Automatic instruction interaction system and method

Abstract

The invention provides an automatic instruction interaction system and method, and the system comprises a pulse-type instruction sending and responding module which is used for carrying out the positioning of queue individuals and regional instruction management; and the beam forming and area instruction issuing module is used for executing tasks. According to the technical scheme, area instruction management based on pulse type instruction sending and beam forming is introduced, so that instruction interaction in queue cooperation is more efficient, accurate and reliable.

Description

Technical Field

[0001] The present application relates to the technical field of instruction interaction, and in particular to an automated instruction interaction system and method. Background Art

[0002] The existing command interaction system has the following disadvantages:

[0003] Heavy communication burden: Many existing systems use global broadcast or point-to-point communication, which results in a lot of redundant information and reduces system efficiency.

[0004] Single point of failure risk: Centralized control nodes can easily become single points of failure, affecting the collaboration capabilities of the entire fleet.

[0005] Insufficient refined management: Existing technologies make it difficult to achieve refined command control over individuals or regions. In most cases, broad commands are issued, resulting in waste of individual resources. Summary of the invention

[0006] The present application provides an automated instruction interaction system and method for improving the efficiency, stability and accuracy of queue collaboration.

[0007] In a first aspect, an automated instruction interaction system is provided, comprising:

[0008] The pulse command sending and response module is used to locate the queue individuals and manage the regional commands; the pulse command is an information interaction command sent at periodic or non-periodic intervals and belongs to the silent mode;

[0009] A beamforming and regional instruction issuing module is used to perform task execution and differentially control instructions based on location information; including: setting a first area, a second area and a third area; the first area, the second area and the third area are covered by a first beam, a second beam and a third beam respectively; and also including a first instruction, a second instruction and a third instruction, the first instruction, the second instruction and the third instruction correspond to the first area, the second area and the third area respectively; the first area, the second area and the third area are different;

[0010] The startup and instruction preparation module is used to pre-formulate queue operation instructions;

[0011] The queue individual initialization module is used to confirm the position and number and maintain the open receiving state; the sending command node has the GPS / Beidou absolute positioning capability and sends individual commands according to the regional location, including: all individuals have individual numbers and their own command receiving functions, are in a continuously open state during the queue collaboration process, and have the ability to respond; the command issuing node has the GPS / Beidou positioning capability, and the initial command issuing node uses the beamforming technology to issue initial commands to all nodes to wait for responses, determines the distance of the individual through the corresponding time, and then obtains the relative position information of all individuals through the absolute positions of multiple command issuing nodes; including:

[0012] During the first working time, the instruction issuing node starts the GPS / Beidou positioning capability to obtain its absolute position; during the second working time, the instruction issuing node issues initial instructions to all nodes through beamforming technology and waits for responses. The beamforming technology means that the instruction issuing node uses different beams in turn to send inquiry instructions in different directions, and identifies the beams with different built-in instruction serial numbers, including the first beam associated with the first relative direction and carrying the first serial number, the second beam associated with the second relative direction and carrying the second serial number, and so on; during the third working time, the instruction issuing node obtains the responses of all nodes, determines the distance of each individual through the corresponding time, further determines its relative direction relative to the instruction issuing node in combination with the beam information, and then calculates the absolute position information of each node; during the fourth time, the position information of all nodes is realized through the above scheme.

[0013] In the above technical solution, a pulse command sending and response module is set up to locate the individual queue members and manage the commands in different regions; a beamforming and regional command issuing module is used to execute the tasks; regional command management based on pulse command sending and beamforming is introduced to make the command interaction in queue collaboration more efficient, accurate and reliable.

[0014] In a second aspect, an automated instruction interaction method is provided, comprising the following steps:

[0015] The pulse command sending and response module is used to locate the queue individuals and manage the regional commands; the pulse command is an information interaction command sent at periodic or non-periodic intervals, which belongs to the silent mode;

[0016] The task is executed by using a beamforming and regional instruction issuing module and the instructions are differentially controlled based on the position information; including: setting a first area, a second area and a third area; the first area, the second area and the third area are covered by a first beam, a second beam and a third beam respectively; also including a first instruction, a second instruction and a third instruction, the first instruction, the second instruction and the third instruction correspond to the first area, the second area and the third area respectively; the first area, the second area and the third area are different;

[0017] Use the startup and instruction preparation modules to pre-form queue operation instructions;

[0018] The queue individual initialization module is used to confirm the position and number and to continuously open the receiving state.

[0019] In the above technical solution, a pulse command sending and response module is set up to locate the individual queue members and manage the commands in different regions; a beamforming and regional command issuing module is used to execute the tasks; regional command management based on pulse command sending and beamforming is introduced to make the command interaction in queue collaboration more efficient, accurate and reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A structural block diagram of the automated instruction interaction system provided in an embodiment of the present application;

[0021] Figure 2 A flowchart of the automated instruction interaction method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0022] The present application is further described in detail below through the accompanying drawings and embodiments. Through these descriptions, the characteristics and advantages of the present application will become clearer and more specific.

[0023] The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration." Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. Although various aspects of the embodiments are shown in the drawings, the drawings are not necessarily drawn to scale unless otherwise noted.

[0024] In addition, the technical features involved in different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0025] exist Figure 1 In the embodiment of the present application, an automated instruction interaction system is provided, comprising:

[0026] The pulse command sending and response module is used to locate the queue individuals and manage the regional commands; the pulse command is an information interaction command sent at periodic or non-periodic intervals and belongs to the silent mode;

[0027] A beamforming and regional instruction issuing module is used to perform task execution and differentially control instructions based on location information; including: setting a first area, a second area and a third area; the first area, the second area and the third area are covered by a first beam, a second beam and a third beam respectively; and also including a first instruction, a second instruction and a third instruction, the first instruction, the second instruction and the third instruction correspond to the first area, the second area and the third area respectively; the first area, the second area and the third area are different;

[0028] The startup and instruction preparation module is used to pre-formulate queue operation instructions;

[0029] The queue individual initialization module is used to confirm the position and number and maintain the open receiving state; the sending command node has the GPS / Beidou absolute positioning capability and sends individual commands according to the regional location, including: all individuals have individual numbers and their own command receiving functions, are in a continuously open state during the queue collaboration process, and have the ability to respond; the command issuing node has the GPS / Beidou positioning capability, and the initial command issuing node uses the beamforming technology to issue initial commands to all nodes to wait for responses, determines the distance of the individual through the corresponding time, and then obtains the relative position information of all individuals through the absolute positions of multiple command issuing nodes; including:

[0030] During the first working time, the instruction issuing node starts the GPS / Beidou positioning capability to obtain its absolute position; during the second working time, the instruction issuing node issues initial instructions to all nodes through beamforming technology and waits for responses. The beamforming technology means that the instruction issuing node uses different beams in turn to send inquiry instructions in different directions, and identifies the beams with different built-in instruction serial numbers, including the first beam associated with the first relative direction and carrying the first serial number, the second beam associated with the second relative direction and carrying the second serial number, and so on; during the third working time, the instruction issuing node obtains the responses of all nodes, determines the distance of each individual through the corresponding time, further determines its relative direction relative to the instruction issuing node in combination with the beam information, and then calculates the absolute position information of each node; during the fourth time, the position information of all nodes is realized through the above scheme.

[0031] In the above technical solution, a pulse command sending and response module is set up to locate the individual queue members and manage the commands in different regions; a beamforming and regional command issuing module is used to execute the tasks; regional command management based on pulse command sending and beamforming is introduced to make the command interaction in queue collaboration more efficient, accurate and reliable.

[0032] In a specific implementation scheme, the corresponding instruction issuing node selectively sends instructions for a specific area only to the area where the individual is located; including:

[0033] The command issuing node uses different beams to send inquiry commands in different directions in turn, and identifies the beams with different built-in command numbers. At the same time, the command issuing node issues individual commands based on the statistics of absolute position information.

[0034] Alternatively, the node number information in the area is carried in the instruction to determine the unique instruction operation of the corresponding node, including that the instruction issuing node uses different beams in turn to send inquiry instructions in different directions, and identifies the beams with different built-in instruction serial numbers, and at the same time, the instruction issuing node issues separate instructions to it based on the statistics of absolute position information; or, the node number information in the area is carried in the instruction to determine the unique instruction operation of the corresponding node.

