CN110704695A

CN110704695A - Updating method and device of mobile plan

Info

Publication number: CN110704695A
Application number: CN201910936747.0A
Authority: CN
Inventors: 徐鹏飞; 崔晓峰
Original assignee: Hangzhou Dt Dream Technology Co Ltd
Current assignee: Hangzhou Dt Dream Technology Co Ltd
Priority date: 2019-09-29
Filing date: 2019-09-29
Publication date: 2020-01-17

Abstract

The application provides a method and a device for updating a mobile plan, which comprise the following steps: acquiring a global movement plan set, wherein each movement plan in the global movement plan set comprises a check point and the passing time of a moving object at the check point; constructing a directed graph by taking at least one part of check points in the global movement plan set as computing nodes and taking the movement direction of the moving object between the check points as directed edges; the respective compute nodes perform update operations in parallel. By the technical scheme, the calculation efficiency and the calculation performance of the mobile plan updating process can be improved.

Description

Updating method and device of mobile plan

Technical Field

The present application relates to the field of network technologies, and in particular, to a method and an apparatus for updating a mobile plan.

Background

The moving plan represents a check point of a moving object in the moving process and a passing time of the moving object reaching the check point, however, based on various reasons in an actual scene, the passing time of the moving object needs to be adjusted at the check point to meet corresponding business requirements of the check point, for example, when an unmanned aerial vehicle performs a scheduled flight plan, the passing time of the following check point will be delayed due to temporary business processing problems, and the docking time of the unmanned aerial vehicle with other unmanned aerial vehicles is also influenced.

Particularly, in the case of many moving objects, only a single moving object changes at the passing time of a certain inspection point, and inevitably affects the moving plan related thereto or the moving plans of other moving objects, and even "moves the whole body" in time, so that the existing unknown variables reduce the controllability of the moving plans of each moving object, and further cannot perform the processes such as operation risk assessment, and on the other hand, the calculation efficiency is low and the accuracy and real-time performance of the calculation are difficult to be ensured by the methods of manual statistics and estimation in the related art.

Disclosure of Invention

In view of this, the present application provides a method and an apparatus for updating a mobile plan, which improve accuracy and real-time performance of a calculation process, implement more accurate evaluation and prediction of an adjusted mobile plan, and solve the problems of low calculation efficiency in the related art.

In order to achieve the above purpose, the present application provides the following technical solutions:

according to a first aspect of the present application, a method for updating a movement plan is presented, the method comprising:

acquiring a global movement plan set, wherein each movement plan in the global movement plan set comprises a check point and the passing time of a moving object at the check point;

constructing a directed graph by taking at least one part of check points in the global movement plan set as computing nodes and taking the movement direction of the moving object between the check points as directed edges;

the following update operations are performed in parallel by the respective compute nodes: and updating the passing time contained in the specific movement plan set related to the global movement plan set according to the adjustment rule corresponding to the global movement plan set.

According to a second aspect of the present application, an apparatus for updating a movement plan is presented, the apparatus comprising:

the system comprises an acquisition unit, a processing unit and a processing unit, wherein the acquisition unit is used for acquiring a global movement plan set, and each movement plan in the global movement plan set comprises a check point and the passing time of a moving object at the check point;

a construction unit, which takes at least a part of check points in the global movement plan set as computing nodes and takes the movement direction of the moving object between the check points as directed edges to construct a directed graph;

an update unit that performs the following update operations in parallel for the respective compute nodes: and updating the passing time contained in the specific movement plan set related to the global movement plan set according to the adjustment rule corresponding to the global movement plan set.

According to a third aspect of the present application, there is provided an electronic device comprising:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to execute instructions to implement the method of any of the first aspects above.

According to a fourth aspect of the present application, there is provided a computer readable storage medium having stored thereon computer instructions which, when executed by a processor, carry out the steps of the method according to any one of the first aspect as described above.

According to the technical scheme, at least one part of check points in the acquired global movement plan set are used as computing nodes, the moving direction of the moving object between the check points is used as a directed edge, a directed graph is constructed, the computing nodes are adjusted in parallel by means of the directed graph, the computing efficiency and the computing performance are improved, and the adjusted movement plan is evaluated and predicted more accurately.

Drawings

Fig. 1 is a view of an actual application scenario of an update method of a movement plan in an exemplary embodiment of the present application;

FIG. 2 is a diagram structure in an exemplary embodiment according to the present application;

FIG. 3 is a schematic illustration of a manner of storing graph structures in accordance with an exemplary embodiment of the present application;

FIG. 4 is a flow chart of a method for updating a movement plan in accordance with an exemplary embodiment of the present application;

FIG. 5 is a flow chart of another method for updating a movement plan in an exemplary embodiment according to the present application;

FIG. 6 is a directed graph constructed in accordance with an exemplary embodiment of the present application;

FIG. 7 is another directed graph constructed in accordance with an exemplary embodiment of the present application;

FIG. 8 is a diagram of a parallel computing process in an exemplary embodiment according to the present application;

FIG. 9 is a schematic block diagram of an electronic device in an exemplary embodiment in accordance with the subject application;

fig. 10 is a block diagram of an update apparatus of a movement plan according to an exemplary embodiment of the present application.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.

