Resource allocation method, device and equipment for edge information hub system

Abstract

The invention provides a resource allocation method, device and equipment for an edge information hub system, and the method comprises the steps: determining a target function which is used for representing the total control cost of a control task borne by a plurality of loops, and determining a target constraint condition according to the total amount of preset target communication resources and a control parameter; the target constraint condition at least comprises a constraint condition for the control cost of each loop, uplink and downlink capacities of each loop and a constraint condition for target parameters, and the target parameters comprise target communication resources allocated to the uplink and the downlink of the loop; and allocating target communication resources to the uplink and the downlink of each loop according to the target function and the target constraint condition. Through joint optimization of target communication resource allocation of all loop uplinks and downlinks of the edge information hub system, the total bearing capacity of the edge information hub system for a control task is maximized, efficient utilization of limited communication resources is realized, and the overall performance of the system is improved.

Description

Technical Field

[0001] The present application relates to the field of mobile communication technology, and in particular to a resource allocation method, device and equipment for an edge information hub system. Background Art

[0002] At present, robots are increasingly used in emergency rescue. However, in complex and dangerous disaster environments, a single robot is often limited by its own capabilities and cannot efficiently and independently complete rescue tasks. Therefore, there is an urgent need to use external equipment to improve the robot's disaster response capabilities and work efficiency.

[0003] As an emerging computing model, edge computing distributes computing and storage resources at the edge of the network to process and store data near the data source, effectively reducing data transmission delays and improving computing efficiency. Given the limitations of robots in intelligence and perception, edge computing hubs, sensors and robots can be combined to build an edge information hub system to enhance the robot's perception, decision-making and control capabilities.

[0004] When a disaster occurs, the communication resources of the edge information hub system are limited, and the communication demand increases sharply. In this case, how to reasonably allocate limited communication resources to serve multiple robots, improve the overall performance of the system in carrying control tasks, and thus improve the overall efficiency and effectiveness of emergency rescue has become an urgent problem to be solved. Summary of the invention

[0005] In view of this, the present application provides a resource allocation method, device and equipment for an edge information hub system to solve the above technical problems.

[0006] In a first aspect of the present application, a resource allocation method for an edge information hub system is provided, wherein the edge information hub system comprises a plurality of loops, each loop comprising an edge information hub, a perception unit, and an execution unit, and the edge information hub is shared by the plurality of loops, including:

[0007] Determining an objective function, where the objective function is used to characterize a total control cost of the control tasks carried by the multiple loops;

[0008] Determine target constraints according to the total amount of pre-configured target communication resources and control parameters of the control task carried by each loop, wherein the target constraints at least include constraints on the control cost of each loop, uplink and downlink capacity of each loop, and target parameter constraints, and the target parameters include the target communication resources allocated to the uplink and downlink of the loop;

[0009] The target communication resources are allocated to the uplink and downlink of each loop according to the target function and the target constraint condition.

[0010] According to an embodiment of the present application, the control cost is a linear quadratic control LQR cost, and the objective function is used to characterize the sum of the LQR costs of the multiple loops.

[0011] According to one embodiment of the present application, for each loop, the perception unit in the loop is used to transmit the status data of the control object controlled by the loop to the edge information hub through the uplink of the loop, the edge information hub is used to generate a control instruction based on the status data, and transmit the control instruction to the execution unit in the loop through the downlink of the loop, and the execution unit is used to perform a control operation on the control object according to the received control instruction.

[0012] According to one embodiment of the present application, the control parameters include a state matrix, an input matrix, a dimension of a state vector, a covariance matrix of noise, a state weight matrix of an LQR cost, and a control weight matrix of an LQR cost of a control object controlled by the loop; determining the constraint conditions of the control cost for each loop includes:

[0013] For each loop, determining a first parameter matrix according to the entropy of the noise and the dimension of the state vector;

[0014] Determine a second parameter matrix according to the state matrix and the state weight matrix of the LQR cost;

[0015] Determining a third parameter matrix according to the input matrix and the control weight matrix of the LQR cost;

[0016] A constraint condition for the control performance of the loop is determined according to the first parameter matrix, the second parameter matrix, the third parameter matrix, and the covariance matrix of the noise.

[0017] According to an embodiment of the present application, the control parameters include at least a state matrix of a control object controlled by the loop, and the target constraint conditions also include constraint conditions for stability determined according to the state matrix.

[0018] According to one embodiment of the present application, the target communication resources include bandwidth, transmit power and transmission time, and the constraints on the uplink and downlink capacity of each loop include:

[0019] The ratio of the actual transmission information amount of the downlink of each loop to the transmission time allocated to the uplink of the loop is less than or equal to a first value, and the first value is the product of the capacity of the uplink of the loop and a preset information extraction scale factor;

[0020] The ratio of the actual transmission information amount of the downlink of each loop to the transmission time allocated to the downlink of the loop is less than or equal to the capacity of the downlink of the loop.

