A single bus control system for programmable physical maze

Abstract

The present invention provides a programmable physical maze single bus control system, which relates to the field of data processing technology, including a central control module and a plurality of controlled nodes, and also includes: a path information acquisition module; a path guidance generation module; an instruction execution module; a feedback classification module, which is used to monitor and collect path execution data, perform hierarchical processing on the path execution data, and generate node feedback data; a feedback transmission module, which is used to sequentially transmit the node feedback data to the central control module according to the feedback level to form a path feedback set; a dynamic path guidance module, which is used to generate a second priority identifier according to the path feedback set, and update the path guidance data according to the second priority identifier to generate path update data; a data batch transmission module, which is used to transmit the transmission data to each controlled node in batches when the single bus transmission data flow is greater than a preset flow threshold. The present invention improves the fluency and timeliness of single bus data transmission.

Description

Technical Field

[0001] The invention relates to the technical field of data processing, in particular to a programmable physical maze single bus control system. Background Art

[0002] At present, with the rapid development of programmable control technology, the application of control systems based on single bus in multi-entity interactive environments is becoming more and more widespread, especially in complex scenarios such as maze-like path guidance. Existing single bus control systems usually communicate with multiple controlled entities (such as navigation nodes, path indicators, etc.) through a central control node. The system specifies the operating parameters of each entity through programming to achieve dynamic guidance and path reorganization of the overall path. This type of system usually uses a single bus structure to simplify wiring and reduce hardware complexity, and writes programs in the central control unit to centrally manage and quickly respond to the needs of each entity.

[0003] However, the existing single-bus control system has the problem of difficulty in accurately handling the interaction between multiple entities when implementing dynamic maze path planning. Especially in practical applications, the path information, state feedback, and navigation instructions of each entity must be transmitted through a single bus. Once a node in the path (such as the path indicator light at a key corner) lags due to too much data flow, the guidance effect of the entire maze path will be invalid. For example, when multiple controlled nodes receive path instructions from the central control node at the same time, the bus is prone to data congestion, which greatly reduces the real-time performance of path guidance and affects the reliability of the entire system. Summary of the invention

[0004] The object of the present invention is to provide a programmable physical maze single bus control system, aiming to solve the problems mentioned in the background technology.

[0005] In order to solve the above technical problems, the technical solution of the present invention is as follows:

[0006] A programmable physical maze single bus control system includes a central control module and a plurality of controlled nodes, wherein the controlled nodes include navigation nodes and path indicator lights, and further includes:

[0007] The path information collection module is used to obtain the unique identifier and initial position of the controlled node, and to partition and sort the controlled nodes by area or distance to obtain partition node data;

[0008] A path guidance generating module, used for assigning a first priority identifier to each partition node data, and generating path guidance data according to the first priority identifier;

[0009] The instruction execution module is used to receive the path guidance data and transmit it to the corresponding controlled node through the single bus. Each controlled node performs operations in turn according to the path guidance data to generate path execution data.

[0010] The feedback classification module is used to monitor and collect path execution data, classify the path execution data, and generate node feedback data. The node feedback data includes the real-time status, path completion status and feedback level of each controlled node;

[0011] A feedback transmission module is used to transmit node feedback data to the central control module in sequence according to the feedback level to form a path feedback set;

[0012] A dynamic path guidance module, used to generate a second priority identifier according to the path feedback set, and update the path guidance data according to the second priority identifier to generate path update data;

[0013] The data batch transmission module is used to transmit the corresponding transmission data to each controlled node in batches according to the first priority identifier or the second priority identifier when the single bus transmission data flow is greater than a preset flow threshold.

[0014] Preferably, the method for obtaining the unique identifier and initial position of the controlled node and partitioning and sorting the controlled nodes by area or distance to obtain partition node data includes:

[0015] Acquire a unique identifier and an initial position of each controlled node from the plurality of controlled nodes when the system is started;

[0016] Generate node basic data according to the physical location information or number information of each controlled node, the node basic data including a unique identifier and an initial location of each controlled node;

[0017] Partition the controlled nodes according to the preset area or distance to form partition information, each partition includes a unique central node, which is a turning point or convergence point;

[0018] According to the distance from the central node, the nodes in the partition are arranged in order to generate partition node data. The partition node data contains the unique identification, location parameters and sorting information of each controlled node.

[0019] Preferably, the method for assigning a first priority identifier to each partition node data and generating path guidance data according to the first priority identifier includes:

[0020] receiving partition node data, and assigning a first priority identifier to each partition node according to the regional location and distance of the partition node data;

[0021] Analyzing the distances and regional locations between nodes in the partition node data according to the first priority identifier and the sorting information, and determining the first node priority of each node in the path guidance;

[0022] According to the first node priority and the preset path guidance logic, path guidance data is generated, and the path guidance data includes the operation instructions of each node, the target path parameters, the first priority identifier and the first node priority.

[0023] Preferably, the method is used to receive the path guidance data and transmit it to the corresponding controlled node through a single bus, and each controlled node performs operations in sequence according to the path guidance data to generate path execution data, including:

[0024] receiving path guidance data, and transmitting the path guidance data to a corresponding controlled node via a single bus;

[0025] During the transmission process, the transmission is performed in batches according to the first priority identifier and the first node priority in the path guidance data;

[0026] After receiving the path guidance data, each controlled node sequentially executes the preset path operation according to the operation instructions and target path parameters in the guidance data, and generates path execution data;

[0027] The path execution data includes the operation completion flag, node status and feedback time of the controlled node.