The method for updating the mobile plan is not limited to manual statistics and estimation processing of regulation and control in the mobile plan process, but a graph calculation model distributed in a network structure is constructed according to the mobile plan related to each check point, namely, at least a part of check points in a global mobile plan set are used as calculation nodes, the moving direction of a mobile object plan among the check points is used as a directed edge, the distribution of the network structure is formed, and then based on the formed graph calculation model, each calculation node executes updating operation in parallel.

By abstracting and expressing the check points involved in the moving process of the moving object and the association relation based on the moving plan between the check points as the Graph (Graph), the Graph computing system aiming at the structure data can ensure the effective data storage and scheduling execution, realize the efficient computation of the pertinence optimization and the completion of a whole set of flow operation by means of the structure data formed by representing the check points and the association relation based on the moving plan between the check points by the vertexes and edges in the Graph, simplify the change deduction process of the global moving plan set based on the adjustment rules in the check points, and improve the computing processing efficiency and the processing performance by executing the updating operation based on the calculation nodes in parallel.

Compared with the traditional key-value parameter storage mode, the graph calculation system can not only avoid the loss of model structure information in the data storage process, but also has more excellent calculation performance based on the construction of directed multiple graphs, parallel operation among the graphs and combination calculation among the multiple graphs.

The moving scene with respect to the moving object may be a simulated calculation scene or an actual application scene.

In a simulation computing scenario, the abstracted computing nodes may obtain data information about a movement plan and an adjustment rule through a database, or each computing node may use data information configured by an administrator in real time.

In an actual application scenario, the mobile node device may include a plurality of node devices, each node device may be an entity device or a virtual device with processing capability, each node device may be located in a specially designed supercomputer that includes a plurality of processors, or may be a cluster formed by several independent computers interconnected in some manner, an actual movement plan and an actual adjustment rule may be configured at the computing node by a manager, or may be issued to each computing node collectively by a control device, for example, as shown in fig. 1, fig. 1 is an actual application scenario diagram of an update method of a movement plan in an exemplary embodiment of the present application, in which the control device 101 interfaces each node device, for example, the node device 102 to the node device 10n, and the like.

In a specific application scene, the mobile plan can be an operation plan of an unmanned aerial vehicle, a flight plan of a passenger plane, a trip shift of a high-speed rail and the like, correspondingly, the mobile object can be the unmanned aerial vehicle, the passenger plane, the high-speed rail and the like, the check point can be a stop point, a terminal building, the high-speed rail station and the like, and the application does not limit the mobile plan and the specific application scene of the corresponding mobile object and the check point.

The movement plan abstracted into the graph structure data can be represented in a graph form as shown in fig. 2, fig. 2 is a graph structure according to an exemplary embodiment of the present application, the graph shown in fig. 2 includes an association relationship among a computing node a, a computing node B, a computing node C, a computing node D, a computing node E, a computing node F, and a computing node, data corresponding to each computing node in the graph can be stored in a point division manner, as shown in fig. 3, fig. 3 is a schematic diagram of a storage manner of a graph structure according to an exemplary embodiment of the present application, in an application, each computing node may be divided to run on different node devices, when two computing nodes having an association relationship are divided into different node devices, a mirror point (ghost) can be correspondingly established in the related node devices, for example, as shown in fig. 3, the computing node a, the computing node C, the computing node B, and the computing node D are divided into the same node device 1, and the computing node E and the computing node F are divided into the same node device 2, since there is an association relationship between the computing node B in the node device 1 and the computing node E and the computing node F in the node device 2, a mirror image point B 'and a mirror image point D' of the computing node B and the computing node D may be stored in the node device 2, and the computing node B and the computing node D are respectively corresponding main points to the mirror image point B 'and the mirror image point D'.

When the adjustment change of the main point data exists, correspondingly, the main point sends the data to the node equipment where the mirror image point is located, so that the data transmission between the nodes with the incidence relation is realized. For example, when there is variation information of the main point B on the node device 1, the node device 1 sends the variation information to the mirror point B' corresponding to the main point B, which greatly reduces the redundancy of the node devices for storing and computing nodes, realizes parallel processing of the node devices, and improves the operating efficiency of the node devices.

In order to make the technical solutions and technical effects of the present application clearer, the following detailed description of the present application is made with reference to the accompanying drawings and specific embodiments:

referring to fig. 4, fig. 4 is a flowchart of a method for updating a movement plan according to an exemplary embodiment of the present application, and as shown in fig. 4, the method may include the following steps:

step 401, a global movement plan set is obtained, where each movement plan in the global movement plan set includes a checkpoint and a passing time of a moving object at the checkpoint.

In an embodiment, each computing node may send change information to a downstream computing node corresponding to the computing node in a movement plan related to the change information, where the sent change information represents time information obtained by updating a passing time included in a specific movement plan set corresponding to the computing node;

the generated change information may be obtained by updating the passage time included in the specific movement plan set by each of the computing nodes based on the adjustment rule associated with the computing node and/or the change information transmitted from the upstream computing node.

Step 402, constructing a directed graph by taking at least a part of check points in the global movement plan set as computing nodes and taking the movement direction of the moving object between the check points as directed edges.

