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

Abstract

The present application provides a resource allocation method, device and equipment for an edge information hub system. By determining an objective function for the total control cost of control tasks carried by multiple loops, the target constraint conditions are determined according to the preset total amount of target communication resources and control parameters. The target constraint conditions include at least the constraint conditions for the control cost of each loop, the uplink and downlink capacity of 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 target communication resource allocation of all uplink and downlink links of the edge information hub system, the total carrying capacity of the edge information hub system for control tasks is maximized, efficient utilization of limited communication resources is achieved, 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] Robots are increasingly used in emergency response and rescue efforts. However, in complex and dangerous disaster environments, individual robots are often limited by their own capabilities and struggle to efficiently and independently complete rescue missions. Therefore, there is an urgent need to leverage external devices to enhance robots' disaster response capabilities and efficiency.

[0003] Edge computing, as an emerging computing model, distributes computing and storage resources at the edge of the network, enabling data processing and storage close to the data source, effectively reducing data transmission latency and improving computing efficiency. Given the limitations of robots in intelligence and perception, edge computing hubs and sensors can be combined with robots to build an edge information hub system, thereby enhancing robots' perception, decision-making, and control capabilities.

[0004] When disasters strike, edge information hub systems face limited communication resources, while communication demands surge. In this situation, how to rationally allocate limited communication resources to serve multiple robots, improve the system's overall performance in carrying out control tasks, and thereby enhance the overall efficiency and effectiveness of emergency rescue efforts, has become a pressing issue. 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. The edge information hub system includes multiple loops, each loop including an edge information hub, a perception unit, and an execution unit. The edge information hub is shared by the multiple loops, including:

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

[0008] Determining target constraints based on a pre-configured total amount of target communication resources and control parameters of a control task carried by each loop, wherein the target constraints include at least a constraint on a control cost for each loop, an uplink and downlink capacity for each loop, and a constraint on target parameters, wherein 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 one 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, and 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; and determining the constraint conditions for the control cost of 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] Determining 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 one embodiment of the present application, the control parameters include at least a state matrix of the control object controlled by the loop, and the target constraint conditions further 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] A ratio of an actual amount of transmitted information on the downlink of each loop to a transmission time allocated to the uplink of the loop is less than or equal to a first value, where the first value is a product of a capacity of the uplink of the loop and a preset information extraction scaling factor;

[0020] 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.

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

[0022] The maximum total uplink and downlink bandwidth 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 maximum uplink 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 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, allocating the target communication resources to the uplink and downlink of each loop according to the objective function and the objective constraint includes:

[0029] Convex optimization is performed on the objective function and the objective constraint conditions 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, which includes a drone.

[0031] In a second aspect of the present application, a resource allocation device for an edge information hub system is provided. The edge information hub system includes multiple loops, each loop including an edge information hub, a perception unit, and an execution unit. The edge information hub is shared by the multiple loops. The device includes:

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

[0033] a second determining unit, configured to determine target constraints based on a pre-configured total amount of target communication resources and control parameters of a control task carried by each loop, wherein the target constraints include at least a constraint on a control cost for each loop, an uplink and downlink capacity for each loop, and a constraint on target parameters, wherein the target parameters include the target communication resources allocated to the uplink and downlink of the loop;

[0034] An allocation unit is configured 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, comprising 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 for the total control cost of 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 by an embodiment of the present application;

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

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

[0043] Figure 4 This is a structural diagram of a resource allocation device for an edge information hub system provided by 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, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0046] The terms used in this application are for the purpose of describing particular embodiments only and are not intended to limit this application. As used in this application and the appended claims, the singular forms "a," "an," "the," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[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 easy to understand, the technical solutions in the embodiments of the present application are further described in detail below with reference to the accompanying drawings.

[0048] In complex and dangerous disaster environments, individual robots are often limited by their own capabilities and struggle to independently complete rescue missions. Currently, integrating edge computing hubs, sensors, and robots to build edge information hub systems is being explored to enhance robots' disaster response capabilities and efficiency.

