A control method and system for joint action of safety modules based on emergency environment

Abstract

The present invention relates to a control method and system for the joint action of security modules based on an emergency environment, and relates to the field of security management technology. The method and system include: collecting emergency environment detection information and current available bandwidth values; generating security control information based on the emergency environment detection information; determining a transmission required bandwidth value based on the security control information; calculating a bandwidth adjustment value; determining whether the bandwidth adjustment value is a positive value; if so, generating data adjustment information based on the emergency environment detection information, the security control information, and the bandwidth adjustment value; determining and executing a bandwidth adjustment transmission plan based on the data adjustment information and the transmission required bandwidth value; if not, determining and executing a bandwidth allocation transmission plan based on the security control information and the transmission required bandwidth value, thereby controlling the security modules to perform joint actions. The present invention facilitates the joint actions of the various security modules.

Description

Technical Field

[0001] The present invention relates to the field of safety management technology, and in particular to a control method and system for joint actions of safety modules based on an emergency environment. Background Art

[0002] Safety management refers to the process of preventing, controlling and handling risks in production, life and other scenarios through a series of activities such as planning, organizing, commanding, coordinating and controlling with the purpose of achieving safety goals, so as to ensure the safety of people's lives and property, environmental safety and the normal operation of the organization.

[0003] In the process of safety management in emergency environments, signals are generally collected through safety sensors such as emergency stop buttons, grating scales, and pressure transmitters. The safety controller then performs fail-safe logic operations through standardized programming tools to obtain control information. The control information is then transmitted to different safety modules in sequence to drive each safety module to execute, thereby ensuring safety management.

[0004] Currently, in the process of security management, control information needs to be transmitted to different security modules in sequence to drive execution. When the bandwidth during transmission is insufficient to transmit the control information, it is easy for the security module to fail to receive the control information in time, making it inconvenient to perform joint actions. Summary of the Invention

[0005] In order to facilitate the joint action of various safety modules, the present invention provides a control method and system for the joint action of safety modules based on an emergency environment.

[0006] In a first aspect, the present invention provides a method for controlling the joint action of safety modules in an emergency environment, which adopts the following technical solutions:

[0007] A control method for joint action of safety modules based on an emergency environment, comprising:

[0008] S1: Collect emergency environment detection information and current available bandwidth value;

[0009] S2: Generate safety control information based on the emergency environment detection information;

[0010] S3: Determine a transmission required bandwidth value based on the security control information;

[0011] S4: Calculate the difference between the transmission required bandwidth value and the current available bandwidth value and use it as the bandwidth adjustment value;

[0012] S5: Determine whether the bandwidth adjustment value is a positive value;

[0013] S6: If yes, generating data adjustment information based on the emergency environment detection information, the security control information and the bandwidth adjustment value;

[0014] S7: determining a bandwidth adjustment transmission scheme based on the data adjustment information and the transmission required bandwidth value, and executing the bandwidth adjustment transmission scheme to control a preset security module to perform a joint action;

[0015] S8: If not, a bandwidth allocation transmission scheme is determined based on the security control information and the transmission required bandwidth value, and the bandwidth allocation transmission scheme is executed to control the preset security modules to perform joint actions.

[0016] Optionally, the method for generating the security control information includes:

[0017] S21: Retrieving detection type information and detection data information based on the emergency environment detection information;

[0018] S22: Determine type initial control information, type reference data information, and type duration reference value based on the detected type information;

[0019] S23: determining data deviation information based on the category reference data information and the detection data information;

[0020] S24: generating a control selection reference value based on the data deviation information and the type duration reference value;

[0021] S25: Selecting the type of initial control information based on the control selection reference value to form selected control information, and using the selected control information as the security control information.