In step 403, the following update operations are performed in parallel by the respective compute nodes: and updating the passing time contained in the specific movement plan set related to the global movement plan set according to the adjustment rule corresponding to the global movement plan set.

In an embodiment, each computing node may determine, according to the node identifier, a specific movement plan set related to itself in the global movement plan, where the specific movement plan set includes at least one movement plan related to itself, and each computing node concurrently calculates, based on its corresponding adjustment rule, a specific movement plan corresponding to the current computing node, thereby improving the computing processing efficiency and the processing performance.

The adjustment rule may define a correspondence between the current computing node, the target computing node, and the adjustment criteria, and determine a set of co-directional movement plans in the particular set of movement plans that are the same as the direction of movement of the target computing node.

And adjusting the passing time corresponding to the current computing node in the equidirectional movement plan set according to the adjustment standard, so that any two adjusted equidirectional movement plans meet the adjustment standard on the premise that the influence on the movement plan is as small as possible, and further updating the movement plan in the specific movement plan set corresponding to the current computing node based on the adjusted equidirectional movement plan.

The adjustment rule may be a simulation rule or an actual rule provided by the checkpoint, and the adjustment rule may include a correspondence between the current computing node, the target computing node, and the adjustment criterion, and the correspondence may also include information such as a moving object identifier, a moving plan identifier, a moving object leaving the checkpoint, and the like.

Wherein the adjustment criteria may include at least one of: the difference of the passing time of the adjacent equidirectional movement plans at the same inspection point is not less than the preset time length; the spacing distance of adjacent equidirectional movement plans at the same inspection point is not less than a preset distance; the number of movement plans passing through the same check point does not exceed the threshold corresponding to the check point within a preset time length.

Further, a protection mechanism may be added, that is, it is determined whether any check point in the updated global movement plan set has more than a preset number of moving objects within a preset time period, and if so, an alarm message related to the check point is generated.

If each computing node does not receive the change information sent by the corresponding upstream computing node within the preset time period, it is determined that the updating of the movement plan in the global movement plan set is finished, and further, the updated global movement plan set and/or the updated specific movement plan set may be sent to each check point.

Referring now to fig. 5, a detailed embodiment of the present application will be described in detail, wherein fig. 5 is a flow chart of another method for updating a movement plan according to an exemplary embodiment of the present application, and as shown in fig. 5, the method may include the following steps:

step 501, a global movement plan set is obtained.

Each movement plan in the global set of movement plans may contain the checkpoint and the time of passage of the moving object at the checkpoint, but may of course also include other information such as identification information of the movement plan, identification information of the moving object, average speed of the moving object, etc.

As an exemplary specific data content included in the global movement plan table, as shown in table 1 below, movement plans of the same moving object may be stored in a plurality of entries, for example, for a moving object X00511, in two entries, data information of "No. 8/9 points in 2019 at checkpoint 1, No. 8/2019 and reaching checkpoint 4" in No. 1/11/9 points in 2019 and "No. 8/1/11/9 points in 2019 and reaching checkpoint 5" in No. 8/1/13/15 points in 2019 and relating to the moving object X00511 may be stored in the entries.

TABLE 1

Of course, the movement plan of the same moving object may also be stored in the same table entry related to the moving object, so as to improve the efficiency of reading data in the plan table entry, for example, as shown in the storage form of table 2 for the moving object X00516, only one table entry needs to be read to obtain all the movement plan information about the same moving object X00516.

TABLE 2

However, regardless of the form of storage, the entirety of the continuous movement plans related to the same moving object is taken as one movement plan corresponding to the moving object in the global movement plan set, for example, in table 1, the entirety of the data information corresponding to reference numerals 1-3 is one movement plan in the global movement plan set, that is, one movement plan of the moving object X00511, and the start point corresponding to the one movement plan is checkpoint 1, the end point is checkpoint 5, the approach checkpoint is checkpoint 4, and the passing times at checkpoint 1, checkpoint 4, and checkpoint 5 are 201908010809, 201908011109, 201908011315, respectively.

Similarly, the entirety of the data information corresponding to reference numerals 5-6 in table 1 is another movement plan in the global movement plan set, and the starting point corresponding to the movement plan is checkpoint 2, the ending point is checkpoint 6, the checkpoint of the approach is checkpoint 3, and the passing time of checkpoint 2, checkpoint 3, and checkpoint 6 is 201908011211, 201908011340, 201908011450, respectively, that is, the movement plan corresponding to reference numeral in table 2.

Thus, the global movement plan set includes a plurality of movement plans related to the same moving object or different moving objects, each movement plan indicating the entire movement process of the moving object, that is, data information of at least a start point, a passing point, an end point, and a passing time at each point involved in the movement process.

Step 502, a graph computation model is built according to the global movement plan set.

In one embodiment, a directed graph may be constructed with at least a portion of the checkpoints in the global movement plan set as computing nodes and the direction of movement of the moving object between the checkpoints as directed edges.

