Satellite control method and device based on distributed data acquisition

Abstract

This invention discloses a satellite control method and apparatus based on distributed data acquisition, belonging to the field of satellite control technology. The method includes: constructing a control system using four computers, each computer connected to a corresponding lower-level machine via a bus. Multiple lower-level machines are distributed and managed by different computers for data acquisition and control. Within the control system, each computer acquires its own local data, then exchanges this local data with other computers to obtain local input data. This local input data is further fused and processed to perform control calculations and obtain local output data. To ensure the reliability of the output data, the local output data is exchanged and compared with the output data from other machines to obtain local output control data. This local output control data is then used to control the lower-level machines. This invention, by combining distributed data acquisition with four-machine hot backup, can improve the real-time performance of data processing.

Description

Technical Field

[0001] This invention relates to the field of satellite control technology, and in particular to a satellite control method and apparatus based on distributed data acquisition. Background Technology

[0002] The space station is assembled from multiple modules, each equipped with controllers, sensors, and actuators. The controllers on individual modules control their attitude and orbit during flight, and control the attitude and orbit of the entire assembly after docking. If a controller in one module fails, controllers from other modules must take over control of the assembly. To meet the requirement of any controller on the space station controlling the assembly, the sensors and actuators from each module need to be integrated and used in a unified manner.

[0003] In related technologies, satellite control systems use a single computer to acquire and control data from lower-level machines in multiple modules. However, this presents a technical challenge in achieving real-time processing given the large number of sensors and actuators within the space station. Summary of the Invention

[0004] This invention provides a satellite control method and apparatus based on distributed data acquisition. The technical solution is as follows:

[0005] On the one hand, a satellite control method based on distributed data acquisition is provided, applied to each computer in a control system. The control system consists of four computers, each connected to a corresponding lower-level machine via a bus. Each lower-level machine includes an actuator and a sensor. The method includes:

[0006] In each control cycle, the local machine acquires local data, sends the local machine data to three other computers, and receives other machine data sent by the three other computers to obtain local machine input data through data exchange; the local machine data includes at least bus data.

[0007] The local input data is fused according to the data source type, and the fused input data is then controlled and calculated to obtain the local output data.

[0008] Send local output data to three other computers, and receive output data from the other computers.

[0009] The local output data is compared with the output data of other machines to obtain the local output control data, and the local output control data is used to control the lower-level machine.

[0010] On the other hand, a satellite control device based on distributed data acquisition is provided, applied to each computer in a control system. The control system consists of four computers, each connected to a corresponding lower-level machine via a bus. Each lower-level machine includes an actuator and a sensor. The device includes:

[0011] The data acquisition unit is used to acquire local data in each control cycle;

[0012] The data exchange unit is used to send local data to three other computers and receive other data sent by the three other computers, so as to obtain local input data through data exchange; the local data includes at least bus data.

[0013] The data processing unit is used to fuse the local input data according to the data source type, and to control and calculate the fused input data to obtain the local output data.

[0014] The data exchange unit is also used to send local output data to three other computers and receive output data from the other computers.

[0015] The control unit is used to compare the output data of the local machine with the output data of other machines to obtain the local output control data, and to use the local output control data to control the lower-level machine.

[0016] On the other hand, a computer device is provided, the computer device including a memory and a processor, the memory for storing computer programs, and the processor for executing the computer programs stored in the memory to implement the steps of the satellite control method based on distributed data acquisition described above.

[0017] On the other hand, a computer-readable storage medium is provided, wherein a computer program is stored therein, and when the computer program is executed by a processor, it implements the steps of the satellite control method based on distributed data acquisition described above.

[0018] On the other hand, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the satellite control method based on distributed data acquisition described above.

