A universal device control method based on IP network

Abstract

This invention discloses a universal device control method based on an IP network. For a reconnaissance network comprising multiple sensor platforms, this method uniformly models the sensor platforms' control modes, control characteristics, and image / data acquisition capabilities, enabling these heterogeneous devices to follow a consistent control logic framework for human-machine interaction. Based on unified message encapsulation rules, a control and data flow redirection mechanism is established, enabling data interaction between local terminals and sensor devices, previously achieved through independent point-to-point links, to be redirected to remote terminals or sensor devices, enabling any node's control terminal to control the remote node's sensor devices. This method can be applied to various IP-based reconnaissance / monitoring networks, facilitating remote interoperability between nodes.

Description

Technical Field

[0001] The present invention belongs to the technical field of distributed control and relates to a device remote control method of heterogeneous nodes based on IP message interaction. Background Art

[0002] A reconnaissance network is an IP-based interconnected network that is equipped with a number of reconnaissance nodes to provide reconnaissance information acquisition capabilities. These reconnaissance nodes include various types of reconnaissance vehicles, individual reconnaissance instruments, and unmanned reconnaissance aircraft. Each node is independently operated and controlled, and the sharing and aggregation of reconnaissance information is achieved through the active operation of the node operators based on relevant interconnection software. In practical applications, collaborative reconnaissance is an important working mode of reconnaissance networks, where multiple nodes collaborate to complete a common task. For example, they can intersect and locate a specific target, or determine target characteristics through observation from different viewpoints and perspectives. This working mode requires highly coordinated operators at different nodes. Traditional methods rely on real-time communication through voice and text communications. However, for multi-platform operations with high real-time requirements, such as the rapid rotation of sensors on different platforms or the rapid acquisition of the sensor perspective of another device, collaborative operations performed by different personnel based on mutual communication are often difficult to achieve due to factors such as human response time, ambiguity in communication, and lack of information certainty. Therefore, remote interoperability of devices, where an operator at one node directly controls the device of another node with authorization, becomes a better choice. However, for heterogeneous devices, due to the different control interfaces, implementing remote interoperability requires a lot of interface modification and targeted software design. Therefore, a universal method that can support remote interoperability of heterogeneous devices is needed. Summary of the Invention

[0003] (1) Purpose of the invention

[0004] The purpose of the present invention is to provide a universal method for remote interoperability of heterogeneous equipment in a reconnaissance network, so that any node can operate and control the equipment of a remote node based on IP message interaction with a simple design.

[0005] (2) Technical solution

[0006] In order to solve the above technical problems, the present invention provides a general device control method based on an IP network, comprising the following steps:

[0007] S1: Summarize and analyze the control modes, control characteristics, and image / data acquisition capabilities of various types of reconnaissance nodes involved in the reconnaissance network, and establish the business logic of the remote interoperation process from the perspectives of control flow, data flow, and video flow;

[0008] S2: Based on the business logic established in S1, refine the data interaction content involved in the remote interoperation process and complete the definition of unified message encapsulation rules;

[0009] S3: Based on S1 and S2, complete the specific process design of remote interoperability.

[0010] A control and data flow redirection mechanism was developed to address the changes in the source and destination addresses of control and data flows involved when any node switches between the three modes of local control (i.e., the node's operating terminal controls the local device), remote control (i.e., the node's operating terminal controls the device of another node), and controlled (i.e., the node's device is controlled by the operating terminal of another node). Specifically, when a node switches operating modes, a mechanism for exchanging information through formatted messages is developed to complete negotiation, redirecting the source or destination of the control and data flows to the new node and re-establishing the link to support the data exchange requirements of the new operating mode.

[0011] For heterogeneous nodes, the control software adopts a modular design: the control software corresponding to any piece of equipment is designed as a specific software module, which can be run on a general-purpose computer environment. By loading the corresponding module, the control terminal of any node can control the reconnaissance equipment of other nodes. Any node can have several different control modules pre-installed. Furthermore, this method provides an automatic download mechanism. During the initial connection establishment phase, nodes negotiate to determine whether the node to be switched to remote control mode has the corresponding control module. If not, the module is automatically downloaded and run from the controlled node.