For example, with regard to three movement plans related to the moving object X00511, the moving object X00512, and the moving object X00516 shown by reference numerals 1 to 6 in table 1, check point 2, check point 3, check point 4, and check point 5 of the three movement plans may be extracted as a computing node, and a directed graph as shown in fig. 6 may be constructed with the movement direction of the movement plan corresponding to the moving object X00511, the moving object X00512, and the moving object X00516 as a directed edge; or only extracting checkpoint 1 and checkpoint 5 in the global movement plan set as computing nodes, and constructing a directed graph as shown in fig. 7 by taking the movement direction of the moving object X00511 related to checkpoint 1 and checkpoint 5 as a directed edge, where fig. 7 is another directed graph constructed according to an exemplary embodiment of the present application, and it is noted that: the construction method of the directed graph can be determined based on actual conditions, the extraction of the checkpoints and the specific condition of constructing the directed graph are not limited in the present application, and it is easy to understand that all the methods of constructing the directed graph based on that at least a part of checkpoints in the global movement plan are extracted as the computing nodes and the moving direction of the moving object between the checkpoints is taken as a directed edge shall belong to the scope protected by the present application.

In step 503, the respective compute nodes perform update operations in parallel.

The computing node may determine, according to the computing node identifier, a specific movement plan set related to itself in the global movement plan, where the specific movement plan set includes at least one movement plan related to itself, and the movement plan related to itself may be a movement plan that reaches the current computing node through another upstream computing node, or may be a movement plan that starts from the current computing node or reaches a downstream computing node through the current computing node.

For example, in the directed graph shown in fig. 6, the specific movement plan set associated with checkpoint 4 itself includes two movement plans, namely a movement plan starting from checkpoint 1, sequentially going through checkpoint 4 and checkpoint 5, and then arriving at checkpoint 6, and a movement plan starting from checkpoint 2 and arriving at checkpoint 4; similarly, the set of specific movement plans associated with checkpoint 3 itself comprises only one movement plan, i.e. a movement plan that starts from checkpoint 2, passes through checkpoint 3, and arrives at checkpoint 6.

In the same super-step, each computing node calculates a specific movement plan corresponding to the current computing node in parallel based on the corresponding adjustment rule, the adjustment rule can be obtained from a database for each computing node in advance, and can also be configured in real time in each computing node by an administrator, and the method for obtaining the adjustment rule by the computing node is not limited.

The adjustment rule contains a correspondence between at least one current computing node, a target computing node and an adjustment criterion, but may also contain information such as a mobile object identification, a mobile plan identification, a mobile object leaving a checkpoint, etc. In particular, the current computing node is a computing node object to which the corresponding rule applies, and the correspondence between the current computing node and the target computing node reflects the moving direction to which the rule applies.

For example, if rule 1 in the adjustment rule includes checkpoint 1 as the current computing node and checkpoint 3 as the target computing node, it indicates that rule 1 adjusts only the movement plan whose target movement direction in the specific movement plan corresponding to checkpoint 1 is to checkpoint 3, so after the specific movement plan corresponding to checkpoint 1 is screened according to rule 1, it can be determined that the same-direction movement plan includes the current computing node (for example, checkpoint 1) and all the target movement directions are checkpoint 3.

Another example is: if rule 2 in the adjustment rules includes checkpoint 1 as the current computing node and checkpoint 4 as the target computing node, it indicates that rule 2 adjusts only the movement plan whose target movement direction is checkpoint 4 in the specific movement plan corresponding to checkpoint 1. Similarly, the adjustment rule may be a corresponding relationship between the current computing node, the moving direction and the adjustment criterion based on the same adjustment effect, so after the specific moving plan corresponding to the checkpoint 1 is filtered according to the rule 2, the same-direction moving plan including the current computing node (for example, checkpoint 1) and the target moving directions of which are the checkpoint 4 can be determined.

Furthermore, the equidirectional movement plan corresponding to each rule in the adjustment rules can be determined by traversing the adjustment rules corresponding to each computing node, and then the equidirectional movement plan is adjusted according to the adjustment standards in the adjustment rules.

The adjustment criteria in the adjustment rules may include at least one of: the difference of the passing time of the adjacent equidirectional movement plans at the same inspection point is not less than the preset time length; the spacing distance of adjacent equidirectional movement plans at the same inspection point is not less than a preset distance; the number of movement plans passing through the same check point does not exceed the threshold corresponding to the check point within a preset time length.

The following describes an adjustment manner in which the adjustment criterion in the adjustment rule is that the difference between the passing time of adjacent equidirectional movement plans at the same checkpoint is not less than the preset time length.

For example, the unidirectional movement plans obtained by rule 1 filtering are shown in table 3 below, and all the filtered unidirectional movement plans include passing information of a current computing node (for example, checkpoint 1), and a target movement direction passing through the current computing node is checkpoint 3.

TABLE 3

The equidirectional movement plans about the check point 1 obtained based on the rule 1 are sorted according to the passing time at the check point 1, so that the movement plans of the respective moving objects are arranged in the order or the reverse order at the passing time at the check point 1, for example, the movement plans sorted in the order shown in the following table 4 are obtained.

TABLE 4

Further, the movement plan after the sorting processing is adjusted based on the adjustment standard in the rule.