[0028] Preferably, it is used to monitor and collect path execution data, perform hierarchical processing on the path execution data, and generate node feedback data, the node feedback data includes the real-time status, path completion status and feedback level of each controlled node, including:

[0029] Receive and monitor the path execution data, determine the feedback level of the graded feedback data according to the feedback time and node status of each node, and mark the feedback data as different feedback levels;

[0030] The feedback level is achieved by the following formula:

[0031] ,

[0032] in, For Node The feedback level, The node controlled nodes include navigation nodes, and path indicators, and the execution status, For Node Feedback time, For Node The deviation distance from the system target, For Node The response speed, For Node The percentage of task completion, For Node The standard feedback value of , , and is the weight coefficient of the feedback level;

[0033] Determine the feedback level of the node according to the comparison between the preset feedback level threshold and the feedback level value;

[0034] When the feedback level is lower than the preset feedback level threshold, the feedback grading module generates an abnormal feedback mark and transmits the abnormal information to the central control module for processing;

[0035] According to the feedback level, the path execution data is marked separately to obtain the node feedback data;

[0036] The node feedback data includes the real-time status, path completion status and feedback level of each controlled node.

[0037] Preferably, the method for transmitting node feedback data to the central control module in sequence according to the feedback level to form a path feedback set includes:

[0038] Receive node feedback data, and transmit the node feedback data to the central control module in sequence according to the feedback level to form a path feedback set;

[0039] During the feedback transmission process, the feedback transmission module monitors the data transmission status.

[0040] Preferably, the method is used to generate a second priority identifier according to the path feedback set, and to update the path guidance data according to the second priority identifier to generate the path update data, including:

[0041] receiving a path feedback set, and generating a second priority identifier based on a feedback level, a node state, and a first priority identifier in the path feedback set;

[0042] By analyzing the real-time status, feedback level and second priority identifier of each node in the path feedback set, the first node priority of each node is readjusted to obtain the second node priority;

[0043] The second node priority is implemented by the following formula:

[0044] ,

[0045] in, For Node The second node priority, For Node The feedback level, For Node The average response time, , is the weight parameter, For Node The basic score, is the distance correction factor, For Node The distance from the central node, For Node The average response time in historical tasks, For Node The task completion rate is expressed as a value between 0 and 1. For Node In the Feedback level in feedback, For Node The mean feedback level of For Node Total number of feedbacks;

[0046] The path guidance data is updated according to the second priority identifier and the second node priority to generate path update data.

[0047] Preferably, updating the path guidance data according to the second priority identifier and the second node priority to generate the path update data includes:

[0048] Compare the second node priority of each controlled node with its original priority, and if the second node priority is higher than the original priority, update the operation instruction of the node in the path guidance data to a new path instruction to obtain a new path instruction set;

[0049] Generate path update data according to the new path instruction set, the path update data including new path instruction operation instructions, target path parameters and priority information;

[0050] Send the path update data to the instruction execution module and monitor the feedback status of the controlled nodes at the same time.

[0051] Preferably, when the single bus transmission data flow is greater than a preset flow threshold, the corresponding transmission data is transmitted in batches to each controlled node according to the first priority identifier or the second priority identifier, including:

[0052] Monitor the data flow of the single bus, and issue a batch processing instruction when the data flow of the single bus is greater than a preset flow threshold;

[0053] The batch processing instruction is automatically updated according to the first priority identifier or the second priority identifier to generate a transmission instruction;

[0054] According to the transmission instructions, the path guidance data or path update data is transmitted to each controlled node in batches.

[0055] Preferably, the data batch transmission module further includes a real-time traffic monitoring and threshold automatic adjustment module, which is used to monitor the data traffic of the single bus and dynamically adjust the transmission threshold;

[0056] When the traffic monitoring module detects that the bus transmission traffic continues to exceed or fall below the preset traffic threshold, it automatically adjusts the threshold for batch transmission. The transmission threshold is calculated using the following formula:

[0057] ,

[0058] in, is the adjusted transmission threshold, is the current preset flow threshold, is the currently monitored data flow, , is the adjustment coefficient, For the The data flow rate monitored is the average value of data traffic, The total number of data traffic monitoring times.

[0059] The above solution of the present invention includes at least the following beneficial effects:

[0060] This system solves the data congestion and path guidance failure problems of existing single-bus control systems in complex maze path guidance environments by designing a programmable physical maze single-bus control system. Traditional single-bus control systems usually establish a single communication channel between the central control node and multiple controlled entities. Although this structure can simplify wiring and reduce hardware costs in practical applications, when dealing with complex path guidance tasks, the large amount of data between multiple entities causes transmission lags, thus affecting the real-time nature of path guidance and the reliability of the overall system.

[0061] Through the coordinated work of the path information acquisition module, the path guidance generation module, the instruction execution module, the feedback classification module, the feedback transmission module, the dynamic path guidance module and the data batch transmission module in the system, the present invention realizes efficient management and real-time path guidance of multiple controlled nodes. Under the action of the path information acquisition module, the system first obtains the unique identification and initial position of each controlled node, and sorts the nodes by area and distance to generate partition node data. In this way, the partition nodes are assigned priorities through the path guidance generation module, and the system can ensure that the key nodes have a higher response priority in the initial stage of path guidance, which greatly improves the stability and directionality of path guidance.