[0022] Optionally, the method for generating the control selection reference value includes:

[0023] S241: Determine a data deviation duration value and a data deviation value based on the data deviation information;

[0024] S242: Determine a data deviation amplitude value and a data deviation change value based on the data deviation value;

[0025] S243: Determine an amplitude reference value based on the data deviation amplitude value;

[0026] S244: determining a change reference value based on the data deviation change value;

[0027] S245: Calculate the difference between the data deviation duration value and the category duration reference value and use it as the duration deviation value;

[0028] S246: Determine a time reference value based on the duration deviation value;

[0029] S247: Calculate the sum of the amplitude reference value, the change reference value, and the time reference value and use it as the control selection reference value.

[0030] Optionally, the method for generating the data adjustment information includes:

[0031] S61: Retrieve and control data transmission volume based on the security control information;

[0032] S62: Determine data type priority information based on the security control information and the detection type information;

[0033] S63: Determine a priority reference value based on the data type priority information;

[0034] S64: Determine an adjusted transmission amount based on the bandwidth adjustment value;

[0035] S65: Calculate the difference between the control data transmission amount and the adjusted data transmission amount and use it as a transmission deviation value;

[0036] S66: Generate reference adjustment information based on the transmission deviation value and the priority reference value, and use the reference adjustment information as the data adjustment information.

[0037] Optionally, the method for generating the reference adjustment information includes:

[0038] S661: When the transmission deviation value has a positive value, sort the transmission deviation values ​​from large to small, and form a transmission deviation reference value according to the sorting result;

[0039] S662: Determine a comprehensive reference value based on the transmission deviation reference value and the priority reference value;

[0040] S663: Sort the comprehensive reference values ​​from largest to smallest, and use the control data transmission amount corresponding to the first-ranked comprehensive reference value as the selected transmission amount;

[0041] S664: Generate single adjustment information based on the selected transmission amount and the adjusted transmission amount, and use the single adjustment information as the reference adjustment information.

[0042] Optionally, the method for generating the single adjustment information includes:

[0043] S6641: using a ratio between the transmission deviation value and the selected transmission amount as a deviation ratio value;

[0044] S6642: Determine selected transmission type information based on the selected transmission amount;

[0045] S6643: Determine whether the deviation ratio value is greater than a preset reference ratio value;

[0046] S6644: If yes, determine type conversion information based on the selected transmission type information;

[0047] S6645: Convert and adjust the selected transmission amount based on the type conversion information to form overall adjustment information, and use the overall adjustment information as the single adjustment information;

[0048] S6646: If no, retrieve the basic transmission amount based on the selected transmission amount;

[0049] S6647: Generate partial adjustment information based on the basic transmission amount and the adjusted transmission amount, and use the partial adjustment information as the single adjustment information.

[0050] Optionally, the method for generating the partial adjustment information includes:

[0051] S66471: Determine basic adjustment information based on the basic transmission amount;

[0052] S66472: Determine a remaining transmission amount based on the selected transmission amount and the basic transmission amount;

[0053] S66473: Determine whether the basic transmission amount is greater than the transmission deviation value;

[0054] S66474: If yes, use the basic adjustment information as the partial adjustment information;

[0055] S66475: If no, determine the remaining transmission type information and the single type transmission amount based on the remaining transmission amount;

[0056] S66476: Generate selected type adjustment information based on the remaining transmission type information and the single type transmission amount, and combine the selected type adjustment information with the basic adjustment information to form the partial adjustment information.

[0057] Optionally, the method for generating the selection type adjustment information includes:

[0058] S664761: Determine a type conversion reference value based on the remaining transmission type information;

[0059] S664762: Determine a conversion reference value based on the transmission deviation value;

[0060] S664763: Determine whether there is a type conversion reference value greater than the conversion base reference value;

[0061] S664764: If yes, select the remaining transmission type information corresponding to the type conversion reference value being greater than the conversion base reference value as the single reference type information;

[0062] S664765: Determine single type adjustment information based on the single reference type information and the single type transmission amount, and use the single type adjustment information as the selected type adjustment information;

[0063] S664766: If not, then calculate the sum of any two type conversion reference values ​​and use it as the combined reference value;

[0064] S664767: Select the remaining transmission type information corresponding to the combination reference value being greater than the conversion reference value as the combination reference type information;

[0065] S664768: Determine combination type adjustment information based on the combination reference type information and the single type transmission amount, and use the combination type adjustment information as the selected type adjustment information.