For example, it is determined whether the difference between the passing time of any two adjacent equidirectional movement plans in the equidirectional movement plans shown in table 4 is not less than the preset time length corresponding to rule 1 based on rule 1, and if the preset time length for the inspection point 1 is set to be 10 minutes in the adjustment criterion in rule 1, the corresponding adjustment operation is as follows:

for the adjacent moving plan of the moving object B00423 and the moving plan of the moving object X00516, the passing time of the two moving plans at the checkpoint 1 is respectively 07 o 'clock 45 of 2019 year 08 month 01 day and 08 o' clock 09 of 2019 year 08 month 01 day, so that the difference between the passing time of the moving object B00423 and the passing time of the moving object X00516 at the checkpoint 1 is 24 minutes, the adjustment criterion that the difference between the passing times is not less than the preset time period of 10 minutes is satisfied, and therefore, the passing time of the next moving plan (for example, the moving plan of the moving object X00516) of the two adjacent equidirectional moving plans does not need to be adjusted.

Similarly, for the next adjacent equidirectional movement plan, for example, the movement plan corresponding to the movement object X00516 and the movement plan corresponding to the movement object a00112, the passing time of the two at the checkpoint 1 is 09 minutes at 08 o ' clock 01 of year 2019 and 08 o ' clock 12 at year 2019, 08 o ' clock 01, the difference between the passing time of the moving object X00516 and the moving object a00112 at checkpoint 1 is thus 3 minutes, since the difference between the two passing time points at the check point 1 is less than the adjustment standard corresponding to the rule 1 by 10 minutes, therefore, the passing time of the mobile object a00112 at checkpoint 1 needs to be adjusted so that the difference between the passing time of the mobile object a00112 at checkpoint 1 and the passing time of the mobile object X00516 at checkpoint 1 is greater than or equal to 10 minutes, for example, the passing time difference between the two is adjusted to 10 minutes, and the passing time of the corresponding moving object a00112 at checkpoint 1 is 08 o 'clock 19 points of 2019, 08 o' clock 01.

The plan of equidirectional movement after adjustment processing based on the adjustment criterion in rule 1 is shown in table 5 below.

TABLE 5

Similarly, the adjustment criteria in the adjustment rule may also be: the spacing distance of adjacent equidirectional movement plans at the same inspection point is not less than a preset distance; or the number of the movement plans passing through the same check point does not exceed the threshold value corresponding to the check point within a preset time length.

In the specific processing of the adjustment criterion regarding the distance, the equidirectional movement plan may be adjusted by changing the adjustment criterion regarding the separation distance to an adjustment criterion regarding a preset time period for judging the difference between the passage timings, and further in accordance with the above-described adjustment criterion regarding the interval time period of the passage timings.

In the process of changing the adjustment standard related to the spacing distance into the adjustment standard related to the spacing time length, the average speed of the moving object of the next moving plan in the adjacent moving plans can be obtained, and then the spacing distance is changed into the corresponding spacing time length according to the average speed, so that the accuracy of the determined spacing time length is improved. The change can also be performed based on the moving speed preconfigured by the current computing node, and the specific obtaining mode of the moving speed for changing the interval duration is not limited in the present application.

In the process of judging whether the number of the movement plans passing through the same check point in the preset time exceeds the threshold corresponding to the check point, each check point can sequence the movement plans related to the check point according to the passing time, and then whether the number of the movement plans located in the preset time at the passing time exceeds the threshold is determined. For checkpoints where the number of movement plans exceeds the threshold, the passing time of the movement plans exceeding the threshold in the sequential ordering table may be adjusted, for example, delayed to the passing time, so that the number of movement plans within the preset time period is reduced to below the threshold.

The preset time duration may be a fixed time interval, for example, 11:00-12:00 in the 01 th day of 08/month in 2019, or may be generated in real time according to the passing time of the moving object and a predefined rule, for example, when there is a moving object passing through a certain check point in 10:13 th day of 08/month in 2019, the predefined rule is that the time when the moving object passes through the check point is respectively extended forward and backward for 10 minutes, then the preset time duration generated in real time for the check point is from 10:03 in the 01 th day of 08/month in 2019 to 10:23 in the 01 th day of 08/month in 2019; similarly, when a moving object passes through a certain check point in 2019, 08 th month, 01 th day 10:13, and the predefined rule is to extend the time of passing through the check point by 60 minutes, the preset time length generated in real time for the check point is from 2019, 08 th month, 01 th day 10:13 to 2019, 08 th month, 01 th day 11:13, it is easy to understand that the method of extending the corresponding preset time length for a certain time is within the protection scope of the application, and the application does not limit the specific predefined rule.

The change information represents time information included in a specific movement plan after the passing time is updated, the upstream computing node transmits the determined change information to a downstream computing node belonging to the same movement plan, and in the process of generating the change information, the operation steps that can be involved are: the transit time included in the specific movement plan may be updated by each of the computing nodes based on the adjustment rule related to the computing node and/or the change information transmitted from the upstream computing node. The update operation executed by each computing node may specifically be:

a. and adjusting the specific movement plan related to the current computing node based on the adjusting rule corresponding to the current computing node.