[0062] The instruction execution module transmits the path guidance data through a single bus. Each controlled node executes the path guidance in turn according to the priority order, generates the path execution data, and feeds back to the system in real time. The feedback classification module generates node feedback data by classifying the feedback level of the path execution data, and with the assistance of the feedback transmission module, transmits the feedback data to the central control module according to the priority to form a path feedback set. Through this multi-level feedback and data transmission method, the system realizes dynamic monitoring of the path status in a complex environment with multiple nodes, ensuring that each node in the path guidance can transmit and receive instructions in real time.

[0063] In addition, the dynamic path guidance module introduced by the system generates a second priority identifier and updates the path guidance data by analyzing the feedback level, node status and priority in the path feedback set, and generates path update data, so that the system can adapt to changes in node status during the path guidance process, thereby improving the response speed of path guidance. When the bus data transmission is too high, the data batch transmission module transmits the data in batches according to the set priority, ensuring that the data of high-priority nodes is transmitted first, so as to avoid path guidance delays due to data congestion.

[0064] Compared with the existing technology, this system effectively solves the data lag problem of single-bus control systems in complex maze scenarios through the design of partitioning, priority management, real-time feedback processing and dynamic path adjustment, and improves the real-time performance of path guidance. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Figure 1 It is an architecture diagram of a programmable physical maze single bus control system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0066] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0067] like Figure 1 As shown, an embodiment of the present invention proposes a programmable physical maze single bus control system, wherein the controlled nodes include navigation nodes and path indicator lights, a central control module and multiple controlled nodes, and further includes:

[0068] The path information collection module is used to obtain the unique identifier and initial position of the controlled node, and to partition and sort the controlled nodes by area or distance to obtain partition node data;

[0069] A path guidance generating module, used for assigning a first priority identifier to each partition node data, and generating path guidance data according to the first priority identifier;

[0070] The instruction execution module is used to receive the path guidance data and transmit it to the corresponding controlled node through the single bus. Each controlled node performs operations in turn according to the path guidance data to generate path execution data.

[0071] The feedback classification module is used to monitor and collect path execution data, classify the path execution data, and generate node feedback data. The node feedback data includes the real-time status, path completion status and feedback level of each controlled node;

[0072] A feedback transmission module is used to transmit node feedback data to the central control module in sequence according to the feedback level to form a path feedback set;

[0073] A dynamic path guidance module, used to generate a second priority identifier according to the path feedback set, and update the path guidance data according to the second priority identifier to generate path update data;

[0074] The data batch transmission module is used to transmit the corresponding transmission data to each controlled node in batches according to the first priority identifier or the second priority identifier when the single bus transmission data flow is greater than a preset flow threshold.

[0075] In an embodiment of the present invention, the system realizes precise guidance and dynamic adjustment of maze-like multi-node paths through multiple functional modules such as a path information acquisition module, a path guidance generation module, an instruction execution module, a feedback classification module, a feedback transmission module, a dynamic path guidance module, and a data batch transmission module. The path information acquisition module is responsible for obtaining the unique identification and initial position of each controlled node, and partitioning and sorting these nodes to ensure that the path information of each node remains in order during path guidance. The path guidance generation module assigns a first priority identification to each node based on the partitioned node data, generates path guidance data, and makes the path guidance have stronger directionality and accuracy in the maze scene. After receiving the path guidance data, each controlled node is controlled by the instruction execution module to perform operations in sequence and generate path execution data, so that the system has clear execution feedback in path guidance.

[0076] With the support of the feedback classification module, the system can classify the path execution data according to the execution status and feedback time of the node, and generate node feedback data containing feedback levels. These node feedback data are summarized to the central control module through the feedback transmission module to form a path feedback set, which is used to further generate updated path guidance. The system also has a dynamic path guidance module, which generates a second priority identifier based on the path feedback set, and updates the path guidance data based on this to ensure that the system's response to the path guidance can be adjusted in real time. When the bus traffic exceeds the preset threshold, the data batch transmission module can automatically process high-priority and low-priority data transmission requirements in batches to avoid path data lags due to excessive traffic in the bus.

[0077] The advantage of this system is that, through the collaborative work of various modules, closed-loop control of path information collection, path guidance data generation, real-time feedback transmission and path dynamic update is realized. Compared with the traditional single-bus control system, this system can not only efficiently manage multi-node path guidance, but also has the ability to dynamically adjust to high load conditions in complex maze paths. For example, when multiple controlled nodes are concentrated at key nodes for path guidance, the system can update the priority in real time and transmit data in batches to ensure the continuity and real-time nature of path guidance, effectively avoiding the response lag caused by path congestion.

[0078] In a preferred embodiment of the present invention, the method for obtaining the unique identifier and initial position of the controlled node and partitioning and sorting the controlled nodes by area or distance to obtain partitioned node data includes:

[0079] Acquire a unique identifier and an initial position of each controlled node from the plurality of controlled nodes when the system is started;

[0080] Generate node basic data according to the physical location information or number information of each controlled node, the node basic data including a unique identifier and an initial location of each controlled node;

[0081] Partition the controlled nodes according to the preset area or distance to form partition information, each partition includes a unique central node, which is a turning point or convergence point;

[0082] According to the distance from the central node, the nodes in the partition are arranged in order to generate partition node data. The partition node data contains the unique identification, location parameters and sorting information of each controlled node.