[0012] Step S1 is specifically implemented as follows: The functions, performance indicators, and operation modes of various reconnaissance nodes are summarized and organized to obtain the following general characteristics: the control mode of the reconnaissance node is usually an operator operating an input device such as a handle, keyboard, mouse, or touch screen. The control module interprets the data from these input devices, such as control quantities and key codes, into operational control instructions for the device, forming a control flow from the operating control terminal to the controlled device. The angle, distance, status, and other data obtained by the controlled device form a data flow from the controlled device to the operating control terminal.

[0013] Both control stream and data stream are low-speed data, and the data rate is generally from a few Kbps to hundreds of Kbps.

[0014] The image obtained by the controlled device is converted into digital video based on the image acquisition interface of the operation control terminal. In the local control state, the digital video is submitted to the display terminal for display in real time. When performing remote interoperation, the digital video needs to be sent from the controlled node to the remote control node through the IP network. Due to the large amount of digital video data, it cannot be transmitted directly. Therefore, it is necessary to convert the digital video into a video stream with a limited bit rate (for different resolutions and image quality, the limited bit rate can be set from hundreds of Kbps to tens of Mbps) based on real-time video compression technology.

[0015] Typically, the bandwidth of a wireless IP network based on military broadband radios ranges from hundreds of Kbps to tens of Mbps. Therefore, by selecting reasonable data compression parameters, cross-node transmission of control streams, data streams, and video streams can be completed through this network.

[0016] In local control mode, the control and data flows of nodes are transmitted based on a specific type of communication interface (such as the CAN bus, serial port, or Ethernet port). The basic unit of transmission is a data segment of a certain length, namely a data packet. When performing remote interoperation, these data packets are encapsulated as IP packets for transmission. Since the IP packet header contains the source and destination address information, when encapsulating data at the application layer, only the information type identifier needs to be added to the data header to indicate which physical layer interface the data is transmitted locally.

[0017] For the transmission of video streams, the bit rate cap is set according to the end-to-end bandwidth constraints of the network. Based on streaming media transmission technologies such as H.264 and H.265, a unified video distribution mechanism is used to support different original video formats for different devices.

[0018] Consider the process of initiating, conducting, and ending a remote interaction between node A and node B. Establish the following business logic sequence:

[0019] 1) Node A initiates a control request to Node B;

[0020] 2) Node B returns the equipment type code K2;

[0021] 3) Node A queries whether the control module corresponding to K2 has been installed locally. If so, go to step 4. Otherwise, download and install the control module from node B and go to step 4.

[0022] 4) Node A starts the control module in remote control mode. After the startup is completed, it sends a "control ready" status to B;

[0023] 5) Node B checks whether the type code of the locally running control module is K2. If so, go to step 6; otherwise, shut down the current control module and restart the control module corresponding to K2, and go to step 6;

[0024] 6) The B node control module enters the controlled state.

[0025] 7) Node A remotely controls Node B. During this process, the control flow is transmitted from the Node A control module to the Node B control module, which then forwards it to the corresponding physical interface. The data flow is received by the Node B control module from the corresponding physical interface, encapsulated into IP packets, and forwarded to the Node A control module.

[0026] 8) When the remote interoperation needs to be ended, the A node control module sends an exit control to the B node control module; after receiving the exit control, the B node control module switches to the local control.

[0027] Step S2 is specifically implemented as follows: Based on the business logic established in step S1, the data content of remote interoperability interactions is sorted out, including control requests, control readiness, exit control, equipment type code query, equipment type code, control module software download request, installation package transmission, control flow, data flow, etc. By defining a specific message header structure, this content is encapsulated into a UDP message according to unified rules and transmitted through a designated port. The message parsing rules ensure that the data encapsulation process is reversible. That is, without knowing any information about the encapsulated message data structure, the original control message and data message can be easily recovered from the encapsulated UDP data packet based solely on the message header structure.