[0021] According to one embodiment of the present application, the target communication resources include bandwidth, transmission power and transmission time, and the total amount of the target communication resources includes:

[0022] The maximum total uplink and downlink bandwidths of the multiple loops, the maximum total downlink transmission power of the multiple loops, the maximum uplink transmission power of each loop, and the period of each loop.

[0023] According to one embodiment of the present application, the constraints on the uplink and downlink target parameters for each loop include:

[0024] For each loop, the sum of the uplink transmission time and the downlink transmission time allocated to the loop is less than or equal to the period of the loop;

[0025] The uplink transmission power allocated to the loop is less than or equal to the uplink maximum transmission power of the loop;

[0026] For the multiple loops, the sum of the bandwidths allocated to the multiple loops is less than or equal to the maximum total uplink and downlink bandwidths of the multiple loops, and the sum of the bandwidths allocated to the multiple loops is obtained by summing the sum of the uplink bandwidth and the downlink bandwidth allocated to each loop;

[0027] The sum of downlink transmission powers allocated to the multiple loops is less than or equal to the maximum total downlink transmission power of the multiple loops.

[0028] According to one embodiment of the present application, the allocating the target communication resources to the uplink and downlink of each loop according to the objective function and the objective constraint condition includes:

[0029] The objective function and the objective constraint conditions are solved by convex optimization to obtain the target communication resources allocated to the uplink and downlink of each loop.

[0030] According to one embodiment of the present application, the edge information hub includes a communication module and a computing module, and is carried on a transportation vehicle, and the transportation vehicle includes a drone.

[0031] In a second aspect of the present application, a resource allocation device for an edge information hub system is provided, wherein the edge information hub system comprises a plurality of loops, each loop comprises an edge information hub, a sensing unit, and an execution unit, and the edge information hub is shared by the plurality of loops, and the device comprises:

[0032] A first determining unit, configured to determine an objective function, wherein the objective function is used to characterize a total control cost of the control tasks carried by the multiple loops;

[0033] A second determining unit is used to determine a target constraint condition according to the total amount of pre-configured target communication resources and the control parameters of the control task carried by each loop, wherein the target constraint condition at least includes a constraint condition of the control cost for each loop, an uplink and downlink capacity for each loop, and a constraint condition of the target parameter, and the target parameter includes the target communication resource allocated to the uplink and downlink of the loop;

[0034] An allocation unit is used to allocate the target communication resources to the uplink and downlink of each loop according to the target function and the target constraint condition.

[0035] In a third aspect of the present application, an electronic device is provided, including a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor is used to execute the machine executable instructions to implement the steps of the method proposed in the above embodiment.

[0036] In a fourth aspect of the present application, a machine-readable storage medium is provided, wherein the machine-readable storage medium stores machine-executable instructions, and when the machine-executable instructions are executed by a processor, the steps of the method proposed in the above embodiment are implemented.

[0037] In a fifth aspect of the present application, a computer program product is provided, comprising a computer program / instruction, which implements the steps of the method proposed in the above embodiment when executed by a processor.

[0038] It can be seen from the above technical solution that by determining the objective function of the total control cost for characterizing the control tasks carried by multiple loops, the target constraints are determined according to the total amount of pre-configured target communication resources and control parameters, wherein the target constraints include at least the constraints on the control cost of each loop, the uplink and downlink capacity of each loop, and the constraints on the target parameters, the target parameters include the target communication resources allocated to the uplink and downlink of the loop, and the target communication resources are allocated to the uplink and downlink of each loop according to the objective function and the target constraints. By jointly optimizing the allocation of the target communication resources of the uplink and downlink of all loops in the edge information hub system, the total carrying capacity of the edge information hub system for control tasks is maximized, efficient use of limited communication resources is achieved, and the overall performance of the edge information hub system is improved.

[0039] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 is a schematic diagram of an edge information hub system provided in an embodiment of the present application;

[0041] Figure 2 It is a flow chart of a resource allocation method of an edge information hub system provided in an embodiment of the present application;

[0042] Figure 3 is a schematic diagram of a curve showing a change in LQR cost versus communication bandwidth provided by an embodiment of the present application;

[0043] Figure 4 It is a structural schematic diagram of a resource allocation device of an edge information hub system provided in an embodiment of the present application;

[0044] Figure 5 It is a schematic diagram of the hardware structure of an electronic device shown in an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0045] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0046] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0047] In order to enable those skilled in the art to better understand the technical solutions provided by the embodiments of the present application and to make the above-mentioned purposes, features and advantages of the embodiments of the present application more obvious and understandable, the technical solutions in the embodiments of the present application are further described in detail below in conjunction with the accompanying drawings.

[0048] In complex and dangerous disaster areas, individual robots are often limited by their own capabilities and find it difficult to complete rescue missions independently. Currently, edge computing hubs, sensors and robots are combined to build edge information hub systems to improve the robots' disaster response capabilities and work efficiency.

[0049] When a disaster occurs, the communication resources of the edge information hub system become limited and the communication demand surges. In this case, how to reasonably allocate limited communication resources to optimize multi-robot collaborative operations and improve the overall performance of the system in carrying control tasks has become an urgent problem to be solved.