[0083] In an embodiment of the present invention, the path information acquisition module partitions each node by area or distance by obtaining the unique identifier and initial position of the controlled node, and forms partition node data containing position parameters and sorting information. Through this partitioning and sorting method, the system can quickly locate the key node positions and path turning points during path guidance, thereby improving the accuracy and operability of path guidance. In the node partitioning process, the system classifies nodes that are close or located in the same area into a group based on the node physical location information or number, combined with the preset area or distance rules, and selects a central node for each group of partitions. The central node is usually located at a key position of the path, such as a turning point or a convergence point, so that the path guidance generation module can prioritize the data of these nodes, thereby ensuring the continuity and guidance efficiency of the path guidance.

[0084] By reasonably partitioning and sorting the node positions, the path information collection module can organize the path data into orderly partition node data, which contains the unique identification, location parameters and sorting information of each node. In path guidance, these partition node data lay the data foundation for the subsequent priority allocation and dynamic path update of the system. Compared with the simple data acquisition method in the prior art, partition node data enables the system to have stronger control capabilities in maze path guidance. For example, when it is necessary to accurately locate the key path nodes, the system can quickly select the corresponding priority nodes through the partition node data to achieve more refined path guidance.

[0085] Specifically, according to the distance from the central node, the nodes in the partition are arranged in order to generate partition node data. The partition node data contains the unique identification, location parameters and sorting information of each controlled node, which can be the Euclidean distance or Manhattan distance between the node and the central node to ensure that the nodes closer to the central node can get the instruction response faster during the path guidance process. According to the calculated Euclidean distance or Manhattan distance, the path information collection module arranges the nodes in ascending order to ensure that the nodes closest to the central node are in front.

[0086] The generated partition node data will include the unique identifier, location parameters and sorting information of each controlled node, which will be used for the subsequent path guidance generation module to perform path guidance data processing.

[0087] In a preferred embodiment of the present invention, the method for allocating a first priority identifier to each partition node data and generating path guidance data according to the first priority identifier includes:

[0088] receiving partition node data, and assigning a first priority identifier to each partition node according to the regional location and distance of the partition node data;

[0089] Analyzing the distances and regional locations between nodes in the partition node data according to the first priority identifier and the sorting information, and determining the first node priority of each node in the path guidance;

[0090] According to the first node priority and the preset path guidance logic, path guidance data is generated, and the path guidance data includes the operation instructions of each node, the target path parameters, the first priority identifier and the first node priority.

[0091] In an embodiment of the present invention, the path guidance generation module assigns a first priority identifier to each node based on the partition node data, and generates path guidance data according to the priority identifier. Through the path guidance generation module, the system can determine the priority of each node according to the position and distance of each partition node, so that the path guidance can be executed in an orderly manner, especially for key path nodes, the priority identifier can ensure that these nodes are given priority in path execution. In the process of generating path guidance data, the system analyzes the sorting information of each node, and gradually calculates the first node priority in the path guidance according to the distance between each node and the central node. Combined with the preset path guidance logic, the path guidance data includes operation instructions, target path parameters, first priority identifiers and first node priorities, ensuring the accuracy of the guidance order and parameter configuration of each node in the path execution.

[0092] By finely generating path guidance data, the path guidance generation module ensures the system's overall control over path guidance, making the system flexible and adaptable in maze-like path guidance. Compared with traditional path guidance methods, this system can achieve partitioned control based on the regional location and priority allocation of nodes, thereby improving the efficiency of path guidance. For example, at multiple path intersections, by assigning priorities to different partitioned nodes, the system can ensure smooth path guidance for key nodes, thereby avoiding misjudgments and delays caused by node confusion or path guidance conflicts.

[0093] Specifically, after receiving the partition node data, the path guidance generation module assigns a first priority mark to each node based on the node's distance, regional location, and importance. The module first determines the importance of the node by analyzing the node's partition information and preset standards. For example, important turning nodes or connecting nodes will receive a higher priority mark.

[0094] For example, a database is built that contains the preset priority values ​​for each node type (such as 1.5 for key nodes, 1.0 for ordinary nodes, and 0.5 for secondary nodes). The module traverses the partition node data, finds the preset priority in the database for each node, and assigns it a value.

[0095] Specifically, after the priority identifier is assigned, the path guidance generation module generates path guidance data according to the priority of each node. This data will include the operation instructions and target path parameters of each node.

[0096] For example, the path guidance logic rules are formulated to clarify the operation instructions of each node at different priorities, such as giving priority to the steering instructions of key nodes, which can refer to the existing technology. The generated path guidance data is structured, including node identifiers, priorities, operation instructions and path parameters, so as to be passed to the instruction execution module.

[0097] Specifically, the path guidance generation module transmits the generated path guidance data to the instruction execution module so that the controlled nodes can perform operations in sequence according to the path guidance instructions.

[0098] For example, a single bus protocol can be used to package the path guidance data and send it to the instruction execution module; batch transmission can be implemented to reduce conflicts during data transmission. After receiving the data, the instruction execution module confirms the data integrity and sends a feedback signal to ensure that the path guidance data is successfully transmitted.

[0099] In a preferred embodiment of the present invention, the path guiding data is received and transmitted to the corresponding controlled node through a single bus, and each controlled node performs operations in sequence according to the path guiding data to generate path execution data, including:

[0100] receiving path guidance data, and transmitting the path guidance data to a corresponding controlled node via a single bus;

[0101] During the transmission process, the transmission is performed in batches according to the first priority identifier and the first node priority in the path guidance data;

[0102] After receiving the path guidance data, each controlled node sequentially executes the preset path operation according to the operation instructions and target path parameters in the guidance data, and generates path execution data;

[0103] The path execution data includes the operation completion flag, node status and feedback time of the controlled node.