[0049] When disasters strike, communication resources in edge information hub systems become limited, and communication demands surge. In this situation, how to rationally allocate limited communication resources to optimize multi-robot collaborative operations and improve the overall performance of the system in carrying out control tasks has become a pressing issue.

[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 multiple loops, each loop including an edge information hub, a sensing unit, and an execution unit, wherein the edge information hub is shared by the multiple loops.

[0052] Each loop includes an uplink and a downlink. The uplink refers to the link between the perception 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 boat that are suitable for emergency unmanned operation scenarios.

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

[0055] The embodiments of this application consider an edge information hub system composed of a drone, multiple sensors, and multiple emergency robots. The sensors serve as sensing units, the drones carry the edge information hub, and the emergency robots serve as execution units.

[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 includes 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 the relevant control operations according to the control instructions obtained, 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 between high-level tasks, the two communication links within 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 treat the two links of each loop as uplink and downlink respectively, and on this basis, proposes a communication resource allocation method for edge information hub systems.

[0059] like Figure 2 As shown, Figure 2 This 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 represent 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 represent the total control cost of the control tasks carried by all loops in the edge information hub system.

[0062] In some embodiments, the performance of each loop can be measured using a linear quadratic regulator (LQR) cost. That is, the control cost is the LQR cost, and the objective function is used to represent the sum of the LQR costs of multiple loops. The objective function can 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 cost, a linear quadratic integral LQI cost, and the like.

[0066] S202: Determine target constraints based on the pre-configured total amount of 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. These objective constraints limit the feasible solution space for optimizing the objective function, that is, define the rules and restrictions that must be followed when finding the optimal solution. These objective constraints include at least constraints on the control cost of each loop, constraints on the uplink and downlink capacity of each loop, and constraints on the uplink and downlink target parameters of each loop. The target parameters here 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 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 k-th 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 Obeys Gaussian distribution, with mean zero vector and covariance matrix Σ k .

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

[0074] For each loop, a first parameter matrix is ​​determined based on the entropy of the noise and the dimension of the state vector; a second parameter matrix is ​​determined based on the state matrix and the state weight matrix of the LQR cost; a third parameter matrix is ​​determined based on the input matrix and the control weight matrix of the LQR cost; and constraints on the control performance of the loop are determined based on 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 constraints on 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 k-th loop, |detA k | means finding the matrix A k The absolute value of the determinant of , tr() represents the trace of the matrix.

[0089] In some embodiments, the target constraint condition further includes a constraint condition for stability, and the constraint condition for stability is determined according to the 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 as formula (8).

[0091]

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

[0093] In some embodiments, the target communication resources include bandwidth, transmit power, and transmission time. Since the target parameters to be determined 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 transmission power allocated to the loop (denoted as ) and 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 The ratio of 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 scaling 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. For example, 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 amount of downlink transmission information 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 This form is a convex function. The embodiments of the present application transform complex non-convex optimization problems into relatively simple convex optimization problems, 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. This 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 mentioned 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 maximum uplink 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 uplink bandwidth and the downlink bandwidth allocated to each loop;

[0117] Specifically, the uplink bandwidth allocated to each loop 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 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 of 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 constraints to obtain the target communication resources allocated to the uplink and downlink of each loop.

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

[0129] In an embodiment of the present application, by determining an objective function for the total control cost of 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 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 of which includes an edge information hub, a perception 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. The uplink refers to the link between the perception 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 performs control operations 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-calculation-control" closed loops, i.e., loops.

[0134] Considering the connection between high-level tasks, the two communication links within 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. The communication resources here 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, including 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 pre-set, and the communication parameters include the uplink channel gain coefficient Downlink channel gain coefficient 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 is pre-set. 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 sending 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, which 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, a convex optimization tool is used to program the solution. That is, the objective function and objective constraints are input into the convex optimization tool, and the optimal allocation of transmission power, transmission time, and bandwidth for the uplink and downlink of each loop is programmed 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 utilization 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 this 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, The distance from the edge information hub system to each sensor or emergency robot.

