CN-122022357-A - Marine unmanned cooperative support network construction and task scheduling method oriented to uncertain sea area requirements

CN122022357ACN 122022357 ACN122022357 ACN 122022357ACN-122022357-A

Abstract

The invention discloses a method for constructing an offshore unmanned cooperative support network and scheduling tasks for uncertain sea area demands, which relates to the technical field of operation and maintenance of ocean intelligent equipment and cooperative planning of an unmanned system and comprises the following steps of. The method comprises the steps of carrying out structural modeling on supporting facilities, candidate nodes, navigation sections and capacity parameters of an unmanned carrier/carrier-based aircraft, establishing a parameterized scene set for disturbance such as navigation limiting/sealing, demand fluctuation, wind resistance and the like, establishing an optimization target for time-efficient coupling of construction configuration cost and tasks, setting a constraint system covering various actual operation demands, adopting an outer layer construction search and inner layer scheduling optimization layering iteration solution, and combining key variable bias optimization to enhance an output scheme. The method can effectively improve the cooperative utilization rate of the unmanned carrier and the carrier-borne unmanned aircraft and ensure the coverage efficiency, and provides an executable scientific decision basis for operation and maintenance replenishment of a deep-open sea platform and offshore emergency support.

Inventors

CUI XINHAO
XIAO YIYONG
LI BO
JI ZIGUANG
ZHANG YUE
REN YI

Assignees

北京航空航天大学

Dates

Publication Date: 20260512
Application Date: 20260209

Claims (10)

1. The method for constructing the unmanned support network and dispatching the tasks on the sea facing the uncertain sea demand is characterized by adopting a layered optimization flow integrating network construction, task dispatching and robust evaluation, and comprehensively planning support node site selection and construction, unmanned carrier formation configuration, unmanned carrier terminal delivery assignment and stability constraint under uncertain scenes in the same framework, and comprises the following steps: step one, carrying out structural modeling on supporting facilities, candidate nodes, navigation segments and operation capacity parameters of an unmanned carrier/carrier-borne unmanned aircraft; step two, establishing a parameterized scene set and weights for disturbance such as navigation limiting/sealing, demand fluctuation, wind resistance and the like; step three, constructing a layering optimization target of construction configuration cost and task time-effect coupling; Step four, setting constraints such as coverage, load, endurance, closed loop route and the like, and forming a constraint system of layered coupling optimization; And fifthly, adopting an outer layer construction search and inner layer scheduling optimization iterative solution, and implementing bias optimization enhancement on key variables to output site selection, formation, route and delivery assignment schemes.
2. The method of claim 1, wherein step one includes determining a supported facility set C, the coordinates of the facility C ε C being (x c , y c ), the benchmark support demand being q c , the support task time being H c ; the candidate supporting node set V (which can be set as an offshore relay point according to the application scene requirement) is determined, Anchoring point or expandable node), the upper limit of the supporting node capable of being set is N v , the V coordinate of the node V epsilon is (x v , y v ), the navigable navigation segment set E among the nodes, the reference navigation range of the navigation segment (V, V') epsilon E is represented as L vv' , an unmanned carrier set J is established, and the unit navigation speed of the carrier m epsilon J is V m , The bilge is C m , the upper limit of the number of the carried aircrafts is N m , the unit sailing cost is C m , the carrier-borne unmanned aircraft set F, the unit sailing speed of the unmanned aircraft F epsilon F is v f , The loadable load is C f , the coverage radius is R, the endurance time is T f , the single take-off and landing time is T 0 , the unit flight hour cost is C f , and the construction cost of the support node is F s , The purchase cost of the carrier is F m , the purchase cost of the aircraft is F f , and the task turn in the planning period is S.
3. The method according to claim 1, wherein the second step includes parameterizing the navigation state disturbance of the leg, setting a binary variable δ ω vv' e {0,1} to represent a limited-navigation scene, μ ω vv' e {0,1} to represent a sealed-navigation scene, so that the equivalent range of the leg (v, v') under the scene ω can be represented as: Wherein θ∈ (0, 1) is the navigational speed reduction coefficient, and the leg is unavailable when in the sealed navigation.
4. The method according to claim 1, wherein the second step includes parameterizing the facility demand fluctuations, setting a binary parameter σ c e {0,1} for the facility c that is likely to generate high-level demand and setting a demand amplification factor α >1 such that the actual demand of the facility c in the scene ω is: And assign weights pi ω to each scene based on the demand.
5. The method according to claim 1, wherein the second step comprises parameterizing the wind resistance disturbance of the flight condition, and setting a wind resistance state parameter χ ω e {0,1} and a speed break coefficient βe (0, 1], so that the aircraft speed in the scene ω is: and the maximum achievable radius of the aircraft at the speed is as follows: 。
6. The method according to claim 1, wherein the step three establishes a hierarchical coupling optimization objective and includes at least: (1) Defining a network construction layer decision variable z v 、n m 、n f , wherein z v is 0/1 variable to indicate whether a node v is constructed as a support hub, n m is a non-negative integer variable of the number of unmanned carriers, n f is a non-negative integer variable of the total number of unmanned aircrafts and satisfies the following conditions ; (2) Defining a task scheduling layer decision variable y ff'm 、x fc 、u vm 、s f 、a f , wherein y ff'm is 0/1 variable representing that a carrier m is sailed from a release point f to f', x fc is 0/1 variable representing that a facility c is guaranteed by an aircraft at the release point f, u vm is 0/1 variable representing that the carrier m is affiliated to a support hub v, s f is 0/1 variable representing that the release point f is enabled, and a f is a non-negative integer variable for eliminating a sub-loop; (3) Defining an age violation amount: ; (4) Setting a network construction layer objective function as follows: ; (5) Setting a task scheduling layer objective function as: 。
7. the method of claim 1 wherein step four includes setting a number of support nodes and availability constraints: , Setting carrier and aircraft configuration constraints: 、。
8. The method of claim 1, wherein step four comprises setting carrier loading and replenishment capability constraints under scenario ω: , aircraft load setting release point f and out-of-frame restraint: , And setting facility coverage uniqueness constraints: 。
9. The method of claim 1, wherein step four includes setting a flight radius reachability constraint: , setting a release point enables and assigns a consistency constraint: And setting carrier route closure and flow conservation constraint: , , , wherein the carrier m takes the supporting hub node v to which the carrier m belongs as an origin and destination point, starts from v and returns to v, and the access points have equal access flow, and further sets sub-loop elimination constraint to exclude free loops without supporting nodes.
10. The method of claim 1, wherein the fifth step comprises encoding z v 、n m 、n f as an evolutionary individual of the outer layer construction search, generating candidate construction schemes by selecting, crossing, mutating and elite retaining and taking a network construction layer objective function as fitness, solving route and delivery assignment sub-problems targeting a task scheduling layer objective function with inner layer scheduling optimization after the outer layer variable is given, returning T ω m and T ω f , selecting a key voyage segment or key release point set with the greatest influence on the target when the search enters a stable stage, fixing the rest variables, and calling a commercial solver to perform local improvement within a limited time T max to realize bias optimization enhancement, and finally outputting support hub positions and quantity, carrier and aircraft configuration, each carrier route, release point and facility delivery assignment, and scene set comprehensive cost and completion time index.