[0028] By using message encapsulation and parsing rules, a connection can be established between the equipment operation control module and the controlled devices at a higher level of abstraction, replacing the original physical connection based on specific entity communication interfaces. This allows the equipment operation control module to use a completely consistent processing mechanism for device control in different operating modes. In other words, heterogeneous nodes can directly control devices using the same equipment operation control module deployed on another node, eliminating the need to develop a separate set of control software specifically for remote control.

[0029] Step S3 is implemented as follows: Each node runs a reconnaissance situation module that conforms to the business logic and message encapsulation rules specified in S1 and S2 as the entry point for human-computer interaction. The equipment control module selectively activates or deactivates the module based on the specific business logic. The reconnaissance situation module communicates with the reconnaissance situation module of the remote node over UDP port P1 and with the equipment operation control module over port P2. The equipment control module exchanges data with the external world via port P2.

[0030] During the initiation phase of remote interoperability, the reconnaissance situation modules of the remote control end and the controlled end negotiate at the P1 port. After the negotiation is completed, both the remote control end and the controlled end run the equipment control module corresponding to the equipment type of the controlled end. Among them, the equipment control module of the remote control end runs in remote control mode, and the equipment control module of the controlled end runs in controlled mode. The control flow direction is: from the P2 port of the remote control end to the P2 port of the controlled end. After the data is decapsulated, it is forwarded by the controlled end to the corresponding physical interface, such as the CAN port, serial port, etc.; the data flow direction is: obtaining data from the physical interface of the controlled end, and forwarding the data from the P2 port of the controlled end to the P2 port of the remote control end after encapsulation. After the data is decapsulated, the remote end completes data parsing and processing.

[0031] The redirection mechanism of control flow and data flow is as follows: the operator selects the remote node to be controlled in the scene window of the reconnaissance situation module interface (the scene is displayed in two-dimensional or three-dimensional mode) and initiates a control request. After authorization, the remote node obtains the equipment type and queries whether the local terminal has the corresponding control module. Based on the query results, the control initialization process is completed. After preparation, through the interaction of control messages, the local node and the remote node negotiate to complete the redirection of control flow and data flow, that is, disconnect the connection between the remote node's own control device and the controlled device, and the controlled device instead accepts the UDP control flow control received from the network. The sensor output data stream is distributed to the remote node. At the same time, if the controlled device involves real-time image acquisition function, the controlled device compresses the digital video into streaming media transmission. The following takes the process of node A remotely controlling node B as an example to illustrate this mechanism:

[0032] Consider two nodes A and B in a reconnaissance network. Node A has a device type code of K1 and a corresponding equipment control module of CK1. Node B has a device type code of K2 and a corresponding equipment control module of CK2. R represents the reconnaissance situation module. For convenience, the module running on a node is represented by a combination of module ID and node ID. For example, RA represents the reconnaissance situation module running on node A.

[0033] When the operator of node A wants to operate the equipment of node B, he selects node B in the RA interface and submits a remote control application, which is sent to the P1 port of node B. If node B currently allows remote control takeover, after receiving the control application, RB returns the type code K2 of the node B device to the P1 port of node A and marks the information as triggered by the control application. After receiving K2, RA queries the local database for the equipment control module corresponding to type code K2, that is, whether CK2 has been installed locally. If it has been found, it sends a type code query instruction to the local P2 port and checks the type code return status after t1: if the returned type code is equal to K2, indicating that CK2 is already running locally, then RA sends a control flow redirection-transfer to remote control instruction to the local P2 port to put CK2 into remote control mode. If the returned type code is not equal to K2, or the type code is not returned, RA starts CK2 in remote control mode.

[0034] If RA fails to find CK2 in the local database, it sends a download request to the P1 port of node B. Upon receiving the request, RB sends the CK2 installation package to the P1 port of node A using the file transfer protocol. RA automatically completes the installation and starts CK2 in remote control mode.