[0035] In a specific implementation scheme, beamforming technology is used to send corresponding instructions only to individuals in a designated area to achieve refined management of different areas. At the same time, individuals that receive instruction information need to respond so that the instruction issuing node can confirm whether the required queue instructions have been sent and transmitted. The response information includes the instruction number, the current node number, and the confirmation content; or, if the node fails to obtain the instruction information, it should request the instruction issuing node to retransmit the data.

[0036] In a specific implementation scheme, it also includes: an individual active instruction request module, which is used to enable the individual to actively interact with the instruction issuing node according to his own needs when performing a task; wherein, the first working time refers to the first individual actively requesting instructions; the second working time, the instruction issuing node sends instruction information to the first individual through beamforming technology; the third working time, through the above scheme, all information transmission interactions are realized.

[0037] In a specific implementation plan, it also includes: a system monitoring and dynamic adjustment module, which is used to dynamically adjust the instruction issuing node, including the instruction issuing node originally sending the first information to the first node through the first beam, but after a period of working time, it is found that the feedback time is lower than the average feedback time, so the dynamic adjustment mechanism is started, and the second beam is used to send the first information to the first node, and the new feedback time is tested, and so on. After testing all beams, the one with the smallest feedback time is selected as the new beam carrying mode.

[0038] In a specific feasible implementation scheme, it also includes: a double-locking task execution mechanism module, which is used to provide the security of task execution; the double-locking mechanism is a working mode. When an individual enters this working mode, the corresponding operation is performed only when more than two queue instruction issuing nodes send the same task to him, otherwise the operation is not performed; including: in the double-locking mechanism mode, the first instruction issuing node sends the first information to the first node through the first beam, and the second instruction issuing node sends the second information to the first node through the second beam. Only when the first node completely receives the first information of the first instruction issuing node and the second information of the second instruction issuing node, and the information contents of the two are consistent, the corresponding behavior is performed; otherwise, no operation is performed.

[0039] Specifically, the automated instruction interaction system proposes an automated instruction interaction mechanism suitable for queue collaboration. In the queue collaboration of multiple individuals, several queue instruction issuing nodes are set, and each individual is an instruction receiving node. The individual can be a person or mechanical device carrying an instruction sending and receiving device, such as a drone, a mechanical vehicle, a mechanical dog, etc. When queue collaboration is carried out, the instruction issuing node pre-fabricates the programmed queue operation instructions, including movement instructions and shaping instructions for each individual, and broadcasts them to the individuals in the venue.

[0040] Furthermore, in order to ensure that the instruction issuing node still has a good data transmission effect under the condition of limited power consumption, the present invention creatively proposes a kind of instruction issuing node to send pulse instructions according to relative position information. Specifically, all individuals have separate numbers and their own instruction receiving functions are in a continuously open state during the queue collaboration process, and have the ability to respond. The instruction issuing node has GPS / Beidou positioning capabilities. Initially, the instruction issuing node issues initial instructions to all nodes and waits for responses. The individual distance is determined by the corresponding time, and then the relative position information of all individuals is obtained through the absolute positions of multiple instruction issuing nodes. After the queue starts to collaborate, the instruction issuing node parses the pre-made and programmed queue operation instructions, and only sends the corresponding instructions to the individuals in the specified area through beamforming technology to achieve refined management of different regions. At the same time, the individuals who receive the instruction information need to respond for the instruction issuing node to confirm whether the required queue instructions have been sent and transmitted.

[0041] Furthermore, the present invention also allows an individual to actively request instruction operation information from a column instruction issuing node, and the corresponding instruction issuing node selectively sends instructions for a specific area only to the area where the individual is located.

[0042] Furthermore, the present invention protects a double-locked task mechanism, that is, setting a working mode. When an individual enters the working mode, the corresponding operation is performed only when two or more queue instruction issuing nodes send the same task to him, otherwise the operation is not performed, so as to ensure the correctness of the instruction. Through the mechanism of specifying instructions in designated areas, the number of instruction interactions required in queue collaboration can be greatly reduced, and more efficient automated instruction interactions can be achieved.

[0043] Specifically include:

[0044] 1. Startup and instruction preparation module

[0045] Prefabricated queue operation instructions:

[0046] Before the mission begins, the system's command issuing nodes will pre-program the queue operation instructions. These instructions include movement instructions (such as position, speed, path) and shaping instructions (such as formation change) for each queue individual. These instructions have been designed in detail according to mission requirements and collaboration goals to ensure the accuracy of the operation.

[0047] Before the start of the queue collaboration task, startup and instruction preparation are important links in the entire automated instruction interaction mechanism, especially the stage of prefabricating queue operation instructions, which lays a solid foundation for subsequent queue collaboration tasks. The specific process can be divided into the following aspects:

[0048] 1. Mission requirements analysis and instruction planning

[0049] Before starting a queue collaboration task, a detailed task requirements analysis is required. The instruction issuing node determines the operations that each individual in the queue needs to complete based on the task requirements. The core goal of the task requirements analysis is to ensure that each individual in the queue can accurately execute instructions, thereby achieving the overall goal of team collaboration.

[0050] Task requirements include the following aspects:

[0051] -Task type: For example, the mission may be drone formation flying, autonomous vehicle platoon driving, collaborative operation of robot clusters, etc. Depending on the mission type, different platoon collaboration forms will have different operational requirements.

[0052] - Collaboration goals: Determine the specific goals of queue collaboration, such as maintaining formation, moving to a designated location, completing specific tasks (such as shooting, patrolling, transportation), etc.

[0053] -Environmental factors: Consider the geographical environment, obstacles, weather conditions and other factors that may affect the team collaboration in the task execution scenario.

[0054] 2. Definition of prefabricated operation instructions

[0055] Based on the mission requirements, the system will pre-program and define the operation instructions for each queue individual. These pre-made instructions are generated in the instruction issuing node through programming and can be adjusted as needed. Pre-made instructions usually include the following:

[0056] -Movement instructions:

[0057] Movement instructions define the specific movement behaviors of each individual in the task. These behaviors include:

[0058] - Position: Determine the initial and target positions of the individual in the queue.

[0059] - Speed: Depending on the task requirements, the speed that the individual needs to maintain during the movement, as well as possible acceleration or deceleration strategies at different stages.

[0060] -Path: Defines the movement path of individuals in performing tasks. Path planning not only takes into account the task objectives, but also makes dynamic adjustments based on environmental factors (such as obstacles, wind speed, etc.).

[0061] -Styling instructions:

[0062] The shaping instructions of the queue individuals are important instructions to ensure the formation is consistent and the queue is orderly during collaboration. The shaping instructions include:

[0063] -Queue arrangement: define the relative position relationship of each individual in the queue. For example, in a drone formation, different formation shapes may need to be presented (such as diamond, rectangle, V shape, etc.), which are pre-set through modeling instructions.

[0064] - Dynamic transformation: During the collaboration process, the queue may need to dynamically transform its formation according to the progress of the task or changes in the environment, such as changing the queue spacing, rearranging positions, etc. These transformation instructions are also pre-made to ensure flexible adjustments during the task.

[0065] 3. Modularity and flexibility of instructions

[0066] Prefabricated operating instructions are usually modular in design so that they can be quickly adjusted according to different task requirements. For example:

[0067] -Instruction library: Prefabricated instructions can be stored in the instruction library, and the instruction issuing node can call the applicable instruction module from the instruction library according to the task type. Each module contains specific operation instructions, such as path planning, speed adjustment, formation change, etc.

[0068] -Flexible combination: Prefabricated instructions have high flexibility, and the instruction issuing node can dynamically combine different instruction modules according to real-time needs. For example, when performing patrol tasks, the system can quickly combine prefabricated path instructions and formation maintenance instructions into task instructions suitable for the current environment.

[0069] - Adjustment mechanism: During the execution of a task, the environment or objectives may change, so prefabricated instructions have an adjustment mechanism that allows the instruction issuing node to modify or adjust instruction parameters (such as speed, path, formation shape, etc.) in the middle of the task to ensure the flexibility and accuracy of task execution.

[0070] 4. Coordination of instructions between individuals

[0071] In order to ensure that each individual in the queue can work closely together, the prefabricated instructions are not only for the operation of a single individual, but also involve the collaborative relationship between individuals:

[0072] -Relative position maintenance: During the mission, each individual in the queue needs to maintain the relative position and distance with other individuals in real time. The pre-made instructions will set the relative position of each individual through the GPS / Beidou positioning system, and adjust it through regular position information feedback.

[0073] -Queue synchronization: To avoid inconsistent actions among individuals in the queue, the command issuing node will pre-set the start time and action synchronization rules for each individual. This ensures that all individuals can perform tasks according to the predetermined timing and rhythm.