[0151] 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 related technologies, 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 : is a 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 the edge information hub system in the present application.

[0155] from Figure 3 It can be seen from the simulation results shown that the resource allocation method of the 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 with the uplink and downlink trade-off scheme and the static resource allocation scheme in the related technology.

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

[0157] See 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 configured to determine an objective function, where the objective function is used to represent a total control cost of the control tasks carried by the multiple loops;

[0160] A second determining unit 420 is configured to determine target constraints based on the pre-configured total amount of 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 capacities 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;

[0161] The allocating unit 430 is configured 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] Determining 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, transmit power, and transmission time, and the constraints on the uplink and downlink capacity of each loop include:

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

[0173] 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.

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

[0175] The maximum total uplink and downlink bandwidth 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 maximum uplink 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 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] Convex optimization is performed on the objective function and the objective constraint conditions 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, which 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 embodiment of the present application 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 machine-readable storage medium may be any electronic, magnetic, optical, or other physical storage device that may contain or store information, such as executable instructions, data, and the like. For example, the machine-readable storage medium may be: RAM (Random Access Memory), volatile memory, non-volatile memory, flash memory, a storage drive (such as a hard disk drive), a solid-state drive, any type of storage disk (such as a CD, DVD, etc.), or similar storage media, or a combination thereof.

[0188] It should be noted that, in this document, relational terms such as target and objective are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any 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 comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element.

[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 replacements, 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 multiple loops, each loop includes an edge information hub, a sensing unit, and an execution unit, and the edge information hub is shared by the multiple loops. The method includes: determining an objective function, the objective function being used to characterize a total control cost of the control tasks carried by the multiple loops; According to the total amount of pre-configured target communication resources and the control parameters of the control task carried by each loop, the target constraint conditions are determined, wherein the target constraint conditions at least include the constraint conditions of the control cost of each loop, the uplink and downlink capacity of 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, the target communication resources include bandwidth, transmit power and transmission time, the constraint conditions for 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, the first value is the product of the capacity of the uplink of the loop and a preset information extraction proportional 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 downlink capacity 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 represent 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. 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, wherein 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; 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; Determining 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, wherein 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.

6. 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 bandwidth 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.

7. The method according to claim 6, characterized in that The constraints on 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 maximum uplink 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 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.

8. The method according to claim 1, characterized in that Allocating the target communication resources to the uplink and downlink of each loop according to the objective function and the objective constraint condition includes: Convex optimization is performed on the objective function and the objective constraint conditions to obtain the target communication resources allocated to the uplink and downlink of each loop.

9. 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.

10. A resource allocation device for an edge information hub system, characterized in that: The edge information hub system includes multiple loops, each loop includes an edge information hub, a sensing unit, and an execution unit, and the edge information hub is shared by the multiple loops. The device includes: A first determining unit is configured to determine an objective function, where the objective function is used to represent a total control cost of the control tasks carried by the multiple loops; A second determination unit is configured to 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 capacities of each loop, and constraints on target parameters, the target parameters include the target communication resources allocated to the uplink and downlink of the loop, the target communication resources include bandwidth, transmit power, and transmission time, the constraints on the uplink and downlink capacity of each loop include: a ratio of an actual amount of transmitted information 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 first value being the product of the capacity of the uplink of the loop and a preset information extraction proportional factor; a ratio of an actual amount of transmitted information 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; An allocation unit is configured to allocate the target communication resources to the uplink and downlink of each loop according to the target function and the target constraint condition.

11. An electronic device, characterized in that: The system comprises a processor and a memory, wherein the memory stores machine-executable instructions that can be executed by the processor, and the processor is configured to execute the machine-executable instructions to implement the method according to any one of claims 1 to 9.

12. 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 9 is implemented.

13. 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 9 are implemented.

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