[0104] In an embodiment of the present invention, the instruction execution module is used to receive path guidance data and transmit the data to the corresponding controlled node through a single bus. Each node performs operations in sequence according to the priority order in the path guidance data to generate path execution data. Through the instruction execution module, the system can transmit the path guidance data to the corresponding node in batches according to the first priority identifier and the first node priority in the path guidance data, ensuring that the execution order and operation parameters of each node are effectively managed during the path guidance process. After receiving the path guidance data, each controlled node performs the path operation in sequence according to the operation instructions and target path parameters in the guidance data, and generates path execution data after completion. The path execution data contains the node's operation completion identifier, node status and feedback time, which is used to monitor the execution status of each node in real time.

[0105] This design ensures the continuity and control effect of the path guidance data during transmission, and avoids congestion caused by multiple nodes receiving path guidance instructions at the same time. Compared with the traditional single-bus control system, this system can realize batch control and priority sorting during the path guidance data transmission process, improving the stability of path guidance. For example, at the key corners in the maze path, the system can give priority to transmitting the path guidance data to the key nodes, ensuring that the path guidance data arrives in the preset priority order, avoiding instruction interference between nodes, and enhancing the accuracy and real-time performance of path guidance.

[0106] In a preferred embodiment of the present invention, it is used to monitor and collect path execution data, perform hierarchical processing on the path execution data, and generate node feedback data, the node feedback data includes the real-time status of each controlled node, the path completion status and the feedback level, including:

[0107] Receive and monitor the path execution data, determine the feedback level of the graded feedback data according to the feedback time and node status of each node, and mark the feedback data as different feedback levels;

[0108] The feedback level is achieved by the following formula:

[0109] ,

[0110] in, is the feedback level of node i, The node controlled nodes include navigation nodes and path indicators, and the execution status is expressed as a numerical value, for example, normal execution is 1, abnormal status is 0.5, etc. is the node’s feedback time, Set the deviation distance of the system target for the node and the instruction, is the response speed of the node, expressed as the inverse of the feedback time, is the task completion percentage of the node, is the standard feedback value, which indicates the ideal state of the node without deviation. , , and The weight coefficient of the feedback level is set based on system requirements and is used to adjust the impact of different feedback parameters on the feedback level;

[0111] Determine the feedback level of the node according to the comparison between the preset feedback level threshold and the feedback level value;

[0112] When the feedback level is lower than the preset feedback level threshold, the feedback grading module generates an abnormal feedback mark and transmits the abnormal information to the central control module for processing;

[0113] According to the feedback level, the path execution data is marked separately to obtain the node feedback data;

[0114] The node feedback data includes the real-time status, path completion status and feedback level of each controlled node.

[0115] In an embodiment of the present invention, the feedback grading module is used to perform grading processing on the path execution data generated by the instruction execution module, by analyzing the execution status, feedback time and operation completion mark of each controlled node, generating node feedback data and grading it according to this information. During the path feedback process, the module assigns a feedback level to each node, and divides the feedback data of each node according to the feedback level to form node feedback data with a hierarchical structure. Through this grading processing, the feedback grading module ensures that during the feedback transmission process, the feedback data of high-priority nodes are processed and transmitted to the central control module first, effectively reducing the delay of system response and improving the real-time monitoring capability of path execution.

[0116] The calculation formula of feedback level realizes accurate evaluation of node feedback by integrating multiple parameters such as the execution status, feedback time, response speed and expected feedback of the node. In the calculation of feedback level, the execution status is used to identify the normal or abnormal state of the node, the feedback time and response speed reflect the timeliness of the node execution, and the expected feedback is used to judge the accuracy of the node feedback. The use of this formula makes the evaluation of feedback level more refined and avoids the errors caused by single-dimensional feedback evaluation. For example, when the feedback of a key node lags behind, the feedback grading module can immediately detect the drop in its feedback level, thereby giving priority to transmitting the feedback data of this node to the central control module, so that the system can respond quickly to feedback delays.

[0117] In a preferred embodiment of the present invention, the node feedback data is sequentially transmitted to the central control module according to the feedback level to form a path feedback set, including:

[0118] Receive node feedback data, and transmit the node feedback data to the central control module in sequence according to the feedback level to form a path feedback set;

[0119] During the feedback transmission process, the feedback transmission module monitors the data transmission status.

[0120] In an embodiment of the present invention, the feedback transmission module is responsible for receiving the node feedback data generated by the feedback classification module, and transmits the node feedback data to the central control module in sequence according to the first priority identifier of the node to form a path feedback set. During the feedback transmission process, the module prioritizes the nodes according to their priorities, and transmits the feedback data of high-priority nodes first, thereby ensuring that the central control module can process the feedback information of key nodes in a timely manner. Through the design of this transmission sequence, the feedback transmission module ensures the efficiency and accuracy of the path feedback, so that the system has the ability to respond quickly to the feedback data generated during the path guidance process.

[0121] The path feedback set contains the real-time status, feedback level, and operation completion status of all controlled nodes, providing a complete data basis for the subsequent update of path guidance data. During the path guidance process, the feedback transmission module can dynamically adjust the transmission order, especially in the case of high traffic or large feedback data volume, by giving priority to the transmission of high-priority feedback data, avoiding the delay problem caused by the bandwidth occupied by low-priority feedback data. For example, when an important node in the path has a feedback anomaly, the feedback transmission module can give priority to transmitting the data of this node, ensuring that the central control module makes timely adjustments to the path guidance, effectively improving the accuracy and stability of the path guidance.