[0035] After the above process is completed, CK2A runs in remote control mode and sends a control ready instruction to the P1 port of node B.

[0036] After receiving the control ready instruction, RB sends a type code query instruction to the local P2 port and checks the type code return status after t1: if the returned type code is equal to K2, it means that CK2 is already running locally, then RA sends a control flow redirection-transfer to controlled instruction to the local P2 port to make CK2B enter remote control mode; if the returned type code is not equal to K2, or the type code is not returned, then RB starts CK2 in controlled mode.

[0037] At this point, CK2A and CK2B have established a remote connection through the P2 port, completing the control flow and data flow redirection of node A remotely controlling node B.

[0038] When Node A wants to terminate remote control of Node B's device, it can simply exit CK2A. The device control module's exit process is designed as follows: if it is currently in remote control mode, it will issue a control flow redirection - switch to local control command to the controlled end before exiting. Therefore, CK2B will automatically switch to local control, that is, Node B will resume control of its device.

[0039] (3) Beneficial effects

[0040] The universal device control method based on IP network provided by the above technical solution has the following advantages:

[0041] (1) Through unified modeling of reconnaissance nodes, the functional performance and operation control methods of heterogeneous reconnaissance nodes can be expressed in a unified structured data, thereby supporting the automatic initialization process of remote connections;

[0042] (2) Through message encapsulation and parsing rules, the specific business logic of operation control is completely decoupled from the process of establishing and resetting the control connection. This allows the design improvement of adding remote control functions to the operation control module of existing equipment to be limited to the decomposition of the working mode related to the process of establishing and resetting the control connection, thus simplifying the design process.

[0043] (3) The existence judgment and automatic download mechanism of the operation control module based on the equipment type code make it unnecessary for any node to consider the specific characteristics of other nodes and the dependent module environment, and can ensure the rapid takeover of the nodes that have been connected. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 This is a system configuration of a preferred embodiment of the present invention.

[0045] Figure 2 It is a typical process of control flow and data flow redirection mechanism.

[0046] Figure 3 It is a node space layout of a preferred embodiment of the present invention.

[0047] Figure 4 This is the data flow and control flow transmission direction of the 4×4 reconnaissance vehicle control module on node 1 and node 2. DETAILED DESCRIPTION

[0048] In order to make the purpose, content and advantages of the present invention more clear, the specific implementation methods of the present invention are further described in detail below with reference to the accompanying drawings and examples.

[0049] The present invention provides a universal device control method based on an IP network, which establishes and resets the connection between the control end and the controlled end through an automatic negotiation mechanism between the control end and the controlled end, i.e., a redirection mechanism of control flow and data flow, so that any node can control the devices of other remote nodes on the network.

[0050] like Figure 1 and Figure 2As shown in the figure, in this embodiment of the present invention, three broadband radios with a maximum shared bandwidth of 20 Mbps are used to establish a self-organizing network of three reconnaissance nodes. Node 1 is an 8×8 reconnaissance vehicle equipped with Type A reconnaissance equipment, including a color TV camera with a resolution of 1920×1080, an inertial navigation unit, and a satellite positioning device. Node 2 is a 4×4 reconnaissance vehicle equipped with Type B reconnaissance equipment, including a black-and-white TV camera with a resolution of 1024×768, an inertial navigation unit, and a satellite positioning device. Node 3 is a certain type of sighting device equipped with Type C reconnaissance equipment, including an infrared thermal imager with a resolution of 640×512, which outputs black-and-white video and can obtain position and attitude angle reference data from its mounting platform. The optical sensors of these three nodes are all mounted on a stabilized turntable. The line of sight can rotate about the azimuth and elevation axes, and the stabilized turntable can output the azimuth and elevation angles of the line of sight relative to the turntable's zero position. Data processing for each node is performed by the onboard computer, which, in addition to a dedicated equipment control module, also has a reconnaissance situation module. In the preferred embodiment of the present invention, the P1 port is selected as 20000, and the P2 port is selected as 20005. The IP addresses of nodes 1, 2, and 3 are 192.168.1.1, 192.168.1.2, and 192.168.1.3 respectively.