[0074] 5. Pre-issuance and verification of instructions

[0075] Before the task is officially started, the instruction issuing node will first pre-issue and verify the instructions to ensure that the pre-made queue operation instructions can be correctly transmitted and executed. The verification steps include:

[0076] -Instruction transmission test: The instruction issuing node sends the initial instruction to each individual in the queue. After receiving the instruction, the individual needs to provide feedback confirmation to verify the smoothness of the communication link.

[0077] -Simulation run: The system can perform a simplified task simulation to pre-test whether the individual's behavior in the task matches the pre-made instructions. This process helps to discover and correct possible programming errors or instruction settings that are not suitable for the actual situation.

[0078] 6. Security and reliability design of instructions

[0079] During the programming of prefabricated instructions, the safety and reliability of the instructions are taken into consideration:

[0080] - Redundant design: Prefabricated instructions contain certain redundant information to ensure that the queue can still successfully complete the collaborative task when communication is poor or individual equipment fails.

[0081] -Task failure recovery mechanism: If an individual fails to complete a task according to pre-set instructions during execution, the system will automatically generate recovery instructions to help the individual get back on track. This design ensures the stability and continuity of queue collaboration.

[0082] Before the mission begins, the stage of prefabricating queue operation instructions is the basis for the smooth operation of the entire system. Through detailed mission requirement analysis, modular and flexible design, and the setting of individual collaborative relationships, it is ensured that each individual in the queue can accurately perform tasks according to prefabricated instructions, ultimately achieving efficient collaboration of the entire queue and the completion of mission goals. This process emphasizes the flexibility, reliability, and real-time adjustment capabilities of instructions, allowing the system to maintain efficient operation in complex and changing environments.

[0083] 2. Queue individual initialization module

[0084] Location and number confirmation:

[0085] After each queue individual is started, the position is initialized first. Each individual obtains its own geographic location through the built-in GPS / Beidou module and sends the initial location information to the command issuing node. At the same time, each individual has a unique number to identify its identity in the entire queue collaboration.

[0086] Continuously open to receive status:

[0087] All individuals in the queue keep their command receiving function turned on, ready to receive commands from the command issuing node at any time, and have the ability to respond to ensure that subsequent interactions proceed smoothly.

[0088] During the queue individual initialization phase, each individual in the system needs to confirm its position and identity, while ensuring that its receiving system is always in an open state so that it can accurately perform operations in the queue collaboration task. The following will elaborate on the two key steps of this phase: position and number confirmation and continuous open receiving state.

[0089] 1. Confirm the location and number

[0090] (1) Position initialization

[0091] The core of queue collaboration is the precise location of each individual in space. Therefore, when an individual in a queue starts, the first task is to initialize the location, that is, to obtain its own geographic location through the built-in positioning module. This usually includes the use of positioning technologies such as GPS (Global Positioning System) or Beidou Satellite Navigation System.

[0092] - Working principle of GPS / Beidou module:

[0093] Each individual is equipped with a GPS or Beidou module that receives signals from satellites to determine its own location information such as longitude, latitude, and altitude. Through the triangulation method of multiple satellites, the device can accurately calculate its position in the global coordinate system in a short time.

[0094] -Real-time acquisition of location data:

[0095] After starting, individuals will continue to obtain location information and refresh it regularly. This real-time update ensures that the location information of all individuals is accurate and up-to-date before the collaborative task begins, and can be fed back to the system at any time.

[0096] (2) Initial location information transmission

[0097] -Send initial position information to the instruction issuing node:

[0098] When each individual completes the position initialization, it will send its own position information to the system's command issuing node through a wireless communication link. The initial position information includes its latitude and longitude coordinates, altitude, speed (if in motion), etc. This information helps the command issuing node to clarify the initial spatial distribution of each individual in the queue.

[0099] - Confirmation and calibration of position data:

[0100] After receiving the initial position information of all individuals, the instruction issuing node will perform a preliminary calibration on the distribution of individuals in the queue to ensure that the relative positions between individuals meet the task requirements. If there are errors or deviations, the system can make adjustments before the task starts to ensure the accuracy of the collaboration.

[0101] (3) Number confirmation and individual identity recognition

[0102] -Unique Numbering System:

[0103] In order to ensure that each individual can be independently identified during the queue collaboration process, all individuals have a unique number in the system. This number is usually assigned when the device is manufactured or initialized, similar to the "identity code" of the device.

[0104] -The role of numbering:

[0105] The number is not only used for individual identification, but also in the process of command distribution. The command issuing node can issue different commands to different individuals based on the number. For example, an individual with number A may receive different operation instructions from an individual with number B, which ensures the flexibility and individualized management of the system.

[0106] -Number and position binding:

[0107] The individual number and location information are bound together to form a unique identifier. This binding helps the instruction issuing node quickly locate the individual's location and identity in complex queue collaboration scenarios, especially when the individual moves or the task requirements change, the system can accurately track and distribute the individual's task instructions.

[0108] 2. Continuously open receiving state

[0109] (1) Continuous opening of the receiving system

[0110] In order to ensure the real-time and responsiveness of the queue collaborative tasks, after each individual in the queue is started, its instruction receiving system is always kept open and ready to receive instructions from the instruction issuing node at any time.

[0111] -Establishment of wireless communication link:

[0112] After the individual is started, the instruction issuing node will establish a connection with each individual through a wireless communication link (such as Wi-Fi, 4G / 5G network, dedicated wireless communication protocol, etc.). The individual's receiving module remains open and can receive instructions issued by the system at any time. This continuous open state provides the basis for the flexibility of queue collaboration.

[0113] -Automatic reconnection mechanism:

[0114] In the continuous open receiving state, the individual receiving module usually has an automatic reconnection function. If the communication link is interrupted, the receiving system can automatically try to reestablish the connection to ensure the stability of command reception. This mechanism is particularly important for large-scale collaborative tasks, which can effectively prevent individuals from losing command control due to network fluctuations.

[0115] (2) Command response mechanism

[0116] In order to ensure the successful transmission and accurate execution of instructions, each individual has the ability to respond and send confirmation feedback to the instruction issuing node after receiving the instruction. This response mechanism ensures the smoothness and reliability of the entire queue collaboration process.

[0117] -Command reception and confirmation feedback:

[0118] When an individual receives an instruction from an instruction issuing node, it first performs data analysis to confirm whether the content and number of the instruction are correct. Then, the individual sends a confirmation feedback to the instruction issuing node through a wireless communication link, indicating that the instruction has been correctly received and is ready to be executed.

[0119] - Acknowledge the importance of feedback:

[0120] The instruction issuing node can monitor in real time whether each individual in the queue has successfully received and understood the instruction by receiving confirmation feedback from the individual. This feedback mechanism not only improves the reliability of the system, but also enables timely remedial measures such as resending instructions in the event of instruction loss or transmission failure.

[0121] (3) Power consumption management of receiving system

[0122] In order to ensure that individuals can operate stably for a long time, especially on mobile devices (such as drones, robots, etc.), the receiving system will adopt a power consumption optimization management strategy.

[0123] -Low power mode switch:

[0124] Although the receiving system remains on continuously, it switches between high-power and low-power modes according to communication conditions and task requirements. For example, when the device is in standby mode or has not received any new instructions, the receiving module will enter low-power mode to reduce energy consumption. When instructions need to be received, it will quickly switch back to high-power mode to ensure the stability of data reception.

[0125] -Pulse command sending:

[0126] The command issuing node adopts a pulsed command sending method. Individuals do not need to maintain a high-power receiving state for a long time, and only turn on high-power receiving during a specific period (pulse interval). This design effectively extends the battery life of the device, especially during the execution of long-term tasks, which can significantly reduce unnecessary energy consumption.

[0127] 3. Overall coordination of queue initialization

[0128] After completing the location and number confirmation and setting the continuous open state of the receiving system, the foundation of queue collaboration has been established. The unique number and location information of the individual help the system accurately manage the operation of each individual, and the continuous open receiving state ensures the real-time transmission of system instructions. Through this initialization process, the entire queue collaboration task can be seamlessly connected, and individuals can respond immediately after receiving task instructions, ensuring the efficiency and accuracy of collaborative operations.

[0129] In the initialization stage of the queue individuals, position and number confirmation and continuous open receiving status are two key steps to achieve queue collaboration. Through accurate position initialization and unique identification of numbers, the system can ensure that each individual in the queue operates accurately. At the same time, the individual keeps the receiving system continuously open and has a response function to ensure the smooth transmission and execution of instructions. This stage provides a solid foundation for the smooth execution of the entire queue collaboration.