In the process of adjusting the specific movement plan corresponding to the current computing node, the rules in the adjustment rules can be traversed, the equidirectional movement plan corresponding to the traversed rules is screened in the specific movement plan, and then the screened equidirectional movement plan is adjusted based on the rules in the adjustment rules.

For the specific update operation, reference may be made to the adjustment processes in tables 3 to 5, which are not described herein again.

b. And receiving the change information sent by the upstream computing node, and further adjusting the specific movement plan corresponding to the current computing node based on the change information.

And when the calculation node changes the movement plan based on the adjustment rule, the change information is sent to a downstream calculation node corresponding to the current calculation node in the movement plan, so that the downstream calculation node performs corresponding adjustment according to the change information. For example, after the unidirectional movement plan of the checkpoint 1 is adjusted based on the rule 1, the checkpoint 1 transmits the variation information, that is, the variation information of the movement object a00112 at the passing time of the checkpoint 1, which varies from 2019, 08 o ' clock 01 o ' clock 12 to 2019, 08 o ' clock 01 o ' clock 19 o ' clock, so that the passing time of the movement object a00112 at the checkpoint 3 is adjusted accordingly by the checkpoint 3, and the adjusted passing time is 25 o ' clock 11 o ' clock, 08 o ' clock 01 o ' clock 2019, and the variation information may include only the information of the adjustment value of the movement object a00112 at the checkpoint 1, for example, the passing time is delayed by 7 minutes, so that the checkpoint 3 can directly perform adjustment according to the obtained variation information, thereby improving the adjustment efficiency.

c. And receiving the change information sent by the upstream computing node, preferentially updating the passing time in the specific movement plan corresponding to the current computing node based on the change information, and further adjusting the updated specific movement plan according to the adjustment rule corresponding to the current computing node.

When the current computing node receives the change information sent by the upstream computing node and has the adjustment rule, the current computing node can modify the specific movement plan preferentially based on the change information sent by the upstream computing node, and then adjust the modified specific movement plan based on the adjustment rule, so as to improve the adjustment efficiency of the adjustment rule.

The change information sent by the upstream computing node may be a specific value after the change is adjusted, or may be a change value after the adjustment, for example, the checkpoint 1 adjusts the movement plan corresponding to the mobile object a00112 based on the rule 1 to obtain that the passing time of the mobile object a00112 at the checkpoint 1 is delayed to 19 minutes after 08/01/2019, and the corresponding change information may be information obtained by changing the passing time of the mobile object a00112 at the checkpoint 1 from 12 minutes at 08/01/08/2019 to 19 minutes at 08/01/2019, or information obtained by using a change difference value of the passing times as change information, that is, the passing time of the mobile object a00112 at the checkpoint 1 is delayed by 7 minutes as change information and sent to the checkpoint 3, thereby simplifying the computing process of the checkpoint 3 and improving the processing efficiency of the checkpoint 3.

Accordingly, when the checkpoint 3 receives the change information, it is possible to preferentially adjust the specific movement plan corresponding to the checkpoint 3 based on the change information, for example, the checkpoint 3 correspondingly delays the passage time corresponding to the checkpoint 3 in the movement plan of the mobile object a00112 related to the checkpoint 3 by 7 minutes according to the change information "the passage time of the mobile object a00112 at the checkpoint 1 is delayed by 7 minutes", that is, the mobile object a00112 is adjusted to 25 minutes by 2019, 08, month 01, 11 and 18 minutes by 2019, 08, month 01, 11 minutes by the passage time of the checkpoint 3.

And the updating operation is executed by each computing node simultaneously, so that each computing node simultaneously solves the computing problem of adjusting and updating the same global movement plan based on computing resources, and the processing efficiency of the computing process is improved.

For example, if the global movement plan set is a set of the moving objects and the corresponding movement plans denoted by reference numerals 1 to 6 in table 1, as described above, the global movement plan set includes 3 movement plans, that is, the moving object X00511 is located at the initial checkpoint 1 at 8 th and 9 th in 8 th month 1 in 2019, approaches checkpoint 1 at 11 th and 9 th in 8 th month 1 in 2019, approaches checkpoint 4 at 8 th and 9 th in 8 th month 1 in 2019, approaches checkpoint 5 at 13 th and 15 th in 8 th month 1 in 2019, and reaches checkpoint 6 as the termination point at 16 th and 16 th in 8 th month 1 in 2019; the moving object X00512 is located at the checkpoint 2 as the starting point at point 9 on the number 10 of 8/month 1 in 2019, and reaches the checkpoint 4 as the ending point at point 35 on the number 12 of 8/month 1 in 2019; the moving object X00516 is located at checkpoint 2 as a start point at 12 th point on month 8/1 in 2019, approaches checkpoint 3 at 13 th point on month 8/1 in 2019 by 40, and reaches checkpoint 6 as a termination point at 14 th point on month 8/1 in 2019.

Assuming that the check points 1, 2, 3, 4, 5, and 6 related to the movement plans of the moving objects related to the reference numerals 1 to 6 are extracted as the calculation nodes based on the global movement plan set constituted by the reference numerals 1 to 6 in table 1, when each calculation node starts update calculation, the check points 1 to 5 respectively determine a specific movement plan related to its own calculation node in the global movement plan, further adjust the specific movement plan based on the adjustment rule, and transmit the adjusted change information to the downstream calculation node corresponding to the current calculation node in the movement plan.