[0050] In view of this, an embodiment of the present application discloses a resource allocation method for an edge information hub system to solve the above technical problems.

[0051] In an embodiment of the present application, the edge information hub system includes a plurality of loops, each loop including an edge information hub, a sensing unit, and an execution unit, wherein the edge information hub is shared by the plurality of loops.

[0052] Each loop includes an uplink and a downlink, wherein the uplink refers to the link between the sensing unit and the edge information hub, and the downlink refers to the link between the edge information hub and the execution unit.

[0053] In some embodiments, the edge information hub includes a communication module and a computing module, and is carried on a transportation vehicle, such as an aircraft such as a drone or an unmanned airship, or other transportation vehicles such as an unmanned vehicle or an unmanned ship that are suitable for emergency unmanned operation scenarios.

[0054] like Figure 1 As shown, Figure 1 It is a schematic diagram of an edge information hub system provided in an embodiment of the present application.

[0055] The embodiment of the present application considers an edge information hub system composed of a drone, multiple sensors, and multiple emergency robots, wherein the sensor serves as a sensing unit, the drone carries the edge information hub, and the emergency robot serves as an execution unit.

[0056] The edge information hub can be moved by a drone to the top of a preset area. The edge information hub can communicate with each sensor in the preset area through a communication module, so that the edge information hub can receive status data sent by each sensor. At the same time, the edge information hub can communicate with each emergency robot in the preset area through a communication module, so that the edge information hub can send control instructions to each robot.

[0057] Specifically, the edge information hub system contains multiple loops, each of which contains an edge information hub, a sensor, and an emergency robot carried by a drone. In each loop, the sensor senses the state of the control object controlled by the loop, and transmits the state data of the control object to the edge information hub through the sensor-edge information hub link (i.e., uplink). The edge information hub processes and calculates the state data through the computing module, generates control instructions, and sends them to each emergency robot through the edge information hub-robot link (downlink). Finally, each emergency robot performs relevant control operations according to the obtained control instructions, so that the sensor, edge information hub, and emergency robot form multiple "sensing-transmission-calculation-control" closed loops, i.e., loops.

[0058] Considering the connection in high-level tasks, the two communication links in each loop are not independent, but need to cooperate with each other to jointly serve the needs of the control task. Therefore, this application proposes to regard the two links in each loop as uplink and downlink respectively, and on this basis, proposes a communication resource allocation method for the edge information hub system.

[0059] like Figure 2 As shown, Figure 2 1 is a flow chart of a resource allocation method for an edge information hub system provided in an embodiment of the present application. The resource allocation method for the edge information hub system may include the following steps:

[0060] S201: Determine an objective function, where the objective function is used to characterize the total control cost of the control tasks carried by the multiple loops.

[0061] The control cost can be used to measure the performance of the control task carried by each loop. Based on this, an objective function can be determined, which is used to characterize the total control cost of the control tasks carried by all loops of the edge information hub system.

[0062] In some embodiments, the performance of each loop may be measured by using a linear quadratic regulator (LQR) cost, that is, the control cost is the LQR cost, and the objective function is used to characterize the sum of the LQR costs of multiple loops. The objective function may be shown in formula (1).

[0063]

[0064] Wherein, K in formula (1) indicates that there are K loops in the edge information hub system, and k indicates the kth loop in the edge information hub system.

[0065] It should be noted that the embodiments of the present application do not specifically limit the control cost. For example, the control cost may also be a linear quadratic Gaussian LQG (Linear Quadratic Gaussian) cost, a linear quadratic integral LQI (LinearQuadratic Integrator) cost, and the like.

[0066] S202: Determine target constraints based on the total amount of pre-configured target communication resources and control parameters of the control task carried by each loop, wherein the target constraints include at least constraints on the control cost of each loop, uplink and downlink capacity of each loop, and target parameter constraints, and the target parameters include the target communication resources allocated to the uplink and downlink of the loop.

[0067] After determining the objective function, it is necessary to determine the objective constraints, which limit the feasible solution space for the objective function optimization, that is, define the rules and restrictions that must be followed when finding the optimal solution. These objective constraints include at least the control cost constraints for each loop, the uplink and downlink capacity constraints for each loop, and the uplink and downlink target parameters constraints for each loop, where the target parameters include the target communication resources allocated to the uplink and downlink of the loop.

[0068] In some embodiments, the control task carried by each loop is used to control the corresponding control object, and the control parameters of the control task carried by the loop include the state matrix (denoted as A) of the control object controlled by the loop. k ), the input matrix (denoted as), the dimension of the state vector (denoted as n), the covariance matrix of the noise (denoted as Σ k ), the state weight matrix of LQR cost (denoted as Q k ) and the control weight matrix of the LQR cost (denoted as R k ).

[0069] In some embodiments, the process of each loop controlling the corresponding control object can be modeled as a discrete linear time-invariant system, and the state evolution process of the discrete linear time-invariant system can be expressed by a discrete time state equation, as shown in formula (2).