[0019] The technical solution provided by this invention can bring at least the following beneficial effects:

[0020] A control system is constructed using four computers. Each computer is connected to a corresponding lower-level machine via a bus. These lower-level machines are distributed across different computers, each responsible for data acquisition and control. Within the control system, each computer collects its own local data, exchanges this data with other computers to obtain its own input data, and further fuses and processes this input data to perform control calculations and generate its own output data. To ensure the reliability of the output data, the local output data is compared with the output data from other computers to obtain the local output control data. This local output control data is then used to control the lower-level machines. This scheme, through a combination of distributed data acquisition and four-machine hot backup, improves the real-time performance of data processing. Attached Figure Description

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 This is a flowchart of a satellite control method based on distributed data acquisition provided in an embodiment of the present invention;

[0023] Figure 2 This is a schematic diagram of the connection relationship between the control system and the lower-level machine according to an embodiment of the present invention;

[0024] Figure 3 This is a structural diagram of a satellite control device based on distributed data acquisition, provided in an embodiment of the present invention.

[0025] Figure 4 This is a hardware architecture diagram of a computer device provided in an embodiment of the present invention. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0027] Please refer to Figure 1This invention provides a satellite control method based on distributed data acquisition, applied to each computer in a control system. The control system consists of four computers, each connected to a corresponding lower-level machine via a bus. The lower-level machine includes an actuator and a sensor. The method includes:

[0028] Step 100: Collect local data in each control cycle, send the local data to three other computers, and receive other machine data sent by the three other computers to obtain local input data through data exchange; local data includes at least bus data.

[0029] Step 102: Perform fusion processing on the local input data according to the data source type, and perform control calculations on the fused input data to obtain the local output data;

[0030] Step 104: Send the local output data to three other computers and receive the output data from the other computers.

[0031] Step 106: Compare the output data of this machine with the output data of other machines to obtain the output control data of this machine, and use the output control data of this machine to control the lower-level machine.

[0032] In this embodiment of the invention, a control system is constructed using four computers. Each computer is connected to a corresponding lower-level machine via a bus. Multiple lower-level machines are distributed across different computers, each performing data acquisition and control. Within the control system, each computer collects its own local data, then exchanges this local data with other computers to obtain local input data. This local input data is further fused and processed to perform control calculations and obtain local output data. To ensure the reliability of the output data, the local output data is exchanged and compared with the output data from other machines to obtain local output control data. This local output control data is then used to control the lower-level machines. This scheme, by combining distributed data acquisition with four-machine hot backup, improves the real-time performance of data processing.

[0033] The following description Figure 1 The execution method of each step is shown.

[0034] First, for step 100, local data is collected in each control cycle, and the local data is sent to three other computers and received from the other computers to obtain local input data through data exchange; the local data includes at least bus data.

[0035] Please refer to Figure 2This diagram illustrates the connection between the control system and the lower-level computers. The control system includes four computers: A, B, C, and D. These four computers are connected in pairs, using a hot-swap method for data transmission. Each computer is connected to its corresponding lower-level computer via a bus. The lower-level computer includes sensors and actuators. Figure 2 The types of the sensors n1, n2, n3, n4, na, nb, nc, and nd are not completely the same, and the types of the actuators m1, m2, m3, m4, ma, mb, mc, and md are not completely the same.

[0036] Within each control cycle, each computer in the control system acquires its own data. This local data includes bus data and other internal data. Computers A, B, C, and D each acquire their own data, resulting in the computer data for computer A, computer B, computer C, and computer D, respectively.

[0037] To ensure that each computer in the control system can obtain complete data and use it for subsequent output control, four computers need to exchange data. The data exchange method is as follows: each computer sends its own data to three other computers and receives data from the other three computers. If Xy represents the data sent by computer y to computer X, then after the first round of data exchange, computers A, B, C, and D all obtain a complete set of input data AaBbCcDd, as shown in Table 1.

[0038] Table 1:

[0039] Machine / Receiver 0 1 2 3 A Aa Bb Cc Dd B Bb Cc Dd Aa C Cc Dd Aa Bb D Dd Aa Bb Cc

[0040] As can be seen, each computer received a complete copy of the input data AaBbCcDd.