[0066] Optionally, the method for generating reference adjustment information further includes:

[0067] S665: When the transmission deviation value does not have a positive value, sort the control data transmission volume corresponding to the first-ranked comprehensive reference value from large to small based on the priority reference value as the priority transmission volume;

[0068] S666: Calculate the difference between the priority transmission amount and the adjusted transmission amount and use it as the remaining transmission amount;

[0069] S667: Calculate the difference between the transmission remaining amount and the control data transmission amount and use it as the remaining deviation value;

[0070] S668: Sort the residual deviation values ​​in ascending order, and use the control data transmission volume corresponding to the residual deviation value ranked first as the simultaneous transmission volume;

[0071] S669: Determine comprehensive adjustment information based on the priority transmission amount, the simultaneous transmission amount, and the adjusted transmission amount, and use the comprehensive adjustment information as the reference adjustment information.

[0072] In a second aspect, the present invention provides a control system for the joint action of safety modules in an emergency environment, which adopts the following technical solutions:

[0073] A control system based on the joint action of safety modules in an emergency environment, comprising:

[0074] The collection module is used to collect emergency environment detection information and current available bandwidth value;

[0075] A memory, configured to store a method for controlling joint actions of safety modules based on an emergency environment as described in any one of the first aspects;

[0076] The processor loads and executes the program in the memory.

[0077] In summary, the present invention includes at least one of the following beneficial technical effects:

[0078] 1. Generate security control information by collecting emergency environment detection information and current available bandwidth values. The required transmission bandwidth value is determined based on the security control information and the bandwidth adjustment value is calculated. By determining whether the bandwidth adjustment value is positive, a bandwidth adjustment transmission plan or bandwidth allocation transmission plan is analyzed and executed, thereby facilitating the coordinated actions of various security modules.

[0079] 2. Retrieve the detection type information and detection data information through the emergency environment detection information and determine the type initial control information, type benchmark data information and type duration benchmark value. Generate the control selection reference value through the data deviation information and the type duration benchmark value. Use the control selection reference value to select the type initial control information as the safety control information, thereby improving the accuracy of the obtained safety control information;

[0080] 3. Control the data transmission volume through emergency environment detection information, determine the priority reference value through security control information and detection type information, determine the adjusted transmission volume through bandwidth adjustment value and calculate the transmission deviation value, and then generate reference adjustment information through transmission deviation value and priority reference value as data adjustment information, thereby improving the accuracy of the obtained data adjustment information. BRIEF DESCRIPTION OF THE DRAWINGS

[0081] Figure 1 This is a flow chart of a method for controlling the joint action of security modules based on an emergency environment according to an embodiment of the present invention;

[0082] Figure 2 is a flow chart of a method for generating security control information according to an embodiment of the present invention;

[0083] Figure 3 is a flow chart of a method for generating a control selection reference value according to an embodiment of the present invention;

[0084] Figure 4 This is a flow chart of a method for generating data adjustment information according to an embodiment of the present invention. DETAILED DESCRIPTION

[0085] The present invention is further described in detail below with reference to the accompanying drawings and embodiments.

[0086] A control method for the joint action of security modules based on an emergency environment is proposed. The method collects emergency environment detection information and the current free bandwidth value to analyze and calculate a bandwidth adjustment value. By judging whether the bandwidth adjustment value is a positive value, a bandwidth adjustment transmission plan or a bandwidth allocation transmission plan is analyzed and executed, thereby facilitating the joint action of various security modules.