[0051] This embodiment defines the following message encapsulation and parsing rules:

[0052] Each message consists of a message header and message content. The message header is 5 bytes. Byte 1 identifies the message type, and bytes 2 through 5 define the message mask, which indicates, by bit, whether the corresponding information field is present. The message content consists of the sequential filling of each information field. The information field is structured data in a specific format. Messages use little-endian mode, meaning that when transmitting multi-byte data, the least significant byte comes first.

[0053] The message length is limited to within an MTU, that is, less than 1472 bytes.

[0054] In this embodiment, the information field of the sensor control message includes the following content:

[0055] Table 1 Sensor control

[0056]

[0057] Table 2 Sensor status

[0058]

[0059] like Figure 2 The layout of the reconnaissance equipment nodes and target points shown in the figure is that the reconnaissance network composed of the above three nodes conducts coordinated reconnaissance of the target in an intersection positioning working mode.

[0060] First, node 1 operates its own A-type device and finds the target at 30 degrees north-west. Based on the target imaging scale, it estimates the target distance to be 4-5 km. Based on the node position sharing of this reconnaissance network, the operator determines that node 2 should be able to observe the target. On the reconnaissance situation module interface, select node 2 and select "Enter Control" in the pop-up menu by right-clicking the mouse. Figure 3 In the process shown, the reconnaissance situation module on node 1 sends a control request (hexadecimal data) in the following format to port 20000 of node 2 according to the message encapsulation rules: 040100000001.

[0061] After receiving the control request, the reconnaissance situation module on node 2 displays a confirmation dialog box, allowing the operator to accept or reject remote control. After the operator of node 2 chooses to accept control, the reconnaissance situation module on node 2 sends a reconnaissance equipment type code to port 20000 of node 1, authorizing node 1 to control the device. According to message encapsulation rules, the message format is 04800000000002000000. The last four bytes of the message, parsed as uint32, have a value of 0x00000002, which is the equipment type code assigned to node 2's equipment, namely the 4x4 reconnaissance vehicle, in this preferred embodiment.

[0062] After receiving the control authorization, the reconnaissance situation module on node 1 queries the local database for the existence of a control module for equipment type 0x00000002, i.e., the 4×4 reconnaissance vehicle control module. If found, a type code query command is sent to port 20005 of the local machine with the message format of 040100000004. After 10 milliseconds, the return code is checked. If the return code is equal to 0x00000002, a control flow redirection-transfer to remote control command is sent to port 20005 of the local machine with the message format of 044000000000C0A80101. Otherwise, the locally stored 4×4 is started through a process call based on the module storage path information in the query result. ×4 reconnaissance vehicle control module; if not found, a control module download request is sent to port 20000 of node 2, and the message format is: 040100000005; after the reconnaissance situation module on node 2 receives the control module download request, it adds a uint32 format data length information to the 4×4 reconnaissance vehicle control module installation package in the form of a self-extracting file, and then fills it into the fileData field of the sensor control message-installation package transmission in sequence, forming multiple subpackets to be transmitted frame by frame, and the subpacket format is as follows: 040102000006 [packet number (2 bytes)][data length (2 bytes)][data (less than 1462 bytes)].

[0063] After receiving and verifying the above sub-packages, node 1 completes the unpacking and assembly, constructs the 4×4 reconnaissance vehicle control module installation package, automatically completes the installation, and starts in remote control mode.

[0064] After the 4×4 reconnaissance vehicle control module on node 1 is started, it sends a ready instruction to port 20000 of node 2. The message format is: 040100000003.

[0065] After receiving the control ready, the reconnaissance situation module on node 2 sends a type code query command to port 20005 of the local machine. After 10 milliseconds, it checks the return code. If the return code is equal to 0x00000002, it sends a control flow redirection to port 20005 of the local machine - transfer to controlled mode; otherwise, it starts the 4×4 reconnaissance vehicle control module in controlled mode through a process call.