[0041] To increase system reliability, in one embodiment of the present invention, a second round of data exchange can also be performed. That is, after sending local data to three other computers and receiving other machine data sent by the three other computers, and before obtaining local input data, the following steps S11-S13 can be included:

[0042] S11: Forward the three corresponding sets of data sent by the three other computers to each other computer, and receive the three sets of data forwarded by the three other computers respectively. The local machine obtains four complete sets of data.

[0043] In this step, after the second round of data exchange, each computer has four complete copies of the data, as shown in Table 2.

[0044] Table 2:

[0045]

[0046]

[0047] S12: After removing one complete source data from the four complete data sets, compare the remaining three complete data sets and determine the local input data based on the comparison results; the complete source data is the complete data obtained by the local machine after receiving data from three other computers.

[0048] Since each computer has four complete sets of data, in order to improve the reliability of the system, it is necessary to compare the other three complete sets of data after removing the complete source data.

[0049] In one embodiment of the present invention, the comparison can be performed in at least one of the following ways: the remaining three complete data are compared bit by bit. If the values ​​at the current bit are not completely the same, the final result at the current bit is selected by taking the majority. After each bit is compared, the local input data is obtained.

[0050] Taking the comparison process of machine A as an example, the complete source data AaBbCcDd is removed, and the other three data sets AbBbCbDb, AcBcCcDc, and AdBdCdDd are compared.

[0051] Specifically, when determining the true data of machine A, data Ab, Ac, and Ad are compared bit by bit; when determining the true data of machine B, data Bb, Bc, and Bd are compared bit by bit; when determining the true data of machine C, data Cb, Cc, and Cd are compared bit by bit; and when determining the true data of machine D, data Db, Dc, and Dd are compared bit by bit.

[0052] When comparing each current position, if the values ​​in the current position are exactly the same, then the same value is taken as the final result for the current position; if the values ​​in the current position are not exactly the same, then the final result for the current position is selected by majority vote; if the values ​​in the current position are all different, then the data in that position is abnormal.

[0053] In this way, each computer received its own input data.

[0054] Then, for step 102, the local input data is fused according to the data source type, and the fused input data is controlled and calculated to obtain the local output data.

[0055] In this embodiment of the invention, since there is common data in the data obtained by different computers, it is necessary to perform fusion processing on the local input data to ensure the accuracy of the data used for control calculation.

[0056] In one embodiment of the present invention, the data source types include single-source data, synchronous multi-source data, and asynchronous multi-source data; wherein, the single-source data is data that can only be obtained by a single computer; the synchronous multi-source data is data that can be obtained by multiple computers simultaneously; and the asynchronous multi-source data is data that can be obtained by multiple computers, but not at the same time.

[0057] Therefore, the process of fusing local input data according to the data source type includes the following processing methods:

[0058] No processing is performed on single-source data in the local input data; since single-source data does not contain duplicate data, no processing is required and it can be used directly.

[0059] The system selects synchronous multi-source data from the local input data according to a set rule to obtain the data result; the rule can be set according to specific task requirements. For example, the data can be sorted by size and the second largest value can be taken as the data result, or the median value can be selected as the data result.

[0060] Asynchronous multi-source data in the local input data is processed according to the principle of first-come, first-served execution without duplication to obtain the data result. Remote control data for the space station generally requires data injection from the ground. Different computers may receive data at different times. To ensure rapid data processing and execution, asynchronous multi-source data is processed according to the principle of first-come, first-served execution without duplication. Specifically, if the asynchronous multi-source data has not been executed before, it is executed in this iteration; if it has already been executed, it is not executed again. Therefore, as long as one of the four computers receives the asynchronous multi-source data, it can be executed immediately without waiting for the other computers to receive it, further improving the real-time performance of data processing.

[0061] In this embodiment of the invention, in order to meet the high reliability requirements, the lower-level machine on the space station adopts a dual redundancy method, which includes interface redundancy and equipment redundancy.