[0130] 3. Pulse command sending and response module

[0131] Pulse initial command sending:

[0132] The instruction issuing node sends the initial instruction in a pulsed manner based on the received individual position and number information and the calculation of relative position information. These instructions are broadcast to the entire queue. Each individual responds quickly to the instruction it receives, thereby helping the instruction issuing node determine the distance relationship between the individuals.

[0133] Relative position information optimization:

[0134] The command issuing node calculates the relative position of the individual through the response time, and further uses multi-node collaboration to obtain more accurate location information. This lays the foundation for the subsequent regional and targeted command issuance, avoiding the communication burden and excessive power consumption caused by global broadcasts.

[0135] In the queue collaboration system, the pulse command sending and response mechanism lays an important foundation for efficient communication and collaboration, especially in large-scale, multi-device collaboration scenarios, this mechanism can significantly optimize the efficiency and accuracy of command delivery. The following will elaborate on the workflow of this mechanism and its specific application in the system.

[0136] 1. Pulse initial command sending

[0137] (1) Pulse transmission principle

[0138] In traditional queue collaboration, broadcast transmission of instructions often faces the problems of high power consumption and waste of communication resources. In order to solve this problem, the present invention proposes pulsed instruction transmission. The instruction issuing node no longer broadcasts instructions continuously, but sends them intermittently in the form of pulses. This intermittent transmission mode can dynamically adjust the transmission frequency and timing according to actual needs, reduce unnecessary signal transmission, and optimize communication efficiency.

[0139] -Characteristics of pulse signal:

[0140] Pulse transmission means that the command issuing node will periodically broadcast a set of initial command signals, similar to sending "signal pulses" at time intervals. The interval between each pulse signal can be adjusted according to environmental requirements or device response capabilities. In this way, the system can control power consumption, especially in scenarios with a large number of individuals or obvious power consumption constraints, pulse transmission can significantly save power.

[0141] -Pulse sending time:

[0142] The timing of pulsed instruction transmission is dynamically adjusted by the instruction issuing node based on the received individual position information. The initial instruction is usually issued after the queue is initialized to ensure that the positions and numbers of all individuals have been confirmed. When the queue enters the task execution phase, the frequency of pulsed transmission will be adjusted according to the complexity of the task.

[0143] (2) Command content and broadcast mechanism

[0144] The initial command sent in pulse mode usually contains the following:

[0145] -Queue operation instructions: such as position, path planning, speed control, etc. Each individual will receive instructions related to its number in the broadcast.

[0146] -Relative position request: This instruction requires each individual to provide feedback immediately after receiving it, so that the instruction issuing node can calculate its relative position.

[0147] These instructions are broadcast to the entire queue, and because the instructions are pre-programmed, individuals can quickly parse and respond.

[0148] (3) Individual command reception and response

[0149] After receiving the initial broadcast command, each individual first parses the command. According to the number information in the command, the individual identifies the command content related to itself and completes the response in a short time.

[0150] -Response confirmation:

[0151] After receiving the command, the individual will immediately send a response confirmation to the command issuing node. The response information not only includes confirmation that the command has been received, but may also include the individual's current location information for further calibration by the command issuing node.

[0152] -Answer time record:

[0153] The command issuing node will record the response time of each individual and use this information to calculate the distance between each individual and the issuing node. The shorter the response time, the closer the individual is to the issuing node; conversely, the farther the distance is. This mechanism helps the command issuing node to perform a preliminary distance sorting of the individual's position in the queue.

[0154] 2. Relative position information optimization

[0155] (1) Response time calculation and relative position determination

[0156] Through the response time of each individual, the command issuing node can preliminarily estimate the relative position relationship of the individuals. The response time is a very critical parameter, which directly reflects the time consumed by the signal transmission, and is proportional to the distance between the individuals.

[0157] -Distance calculation model:

[0158] Based on the response time and signal propagation speed (usually the propagation speed of electromagnetic waves, close to the speed of light), the instruction issuing node can roughly calculate the distance between the individual and the issuing node. This calculation can help the system understand the relative distribution of individuals in space, especially the distance relationship between individuals.

[0159] -Preliminary location map:

[0160] Through the response feedback of all individuals, the instruction issuing node can establish a preliminary location map, which provides basic data for subsequent queue collaboration and instruction optimization.

[0161] (2) Multi-node coordination and precise positioning

[0162] A single command issuing node may not be able to accurately determine the three-dimensional spatial position of all individuals, especially in complex environments where signal propagation may be affected by obstacles, etc. In order to improve positioning accuracy, the present invention adopts multi-node collaborative positioning technology.

[0163] -Multi-node collaborative work:

[0164] Multiple command issuing nodes are usually deployed in the system, and each node can receive the response feedback of the individual. Multiple nodes will perform joint calculations based on the difference in response time between them and the individual to determine the precise three-dimensional position of the individual in the entire queue.

[0165] -Triangulation positioning:

[0166] The key to multi-node collaboration is to use triangulation technology. The relative positions of different nodes are known. When an individual sends a response feedback to multiple nodes, the node can calculate the specific position of the individual in the queue through triangulation. This method can significantly improve the position accuracy, especially in complex mission scenarios, such as drone clusters or autonomous driving fleets, to ensure that each individual is accurately positioned.

[0167] (3) Optimization of regional and targeted instruction issuance

[0168] By using the relative position information obtained by multiple nodes in a collaborative manner, the system can further optimize the way of issuing instructions. Traditional broadcast instructions are often broadcast globally to the entire queue, but in the present invention, the instruction issuing node can send directional instructions to individuals in different areas based on accurate relative position information, thereby reducing the communication burden.

[0169] - Send instructions by region:

[0170] Individuals in the queue are divided into different areas, and individuals in each area have similar task requirements or location information. The instruction issuing node uses beamforming technology or other directional communication technology to send relevant instructions only to specific areas, avoiding unnecessary interference caused by global broadcasts.

[0171] -Precise transmission of directional instructions:

[0172] Directed command transmission not only improves the communication efficiency of the system, but also significantly reduces power consumption. Since each command is only transmitted to individuals in a specific area, the communication load of the entire system is greatly reduced. At the same time, individuals do not need to maintain a high-power receiving state for a long time, and only keep communication active at critical moments of the mission.

[0173] 3. Balance between efficiency and power consumption

[0174] (1) Pulse transmission saves power

[0175] Pulse command transmission not only optimizes communication efficiency, but also effectively saves power consumption of individual devices through intermittent signal broadcasting. Especially in large-scale queue collaboration, reducing unnecessary continuous communication is of great help in extending the battery life of devices.

[0176] (2) Directed instructions reduce communication burden

[0177] By obtaining accurate relative position information, the system can avoid communication overload caused by global broadcasts. Directed, regional command transmission ensures that each individual only receives command information related to itself, reducing the transmission of irrelevant data. This approach not only improves the flexibility of the entire fleet collaboration, but also ensures the efficiency of the task.

[0178] The pulse command sending and response mechanism achieves accurate positioning of queue individuals and regional command management through pulse signal broadcasting, response time calculation, and multi-node collaboration. Pulse transmission reduces communication energy consumption, while the relative position information optimization of multi-node collaboration significantly improves the accuracy of command sending. This mechanism can effectively improve the efficiency of queue collaboration and ensure that individuals can efficiently perform tasks in complex environments.

[0179] 4. Beamforming and Regional Command Issuance Module

[0180] Use of beamforming technology:

[0181] When the queue collaboration task begins, the instruction issuing node sends instructions to a specific area based on the relative position of each individual through beamforming technology. This technology allows the instruction issuing node to send task instructions only to individuals in a specified area through directional transmission. This means that individuals in different areas will receive different instructions, helping to achieve refined management of different areas.

[0182] Individual command response and confirmation:

[0183] Each individual that receives the instruction will actively send a response message to the instruction issuing node to confirm that it has received and started to execute the corresponding instruction. If the instruction is not fully received or the transmission fails, the instruction issuing node will resend the instruction to ensure the reliable execution of the task.

[0184] In the queue cooperation task, the combination of beamforming and regional command issuance provides strong support for the accurate transmission of commands and the effective response of individuals. This mechanism not only improves the efficiency of command transmission, but also ensures that each individual can perform tasks flexibly and accurately in a complex environment. The key links in this process will be explained in detail below.