[0070] x k,t+1 =A k xk,t +B k u k +v k (2)

[0071] Among them, x k,t+1 A represents the state of the discrete linear time-invariant system of the kth loop at time t+1, k represents the state matrix, x k,t represents the state of the discrete linear time-invariant system of the kth loop at time t, B k represents the input matrix, u k Indicates control instructions, v k Indicates noise.

[0072] Among them, v k It obeys Gaussian distribution, with mean zero vector and covariance matrix Σ k .

[0073] In some embodiments, determining the constraints of the control cost for each loop includes:

[0074] For each loop, a first parameter matrix is ​​determined according to the entropy of the noise and the dimension of the state vector; a second parameter matrix is ​​determined according to the state matrix and the state weight matrix of the LQR cost; a third parameter matrix is ​​determined according to the input matrix and the control weight matrix of the LQR cost; and constraints on the control performance of the loop are determined according to the first parameter matrix, the second parameter matrix, the third parameter matrix and the covariance matrix of the noise.

[0075] Specifically, the noise v k The entropy (denoted as h(v k )) can be shown as formula (3).

[0076]

[0077] According to the entropy of noise h(v k ) and the dimension n of the state vector, determine the first parameter matrix. The first parameter matrix N(v k ) can be shown as formula (4).

[0078]

[0079] The second parameter matrix is ​​denoted as S k , the third parameter matrix is ​​recorded as M k .

[0080] According to the state matrix A k and the state weight matrix Q of the LQR cost k , determine the second parameter matrix Sk , S k It can be shown as formula (5).

[0081] According to the input matrix B k and the control weight matrix R of the LQR cost k , determine the third parameter matrix M k , M k It can be shown as formula (6).

[0082]

[0083]

[0084] The superscript T represents the transpose of the matrix, such as Represents the matrix A k The transposed matrix of .

[0085] Assume that the amount of information that can be transmitted without error in the downlink of the kth loop is Let the first parameter equal

[0086] According to the first parameter matrix N(v k ), the second parameter matrix S k , the third parameter matrix M k And the noise v k The covariance matrix Σ k , determine the constraint conditions for the control performance of the loop, which can be shown as formula (7).

[0087]

[0088] Among them, l k represents the LQR cost of the kth loop, |detA k | means finding the matrix A k The absolute value of the determinant of , and tr() represents the trace of the matrix.

[0089] In some embodiments, the target constraint condition also includes a constraint condition for stability, and the constraint condition for stability is determined according to a state matrix included in the control parameters.

[0090] Specifically, the above constraint condition for stability may be a constraint condition for the stability of a discrete linear time-invariant system, and the constraint condition may be shown in formula (8).

[0091]

[0092] It should be noted that if we want to make the discrete linear time-invariant system stable, we need to make Greater than or equal to log2|detA k |.

[0093] In some embodiments, the target communication resources include bandwidth, transmission power and transmission time. Since the target parameters to be sought include the target communication resources allocated to the uplink and downlink of the loop, the target parameters include the uplink bandwidth allocated to the loop (denoted as ) and downlink bandwidth (denoted as ), the uplink transmit power allocated to the loop (denoted as ) and the downlink transmission power (denoted as ), the uplink transmission time allocated to the loop (denoted as ) and downlink transmission time (denoted as ).

[0094] Based on this, the constraints on the uplink and downlink capacity of each loop include:

[0095] The actual amount of downlink transmission information of each loop and the transmission time allocated to the uplink of the loop is less than or equal to a first value, the first value being the product of the uplink capacity of the loop and a preset information extraction proportional factor;

[0096] The actual amount of downlink transmission information of each loop and the transmission time allocated to the downlink of the loop The ratio is less than or equal to the downlink capacity of the loop.

[0097] In some embodiments, the pre-set parameters include, in addition to the total amount of target communication resources and the control parameters of the control tasks carried by each loop, communication parameters, which determine the uplink and downlink data transmission characteristics of the loop. Exemplarily, the pre-set communication parameters may include an uplink channel gain coefficient (denoted as ), downlink channel gain coefficient (denoted as ), channel noise power spectral density N0 and information extraction scaling factor ρ for the uplink.

[0098] In some embodiments, the "uplink capacity of the loop" may be determined based on the uplink channel gain coefficient The channel noise power spectral density N0 and the bandwidth allocated to the uplink of the loop and transmit power Sure.

[0099] Similarly, the "downlink capacity of the loop" can be based on the downlink channel gain coefficient The channel noise power spectral density N0 and the bandwidth allocated to the downlink of the loop and transmit power Sure.

[0100] In some embodiments, the ratio of the actual transmission information amount of the downlink of each loop to the transmission time allocated to the uplink of the loop is less than or equal to a first value. The constraint condition can be shown as formula (9).

[0101]

[0102] in, It represents the amount of information that can be transmitted without error in the downlink of the kth loop. Instead of adopting Because Such a form is a convex function. The embodiments of the present application transform a complex non-convex optimization problem into a relatively simple convex optimization problem, thereby facilitating the deployment and implementation of the system in actual emergency rescue tasks. represents the uplink capacity of the kth loop.