[0062] Interface redundancy involves the same lower-level device connecting to the computer through multiple interfaces. When the computer connects to the lower-level device, it connects through multiple interfaces to prevent interface failure. When the interfaces are functioning correctly, data from the same lower-level device is collected at the same time through multiple interfaces. For multiple data from different interfaces, after input exchange, the valid data is selected according to the interface priority.

[0063] Equipment redundancy involves using multiple backup devices for a type of lower-level machine; multiple lower-level machines of the same type are connected to a computer. For example, lower-level machines M1 and M2 of the same type are both connected to machine A. In each control cycle, machine A needs to perform fault diagnosis on lower-level machines M1 and M2, selecting valid lower-level machine data according to their priority. For example, if lower-level machine M1 fails, then the data from lower-level machine M2 will be used as valid data.

[0064] That is, this step requires determining the redundancy methods adopted by the sensors and actuators connected to the machine;

[0065] If the redundancy method adopted is interface redundancy, then based on multiple sets of data from multiple different interfaces, the valid data is determined according to the interface priority order, and the valid data is used for control calculations.

[0066] If the redundancy method adopted is equipment redundancy, then fault diagnosis is performed on multiple lower-level machines, valid data is determined according to the priority of the equipment, and the valid data is used for control calculation.

[0067] Finally, explanations are given for steps 104, "sending local output data to three other computers and receiving output data from the other computers," and 106, "comparing local output data with output data from other computers to obtain local output control data and using local output control data to control the lower-level machine."

[0068] The output data includes at least the calculation instructions, important data, and flags.

[0069] To ensure output data consistency, each calculation also requires data exchange and comparison. The exchange and comparison method is the same as the method used in step 100 for exchanging and comparing local and other machine data. Similarly, during data comparison, each computer acquires four copies of output data, and the underlying hardware performs a tolerance-free comparison of the data. The comparison is performed bit by bit, and if the values ​​at any bit are not completely identical, the majority rule is used to obtain the data result. Since four copies of data are compared, if a 2:2 ratio exists, the data at that bit is determined to be abnormal, and if all the values ​​at a bit are different, the data at that bit is also considered abnormal. No output control is performed when there is a data abnormality.

[0070] Furthermore, when the output control data after comparison is obtained, and the output control data is normal, it is also necessary to determine whether the floating-point number of the output control data is valid. Specifically, the floating-point number in the local output control data is judged to be valid in terms of floating-point format. If the floating-point format is valid, then the control of the lower-level machine using the local output control data is executed; otherwise, the lower-level machine is not controlled.

[0071] Because data changes may occur during the data comparison process, leading to abnormal floating-point number formats, reading floating-point numbers in this case will trigger a trap. To improve the reliability of output control data, it is necessary to perform a floating-point format validity check on the compared data. If the validity check fails, the local output control data is considered invalid, and output control will not be performed.

[0072] It should be noted that, in the embodiments of this invention, the data exchange between computers is all handled by software placing data into a designated input exchange memory, with the underlying hardware completing the data exchange and tolerance-free bit-by-bit comparison. Compared to data acquisition from a single computer, where large data volumes can affect the acquisition rate, this invention ensures rapid data exchange and improves the real-time performance of data processing.

[0073] Please refer to Figure 3 This invention provides a satellite control device based on distributed data acquisition, applied to each computer in a control system. The control system consists of four computers, each connected to a corresponding lower-level machine via a bus. The lower-level machine includes an actuator and a sensor. The device includes:

[0074] The data acquisition unit 300 is used to acquire local data in each control cycle;

[0075] The data exchange unit 302 is used to send local data to three other computers and receive other data sent by the three other computers, so as to obtain local input data through data exchange; the local data includes at least bus data.

[0076] The data processing unit 304 is used to perform fusion processing on the local input data according to the data source type, and to perform control calculations on the fused input data to obtain local output data.

[0077] The data exchange unit 302 is also used to send local output data to three other computers and receive output data from the other computers.

[0078] The control unit 306 is used to compare the output data of the local machine with the output data of other machines to obtain the local output control data, and use the local output control data to control the lower-level machine.

