight setting instruction of the user, and/or, And determining data participating in the priority scoring in response to a data selection instruction of the user.
  8. 8. The method of any of claims 1-5, wherein said ordering the patrol tasks in the adjusted task queue according to a target ordering policy, comprising: sorting the patrol tasks in the adjusted task queue according to the target sorting strategy based on constraint conditions and a task allocation mechanism; The constraint condition comprises one or more of an electric quantity safety threshold value of the inspection robot, a motor parameter safety range of the inspection robot, a forbidden period of a target land block, a forbidden period of a target point location and the adjacency of a planned path; the task allocation mechanism is a concurrent allocation mechanism or a serial allocation mechanism.
  9. 9. The method according to any one of claims 1-5, wherein the target ordering policy is one of at least two preset ordering policies, and the ordering the patrol tasks in the task queue after adjustment according to the target ordering policy includes: Responding to a strategy selection instruction of a user, determining a preset sequencing strategy selected by the user as the target sequencing strategy, or determining a preset sequencing strategy corresponding to a preset triggering condition as the target sequencing strategy when the preset triggering condition is met; and sequencing the residual unexecuted patrol tasks in the adjusted task queue according to the latest determined target sequencing strategy.
  10. 10. The method according to any one of claims 1-5, wherein after said issuing the inspection task in the task execution list to the inspection robot, the method further comprises: and tracking the execution state of the inspection task, and feeding the execution state back to a remote task system in real time, wherein the execution state comprises execution completion, execution failure, execution interruption and execution skipping.
  11. 11. The method according to any one of claims 1-5, wherein after said issuing the inspection task in the task execution list to the inspection robot, the method further comprises: Recording an execution log of the inspection task, and uploading the execution log to a preset database, wherein the execution log comprises an execution result of the inspection task; And optimizing the formulated routine inspection task based on the execution log stored in the preset database when the operation of formulating the routine inspection task according to the growth stage of the target crop is executed next time.
  12. 12. The method according to any one of claims 1-5, further comprising: And if the residual electric quantity of the inspection robot is smaller than or equal to an electric quantity safety threshold, stopping issuing the inspection task, and controlling the inspection robot to return to a preset charging position for charging.
  13. 13. A task scheduling device, comprising: The formulating module is used for formulating a conventional inspection task according to the growth stage of the target crop so as to obtain a task queue, wherein the task queue comprises the conventional inspection task; The first issuing module is used for issuing the conventional inspection task to an inspection robot so as to be executed by the inspection robot; the adjustment module is used for adjusting the patrol tasks in the task queue based on the execution result of the conventional patrol tasks, and sequencing the patrol tasks in the task queue after adjustment according to a target sequencing strategy so as to obtain a task execution list; And the second issuing module is used for issuing the inspection task in the task execution list to the inspection robot so as to be executed by the inspection robot.
  14. 14. An electronic device comprising a processor and a memory, wherein the memory has stored therein computer program instructions which, when executed by the processor, are adapted to carry out the task scheduling method of any one of claims 1-12.
  15. 15. A storage medium having stored thereon program instructions, wherein the program instructions, when executed, are for performing the task scheduling method of any one of claims 1-12.

Description

Task scheduling method and device, electronic equipment and storage medium Technical Field The invention relates to the technical field of intelligent agriculture, in particular to a task scheduling method and device, electronic equipment and a storage medium. Background In intelligent agriculture, the inspection robot takes on the task of collecting a plurality of key parameters such as crop health status, environmental data, plant diseases and insect pests, fruit maturity and the like. Traditional agricultural inspection is carried out at fixed frequency, and the actual growth state of crops cannot be responded dynamically, so that the problems of repeated acquisition, omission inspection, resource waste and the like are caused. The current agricultural planting system has weaker support on a task scheduling layer, mainly focuses on image recognition and environment perception, and lacks intelligent and extensible patrol task management capability. Disclosure of Invention The present invention has been made in view of the above-described problems. The invention provides a task scheduling method, a task scheduling device, electronic equipment and a storage medium. According to one aspect of the invention, a task scheduling method is provided, and the task scheduling method comprises the steps of formulating a conventional inspection task according to a growth stage of a target crop to obtain a task queue, issuing the conventional inspection task to an inspection robot to be executed by the inspection robot, adjusting the inspection task in the task queue based on an execution result of the conventional inspection task, ordering the inspection task in the adjusted task queue according to a target ordering strategy to obtain a task execution list, and issuing the inspection task in the task execution list to the inspection robot to be executed by the inspection robot. The method for adjusting the routing inspection task in the task queue based on the execution result of the conventional routing inspection task comprises the steps of generating an abnormal re-inspection task if the execution result of any conventional routing inspection task indicates that an inspection area is abnormal, and adding the abnormal re-inspection task into the task queue; and/or if the continuous N times of execution results of any group of routine inspection tasks indicate that the inspection area is not abnormal in a first preset period from the current moment, reducing the execution frequency of the unexecuted inspection tasks in the group of routine inspection tasks, or merging the unexecuted inspection tasks in the group of routine inspection tasks with at least one inspection task in a task queue, wherein the inspection area and the routine inspection tasks with the same task type belong to the same group, N is an integer greater than or equal to 2, and/or if the execution of any routine inspection task fails and the continuous failure times of the routine inspection task do not reach a preset time threshold in a second preset period from the current moment, calculating the next execution time of the routine inspection task, and re-adding the routine inspection task to the task queue, if the execution of any routine inspection task fails and the continuous failure times of the routine inspection task in the second preset period reach a preset log time threshold, recording the execution and/or output of the routine inspection task and/or the routine inspection task is/are/is/are stopped, if the routine inspection task is/are stopped, the routine inspection task is continued to be executed, and the routine inspection task is/are stopped, and the routine inspection task is continued to be executed, and prohibiting the conventional inspection task from participating in the sorting and issuing. The method comprises the steps of adjusting the regular inspection tasks in a task queue based on the execution result of the regular inspection tasks, and further comprises the steps of initiating re-evaluation of the regular inspection tasks to judge whether the regular inspection tasks need to be continuously executed or not if any regular inspection task is interrupted in execution and the freezing time of the regular inspection tasks exceeds a preset duration threshold value, and/or outputting second warning information, wherein the regular inspection tasks continue to be executed based on breakpoint information when a preset recovery condition is met, and the regular inspection tasks are executed when the regular inspection tasks are determined to be continuously executed. The abnormal review task is configured with a corresponding emergency level, the emergency level belongs to one of a plurality of preset emergency levels, each of the plurality of preset emergency levels has a corresponding response requirement, the target ordering policy is one of at least one preset ordering policy, the at least one preset ordering policy compris