[0122] In a preferred embodiment of the present invention, the method for generating a second priority identifier according to a path feedback set, and updating the path guidance data according to the second priority identifier to generate path update data includes:

[0123] receiving a path feedback set, and generating a second priority identifier based on a feedback level, a node state, and a first priority identifier in the path feedback set;

[0124] By analyzing the real-time status, feedback level and second priority identifier of each node in the path feedback set, the first node priority of each node is readjusted to obtain the second node priority;

[0125] The second node priority is implemented by the following formula:

[0126] ,

[0127] in, For Node The second node priority, For Node The feedback level, For Node The importance index of the node Importance score in path guidance, The historical response status, including the response time and accuracy of the last feedback, is the feedback volatility, which represents the standard deviation of the feedback data, is the feedback time, which is used to reflect the dynamic changes of priority. For Node The deviation distance from the system target, For Node The average feedback time is used to dynamically adjust the priority. , is the weight parameter of the priority formula, which is used to control the influence of feedback level and node status on the priority;

[0128] ,

[0129] in, For Node The basic importance score of Function presets, is the distance correction factor, which is used to increase the distance effect from the path center node. For Node The distance from the central node.

[0130] ,

[0131] in, For Node The average response time in historical tasks, For Node The task completion rate is expressed as a value between 0 and 1, such as 100% completion rate is 1, and 50% completion rate is 0.5;

[0132] ,

[0133] in, For Node In the Feedback level in feedback, For Node The mean feedback level of n is the node Total number of feedbacks;

[0134] The path guidance data is updated according to the second priority identifier and the second node priority to generate path update data.

[0135] In an embodiment of the present invention, the dynamic path guidance module generates a second priority identifier by receiving a path feedback set generated by the feedback transmission module, and updates the path guidance data according to the feedback data and the second node priority. During the path guidance process, the dynamic path guidance module dynamically adjusts the path guidance strategy according to the feedback level, node status and priority information in the feedback set, so that the path guidance can be optimized according to the real-time feedback of the node. The second priority identifier plays a key role in this process. By re-ordering the priorities, the path guidance data can adapt to the node changes in actual operation.

[0136] When updating the path guidance data, the system generates new path update data based on the second priority identifier and the second node priority to ensure that high-priority nodes receive timely path guidance. The module's dynamic adjustment mechanism continuously optimizes the path guidance scheme through feedback data, so that the system can still maintain the real-time and accuracy of path guidance in a complex multi-node environment. For example, when multiple node feedback shows that the path is congested or delayed, the dynamic path guidance module will reallocate priorities based on real-time feedback to ensure that the path data of key nodes is transmitted and executed first, significantly improving the stability of path guidance.

[0137] Specifically, a path feedback set is received, and a second priority identifier is generated based on the feedback level, node status, and first priority identifier in the path feedback set. The core of this step is to dynamically analyze the feedback level, node status, and first priority identifier in the path feedback set to determine the latest priority of each node in the current path guidance stage. The system adjusts the priority of the node based on real-time feedback, so that the path guidance can be adaptively updated according to the real-time status of the node.

[0138] When generating the second priority identification, the module sets different priority levels according to the status of the node feedback data (such as execution delay, feedback response time, feedback anomaly, etc.). For example, nodes with delayed feedback can be given a higher priority so that they can be processed first in subsequent path updates; while nodes with normal feedback status maintain or reduce their priority so that the system can concentrate resources on processing potential bottleneck nodes.

[0139] For example, the module first parses the data in the path feedback set, extracts the feedback level, status information and first priority identifier of each node, and dynamically generates the second priority identifier based on the execution status, response time and other factors of each node in the node feedback data.

[0140] According to the second priority identifier, it is written into the path guiding data to ensure that the subsequent guiding data transmission is executed according to the updated priority.

[0141] Specifically, according to the second priority identifier and the second node priority, the path guidance data is updated to generate path update data, which is to adjust the path guidance data in real time based on the feedback to ensure the continuity and accuracy of the path guidance. In this step, the system will monitor the execution status of the path guidance. If it is detected that the high-priority node does not execute the path guidance as expected, the system will immediately adjust the path guidance data to ensure that the instructions of the key nodes are delivered and executed first. This process allows the system to make flexible adjustments to the path data in real-time path guidance, enhancing the adaptability of maze path guidance.

[0142] In actual operation, if a key node fails to execute according to the updated path guidance data, the dynamic path guidance module will reduce or delay the execution priority of other nodes, thereby freeing up bandwidth and giving priority to ensuring that the path guidance of the key nodes is completed smoothly. Through this dynamic adjustment, the system can effectively reduce the lag of path guidance and ensure the consistency of path guidance in a complex multi-node environment.

[0143] For example, the dynamic path guidance module continuously monitors the node execution status in the instruction execution module and extracts execution status data, including operation completion, feedback delay, response time, etc. When abnormal feedback from a high-priority node is detected, the module increases the priority of the node and delays or batches the data transmission of other low-priority nodes.

[0144] For path guidance data that needs to be updated immediately, the module will prioritize retransmitting the path guidance instructions of high-priority nodes to the instruction execution module to ensure unimpeded data transmission of key nodes; when the feedback from key nodes returns to normal, data transmission of other nodes will be resumed.

[0145] Specifically, the path guidance data is updated according to the second priority identifier and the second node priority to generate path update data, including:

[0146] Compare the second node priority of each controlled node with its original priority, and if the second node priority is higher than the original priority, update the operation instruction of the node in the path guidance data to a new path instruction to obtain a new path instruction set;

[0147] Generate path update data according to the new path instruction set, the path update data including new path instruction operation instructions, target path parameters and priority information;

[0148] Send the path update data to the instruction execution module and monitor the feedback status of the controlled nodes at the same time.