[0087] Reference Figure 1 The embodiment of the present invention discloses a method for controlling the joint action of security modules based on an emergency environment, which includes:

[0088] S1: Collect emergency environment detection information and current available bandwidth value.

[0089] Among them, emergency environment detection information refers to the data information collected from the emergency environment. The emergency environment detection information is detected and obtained through various sensors preset in the required safety management area. The various sensors include grating scales, safety light curtains, safety door locks, emergency stop buttons, process variable sensors, etc. Various sensors are selected according to the type of required safety management.

[0090] For example, when production safety management is required, the various sensors include emergency stop buttons, temperature sensors, pressure transmitters and other sensors. When the factory safety management is required, the various sensors include grating rulers, safety light curtains and safety door locks and other sensors. The emergency environment detection information corresponding to the grating ruler is the real-time position coordinates, position change, and duration of the position exceeding the safety boundary of the personnel or equipment in the dangerous area detected by the grating ruler. The emergency environment detection information corresponding to the safety light curtain is the obstruction status detected by the safety light curtain, including the obstruction area, the duration of the obstruction, and the intrusion depth of the obstruction. The emergency environment detection information corresponding to the safety door lock is the closed state of the protective door detected by the safety door lock, including the locking signal of the lock, the fitting gap between the door body and the door frame, and the duration of the unlocked state.

[0091] The current available bandwidth value refers to the available bandwidth value at the current time. The current available bandwidth value is obtained by querying the data transmission status of the communication transmission channel.

[0092] S2: Generate safety control information based on emergency environment detection information.

[0093] Security control information refers to a set of specific instructions used to guide multiple security modules to collaboratively execute security actions based on an estimate of the current security situation. This information is generated by analyzing emergency environment detection information for subsequent use. The specific steps for generating security control information are described in S21 to S25.

[0094] S3: Determine the required transmission bandwidth value based on the security control information.

[0095] The transmission required bandwidth value refers to the bandwidth value required for data transmission for security management at the current time, and different security control information corresponds to different transmission required bandwidth values.

[0096] By inputting the security control information into the preset transmission requirement bandwidth database to match the transmission requirement bandwidth value, it is convenient for subsequent use.

[0097] The transmission bandwidth requirement database pre-stores a comparison table of different security control information and corresponding transmission bandwidth requirement values, and the transmission bandwidth requirement database is obtained through pre-input.

[0098] S4: Calculate the difference between the transmission required bandwidth value and the current available bandwidth value and use it as the bandwidth adjustment value.

[0099] The bandwidth adjustment value refers to the adjustment value corresponding to when bandwidth adjustment is required. The difference between the transmission required bandwidth value and the current available bandwidth value is calculated and used as the bandwidth adjustment value for subsequent use.

[0100] S5: Determine whether the bandwidth adjustment value is a positive value. If yes, execute S6; if no, execute S8.

[0101] Whether the bandwidth adjustment value is a positive value is determined, thereby determining whether the current bandwidth is sufficient for use.

[0102] S6: Generate data adjustment information based on the emergency environment detection information, security control information and bandwidth adjustment value.

[0103] Among them, data adjustment information refers to a set of parameters for adaptively adjusting the type of security control data to be transmitted (such as real-time monitoring data, control instruction data) and transmission level (such as data size, transmission frequency) in an emergency environment when the bandwidth required for security control information transmission exceeds the current available bandwidth. It contains specific information such as the adjusted target transmission volume, data compression or format conversion method, and priority transmission data category.

[0104] When the bandwidth adjustment value is positive, it indicates that the bandwidth is insufficient. Therefore, the emergency environment detection information, the security control information, and the bandwidth adjustment value are analyzed to generate data adjustment information for subsequent use. The specific steps for generating the data adjustment information are shown in S61 to S66.

[0105] S7: Determine a bandwidth adjustment transmission plan based on the data adjustment information and the transmission required bandwidth value, and execute the bandwidth adjustment transmission plan to control the preset security module to perform a joint action.