For example, as shown in fig. 8, fig. 8 is a schematic diagram of a parallel computing process in an exemplary embodiment according to the present application, and the line segments with arrows in fig. 8 of the same type represent belonging to the same movement plan, for example, the association relationship between the checkpoint connected by the solid line with arrows in fig. 8 represents the movement plan corresponding to the moving object X00511.

When the check points 1 to 5 have the corresponding adjustment rule, the check points 1 to 5 adjust the specific movement plan related to the check points 1 to 5 based on the adjustment rule in parallel, and send the adjusted change information to the downstream computing node corresponding to the current computing node in the movement plan, for example, the movement plan of the moving object X00511 in the movement plan corresponding to the moving object X00511, after the check point 1 as the computing node adjusts the movement plan of the moving object X00511 based on the corresponding rule, the change information is sent to the downstream computing node of the check point 1 as the computing node in the movement plan of the moving object X00511, that is, the check point 4, so that the check point 4 adjusts the specific movement plan corresponding to the check point 4 based on the change information.

Similarly, each computing node in the super-step 1 adjusts the corresponding specific movement plan based on the corresponding rule, and sends the obtained change information to the downstream computing node corresponding to the current computing node in the respective movement plan, the related downstream computing node performs adjustment in parallel in the super-step 2 after the super-step 1, and so on, taking the reference numerals 1-6 in table 1 as a global movement plan set for example, after the super-step 2, there are the check point 5 and the check point 6 which receive the change information, and both of them are taken as the computing nodes to perform adjustment in the super-step 3 in parallel, and the super-step 4 after the super-step 3, and the check point 6 which is taken as the computing node performs adjustment in the process of the received change information in the super-step 4.

After the current computing node completes the adjustment process, the movement plan in the specific movement plan set corresponding to the current computing node may be updated based on the adjusted equidirectional movement plan.

Step 504, each computing node sends the change information to the downstream computing node corresponding to the computing node in the movement plan related to the change information.

And after the current computing node finishes the updating operation, sending the change information to a downstream computing node which belongs to the same mobile plan and corresponds to the current computing node.

For example, in the processes corresponding to tables 4 to 5, the checkpoint 1 adjusts the movement plan corresponding to the moving object a00112 based on the rule 1 to obtain the information that the passing time of the checkpoint 1 is delayed by 19 minutes in the case that the passing time of the moving object a00112 is 2019, 08/01/08, and the corresponding change information may be information that the passing time of the checkpoint 1 is changed from 12 minutes in the case that the passing time of the moving object a00112 is 2019, 08/01/08 to 19 minutes in the case that the passing time of the checkpoint 1 is 2019, 08/01/08 to 08 minutes in the case that the moving object a 001.

This change information is transmitted to a downstream computing node in the movement plan corresponding to the object a00112 at the checkpoint 1, for example, the checkpoint 3, or the change difference value of the passage time is used as change information, that is, "the object a00112 is delayed by 7 minutes from the passage time of the checkpoint 1" is transmitted as change information to the checkpoint 3.

Step 505, the end of the update is determined.

And if each computing node does not receive the change information sent by the corresponding upstream computing node within the preset time period, determining that the updating of the mobile plan in the global mobile plan is finished.

In addition, a safety mechanism may be added in the updating process of the global movement plan, that is, if the time for adjusting any one of the computing nodes reaches a preset threshold, or the number of iterations for adjusting the computing node reaches a preset number threshold, it is determined that the updating of the global movement plan is finished.

In the actual application process, the change information of the specific movement plan of each computing node can be sent to the control device, so that the control device updates the movement plan in the global movement plan set based on the received change information, and sends the updated global movement plan set to the check point.

The control device can also classify the movement plans in the global movement plan set according to the check points to form a specific movement plan set updated according to different check points, and the updated movement plans in the specific movement plan set are sent to the check points.

Step 506, assessing operational risk.

After the global movement plan is updated, whether any check point in the updated global movement plan has the moving objects with the number exceeding the preset number in the preset time length is judged, and if the check point exists, an alarm message related to the check point is generated.

Under a simulation environment, an updated moving plan corresponding to each computing node can be directly determined, whether the number of moving objects passing through the computing node in a preset time period exceeds a preset threshold value or not is judged according to the updated moving plan, and if the number of moving objects passing through the computing node exceeds the preset threshold value, alarm information is sent.

In an actual application environment, each computing node may return the updated specific movement plan set to the control device, so that the control device performs determination based on the number of the moving objects passing through each computing node in a preset time period, or the computing node may perform determination based on the updated specific movement plan set by itself, and send out warning information when the number of the passing movement plans in the preset time period exceeds a preset threshold.

FIG. 9 is a schematic block diagram of an electronic device in an exemplary embodiment in accordance with the subject application. Referring to fig. 9, at the hardware level, the electronic device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory, but may also include hardware required for other services. The processor reads the corresponding computer program from the nonvolatile memory into the memory and then runs the computer program to form the updating device of the movement plan on the logic level. Of course, besides the software implementation, the present application does not exclude other implementations, such as logic devices or a combination of software and hardware, and the like, that is, the execution subject of the following processing flow is not limited to each logic unit, and may also be hardware or logic devices.