[0149] In an embodiment of the present invention, the path update module updates the path guidance data in real time by receiving the second priority identifier and the second node priority generated by the dynamic path guidance module to generate path update data. The path update module first parses the second priority identifier to determine the new priority of each node, and readjusts the operation instructions and path parameters in the path guidance data according to the updated priority to ensure the response flexibility and data accuracy of the path guidance. During the update process, the path update module updates the instruction execution order and node priority according to the priority rule, so that the key nodes can execute the path guidance first, ensuring the efficient control of the system over the path guidance.

[0150] When generating path update data, the path update module dynamically adjusts the priority according to the feedback of the node, and generates the corresponding path instruction data according to the new priority, so that the system can adapt to the complex path guidance requirements of multiple nodes. For example, in a complex multi-node path, when the system detects that a key node has abnormal feedback, the path update module can quickly generate a new priority identifier and adjust the path guidance data to ensure that the path guidance of important nodes is given priority, thereby ensuring the continuity and accuracy of path guidance.

[0151] In a preferred embodiment of the present invention, when the single bus transmission data flow is greater than a preset flow threshold, the corresponding transmission data is transmitted in batches to each controlled node according to the first priority identifier or the second priority identifier, including:

[0152] Monitor the data flow of the single bus, and issue a batch processing instruction when the data flow of the single bus is greater than a preset flow threshold;

[0153] The batch processing instruction is automatically updated according to the first priority identifier or the second priority identifier to generate a transmission instruction;

[0154] According to the transmission instructions, the path guidance data or path update data is transmitted to each controlled node in batches.

[0155] In an embodiment of the present invention, the data batch transmission module is used to prioritize the transmission data when the single bus transmission traffic exceeds a preset threshold. Through real-time traffic monitoring, the module can detect the traffic status of the bus. Once the data traffic reaches the preset threshold, the module automatically processes the data transmission in batches to prevent path guidance delays caused by excessive data traffic. During the batch transmission process, the module prioritizes the transmission of data from high-priority nodes, so that high-priority nodes can still obtain timely path guidance in congestion. Low-priority data is transmitted in batches after the traffic is relieved to ensure the reasonable allocation of bus bandwidth.

[0156] In a preferred embodiment of the present invention, the data batch transmission module further includes a real-time traffic monitoring and threshold automatic adjustment module, which is used to monitor the data traffic of the single bus and dynamically adjust the transmission threshold;

[0157] When the traffic monitoring module detects that the bus transmission traffic continues to exceed or fall below the preset traffic threshold, it automatically adjusts the threshold for batch transmission. The transmission threshold is calculated using the following formula:

[0158] ,

[0159] in, is the adjusted transmission threshold, is the current preset flow threshold, is the currently monitored data flow, , is the adjustment coefficient, For the The data flow rate monitored is the average value of data traffic, The total number of data traffic monitoring times.

[0160] In an embodiment of the present invention, when data is processed in batches, the real-time traffic monitoring mechanism automatically adjusts the threshold so that the system can adjust the batch and transmission order according to the real-time traffic situation. The threshold automatic adjustment formula comprehensively considers the current traffic, historical traffic fluctuations and traffic standard deviation, making the regulation of data transmission more flexible and efficient. For example, during the maze path guidance process, when multiple controlled nodes are at the turning point of the path at the same time, the system detects that the bus traffic exceeds the threshold, and the data batch transmission module begins to prioritize the transmission of key node data, ensuring the continuity of high-priority path guidance, and effectively improving the system's adaptability and real-time control capabilities.

[0161] The above is 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 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 programmable physical maze single bus control system, comprising a central control module and a plurality of controlled nodes, wherein the controlled nodes include navigation nodes and path indicator lights, characterized in that: Also includes: The path information collection module is used to obtain the unique identifier and initial position of the controlled node, and to partition and sort the controlled nodes by area or distance to obtain partition node data; A path guidance generating module, used for assigning a first priority identifier to each partition node data, and generating path guidance data according to the first priority identifier; The instruction execution module is used to receive the path guidance data and transmit it to the corresponding controlled node through the single bus. Each controlled node performs operations in turn according to the path guidance data to generate path execution data. The feedback classification module is used to monitor and collect path execution data, classify the path execution data, and generate node feedback data. The node feedback data includes the real-time status, path completion status and feedback level of each controlled node; A feedback transmission module is used to transmit node feedback data to the central control module in sequence according to the feedback level to form a path feedback set; A dynamic path guidance module, used to generate a second priority identifier according to the path feedback set, and update the path guidance data according to the second priority identifier to generate path update data; The data batch transmission module is used to transmit the corresponding transmission data to each controlled node in batches according to the first priority identifier or the second priority identifier when the single bus transmission data flow is greater than a preset flow threshold.

2. A programmable physical maze single bus control system according to claim 1, characterized in that: Used to obtain the unique identifier and initial position of the controlled node, and partition and sort the controlled nodes by area or distance to obtain partition node data, including: Acquire a unique identifier and an initial position of each controlled node from the plurality of controlled nodes when the system is started; Generate node basic data according to the physical location information or number information of each controlled node, the node basic data including a unique identifier and an initial location of each controlled node; Partition the controlled nodes according to the preset area or distance to form partition information, each partition includes a unique central node, which is a turning point or convergence point; According to the distance from the central node, the nodes in the partition are arranged in order to generate partition node data. The partition node data contains the unique identification, location parameters and sorting information of each controlled node.