[0079] In one embodiment of the present invention, the device may further include: a comparison unit, configured to forward three sets of other machine data, each corresponding to one other computer, to each other computer, and receive the three sets of other machine data forwarded by the three other computers respectively, so that the local machine obtains four complete sets of data; after removing one complete source data from the four complete sets of data, the remaining three complete sets of data are compared, and the local machine input data is determined according to the comparison result; the complete source data is the complete data obtained by the local machine after receiving the other machine data sent by the three other computers.

[0080] In one embodiment of the present invention, when the comparison unit performs the comparison of the remaining three complete data sets and determines the local input data based on the comparison results, it specifically includes: comparing the remaining three complete data sets bit by bit; if the values ​​at the current bit are not completely the same, the final result at the current bit is selected by taking the majority; and after each bit is compared, the local input data is obtained.

[0081] In one embodiment of the present invention, the data source types include single-source data, synchronous multi-source data, and asynchronous multi-source data; the single-source data is data that can only be obtained by a single computer; the synchronous multi-source data is data that can be obtained by multiple computers simultaneously; the asynchronous multi-source data is data that can be obtained by multiple computers, but not at the same time.

[0082] When the data processing unit performs the fusion processing of local input data according to the data source type, it specifically includes: not processing single-source data in the local input data; selecting synchronous multi-source data in the local input data according to a set rule to obtain data results; and processing asynchronous multi-source data in the local input data according to the principle of first-come-first-served and non-repeated execution to obtain data results.

[0083] In one embodiment of the present invention, when the data processing unit performs control calculations on the fused input data, it specifically includes: determining the redundancy method adopted by the sensors and actuators connected to the local unit; the redundancy method includes interface redundancy and device redundancy; if the adopted redundancy method is interface redundancy, then based on multiple sets of data from multiple different interfaces, valid data is determined according to the interface priority order, and the valid data is used for control calculations; if the adopted redundancy method is device redundancy, then based on different device characteristics, device fault diagnosis is performed separately, valid data is determined according to the device priority order, and the valid data is used for control calculations.

[0084] In one embodiment of the present invention, the device may further include: a judgment unit, used to judge the validity of the floating-point format of the floating-point number in the local output control data; if the floating-point format is valid, then the lower-level machine is controlled using the local output control data; otherwise, the lower-level machine is not controlled.

[0085] It should be noted that the satellite control device based on distributed data acquisition provided in the above embodiments is only an example of the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the satellite control device based on distributed data acquisition provided in the above embodiments and the satellite control method embodiments based on distributed data acquisition belong to the same concept. The specific implementation process is detailed in the method embodiments and will not be repeated here.

[0086] Embodiments of this application also provide a computer device, please refer to... Figure 4 The computer device includes a processor and a memory, the memory storing at least one instruction, at least one program, code set or instruction set, the at least one instruction, at least one program, code set or instruction set being loaded and executed by the processor to implement the satellite control method based on distributed data acquisition provided in the above-described method embodiments.

[0087] The embodiments of this application also provide a computer-readable storage medium storing at least one instruction, at least one program, code set, or instruction set, wherein the at least one instruction, at least one program, code set, or instruction set is loaded and executed by a processor to implement the satellite control method based on distributed data acquisition provided in the above-described method embodiments.

[0088] Embodiments of this application also provide a computer program product, which includes a computer program. A processor of a computer device reads the computer program from a computer-readable storage medium and executes the computer program, causing the computer device to perform any of the satellite control methods based on distributed data acquisition described in the above embodiments.

[0089] For ease of description, the above systems or devices are described separately as various modules or units based on their functions. Of course, in implementing this application, the functions of each unit can be implemented in one or more software and / or hardware components.

[0090] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of this application.