Description

Marine unmanned cooperative support network construction and task scheduling method oriented to uncertain sea area requirements Technical Field The invention belongs to the technical field of operation and maintenance of marine intelligent equipment and collaborative planning of unmanned systems, and particularly relates to a method for constructing an offshore unmanned collaborative support network and scheduling tasks for uncertain sea area requirements. Aiming at the support requirements of various offshore production operation facilities distributed in a deep open sea area, the method comprehensively considers multisource random factors such as uncertainty of an ocean environment, dynamic fluctuation of facility requirements, navigation passage risks and the like, and improves resolvability and engineering applicability of a large-scale example by means of a layered iteration solving mechanism through support base site selection optimization, unmanned carrier team configuration and hierarchical collaborative planning of carrier-borne unmanned aircraft delivery tasks, so that overall optimal configuration and efficient and steady operation of an offshore unmanned support system are realized. Background With the development of ocean oil gas, the operation and maintenance of offshore wind power, the observation of deep sea, the communication of sea and other activities extending to deep open sea, the quantity of facilities such as offshore platforms, wind turbine generators, observation stations, communication relay nodes and the like is increased, distributed and dispersed, and the offshore base security is kept away. The facility has continuous demands for spare parts, production materials, life supply and sudden emergency materials, and is often required to complete multi-point support delivery within a limited time window, and once the delivery is not timely, production stagnation, equipment cascading failure and even safety accidents can be caused, so that higher demands are put forward on the timeliness and reliability of a guarantee system. The existing method for guaranteeing the reciprocating transportation of the ships with people or the inspection and repair of the preset route generally has the problems of high personnel and safety cost, high risk of severe sea operation, insufficient aging caused by frequent turn-back of multi-point tasks in open sea and the like, and is easy to fail and high in adjustment cost when uncertain factors such as typhoons, surge, dense fog and traffic control occur. In recent years, the hierarchical cooperative mode of the unmanned carrier and the carrier-based unmanned aircraft can realize 'remote maneuvering and terminal delivery', but in the prior art, the support node site selection/configuration and the assigned splitting treatment of the carrier-based unmanned aircraft are often adopted, the uncertain factors are more reduced by experience, a unified parametric modeling and scene assessment mechanism is lacking, and meanwhile, the calculated amount of the decision is increased rapidly when the facility scale is enlarged, and a high-quality scheme is difficult to output in the engineering available time. Therefore, there is a need for an offshore unmanned cooperative support network construction and task scheduling method for uncertain sea area requirements, which integrates construction configuration cost, task timeliness and scheme robustness in the same framework, and also considers large-scale solving efficiency, thereby providing scientific decision support for open-sea area guarantee management. Disclosure of Invention (1) The purpose of the invention is that: The invention aims to provide a method for constructing an offshore unmanned cooperative support network and scheduling tasks for uncertain sea area requirements. Aiming at the problems that in the existing offshore support technology, support node site selection, unmanned carrier route and unmanned aircraft delivery scheduling are mutually split, uncertain factors such as channel limit/seal, demand fluctuation and wind resistance are difficult to systematically describe, solving efficiency and scheme quality are difficult to consider when the facility scale is enlarged, and the like, the method for layered collaborative optimization for engineering application is provided. The method comprises the core links of offshore support network structural modeling, uncertain factor parameterization and scene driving evaluation, cost constraint optimization of support node and equipment configuration, aging optimization of cooperative delivery of a carrier and an aircraft, iterative solution of fusion evolution search and local accurate enhancement and the like. The method realizes the executable planning output under the multi-facility, multi-navigation section and multi-task round scenes by comprehensively planning long-term construction and configuration cost and single task completion timeliness and sch