[0066] At this point, the control flow redirection process of node 1 remotely controlling the 4×4 reconnaissance vehicle is completed. The data flow and control flow of the 4×4 reconnaissance vehicle control module on nodes 1 and 2 are as follows: Figure 4 The transmission flow is as shown. Data from the optoelectronic turret sensor on the 4×4 reconnaissance vehicle is transmitted via CAN to the 4×4 reconnaissance vehicle control module on node 2. Since this module operates in slave mode, the received CAN message is encapsulated into a sensor status message in the format: 0502000000[CANID][CANData]. The 4×4 reconnaissance vehicle control module on node 2 sends this sensor status message in real time to port 20005 of node 1. The 4×4 reconnaissance vehicle control module on node 1 then parses and displays the received sensor status message. Simultaneously, control operations such as the keyboard, mouse, and joystick on node 1 are captured by the 4×4 reconnaissance vehicle control module on node 1 as CAN control messages. These CAN control messages are then encapsulated into sensor control messages in the format: 0402000000[CANID][CANData]. The 4×4 reconnaissance vehicle control module on node 1 sends this sensor control message in real time to port 20005 of node 2. After receiving the sensor control message, the 4×4 reconnaissance vehicle control module on node 2 parses the control instruction and performs the corresponding operation.

[0067] The control module of the 4×4 reconnaissance vehicle in the controlled mode will start the video streaming task, and according to the preset parameters, compress the sensor video into an H.264 or H.264 code stream below 4Mbps in real time to adapt to the bandwidth constraints of the transmission channel; the control module of the 4×4 reconnaissance vehicle in the remote control mode obtains video image frames by decoding the video stream. Correspondingly, in the local control mode, the video image frames are obtained by collecting local video.

[0068] Therefore, in different working modes, the equipment control module can use the same control business logic unit, message data parsing and processing unit, and video display processing unit. Only different processing flows are selected at the data acquisition front end according to the changes in the data interface based on different working modes. This simplifies the design of each equipment control module, and can access the reconnaissance network in a unified mode, making interoperability easy to achieve.

[0069] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A general device control method based on IP network, characterized in that: The following steps are involved: S1: Summarize and analyze the control modes, control characteristics, and image / data acquisition capabilities of various types of reconnaissance nodes involved in the reconnaissance network, and establish the business logic of the remote interoperation process from the perspectives of control flow, data flow, and video flow; S2: Based on the business logic established in S1, it organizes the data interaction content involved in the remote interoperation process and completes the definition of unified message encapsulation rules; S3: Based on S1 and S2, establish a remote interoperability process; In step S3, when the remote interoperability process is completed, a control flow and data flow redirection mechanism is developed for the changes in the source and destination addresses of the control flow and data flow involved when any node switches between the three modes of local control, remote control, and controlled. When the node working mode switches, negotiation is completed by exchanging information through formatted messages, so that the source or destination of the control flow and data flow is redirected to the new node, and the link is re-established to support the data interaction requirements under the new working mode. Local control means that the operation terminal of the node controls the local device, remote control means that the operation terminal of the node controls the device of another node, and controlled means that the device of the node is controlled by the operation terminal of another node. In step S3, when the remote interoperability process is completed, the control software adopts a modular design for heterogeneous nodes. The control software corresponding to any device is designed as a corresponding control module. The control module runs in a general computer environment. The control terminal of any node controls the devices of other nodes by loading the corresponding control module. Any node is pre-installed with several different control modules. In step S3, at the initial stage of establishing a connection, the nodes determine through negotiation whether the node to be switched to remote control mode has the corresponding control module. If not, the corresponding control module is automatically downloaded and run from the controlled node. In step S1, the functions, performance indicators, and operation methods of various types of reconnaissance nodes are summarized and organized, and the following general characteristics are obtained: the control mode of the reconnaissance node is the operator's operating handle, keyboard, mouse, and touch screen input device. The control module interprets the data of the input device into operation control instructions for the device, forming a control flow from the operation control terminal to the controlled device; the angle, distance, and status data obtained by the controlled device form a data flow from the controlled device to the operation control terminal; The image captured by the controlled device is converted into digital video based on the image acquisition interface of the operation control terminal. In the local control state, the digital video is displayed in real time. When performing remote interoperation, the digital video is converted into a video stream with a limited bit rate and sent from the controlled node to the remote control node through the IP network. In step S1, in the local control mode, the control flow and data flow of the node are transmitted based on the communication interface of the set type, and the basic unit of transmission is a data segment of a set length; when performing remote interoperation, the data packet is encapsulated as an IP packet for transmission, and the IP packet header contains the source address and destination address information. When the application layer encapsulates the data, an information type identifier is added to the data header to indicate which physical layer interface the data is transmitted locally through; for the transmission of the video stream, the bit rate cap is set according to the end-to-end bandwidth constraint of the network.