[0185] 1. Use of beamforming technology

[0186] (1) Principle of beamforming

[0187] Beamforming is a technology that uses phase interference and interference gain to control the direction of signal propagation. It allows the signal transmitting device to form one or more directional signal beams by adjusting the phase and amplitude of the transmitted signal. Compared with traditional omnidirectional broadcasting, beamforming allows the command issuing node to send commands in a specific direction with higher accuracy and efficiency.

[0188] -Phase adjustment and interference control:

[0189] In beamforming technology, multiple antenna arrays work together to change the phase of the signal transmitted by each antenna, so that the signal is superimposed and strengthened in a specific area, while it can be weakened or interfered in other areas. In this way, the signal energy is concentrated in the individual area that needs to receive the command, improving the signal reception quality and the reliability of command transmission.

[0190] (2) Applied to issuing regional instructions

[0191] After the queue collaboration task starts, the instruction issuing node will send instructions to a specific area through beamforming technology based on the relative position of each individual.

[0192] -Specific regional instructions issued:

[0193] Since the system can obtain the location information of each individual in real time, the instruction issuing node can form multiple beams based on this information, pointing to different individual areas. For example, individuals in the left area can receive instructions sent by the left beam, while individuals in the right area receive instructions from the right beam.

[0194] - Refinement of regional management:

[0195] Through beamforming technology, individuals in each area can receive instructions related to their tasks, avoiding interference from irrelevant information. This regional management not only improves the efficiency of task execution, but also reduces communication burden and power consumption, making the overall operation of the system smoother.

[0196] (3) Counteracting interference and improving signal quality

[0197] Beamforming technology also has a certain anti-interference ability. When a signal propagates in a complex environment, it may be interfered by obstacles. Beamforming can effectively reduce the impact of background noise and other signals by concentrating energy in a specific direction, ensuring that the receiving individual can clearly receive the task instructions.

[0198] 2. Individual command response and confirmation

[0199] (1) Receiving and responding to commands

[0200] Each individual who receives the instruction will respond immediately after receiving the directional instruction from the instruction issuing node. The design of the response mechanism ensures the reliability of instruction transmission and the accuracy of execution.

[0201] -Active response mechanism:

[0202] The individual actively sends response information to the instruction issuing node through its built-in communication module. These response information usually include:

[0203] -Confirm the received command content.

[0204] -The current status of the individual (such as preparation status, execution status, etc.).

[0205] - Any possible error or abnormal information (such as incomplete signal, etc.).

[0206] -Importance of response information:

[0207] By receiving individual responses, the instruction issuing node can monitor the success of instruction delivery in real time. This mechanism ensures that each individual can respond immediately after receiving the instruction, thus maintaining the efficient operation of the system.

[0208] (2) Instruction resend mechanism

[0209] In complex environments, commands may not be fully received due to signal interference or unstable individual states. In this case, the command issuing node will determine whether the command is successfully delivered based on the individual's response information.

[0210] -Design of retransmission mechanism:

[0211] If the individual fails to fully receive the instruction or feedbacks the wrong information, the instruction issuing node will automatically resend the instruction. The resent instruction may be attached with some identification information so that the individual can recognize that it is a resent instruction and ensure that it will not be confused with other instructions during the reception process.

[0212] -Confirmation and feedback loop:

[0213] A confirmation and feedback loop is formed between command retransmission and individual response to ensure reliable execution of tasks. This mechanism effectively improves the robustness of the system and ensures that individuals can perform tasks as expected even in undesirable communication environments.

[0214] (3) Instruction execution and status update

[0215] Once the individual confirms receipt of the instruction and begins execution, the instruction issuing node will also regularly obtain the execution status of each individual in order to make necessary adjustments based on the progress of the task.

[0216] -Real-time status updates:

[0217] Individuals can periodically send status updates to the instruction issuing node to ensure that the system has real-time understanding of the dynamic changes of the entire queue. This status feedback can include information such as execution progress, problems encountered, and environmental changes.

[0218] -Dynamic adjustment and optimization:

[0219] Based on status updates, the instruction issuing node can dynamically adjust and optimize tasks. If an individual encounters a problem during execution, the system can re-issue instructions or adjust the tasks of other individuals to ensure smooth collaboration of the entire queue.

[0220] 3. Effects and advantages

[0221] (1) Efficient instruction delivery

[0222] Through beamforming technology, the system can achieve directional and efficient command transmission. Each individual only receives information related to its own task, reducing unnecessary interference and ensuring efficient command transmission.

[0223] (2) Reduce power consumption and communication burden

[0224] The directional transmission method of beamforming effectively reduces communication energy consumption and prolongs the battery life of individual devices. At the same time, regional command management reduces the burden of overall communication and improves the overall efficiency of the system.

[0225] (3) Reliability of task execution

[0226] The individual's active response and command retransmission mechanism ensures the reliability of task execution. Even in complex or unstable environments, the system can make real-time adjustments through the feedback mechanism to ensure that each individual can accurately perform its task.

[0227] The combination of beamforming and regional command issuance enables the queue collaboration system to execute tasks in an efficient and accurate manner. The application of beamforming technology improves the accuracy and efficiency of command transmission, while the individual response and confirmation mechanism ensures the reliable execution of commands. This mechanism not only optimizes the communication process, but also enhances the robustness of the system, providing effective support for large-scale, multi-device collaborative operations.

[0228] 5. Individual Active Request Instruction Module

[0229] Individual active interaction:

[0230] In the process of executing tasks, individuals not only passively receive instructions, but also have the function of actively requesting instructions. If an individual cannot determine the next operation due to task requirements or environmental changes, it can actively request updated instruction operation information from the instruction issuing node.

[0231] Send instructions on demand:

[0232] The instruction issuing node will selectively send instructions to the area where the individual is located according to the individual's request, without affecting the individual operations in other areas. This active interaction mechanism effectively improves the flexibility and real-time performance of task execution.

[0233] In the queue collaboration system, the mechanism of individuals actively requesting instructions provides greater flexibility and adaptability for the interaction between individuals and instruction issuing nodes. This mechanism not only improves the responsiveness of the system, but also effectively copes with dynamically changing environments and complex task requirements. The key links of this process will be elaborated in detail below.

[0234] 1. Individuals actively interact

[0235] (1) Necessity of proactive request

[0236] During task execution, the complexity of the environment and tasks may cause individuals to be uncertain about the next step. For example:

[0237] -Environmental changes: When individuals encounter obstacles, emergencies or environmental changes (such as weather changes, lighting changes, etc.) while performing tasks, the original task plan may become invalid.

[0238] -Dynamic adjustment of tasks: Some tasks may need to be dynamically adjusted based on previous execution results. In some cases, individuals may need to update instructions to adapt to new task requirements.

[0239] Therefore, individuals have the ability to proactively request instructions, which ensures that they always remain in the optimal state during the execution process.

[0240] (2) How to request instructions

[0241] When an individual needs to request an instruction, it will send an instruction request message to the instruction issuing node through its built-in communication module. The request message usually includes:

[0242] -Current status: individual execution progress, completion of current tasks, obstacles or problems encountered, etc.

[0243] - Request content: clearly indicate the type of instruction required (such as move instruction, adjustment instruction, status query, etc.) so that the instruction issuing node can respond quickly.

[0244] 2. Send instructions on demand

[0245] (1) Selective instruction issuance

[0246] After receiving the request from an individual, the instruction issuing node will make an intelligent judgment and selectively send the corresponding instructions to the area where the individual is located.

[0247] -Directed response mechanism:

[0248] Based on the individual's location information and task requirements, the instruction issuing node can use beamforming technology to accurately send instructions to the area where the individual is located. This directional transmission ensures that the individual can obtain the required instructions in a timely manner without affecting the operations of individuals in other areas.

[0249] -Avoid distractions:

[0250] By sending commands on demand, the interference and communication burden caused by global broadcasts can be avoided, ensuring the efficient operation of the system. Other individuals outside the area do not receive irrelevant commands, maintaining the smoothness of the task and the coordination between individuals.

[0251] (2) Real-time and flexibility

[0252] The mechanism of actively requesting instructions significantly improves the real-time performance and flexibility of the system:

[0253] -Dynamic Adaptation:

[0254] When individuals face new environmental challenges or task adjustments, proactively requesting instructions enables them to quickly obtain updated operational information and ensure that their action plans can be adjusted in a timely manner. This dynamic adaptability is a key factor in improving the success rate of task execution.