[0106] Bandwidth-adjusted transmission schemes adjust data transmission based on bandwidth. Safety modules are modules that directly act on equipment or systems to execute safety actions. These modules include solid-state relays, safe torque-off modules, safety brake modules, and pneumatic safety valve groups. Safety modules are pre-installed in areas requiring safety management.

[0107] By transmitting the data adjustment information according to the bandwidth corresponding to the transmission requirement bandwidth value, a bandwidth adjustment transmission scheme is formed, and the bandwidth adjustment transmission scheme is executed to control the preset security modules to perform joint actions, thereby facilitating the joint actions of various security modules.

[0108] S8: Determine a bandwidth allocation transmission plan based on the security control information and the transmission required bandwidth value, and execute the bandwidth allocation transmission plan to control the preset security modules to perform joint actions.

[0109] The bandwidth allocation transmission scheme refers to a scheme for allocating transmission based on required bandwidth.

[0110] By transmitting the security control information according to the bandwidth corresponding to the transmission requirement bandwidth value, a bandwidth allocation transmission plan is formed, and the bandwidth allocation transmission plan is executed to control the preset security modules to perform joint actions, thereby facilitating the joint actions of various security modules.

[0111] In step S2, in order to further ensure the rationality of the security control information, it is necessary to perform further separate analysis and calculation on the security control information, which is specifically described in detail through the following steps.

[0112] Reference Figure 2 , the method for generating security control information includes the following steps:

[0113] S21: Retrieve detection type information and detection data information based on the emergency environment detection information.

[0114] The detection type information refers to the type information of the detection data, and the detection data information refers to the data information corresponding to a single detection type. Emergency environment detection information includes detection type information and detection data information.

[0115] The test type information and test data information can be retrieved through emergency environment testing information to facilitate subsequent use.

[0116] S22: Determine category initial control information, category reference data information, and category duration reference value based on the detected category information.

[0117] The category initial control information refers to the initial control information corresponding to control required by the detection category, the category benchmark data information refers to the data information corresponding to the detection category under normal circumstances, and the category duration benchmark value refers to the maximum duration value allowed for deviations in the detection category. Different detection category information corresponds to different category initial control information, category benchmark data information, and category duration benchmark values.

[0118] By inputting the detection category information into a preset detection category database to match and obtain category initial control information, category benchmark data information and category duration benchmark value, subsequent use is facilitated.

[0119] The detection type database pre-stores a comparison table of different detection type information and corresponding type initial control information, type reference data information and type duration reference value, and the detection type database is obtained through pre-input.

[0120] S23: Determine data deviation information based on the category reference data information and the detection data information.

[0121] Data deviation information refers to the information set containing specific quantitative differences and related features formed when the test data deviates from the benchmark data for the test type. By comparing the benchmark data with the test data, the deviation obtained from the comparison is used as data deviation information for subsequent use. For example, if the actual fit gap of a safety door lock is 3mm and the benchmark data is 1mm, the deviation value is 2mm; if the actual blockage duration of a safety light curtain is 5s and the benchmark data is 2s, the deviation value is 3s.

[0122] S24: Generate a control selection reference value based on the data deviation information and the category duration benchmark value.

[0123] The control selection reference value refers to the reference value corresponding to the control type selection. By analyzing the data deviation information and the type duration baseline value, the control selection reference value is generated for subsequent use. The specific steps for generating the control selection reference value are shown in S241 to S247.

[0124] S25: Selecting the type of initial control information based on the control selection reference value to form selected control information, and using the selected control information as security control information.

[0125] The selected control information refers to the specific instructions corresponding to the selection based on the control selection reference value. Different types of initial control information correspond to different control selection reference intervals.

[0126] By inputting the control selection reference value into the preset category initial control database to match the category initial control information corresponding to the control selection reference interval and using it as the selected control information, and then using the selected control information as the security control information, the accuracy of the obtained security control information is improved.