2. The universal device control method based on IP network according to claim 1, characterized in that: In step S2, according to the business logic established in step S1, the data content of remote interoperability interaction is sorted out, including control application, control readiness, exit control, equipment type code query, equipment type code, control module software download application, installation package transmission, control flow, and data flow; the message header structure is defined, and the data content is encapsulated into a UDP message according to a unified rule and transmitted through a designated port. The message parsing rules ensure that the data encapsulation process is a reversible process, so that without knowing any encapsulated message data structure information, the original control message and data message can be recovered from the encapsulated UDP data packet based only on the message header structure.

3. The universal device control method based on IP network according to claim 2, characterized in that: In step S2, the message encapsulation and parsing rules include: each message consists of two parts: a message header and a message content; the message header is 5 bytes, byte 1 is the information type identifier, and bytes 2 to byte 5 are defined as a message mask, which indicates whether the corresponding information field appears bit by bit; the message content is the sequential filling of each information field, and the information field is structured data in a set format; the message adopts little-endian mode, and when transmitting multi-byte data, the low byte comes first; the message length is limited to less than 1472 bytes.

4. The universal device control method based on IP network according to claim 3, characterized in that: In step S3, remote interoperability is implemented as follows: each node runs a reconnaissance situation module that complies with the business logic and message encapsulation rules specified in S1 and S2 as the entry point for human-computer interaction, and the control module selectively starts or exits according to the specific business logic; the reconnaissance situation module communicates with the reconnaissance situation module of the remote node through UDP port P1 and communicates with the control module through port P2; the control module exchanges data with the outside world through port P2; During the initiation phase of remote interoperability, the reconnaissance situation modules of the remote control end and the controlled end negotiate at port P1. After the negotiation is complete, both the remote control end and the controlled end run the control module corresponding to the controlled end's equipment type. The control module of the remote control end runs in remote control mode, and the control module of the controlled end runs in controlled mode. The control flow direction is: from port P2 of the remote control end to port P2 of the controlled end. After the data is decapsulated, it is forwarded by the controlled end to the corresponding physical interface. The data flow direction is: obtaining data from the physical interface of the controlled end, forwarding the data from port P2 of the controlled end to port P2 of the remote control end after encapsulation. After the data is decapsulated, the remote end completes data parsing and processing. The redirection mechanism of control flow and data flow is as follows: the operator selects the remote node to be controlled in the scene window of the reconnaissance situation module interface and initiates a control application. After authorization, the remote node obtains the equipment type and queries whether the local terminal has the corresponding control module. According to the query results, the control initialization process is completed. After preparation, through control message interaction, the local node and the remote node negotiate to complete the redirection of control flow and data flow, disconnect the connection between the remote node's own operating terminal and the local device, and the local device instead accepts the UDP control flow control received from the network; the sensor output data stream is distributed to the remote node. At the same time, if the local device involves real-time image acquisition function, the local device compresses the digital video into streaming media transmission.

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