[0255] -Optimization of task execution:

[0256] Individuals can actively request the required instructions based on their actual situation, avoiding execution delays caused by waiting for instructions to be issued. This optimization can improve the overall execution efficiency of tasks and make queue collaboration smoother.

[0257] 3. Effects and advantages

[0258] (1) Enhanced collaborative efficiency

[0259] The individual active request instruction mechanism enables each individual in the queue to adjust and optimize according to needs during the execution process, enhancing the collaborative efficiency of the entire queue.

[0260] (2) Improve the reliability of task execution

[0261] Through active requests and targeted delivery, the system can ensure that individuals receive updated instruction information in a timely manner when faced with emergencies, thereby improving the reliability of task execution. Individuals no longer rely solely on the delivery of instructions, but can actively seek support.

[0262] (3) Reduce communication burden

[0263] The on-demand instruction sending method effectively reduces the communication burden of the instruction issuing node. Since only relevant information is sent to individuals who need updated instructions, the system can maintain good communication efficiency between different regions.

[0264] The mechanism of individuals actively requesting instructions injects flexibility and intelligence into the queue collaboration system, allowing individuals to actively interact with the instruction issuing node according to their own needs when performing tasks. By sending instructions on demand, the system can effectively improve the real-time and accuracy of task execution, while reducing the communication burden and enhancing the collaboration ability of the entire queue.

[0265] 6. Double Lock Task Execution Mechanism Module

[0266] Multi-node confirmation:

[0267] If an individual enters a specific working mode (such as an important task execution mode or a high-risk task), the individual will only start executing the task if it receives the same instruction from at least two instruction issuing nodes. This double-locking task mechanism ensures the reliability of instructions and avoids misoperation.

[0268] Task execution and feedback:

[0269] After receiving the confirmed instruction, the individual starts to perform the task and sends feedback information to the instruction issuing node after the task is completed, indicating that the task has been completed or further instructions are required.

[0270] In the queue collaboration system, the double-lock task execution mechanism provides individuals with higher security and reliability when performing critical tasks. This mechanism ensures the validity of instructions through multi-node confirmation, thereby reducing misoperation and potential risks. The key links of this mechanism will be explained in detail below.

[0271] 1. Multi-node confirmation

[0272] (1) Setting of specific working mode

[0273] When an individual needs to enter a specific work mode (such as important task execution mode, high-risk task mode, etc.), the system will impose additional security controls on its execution process. This mode is usually applicable to the following scenarios:

[0274] -High-risk environments: such as hazardous operating areas in industrial automation or drone flight missions in complex weather conditions.

[0275] - Execution of important tasks: such as performing rescue missions, medical transportation and other critical operations.

[0276] Under this working mode, individual operations will be more strictly managed.

[0277] (2) Implementation of the double locking mechanism

[0278] To ensure the reliability and consistency of the instructions, the individual will only start executing the task when it receives the same instructions from at least two instruction issuing nodes. The implementation process of this mechanism is as follows:

[0279] -Coordination of multiple command issuing nodes:

[0280] Multiple command issuing nodes are deployed in the system, which can monitor the status of individuals in real time and send corresponding commands. When an individual enters a specific working mode, these nodes will coordinate with each other to ensure that consistent commands are sent to the individual.

[0281] -Consistency check:

[0282] Once an individual receives the same instruction from multiple nodes, it will perform a consistency check to ensure that the instruction content is completely consistent. If there is an inconsistency in the received instruction, the individual will not perform the task and report the abnormality to the instruction issuing node.

[0283] -Prevent misoperation:

[0284] This double locking mechanism can effectively prevent misoperation caused by command errors, signal interference or system failures even in complex operating environments, thereby improving the safety of task execution.

[0285] 2. Task execution and feedback

[0286] (1) Command confirmation and task execution

[0287] After receiving the confirmed instruction, the individual will start the task execution process:

[0288] -Start execution:

[0289] After confirming that they have received consistent instructions, the individual enters the task execution state and begins to operate according to the instructions. This process usually includes performing specific actions, adjusting positions, collecting data, etc.

[0290] -Execution status monitoring:

[0291] During the task execution, the individual will continuously monitor its own status and environmental changes so that it can respond quickly when unexpected situations arise.

[0292] (2) Feedback mechanism after task completion

[0293] After the task is completed, the individual needs to send feedback information to the instruction issuing node to indicate the completion status of the task and subsequent requirements.

[0294] -Feedback information content:

[0295] Feedback information usually includes the following:

[0296] -Task Completion Confirmation: Confirms that the task has been successfully executed.

[0297] -Execution Status: Provides key data and status information during the execution process.

[0298] - Request for follow-up instructions: If an individual encounters problems in performing a task or requires further instructions, they can make a request in the feedback.

[0299] -Real-time and accuracy of feedback:

[0300] Through timely feedback, the instruction issuing node can grasp the progress of the task in real time and make necessary instruction adjustments based on the actual situation of the individual. This mechanism helps to optimize the task execution process and improve the overall work efficiency of the system.

[0301] 3. Effects and advantages

[0302] (1) Improve the security of task execution

[0303] The double-lock task mechanism ensures the consistency and reliability of instructions through multi-node confirmation, greatly reducing the risk of misoperation due to instruction errors or signal interference.

[0304] (2) Enhance system robustness

[0305] Even in complex or unstable environments, the double locking mechanism can effectively ensure the reliability of individuals when performing important tasks, enhancing the overall robustness of the system.

[0306] (3) Real-time monitoring and dynamic adjustment

[0307] Through individual feedback information, the instruction issuing node can timely grasp the task execution status, implement dynamic adjustments, and ensure the efficient operation of queue collaboration.

[0308] The double-lock task execution mechanism provides reliable security for important tasks in the queue collaboration system. The multi-node confirmation mechanism ensures the consistency and effectiveness of instructions, thereby effectively preventing the occurrence of misoperations. At the same time, the feedback mechanism of individuals after completing the task also provides a basis for the dynamic adjustment of the system, improving the collaboration ability and execution efficiency of the entire queue.

[0309] 7. Task End and Disbandment Module

[0310] End of queue collaboration:

[0311] When all individuals have completed their tasks, the instruction issuing node will send a collaboration end instruction to notify each individual that the collaboration has been completed. After receiving the end instruction, the individual enters the standby or return state, waiting for the next operation or disbanding the queue.

[0312] 8. System monitoring and dynamic adjustment module

[0313] Real-time dynamic adjustment:

[0314] During the entire collaboration process, the instruction issuing node continuously monitors the position, status and execution progress of individuals in the queue to ensure the smooth progress of the entire queue collaboration. If an individual fails or leaves the queue, the system will dynamically adjust and reallocate tasks based on its position information and response mechanism to ensure the overall integrity of the queue collaboration.

[0315] In the queue collaboration system, task completion and disbanding are key links in the entire task process, marking the completion of collaboration and the state transition of the system. The key links of this process will be elaborated in detail below.

[0316] 1. Queue collaboration ends

[0317] (1) Confirmation of task completion

[0318] When all individuals in the queue have completed their respective tasks according to the predetermined plan, the instruction issuing node needs to confirm the execution status of the entire queue. This usually includes the following steps:

[0319] -Perform status check:

[0320] The instruction issuing node will confirm whether each individual's task has been successfully completed through individual feedback information. This process may involve verifying the task results and monitoring the individual status to ensure that all operations are in line with expectations.

[0321] -Overall collaboration assessment:

[0322] The instruction issuing node will comprehensively evaluate the collaborative effect of the entire queue, including the efficiency and accuracy of task execution and the coordination between individuals. This evaluation will provide a reference for the improvement of subsequent tasks.

[0323] (2) Send a collaboration end instruction

[0324] Once it is confirmed that all individuals have successfully completed the task, the instruction issuing node will send a collaboration end instruction to all individuals. The content of this instruction usually includes:

[0325] - Mission Completion Notification: Explicitly inform each individual that their mission has been successfully completed.

[0326] -Instruction of standby state: The instruction issuing node may instruct the individual to enter the standby state to prepare for subsequent operations or instructions.

[0327] 2. Individual Response and State Transition

[0328] (1) Receive end command

[0329] After receiving the collaboration end instruction, each individual will immediately make the corresponding state transition:

[0330] -The process of state transition:

[0331] Individuals will change their work status from "execution" to "standby" or "return". This process usually includes:

[0332] -Stop current operations: The individual is to immediately cease all ongoing operations and avoid any unnecessary activity.