[0127] The category initial control database stores a comparison table of different category initial control information and corresponding control selection reference intervals, and the category initial control database is obtained through pre-input.

[0128] Furthermore, in order to improve the accuracy of the acquired security control information, the following steps are further included after the selected control information is used as the security control information.

[0129] S251: Determine control type information and control degree value based on the selected control information.

[0130] The control type information refers to the type of security module corresponding to the selected control, and the control degree value refers to the degree value corresponding to the execution of the control security module. Selecting control information includes the control type information and the control degree value. By selecting control information, the control type information and the control degree value are retrieved for subsequent use.

[0131] S252: Determine synonymous category information based on the control category information.

[0132] The synonymous category information refers to category information that has the same meaning as the control category information. Different control category information corresponds to different synonymous category information. By inputting the control category information into a preset synonymous category database to match the synonymous category information, it is convenient for subsequent use.

[0133] The synonymous category database pre-stores a comparison table of different control category information and corresponding synonymous category information, and the synonymous category database is obtained through pre-input.

[0134] S253: Determine whether the synonymous category information and the control category information are consistent. If yes, execute S254; if not, execute S258.

[0135] Here, whether the synonymous type information and the control type information are consistent is judged, thereby judging whether the security control information needs to be adjusted.

[0136] S254: Determine duplicate category information and distinguishing category information based on the synonymous category information and the control category information.

[0137] The repeated category information refers to the category information corresponding to when the category meaning is repeated, and the distinct category information refers to the category information corresponding to when the category meaning is not repeated.

[0138] When synonymous category information and control category information are consistent, it means that the security control information needs to be adjusted. Therefore, by comparing the synonymous category information and the control category information, the consistent ones are regarded as duplicate category information, and the remaining ones that are not consistent are regarded as distinguished category information, which is convenient for subsequent use.

[0139] S255: Determine repetition control information based on the repetition type information and the corresponding control degree value.

[0140] The repetition control information refers to a specific instruction for controlling the security module corresponding to the repetition type. The repetition control information is formed by combining the control degree values ​​corresponding to the repetition type information, which is convenient for subsequent use.

[0141] S256: Determine the differentiated control information based on the differentiated type information and the corresponding control degree value.

[0142] The distinguishing control information refers to specific instructions for controlling the security modules corresponding to the non-repeated types. The distinguishing control information is formed by combining the distinguishing type information and the corresponding control degree values, which is convenient for subsequent use.

[0143] S257: Combining the distinguishing control information with the repeated control information to form comprehensive control information, and replacing the security control information with the comprehensive control information.

[0144] Among them, comprehensive control information refers to the specific set of comprehensive control instructions corresponding to the control of each security module. The comprehensive control information is formed by combining the distinguishing control information with the repeated control information, and the comprehensive control information is used to replace the security control information, thereby improving the accuracy of the obtained security control information.

[0145] S258: Continue to output security control information.

[0146] When the synonymous type information and the control type information are not consistent, it means that the security control information does not need to be adjusted at this time, so the security control information continues to be output.

[0147] In step S24, in order to further ensure the rationality of the control selection reference value, it is necessary to perform further separate analysis and calculation on the control selection reference value, which is specifically described in detail through the following steps.

[0148] Reference Figure 3 , the method for generating the control selection reference value includes the following steps:

[0149] S241: Determine a data deviation duration value and a data deviation value based on the data deviation information.

[0150] The data deviation duration value refers to the duration value corresponding to when the data has a deviation, and the data deviation value refers to the specific deviation value corresponding to when the data has a deviation.

[0151] By retrieving the data deviation value from the data deviation information and timing the duration corresponding to the data deviation value, the counting result is used as the data deviation duration value for convenience of subsequent use.

[0152] S242: Determine a data deviation amplitude value and a data deviation change value based on the data deviation value.

[0153] The data deviation amplitude value refers to the amplitude value between the maximum deviation and the minimum deviation corresponding to when the data has a deviation, and the data deviation change value refers to the change value corresponding to adjacent time when the data has a deviation.