[0103] The ratio of the actual transmission information volume of the downlink of each loop to the transmission time allocated to the downlink of the loop is less than or equal to the capacity of the downlink of the loop. The constraint condition can be shown as formula (10).

[0104]

[0105] in, represents the downlink capacity of the kth loop.

[0106] In some embodiments, the target communication resources include bandwidth, transmission power and transmission time, and the total amount of the target communication resources includes the maximum total uplink and downlink bandwidth of multiple loops (denoted as B max ), the maximum total downlink transmission power of multiple loops (denoted as ), the maximum uplink transmission power of each loop (denoted as ) and the period of each loop (denoted as T k ), where T k Also called the control cycle.

[0107] The maximum uplink transmission power of each loop above Refers to the maximum transmission power of each sensing unit sending data to the edge information hub.

[0108] The maximum total downlink transmission power of the above multiple loops Refers to the maximum total transmission power of the edge information hub to send control instructions to all execution units.

[0109] In some embodiments, the constraints on the uplink and downlink target parameters for each loop include:

[0110] For each loop, the sum of the uplink transmission time and the downlink transmission time allocated to the loop is less than or equal to the period of the loop.

[0111] Specifically, the constraint condition can be shown as formula (11).

[0112]

[0113] The uplink transmission power allocated to the loop is less than or equal to the uplink maximum transmission power of the loop;

[0114] Specifically, the constraint condition can be shown as formula (12).

[0115]

[0116] For the multiple loops, the sum of the bandwidths allocated to the multiple loops is less than or equal to the maximum total uplink and downlink bandwidths of the multiple loops, and the sum of the bandwidths allocated to the multiple loops is obtained by summing the sum of the uplink bandwidth and the downlink bandwidth allocated to each loop;

[0117] Specifically, the uplink bandwidth allocated to each loop is and downlink bandwidth The sum is

[0118]

[0119] Then, the sum of the bandwidths allocated to the multiple loops is Where K represents the number of loops contained in the edge information hub system.

[0120] Then, the constraint condition can be expressed as formula (13).

[0121]

[0122] The sum of downlink transmission powers allocated to the multiple loops is less than or equal to the maximum total downlink transmission power of the multiple loops.

[0123] Specifically, the constraint condition can be shown as formula (14).

[0124]

[0125] S203: Allocate the target communication resources to the uplink and downlink of each loop according to the target function and the target constraint condition.

[0126] According to the objective function and the objective constraints, the target communication resources are allocated to the uplink and downlink of each loop, that is, the optimal allocation scheme of the target communication resources for the uplink and downlink of each loop is obtained. Under this optimal allocation scheme, the total control cost of the control tasks carried by multiple loops is optimal.

[0127] In some embodiments, a convex optimization solution may be performed on the objective function and the objective constraint conditions to obtain the target communication resources for the uplink and downlink allocated to each loop.

[0128] For example, the objective function and the objective constraints can be input into a convex optimization tool, and the optimal allocation of the target communication resources of the uplink and downlink of each loop can be solved by programming to optimize the total LQR cost.

[0129] In an embodiment of the present application, by determining an objective function for characterizing the total control cost of control tasks carried by multiple loops, the target constraint conditions are determined according to the total amount of pre-configured target communication resources and control parameters, wherein the target constraint conditions at least include the constraint conditions of the control cost for each loop, the uplink and downlink capacity for each loop, and the constraint conditions of the target parameters, the target parameters include the target communication resources allocated to the uplink and downlink of the loop, and the target communication resources are allocated to the uplink and downlink of each loop according to the objective function and the target constraint conditions. By jointly optimizing the allocation of target communication resources for the uplink and downlink of all loops in the edge information hub system, the total carrying capacity of the edge information hub system for control tasks is maximized, efficient use of limited communication resources is achieved, and the overall performance of the edge information hub system is improved.

[0130] In some embodiments, a resource allocation method for an edge information hub system includes:

[0131] The edge information hub system includes multiple loops, each loop includes an edge information hub, a sensing unit, and an execution unit. The edge information hub is equipped with a communication module and a computing module, and is shared by multiple loops on the drone.

[0132] Each loop includes an uplink and a downlink, wherein the uplink refers to the link between the sensing unit and the edge information hub, and the downlink refers to the link between the edge information hub and the execution unit.

[0133] In each loop, the perception unit perceives the state of the control object controlled by the loop, and transmits the state data of the control object to the edge information hub through the perception unit-edge information hub link (i.e., uplink). The edge information hub processes and calculates the state data through the computing module, generates control instructions, and sends them to each execution unit through the edge information hub-execution unit link (downlink). Finally, each execution unit executes the control operation on the control object according to the obtained control instructions, so that the perception unit, edge information hub and execution unit form multiple "sensing-transmission-computation-control" closed loops, i.e., loops.

[0134] Considering the connection in high-level tasks, the two communication links in each loop are not independent, but need to cooperate with each other to jointly serve the needs of the control task. Therefore, this application proposes to regard the two links of each loop as uplink and downlink respectively, and on this basis, proposes a communication resource allocation method for the edge information hub system, where the communication resources include the transmission power, transmission time and bandwidth of the uplink and downlink.