Referring to fig. 10, fig. 10 is a block diagram of an updating apparatus of a movement plan according to an exemplary embodiment of the present application, and as shown in fig. 10, in a software implementation, the updating apparatus of the movement plan may include:

an obtaining unit 1001 that obtains a global movement plan set, where each movement plan in the global movement plan set includes a check point and a passing time of a moving object at the check point;

a constructing unit 1002, configured to construct a directed graph with at least a part of the check points in the global movement plan set as computing nodes and a movement direction of the moving object between the check points as directed edges;

an update unit 1003, which performs the following update operations in parallel for each compute node: and updating the passing time contained in the specific movement plan set related to the global movement plan set according to the adjustment rule corresponding to the global movement plan set.

Optionally, the method further includes:

a first sending unit 1004, for each computing node to send change information to a downstream computing node corresponding to the computing node in a movement plan related to the change information, wherein the change information is used for representing time information included in the specific movement plan set after the passing time is updated;

wherein, the change information is obtained by updating the passing time included in the specific movement plan set by each computing node based on the adjustment rule related to the computing node and/or the change information sent by the upstream computing node.

Optionally, the update units are specifically configured to:

determining a same-direction movement plan set which is the same as the movement direction of the target computing node in the specific movement plan set aiming at the corresponding relation among the current computing node, the target computing node and the adjustment standard defined in the adjustment rule;

and adjusting the passing time corresponding to the current computing node in the equidirectional movement plan set according to the adjustment standard so that any two adjusted equidirectional movement plans meet the adjustment standard.

Optionally, the method further includes:

the specific movement plan updating unit 1005 updates the movement plan in the specific movement plan set corresponding to the current computing node based on the adjusted equidirectional movement plan.

Optionally, the adjustment criterion includes at least one of:

the difference of the passing time of the adjacent equidirectional movement plans at the same inspection point is not less than the preset time length;

the spacing distance of adjacent equidirectional movement plans at the same inspection point is not less than a preset distance;

the number of movement plans passing through the same check point does not exceed the threshold corresponding to the check point within a preset time length.

Optionally, the method further includes:

an ending unit 1006, configured to determine that updating of the movement plan in the global movement plan set is ended if each computing node does not receive the change information sent by the corresponding upstream computing node within a preset time period.

Optionally, the method further includes:

the alarm unit 1007 determines whether any check point in the updated global movement plan set has more than a preset number of moving objects within a preset time, and if so, generates an alarm message related to the check point.

Optionally, the adjustment rule is a simulation rule or an actual rule provided by a checkpoint.

Optionally, the method further includes:

the second transmitting unit 1008 transmits the updated global movement plan set and/or the updated specific movement plan set to each check point.

The device corresponds to the method, and more details are not repeated.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

For the device embodiments, since they substantially correspond to the method embodiments, reference may be made to the partial description of the method embodiments for relevant points. The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of the application. One of ordinary skill in the art can understand and implement it without inventive effort.

While this specification contains many specific implementation details, these should not be construed as limitations on the scope of any invention or of what may be claimed, but rather as descriptions of features specific to particular embodiments of particular inventions. Certain features that are described in this specification in the context of separate embodiments can also be implemented in combination in a single embodiment. In other instances, features described in connection with one embodiment may be implemented as discrete components or in any suitable subcombination. Moreover, although features may be described above as acting in certain combinations and even initially claimed as such, one or more features from a claimed combination can in some cases be excised from the combination, and the claimed combination may be directed to a subcombination or variation of a subcombination.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A method for updating a movement plan, the method comprising:

2. The method of claim 1, further comprising:

each computing node sends change information to a downstream computing node corresponding to each computing node in a movement plan related to the change information, wherein the change information is used for representing time information contained in the specific movement plan set after the passing time is updated;

3. The method according to claim 1, wherein the updating, according to the adjustment rule corresponding to the global movement plan set, the passing time included in the specific movement plan set related to the global movement plan set includes:

4. The method of claim 3, further comprising:

and updating the movement plan in the specific movement plan set corresponding to the current computing node based on the adjusted equidirectional movement plan.

5. The method of claim 3, wherein the adjustment criteria comprises at least one of:

6. The method of claim 1, further comprising:

and if each computing node does not receive the change information sent by the corresponding upstream computing node within a preset time period, determining that the updating of the mobile plan in the global mobile plan set is finished.

7. The method of claim 1, further comprising:

and judging whether any check point in the updated global movement plan set has more than a preset number of moving objects within a preset time length, and if so, generating an alarm message related to the check point.

8. The method of claim 1, wherein the adjustment rule is a simulation rule or an actual rule provided by a checkpoint.

9. The method of claim 1, further comprising:

and sending the updated global movement plan set and/or the updated specific movement plan set to each check point.

10. An apparatus for updating a movement plan, the apparatus comprising:

11. An electronic device, comprising:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured with executable instructions to implement the method of any one of claims 1-9.

12. A computer-readable storage medium having stored thereon computer instructions, which, when executed by a processor, carry out the steps of the method according to any one of claims 1-9.