3. A programmable physical maze single bus control system according to claim 2, characterized in that: Used to assign a first priority identifier to each partition node data, and generate path guidance data according to the first priority identifier, including: receiving partition node data, and assigning a first priority identifier to each partition node according to the regional location and distance of the partition node data; Analyzing the distances and regional locations between nodes in the partition node data according to the first priority identifier and the sorting information, and determining the first node priority of each node in the path guidance; According to the first node priority and the preset path guidance logic, path guidance data is generated, and the path guidance data includes the operation instructions of each node, the target path parameters, the first priority identifier and the first node priority.

4. A programmable physical maze single bus control system according to claim 3, characterized in that: It is used to receive the path guidance data and transmit it to the corresponding controlled node through a single bus. Each controlled node performs operations in sequence according to the path guidance data to generate path execution data, including: receiving path guidance data, and transmitting the path guidance data to a corresponding controlled node via a single bus; During the transmission process, the transmission is performed in batches according to the first priority identifier and the first node priority in the path guidance data; After receiving the path guidance data, each controlled node sequentially executes the preset path operation according to the operation instructions and target path parameters in the guidance data, and generates path execution data; The path execution data includes the operation completion flag, node status and feedback time of the controlled node.

5. A programmable physical maze single bus control system according to claim 4, characterized in that: It is used to monitor and collect path execution data, process the path execution data in a hierarchical manner, and generate node feedback data. The node feedback data contains the real-time status, path completion status, and feedback level of each controlled node, including: Receive and monitor the path execution data, determine the feedback level of the graded feedback data according to the feedback time and node status of each node, and mark the feedback data as different feedback levels; The feedback level is achieved by the following formula: ， in, For Node The feedback level, For Node The execution status of For Node Feedback time, For Node The deviation distance from the system target, For Node The response speed, For Node The percentage of task completion, For Node The standard feedback value of , , and is the weight coefficient of the feedback level; Determine the feedback level of the node according to the comparison between the preset feedback level threshold and the feedback level value; When the feedback level is lower than the preset feedback level threshold, the feedback grading module generates an abnormal feedback mark and transmits the abnormal information to the central control module for processing; According to the feedback level, the path execution data is marked separately to obtain the node feedback data; The node feedback data includes the real-time status, path completion status and feedback level of each controlled node.

6. A programmable physical maze single bus control system according to claim 5, characterized in that: It is used to transmit node feedback data to the central control module in sequence according to the feedback level to form a path feedback set, including: Receive node feedback data, and transmit the node feedback data to the central control module in sequence according to the feedback level to form a path feedback set; During the feedback transmission process, the feedback transmission module monitors the data transmission status.

7. A programmable physical maze single bus control system according to claim 6, characterized in that: Used to generate a second priority identifier according to the path feedback set, and update the path guidance data according to the second priority identifier to generate path update data, including: receiving a path feedback set, and generating a second priority identifier based on a feedback level, a node state, and a first priority identifier in the path feedback set; By analyzing the real-time status, feedback level and second priority identifier of each node in the path feedback set, the first node priority of each node is readjusted to obtain the second node priority; The second node priority is implemented by the following formula: ， in, For Node The second node priority, For Node The feedback level, For Node The average response time, , is the weight parameter, For Node The basic score, is the distance correction factor, For Node The distance from the central node, For Node The average response time in historical tasks, For Node The task completion rate is expressed as a value between 0 and 1. For Node In the Feedback level in feedback, For Node The mean feedback level of For Node Total number of feedbacks; The path guidance data is updated according to the second priority identifier and the second node priority to generate path update data.

8. A programmable physical maze single bus control system according to claim 7, characterized in that: The path guidance data is updated according to the second priority identifier and the second node priority to generate path update data, including: Compare the second node priority of each controlled node with its original priority, and if the second node priority is higher than the original priority, update the operation instruction of the node in the path guidance data to a new path instruction to obtain a new path instruction set; Generate path update data according to the new path instruction set, the path update data including new path instruction operation instructions, target path parameters and priority information; Send the path update data to the instruction execution module and monitor the feedback status of the controlled nodes at the same time.

9. A programmable physical maze single bus control system according to claim 8, characterized in that: When the single bus transmission data flow is greater than a preset flow threshold, the corresponding transmission data is transmitted in batches to each controlled node according to the first priority identifier or the second priority identifier, including: Monitor the data flow of the single bus, and issue a batch processing instruction when the data flow of the single bus is greater than a preset flow threshold; The batch processing instruction is automatically updated according to the first priority identifier or the second priority identifier to generate a transmission instruction; According to the transmission instructions, the path guidance data or path update data is transmitted to each controlled node in batches.

10. A programmable physical maze single bus control system according to claim 9, characterized in that: The data batch transmission module also includes a real-time traffic monitoring and threshold automatic adjustment module, which is used to monitor the data traffic of the single bus and dynamically adjust the transmission threshold; When the traffic monitoring module detects that the bus transmission traffic continues to exceed or fall below the preset traffic threshold, it automatically adjusts the threshold for batch transmission. The transmission threshold is calculated using the following formula: ， in, is the adjusted transmission threshold, is the current preset flow threshold, is the currently monitored data flow, , is the adjustment coefficient, For the The data flow monitored is the average value of data traffic, The total number of data traffic monitoring times.

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