[0333] -Reset execution status to zero: The individual resets its task execution status to zero and prepares for the next operation.

[0334] (2) Enter standby or return state

[0335] Depending on the specific content of the instruction, individuals can choose to enter different states:

[0336] - Standby mode:

[0337] In standby mode, the individual is in low power mode and is ready to receive new instructions at any time. This state can effectively extend the battery life of the individual while maintaining communication connection with the instruction issuing node.

[0338] -Return status:

[0339] If the instruction issuing node instructs the individual to return to a specific location (such as a starting point or a charging station), the individual will move according to the preset path to ensure safe and accurate return to the designated location.

[0340] 3. Task summary and feedback

[0341] (1) Task Summary

[0342] After all individuals complete the state transition, the instruction issuing node may make an overall task summary, including:

[0343] -Performance evaluation:

[0344] Evaluate the performance of the entire team collaboration and record successful experiences and problems. This information will help optimize the execution of subsequent tasks.

[0345] -Data collection and analysis:

[0346] Collect data from each individual during the task execution for subsequent analysis. This data may include execution time, energy consumption, environmental information, etc.

[0347] (2) Preparation for subsequent operations

[0348] The summary and feedback after the task is completed will provide data support for the instruction issuing node to formulate the next operation plan. For example:

[0349] - Adjust mission strategy:

[0350] According to the task execution status, the instruction issuing node can adjust the execution strategy of subsequent tasks to improve the overall efficiency.

[0351] -Preparation for issuing instructions:

[0352] Before a new task arrives, the instruction issuing node will prepare the corresponding instructions to ensure that the individual can quickly receive new operation information when in standby mode.

[0353] 4. Disband the queue

[0354] (1) Queue disbanding mechanism

[0355] After all individuals have completed their tasks and entered the standby or return state, the instruction issuing node can decide to disband the queue. This process involves:

[0356] -End of communication:

[0357] Once the queue is dissolved, the specific communication between the instruction issuing node and the individual will end, and the individual may disconnect from the instruction issuing node when it does not receive new instructions.

[0358] -Independent status of individuals:

[0359] As the queue is disbanded, each individual will become independent and able to operate according to its own needs.

[0360] (2) Status management after dissolution

[0361] After the cohort is disbanded, individuals can make their own decisions based on the specific circumstances:

[0362] -Autonomous activities:

[0363] Individuals can choose to perform a self-check, recharge, or enter a dormant state to ensure they can operate at their best for the next mission.

[0364] -Stay Connected:

[0365] Although the queue is disbanded, individuals can still keep in touch with the instruction issuing node as needed so as to respond to new instructions or tasks at any time.

[0366] The process of task termination and disbanding plays a vital role in the queue collaboration system. By sending the collaborative termination instruction and the individual state transition, the task can be ensured to be successfully terminated. At the same time, the task summary and feedback mechanism provides a basis for the improvement of subsequent tasks, and the disbanding of the queue prepares for the individual's autonomous activities and future operations. This mechanism not only optimizes the operating efficiency of the system, but also provides support for the flexibility and adaptability of individuals.

[0367] In the above technical solution, pulse-based command sending, beamforming regional command management, double-lock task mechanism, etc. are innovatively introduced, making the command interaction in queue collaboration more efficient, accurate and reliable. Combined with individual active requests and the system's dynamic adjustment capabilities, this solution can adapt to various complex tasks and scenarios and achieve efficient multi-device collaborative operations. Specifically:

[0368] Improved communication efficiency: By adopting beamforming technology and refined instruction sending methods based on different regions, the redundant communication caused by global broadcasting is effectively reduced. The instruction issuing node only sends relevant instructions to individuals in the target area, which greatly reduces the communication burden of the system, especially when there are a large number of individuals in the queue. This method significantly improves communication efficiency.

[0369] Power consumption optimization: The pulse command transmission mechanism based on relative position information can ensure effective transmission of commands under power consumption constraints. This mechanism is suitable for use on devices with power or resource constraints (such as drones, mechanical vehicles, etc.), allowing them to maintain low power consumption during long-term queue collaboration while maintaining good command transmission effects.

[0370] Accuracy and reliability of instructions: The double-lock task mechanism greatly improves the reliability of instruction execution. When an individual enters a specific working mode, the individual will only execute the task when two or more instruction issuing nodes send the same task at the same time. This mechanism avoids the situation where individuals perform incorrect operations due to wrong instructions or signal interference, ensuring the accuracy of queue collaboration and the correct execution of tasks.

[0371] Flexible personalized command management: Through preset programming commands and the ability for individuals to actively request commands, each individual in the queue can receive different personalized commands based on their own position and status. This mechanism greatly improves the flexibility of queue collaboration, is suitable for scenarios that require refined control, and avoids the waste of individual resources caused by the traditional broadcast command distribution method.

[0372] Reduce the risk of single point failure: In the prior art, systems that rely on a single control node are prone to single point failure. The present invention reduces the risk of single point failure by using multiple command issuing nodes to work together, as well as the acquisition of relative position information of multiple nodes and the distribution of commands. Even if a issuing node fails, other nodes can still maintain normal collaboration of the queue.

[0373] Scalability and applicability of queue collaboration: The mechanism of the present invention is very suitable for large-scale, multi-device collaborative work scenarios, such as drone formation flight, autonomous vehicle fleets, robot clusters, etc. Through precise command interaction and response mechanisms, queue collaboration can be expanded to more devices and achieve larger-scale collaborative tasks.

[0374] Strong environmental adaptability: The queue collaboration mechanism of the present invention can be adjusted according to the complexity of the environment, especially in complex dynamic environments. Relying on the GPS / Beidou positioning capabilities of the equipment and the calculation of relative position information, it can ensure efficient queue collaboration in different geographical environments.

[0375] Reduce delays and improve response speed: The present invention reduces the delay between each instruction sending and execution through regional and individualized instruction sending methods, thereby improving the response speed of the system, especially in tasks with high real-time requirements (such as drone formations or autonomous driving collaboration). This can significantly reduce the problems of inaccurate operations or untimely task execution caused by delays.

[0376] In summary, the present invention significantly improves the efficiency, stability and flexibility of queue collaboration by optimizing communication mechanisms, improving power consumption management, and enhancing the accuracy and reliability of instructions, making its application in various complex scenarios have great advantages.

[0377] exist Figure 2 In the embodiment of the present application, there is provided an automated instruction interaction method, comprising the following steps:

[0378] The pulse command sending and response module is used to locate the queue individuals and manage the regional commands; the pulse command is an information interaction command sent at periodic or non-periodic intervals, which belongs to the silent mode;

[0379] The task is executed by using a beamforming and regional instruction issuing module and the instructions are differentially controlled based on the position information; including: setting a first area, a second area and a third area; the first area, the second area and the third area are covered by a first beam, a second beam and a third beam respectively; also including a first instruction, a second instruction and a third instruction, the first instruction, the second instruction and the third instruction correspond to the first area, the second area and the third area respectively; the first area, the second area and the third area are different;

[0380] Use the startup and instruction preparation modules to pre-form queue operation instructions;

[0381] The queue individual initialization module is used to confirm the position and number and to continuously open the receiving state.

[0382] In the above technical solution, a pulse command sending and response module is set up to locate the individual queue members and manage the commands in different regions; a beamforming and regional command issuing module is used to execute the tasks; regional command management based on pulse command sending and beamforming is introduced to make the command interaction in queue collaboration more efficient, accurate and reliable.

[0383] In a specific implementation scheme, separate instructions are sent according to the regional location, including: all individuals have separate numbers and their own instruction receiving functions, are in a continuously open state during the queue collaboration process, and have the ability to respond; the instruction issuing node has GPS / Beidou positioning capabilities, and the initial instruction issuing node uses beamforming technology to issue initial instructions to all nodes and wait for responses, determines the distance of individuals through the corresponding time, and then obtains the relative position information of all individuals through the absolute positions of multiple instruction issuing nodes; including:

[0384] During the first working time, the instruction issuing node starts the GPS / Beidou positioning capability to obtain its absolute position; during the second working time, the instruction issuing node issues initial instructions to all nodes through beamforming technology and waits for responses. The beamforming technology means that the instruction issuing node uses different beams in turn to send inquiry instructions in different directions, and identifies the beams with different built-in instruction serial numbers, including the first beam associated with the first relative direction and carrying the first serial number, the second beam associated with the second relative direction and carrying the second serial number, and so on; during the third working time, the instruction issuing node obtains the responses of all nodes, determines the distance of each individual through the corresponding time, further determines its relative direction relative to the instruction issuing node in combination with the beam information, and then calculates the absolute position information of each node; during the fourth time, the position information of all nodes is realized through the above scheme.