[0135] The control task carried by each loop is used to control the corresponding control object, and the process of each loop controlling the corresponding control object can be modeled as a discrete linear time-invariant system.

[0136] For each loop, the control parameters of the discrete linear time-invariant system are pre-configured. The control parameters include the state matrix A k 、Input matrix B k , the dimension of the state vector n, the noise v k The covariance matrix Σ k , the state weight matrix Q of LQR cost k And the control weight matrix R of the LQR cost k .

[0137] In addition, communication parameters that determine the data transmission characteristics of the uplink and downlink of the loop are preset, and the communication parameters include the uplink channel gain coefficient Downlink channel gain factor The channel noise power spectral density N0 and the information extraction scaling factor ρ for the uplink.

[0138] In addition, the maximum total bandwidth B of multiple loops for uplink and downlink is preset. max , the maximum total transmission power of the edge information hub to send control instructions to all execution units The maximum transmission power of each sensing unit to send data to the edge information hub And the period of each loop (denoted as T k ), where T k Also called the control cycle.

[0139] First, determine the objective function. The objective function is used to characterize the sum of the LQR costs of all loops in the edge information hub system. The objective function can be shown as formula (1).

[0140] Then calculate the intermediate parameter matrix, including the first parameter matrix N(v k )(as shown in formula (4)), the second parameter matrix S k (as shown in formula (5)) and the third parameter matrix M k (As shown in formula (6)).

[0141] Then determine the target constraints. To ensure the rational allocation of resources, the following target constraints must be met, as shown in formula (15).

[0142]

[0143] For the specific meaning of each constraint in the target constraint, please refer to the above text and will not be repeated here.

[0144] Then use the convex optimization tool to program the solution, that is, input the objective function and objective constraints into the convex optimization tool, and program the solution to the optimal allocation of transmission power, transmission time and bandwidth of the uplink and downlink of each loop to optimize the total LQR cost.

[0145] The final output of the convex optimization tool is the optimal allocation of uplink and downlink transmission power, transmission time and bandwidth for each loop, as well as the optimal total LQR control cost.

[0146] In an embodiment of the present application, by jointly optimizing the uplink and downlink transmission power, transmission time and bandwidth allocation of all loops in the edge information hub system, the total carrying capacity of the edge information hub system for control tasks is maximized, efficient use of limited communication resources is achieved, and the overall performance of the edge information hub system is improved.

[0147] In some embodiments, to verify the performance of a resource allocation method for an edge information hub system in the present application, the simulation parameters used are set as follows:

[0148] In this embodiment, the height of the drone carrying the edge information hub is set to 100m, the number of sensors and emergency robots is 3, and they are randomly distributed in a circle with a radius of 5000m centered on the drone.

[0149] Control parameters: n = 100, log2|detA k |=40,Q k =I n , B k =R k =0n ,Σ k =0.01I n .

[0150] Communication parameters: N0 = -174dBm / Hz, ρ = 0.01, uplink channel gain coefficient according to the free space path loss model To calculate, where the reference channel gain β0 at 1m = -60dB, It is the distance from the edge information hub system to each sensor or emergency robot.

[0151] The total amount of target communication resources: T k =50ms, B max The interval is [100,600]kHz and the interval is 100kHz.

[0152] At the same time, for the UL&DL trade-off solution in the related technology, the total maximum amount of data that can be transmitted in all closed-loop uplinks and downlinks is taken as the optimization target, and the Constraints, where D0 = 50 bits.

[0153] For the static resource solution in the related technology, the time slot format 34 specified in the 3GPP 5G new air interface TDD standard is adopted, that is, the uplink and downlink transmission time meets At the same time, set the upstream and downstream bandwidth to meet

[0154] like Figure 3 As shown, Figure 3 Schematic diagram of the curve of LQR cost changing with communication bandwidth provided by the embodiment of the present application. Among them, the multi-closed-loop joint resource allocation scheme is a resource allocation method of an edge information hub system in the present application.

[0155] from Figure 3 It can be seen from the simulation results that the resource allocation method of an edge information hub system proposed in this application can significantly reduce the total LQR cost of the edge information hub system and improve the overall performance of the control tasks carried by the edge information hub system compared to the uplink and downlink trade-off schemes and static resource allocation schemes in related technologies.

[0156] The above content describes the method provided by the present application. The following describes the device provided by the present application:

[0157] See also Figure 4 , which is a structural diagram of a resource allocation device of an edge information hub system provided in an embodiment of the present application.

[0158] like Figure 4 As shown, the device may include:

[0159] A first determining unit 410 is used to determine an objective function, where the objective function is used to characterize a total control cost of the control tasks carried by the multiple loops;

[0160] A second determining unit 420 is used to determine a target constraint condition according to the total amount of pre-configured target communication resources and the control parameters of the control task carried by each loop, wherein the target constraint condition at least includes a constraint condition of the control cost for each loop, an uplink and downlink capacity for each loop, and a constraint condition of a target parameter, and the target parameter includes the target communication resource allocated to the uplink and downlink of the loop;

[0161] The allocation unit 430 is used to allocate the target communication resources to the uplink and downlink of each loop according to the target function and the target constraint condition.