[0091] Finally, it should be noted that in this document, relational terms such as first, second, third, and fourth are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0092] The above is only a preferred embodiment of the present application. 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 application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A satellite control method based on distributed data acquisition, characterized in that, The method applies to each computer in a control system, which consists of four computers, each connected to a corresponding lower-level machine via a bus, the lower-level machine including actuators and sensors; the method includes: In each control cycle, local data is collected and sent to three other computers. The local computer also receives data from these three other computers, forwards three corresponding sets of data from each of the three other computers to each other computer, and receives three sets of data forwarded from each of the three other computers, thus obtaining four complete sets of data. One complete source data set is removed from these four sets, and the remaining three sets are compared. The local input data is determined based on the comparison results. The complete source data is the complete data obtained by the local computer after receiving the data from the three other computers. The local data includes at least bus data. The local input data is fused according to the data source type, and the fused input data is then controlled and calculated to obtain the local output data. Send local output data to three other computers, and receive output data from the other computers. The local output data is compared with the output data of other machines to obtain the local output control data, and the local output control data is used to control the lower-level machine.

2. The method according to claim 1, characterized in that, The comparison of the remaining three complete data sets, and the determination of the local input data based on the comparison results, includes: The remaining three complete data sets are compared bit by bit. If the values ​​in the current bit are not completely the same, the final result of the current bit is selected by taking the majority. After each bit is compared, the local input data is obtained.

3. The method according to claim 1, characterized in that, The data sources include single-source data, synchronous multi-source data, and asynchronous multi-source data; single-source data is data that can only be obtained by a single computer; synchronous multi-source data is data that can be obtained by multiple computers simultaneously; and asynchronous multi-source data is data that can be obtained by multiple computers, but not at the same time. The process of fusing local input data according to data source type includes: Single-source data in the local input data will not be processed. The synchronous multi-source data in the local input data is selected according to the set rules to obtain the data result; The asynchronous multi-source data in the local input data is processed according to the principle of first-come, first-served and non-repeated execution to obtain the data results.

4. The method according to claim 3, characterized in that The control calculation of the fused input data includes: Determine the redundancy methods adopted for the sensors and actuators connected to the local unit; redundancy methods include interface redundancy and device redundancy; If the redundancy method adopted is interface redundancy, then based on multiple sets of data from multiple different interfaces, the valid data is determined according to the interface priority order, and the valid data is used for control calculations. If the redundancy method adopted is equipment redundancy, then equipment fault diagnosis is performed according to the characteristics of different equipment, effective data is determined according to the priority of equipment, and the effective data is used for control calculation.

5. The method according to any one of claims 1-4, characterized in that, After obtaining the local output control data and before controlling the lower-level machine using the local output control data, the method further includes: The floating-point number in the local output control data is checked for floating-point format validity. If the floating-point format is valid, the local output control data is used to control the lower-level machine; otherwise, the lower-level machine is not controlled.

6. A satellite control device based on distributed data acquisition, characterized in that, The device is applied to each computer in a control system, which consists of four computers, each connected to a corresponding lower-level machine via a bus. The lower-level machine includes actuators and sensors. The device includes: The data acquisition unit is used to acquire local data in each control cycle; The data exchange unit is used to send local data to three other computers and receive other data sent by the three other computers. It forwards three corresponding sets of other data sent by the three other computers to each other computer and receives three sets of other data forwarded by each of the three other computers, thus obtaining four complete sets of data. After removing one complete source data set from the four complete sets of data, the remaining three complete sets of data are compared, and the local input data is determined based on the comparison result. The complete source data is the complete data obtained by the local machine after receiving the other data sent by the three other computers. The local data includes at least bus data. The data processing unit is used to fuse the local input data according to the data source type, and to control and calculate the fused input data to obtain the local output data. The data exchange unit is also used to send local output data to three other computers and receive output data from the other computers. The control unit is used to compare the output data of the local machine with the output data of other machines to obtain the local output control data, and to use the local output control data to control the lower-level machine.

7. A computer device, characterized in that, The computer device includes a memory and a processor. The memory is used to store computer programs, and the processor is used to execute the computer programs stored in the memory to implement the steps of the method according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the steps of the method described in any one of claims 1-5.

9. A computer program product, characterized in that, Includes a computer program, which, when executed by a processor, implements the steps of the method according to any one of claims 1-5.

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