[0385] In a specific implementation scheme, it also includes: the corresponding instruction issuing node selectively sends instructions for a specific area only to the area where the individual is located; including: the instruction issuing node uses different beams in turn to send query instructions to different directions, and identifies the beams with different built-in instruction numbers. At the same time, the instruction issuing node gives separate instructions to it based on the statistics of absolute position information; or, the node number information in the area is carried in the instruction to determine the unique instruction operation of the corresponding node, including: the instruction issuing node uses different beams in turn to send query instructions to different directions, and identifies the beams with different built-in instruction numbers. At the same time, the instruction issuing node gives separate instructions to it based on the statistics of absolute position information; or, the node number information in the area is carried in the instruction to determine the unique instruction operation of the corresponding node.

Claims

1. An automated instruction interaction system, characterized in that: include: The pulse command sending and response module is used to locate the queue individuals and manage the regional commands; the pulse command is an information interaction command sent at periodic or non-periodic intervals and belongs to the silent mode; A beamforming and regional instruction issuing module is used to perform task execution and differentially control instructions based on location information; including: setting a first area, a second area and a third area; the first area, the second area and the third area are covered by a first beam, a second beam and a third beam respectively; and also including a first instruction, a second instruction and a third instruction, the first instruction, the second instruction and the third instruction correspond to the first area, the second area and the third area respectively; the first area, the second area and the third area are different; The startup and instruction preparation module is used to pre-formulate queue operation instructions; The queue individual initialization module is used to confirm the position and number and maintain the open receiving state; the sending command node has the GPS / Beidou absolute positioning capability and sends individual commands according to the regional location, including: all individuals have individual numbers and their own command receiving functions, are in a continuously open state during the queue collaboration process, and have the ability to respond; the command issuing node has the GPS / Beidou positioning capability, and the initial command issuing node uses the beamforming technology to issue initial commands to all nodes to wait for responses, determines the distance of the individual through the corresponding time, and then obtains the relative position information of all individuals through the absolute positions of multiple command issuing nodes; including: During the first working time, the instruction issuing node starts the GPS / Beidou positioning capability to obtain its absolute position; during the second working time, the instruction issuing node issues initial instructions to all nodes through beamforming technology and waits for responses. The beamforming technology means that the instruction issuing node uses different beams in turn to send inquiry instructions in different directions, and identifies the beams with different built-in instruction serial numbers, including the first beam associated with the first relative direction and carrying the first serial number, the second beam associated with the second relative direction and carrying the second serial number, and so on; during the third working time, the instruction issuing node obtains the responses of all nodes, determines the distance of each individual through the corresponding time, further determines its relative direction relative to the instruction issuing node in combination with the beam information, and then calculates the absolute position information of each node; during the fourth time, the position information of all nodes is realized through the above scheme.

2. The automated instruction interaction system according to claim 1, characterized in that: Also includes: The corresponding instruction issuing node selectively sends instructions for a specific area only to the area where the individual is located; including: The command issuing node uses different beams to send inquiry commands in different directions in turn, and identifies the beams with different built-in command numbers. At the same time, the command issuing node issues individual commands based on the statistics of absolute position information. Alternatively, the node number information in the area is carried in the instruction to determine the unique instruction operation of the corresponding node, including that the instruction issuing node uses different beams in turn to send inquiry instructions in different directions, and identifies the beams with different built-in instruction serial numbers, and at the same time, the instruction issuing node issues separate instructions to it based on the statistics of absolute position information; or, the node number information in the area is carried in the instruction to determine the unique instruction operation of the corresponding node.

3. The automated instruction interaction system according to claim 2, characterized in that: Through beamforming technology, corresponding instructions are only sent to individuals in the designated area to achieve refined management of different areas. At the same time, individuals who receive instruction information need to respond so that the instruction issuing node can confirm whether the required queue instructions have been sent and transmitted; the response information includes the instruction number, the current node number, and the confirmation content; or, if the node fails to obtain the instruction information, it should request the instruction issuing node to retransmit the data.

4. The automated instruction interaction system according to claim 3, characterized in that: Also includes: The individual active request instruction module is used to enable the individual to actively interact with the instruction issuing node according to its own needs when performing tasks; wherein, the first working time refers to the first individual actively requesting instructions; the second working time, the instruction issuing node sends instruction information to the first individual through beamforming technology; the third working time, through the above scheme, all information transmission interactions are realized.

5. The automated instruction interaction system according to claim 4, characterized in that: Also includes: The system monitoring and dynamic adjustment module is used to dynamically adjust the instruction issuing node, including the case where the instruction issuing node originally sends the first information to the first node through the first beam, but after a period of working time, it is found that the feedback time is lower than the average feedback time, so the dynamic adjustment mechanism is started, and the second beam is used to send the first information to the first node, and the new feedback time is tested, and so on. After testing all beams, the one with the smallest feedback time is selected as the new beam carrying mode.

6. The automated instruction interaction system according to claim 5, characterized in that: Also includes: A double-locking task execution mechanism module is used to provide the security of task execution; the double-locking mechanism is a working mode. When an individual enters this working mode, the corresponding operation is performed only when more than two queue instruction issuing nodes send the same task to him, otherwise no operation is performed; including: in the double-locking mechanism mode, the first instruction issuing node sends the first information to the first node through the first beam, and the second instruction issuing node sends the second information to the first node through the second beam. Only when the first node completely receives the first information of the first instruction issuing node and the second information of the second instruction issuing node, and the information content of the two is consistent, the corresponding behavior is performed; otherwise, no operation is performed.

7. An automated instruction interaction method, characterized in that: The following steps are involved: The pulse command sending and response module is used to locate the queue individuals and manage the regional commands; the pulse command is an information interaction command sent at periodic or non-periodic intervals, which belongs to the silent mode; The task is executed by using a beamforming and regional instruction issuing module and the instructions are differentially controlled based on the position information; including: setting a first area, a second area and a third area; the first area, the second area and the third area are covered by a first beam, a second beam and a third beam respectively; also including a first instruction, a second instruction and a third instruction, the first instruction, the second instruction and the third instruction correspond to the first area, the second area and the third area respectively; the first area, the second area and the third area are different; Use the startup and instruction preparation modules to pre-form queue operation instructions; The queue individual initialization module is used to confirm the position and number and to continuously open the receiving state.

8. The automated instruction interaction method according to claim 7, characterized in that: Send separate commands according to regional locations, including: all individuals have separate numbers and their own command receiving functions, are in a continuously open state during the queue collaboration process, and have the ability to respond; the command issuing node has GPS / Beidou positioning capabilities, and the initial command issuing node uses beamforming technology to issue initial commands to all nodes and wait for responses, determines the distance of individuals through the corresponding time, and then obtains the relative position information of all individuals through the absolute positions of multiple command issuing nodes; including: During the first working time, the instruction issuing node starts the GPS / Beidou positioning capability to obtain its absolute position; during the second working time, the instruction issuing node issues initial instructions to all nodes through beamforming technology and waits for responses. The beamforming technology means that the instruction issuing node uses different beams in turn to send inquiry instructions in different directions, and identifies the beams with different built-in instruction serial numbers, including the first beam associated with the first relative direction and carrying the first serial number, the second beam associated with the second relative direction and carrying the second serial number, and so on; during the third working time, the instruction issuing node obtains the responses of all nodes, determines the distance of each individual through the corresponding time, further determines its relative direction relative to the instruction issuing node in combination with the beam information, and then calculates the absolute position information of each node; during the fourth time, the position information of all nodes is realized through the above scheme.

9. The automated instruction interaction method according to claim 8, characterized in that: Also includes: The corresponding instruction issuing node selectively sends instructions for a specific area only to the area where the individual is located; including: The command issuing node uses different beams to send inquiry commands in different directions in turn, and identifies the beams with different built-in command numbers. At the same time, the command issuing node issues individual commands based on the statistics of absolute position information. Alternatively, the node number information in the area is carried in the instruction to determine the unique instruction operation of the corresponding node, including that the instruction issuing node uses different beams in turn to send inquiry instructions in different directions, and identifies the beams with different built-in instruction serial numbers, and at the same time, the instruction issuing node issues separate instructions to it based on the statistics of absolute position information; or, the node number information in the area is carried in the instruction to determine the unique instruction operation of the corresponding node.

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