[0162] Optionally, the control cost is a linear quadratic control LQR cost, and the objective function is used to characterize the sum of the LQR costs of the multiple loops.

[0163] Optionally, for each loop, the perception unit in the loop is used to transmit the status data of the control object controlled by the loop to the edge information hub through the uplink of the loop, and the edge information hub is used to generate control instructions based on the status data, and transmit the control instructions to the execution unit in the loop through the downlink of the loop, and the execution unit is used to perform control operations on the control object according to the received control instructions.

[0164] Optionally, the control parameters include a state matrix, an input matrix, a dimension of a state vector, a covariance matrix of noise, a state weight matrix of an LQR cost, and a control weight matrix of an LQR cost of a control object controlled by the loop;

[0165] The second determining unit 420 is specifically configured to:

[0166] For each loop, determining a first parameter matrix according to the entropy of the noise and the dimension of the state vector;

[0167] Determine a second parameter matrix according to the state matrix and the state weight matrix of the LQR cost;

[0168] Determining a third parameter matrix according to the input matrix and the control weight matrix of the LQR cost;

[0169] A constraint condition for the control performance of the loop is determined according to the first parameter matrix, the second parameter matrix, the third parameter matrix, and the covariance matrix of the noise.

[0170] Optionally, the control parameters include at least a state matrix of a control object controlled by the loop, and the target constraint conditions further include constraint conditions for stability determined according to the state matrix.

[0171] Optionally, the target communication resources include bandwidth, transmission power and transmission time, and the constraints on the uplink and downlink capacity of each loop include:

[0172] The ratio of the actual transmission information amount of the downlink of each loop to the transmission time allocated to the uplink of the loop is less than or equal to a first value, and the first value is the product of the capacity of the uplink of the loop and a preset information extraction scale factor;

[0173] The ratio of the actual transmission information amount of the downlink of each loop to the transmission time allocated to the downlink of the loop is less than or equal to the capacity of the downlink of the loop.

[0174] Optionally, the target communication resources include bandwidth, transmission power and transmission time, and the total amount of the target communication resources includes:

[0175] The maximum total uplink and downlink bandwidths of the multiple loops, the maximum total downlink transmission power of the multiple loops, the maximum uplink transmission power of each loop, and the period of each loop.

[0176] Optionally, the constraints on the uplink and downlink target parameters for each loop include:

[0177] For each loop, the sum of the uplink transmission time and the downlink transmission time allocated to the loop is less than or equal to the period of the loop;

[0178] The uplink transmission power allocated to the loop is less than or equal to the uplink maximum transmission power of the loop;

[0179] For the multiple loops, the sum of the bandwidths allocated to the multiple loops is less than or equal to the maximum total uplink and downlink bandwidths of the multiple loops, and the sum of the bandwidths allocated to the multiple loops is obtained by summing the sum of the uplink bandwidth and the downlink bandwidth allocated to each loop;

[0180] The sum of downlink transmission powers allocated to the multiple loops is less than or equal to the maximum total downlink transmission power of the multiple loops.

[0181] Optionally, the allocating unit 430 is specifically configured to:

[0182] The objective function and the objective constraint conditions are solved by convex optimization to obtain the target communication resources allocated to the uplink and downlink of each loop.

[0183] Optionally, the edge information hub includes a communication module and a computing module, and is carried on a transport vehicle, and the transport vehicle includes a drone.

[0184] The implementation process of the functions and effects of each unit in the above-mentioned device is specifically described in the implementation process of the corresponding steps in the above-mentioned method, and will not be repeated here.

[0185] The present application embodiment also provides a hardware structure. Figure 5 , Figure 5 This is a structural diagram of an electronic device provided in an embodiment of the present application. Figure 5 As shown, the hardware structure may include: a processor and a machine-readable storage medium, the machine-readable storage medium storing machine-executable instructions that can be executed by the processor; the processor is used to execute the machine-executable instructions to implement the method disclosed in the above example of this application.

[0186] Based on the same application concept as the above method, an embodiment of the present application also provides a machine-readable storage medium, on which a number of computer instructions are stored. When the computer instructions are executed by a processor, the method disclosed in the above example of the present application can be implemented.

[0187] Exemplarily, the above-mentioned machine-readable storage medium can be any electronic, magnetic, optical or other physical storage device that can contain or store information, such as executable instructions, data, etc. For example, the machine-readable storage medium can be: RAM (Random Access Memory), volatile memory, non-volatile memory, flash memory, storage drive (such as hard disk drive), solid state drive, any type of storage disk (such as optical disk, DVD, etc.), or similar storage medium, or a combination thereof.

[0188] It should be noted that, in this article, relational terms such as target and target are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0189] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A resource allocation method for an edge information hub system, characterized in that: The edge information hub system includes a plurality of loops, each loop includes an edge information hub, a sensing unit, and an execution unit, and the edge information hub is shared by the plurality of loops. The method includes: Determining an objective function, where the objective function is used to characterize a total control cost of the control tasks carried by the multiple loops; Determine target constraints according to the total amount of pre-configured target communication resources and control parameters of the control task carried by each loop, wherein the target constraints at least include constraints on the control cost of each loop, uplink and downlink capacity of each loop, and target parameter constraints, and the target parameters include the target communication resources allocated to the uplink and downlink of the loop; The target communication resources are allocated to the uplink and downlink of each loop according to the target function and the target constraint condition.

2. The method according to claim 1, characterized in that The control cost is a linear quadratic control LQR cost, and the objective function is used to characterize the sum of the LQR costs of the multiple loops.

3. The method according to claim 1, characterized in that For each loop, the perception unit in the loop is used to transmit the status data of the control object controlled by the loop to the edge information hub through the uplink of the loop, and the edge information hub is used to generate control instructions based on the status data, and transmit the control instructions to the execution unit in the loop through the downlink of the loop, and the execution unit is used to perform control operations on the control object according to the received control instructions.

4. The method according to claim 1, characterized in that The control parameters include a state matrix, an input matrix, a dimension of a state vector, a covariance matrix of noise, a state weight matrix of LQR cost, and a control weight matrix of LQR cost of a control object controlled by the loop; Determine the control cost constraints for each loop, including: For each loop, determining a first parameter matrix according to the entropy of the noise and the dimension of the state vector; Determine a second parameter matrix according to the state matrix and the state weight matrix of the LQR cost; Determining a third parameter matrix according to the input matrix and the control weight matrix of the LQR cost; A constraint condition for the control performance of the loop is determined according to the first parameter matrix, the second parameter matrix, the third parameter matrix, and the covariance matrix of the noise.

5. The method according to claim 1, characterized in that The control parameters at least include a state matrix of a control object controlled by the loop, and the target constraint conditions further include constraint conditions for stability determined according to the state matrix.

6. The method according to claim 1, characterized in that The target communication resources include bandwidth, transmission power and transmission time, and the constraints on the uplink and downlink capacity of each loop include: The ratio of the actual transmission information amount of the downlink of each loop to the transmission time allocated to the uplink of the loop is less than or equal to a first value, and the first value is the product of the capacity of the uplink of the loop and a preset information extraction scale factor; The ratio of the actual transmission information amount of the downlink of each loop to the transmission time allocated to the downlink of the loop is less than or equal to the capacity of the downlink of the loop.

7. The method according to claim 1, characterized in that The target communication resources include bandwidth, transmission power and transmission time, and the total amount of the target communication resources includes: The maximum total uplink and downlink bandwidths of the multiple loops, the maximum total downlink transmission power of the multiple loops, the maximum uplink transmission power of each loop, and the period of each loop.

8. The method according to claim 7, characterized in that The constraints of the uplink and downlink target parameters for each loop include: For each loop, the sum of the uplink transmission time and the downlink transmission time allocated to the loop is less than or equal to the period of the loop; The uplink transmission power allocated to the loop is less than or equal to the uplink maximum transmission power of the loop; For the multiple loops, the sum of the bandwidths allocated to the multiple loops is less than or equal to the maximum total uplink and downlink bandwidths of the multiple loops, and the sum of the bandwidths allocated to the multiple loops is obtained by summing the sum of the uplink bandwidth and the downlink bandwidth allocated to each loop; The sum of downlink transmission powers allocated to the multiple loops is less than or equal to the maximum total downlink transmission power of the multiple loops.

9. The method according to claim 1, characterized in that: The allocating the target communication resources to the uplink and downlink of each loop according to the target function and the target constraint condition comprises: The objective function and the objective constraint conditions are solved by convex optimization to obtain the target communication resources allocated to the uplink and downlink of each loop.

10. The method according to claim 1, characterized in that The edge information hub includes a communication module and a computing module, and is carried on a transportation vehicle, which includes a drone.

11. A resource allocation device for an edge information hub system, characterized in that: The edge information hub system includes a plurality of loops, each loop includes an edge information hub, a sensing unit, and an execution unit, the edge information hub is shared by the plurality of loops, and the device includes: A first determining unit, configured to determine an objective function, wherein the objective function is used to characterize a total control cost of the control tasks carried by the multiple loops; A second determining unit is used to determine a target constraint condition according to the total amount of pre-configured target communication resources and the control parameters of the control task carried by each loop, wherein the target constraint condition at least includes a constraint condition of the control cost for each loop, an uplink and downlink capacity for each loop, and a constraint condition of the target parameter, and the target parameter includes the target communication resource allocated to the uplink and downlink of the loop; An allocation unit is used to allocate the target communication resources to the uplink and downlink of each loop according to the target function and the target constraint condition.

12. An electronic device, characterized in that: The invention comprises a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor is used to execute the machine executable instructions to implement the method according to any one of claims 1 to 10.

13. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores machine-executable instructions, and when the machine-executable instructions are executed by a processor, the method according to any one of claims 1 to 10 is implemented.

14. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 1 to 10 are implemented.

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