[0154] By selecting the maximum and minimum values ​​from the data deviation values, and calculating the difference between the maximum and minimum values ​​as the data deviation amplitude value, and then calculating the difference between the data deviation values ​​corresponding to adjacent times in sequence and using it as the data deviation change value, it is convenient for subsequent use.

[0155] S243: Determine an amplitude reference value based on the data deviation amplitude value.

[0156] The amplitude reference value refers to the reference value corresponding to the selection of the control type based on the deviation amplitude. Different data deviation amplitude values ​​correspond to different amplitude reference values.

[0157] By inputting the data deviation amplitude value into the preset amplitude reference database to match the amplitude reference value, it is convenient for subsequent use.

[0158] The amplitude reference database pre-stores a comparison table of different data deviation amplitude values ​​and corresponding amplitude reference values, and the amplitude reference database is obtained after pre-input.

[0159] S244: Determine a change reference value based on the data deviation change value.

[0160] The change reference value refers to the reference value corresponding to the selection of the control type based on the deviation change.

[0161] The average value of the data deviation change value is calculated as the change average value, and the change average value is input into a preset change reference database to match the change reference value, which is convenient for subsequent use.

[0162] The variation reference database pre-stores a comparison table of different variation average values ​​and corresponding variation reference values, and the variation reference database is obtained after pre-input.

[0163] S245: Calculate the difference between the data deviation duration value and the category duration reference value and use it as the duration deviation value.

[0164] The duration deviation value refers to the deviation value corresponding to the deviation between the duration and the benchmark. The difference between the data deviation duration value and the category duration benchmark value is calculated and used as the duration deviation value for convenience in subsequent use.

[0165] S246: Determine a time reference value based on the duration deviation value.

[0166] The time reference value refers to the reference value corresponding to the selection of the control type based on the deviation of the duration.

[0167] The duration deviation value is input into a preset time reference database to match the time reference value, which is convenient for subsequent use.

[0168] The time reference database pre-stores a comparison table of different duration deviation values ​​and corresponding time reference values, and the time reference database is obtained through pre-input.

[0169] S247: Calculate the sum of the amplitude reference value, the change reference value, and the time reference value and use it as a control selection reference value.

[0170] The accuracy of the obtained control selection reference value is improved by calculating the sum of the amplitude reference value, the change reference value and the time reference value and using it as the control selection reference value.

[0171] In step S6, in order to further ensure the rationality of the data adjustment information, it is necessary to perform further separate analysis and calculation on the data adjustment information, which is specifically described in detail through the following steps.

[0172] Reference Figure 4 , the method for generating data adjustment information includes the following steps:

[0173] S61: Control the data transmission volume based on the security control information.

[0174] Control data transmission volume refers to the quantified transmission scale required for each type of control data, measured in bytes or the number of data packets per unit time. Emergency environment monitoring information includes control data transmission volume.

[0175] The transmission volume corresponding to different types of detection information is retrieved through emergency environment detection information and used as the control data transmission volume to facilitate subsequent use.

[0176] S62: Determine data category priority information based on the security control information and the detection category information.

[0177] The data type priority information refers to the priority information corresponding to the type of detection data when it is transmitted under different operation controls. Different security control information and detection type information correspond to different data type priority information.

[0178] By inputting the security control information and the detection type information into a preset type priority database to match and obtain the data type priority information, subsequent use is facilitated.

[0179] The category priority database pre-stores a comparison table of different security control information, detection category information and corresponding data category priority information, and the category priority database is obtained through pre-input.

[0180] S63: Determine a priority reference value based on the data type priority information.

[0181] The priority reference value refers to the reference value corresponding to the adjustment of data according to the priority situation. Different data types have different priority information corresponding to different priority reference values.

[0182] By inputting the data type priority information into a preset priority reference database to match and obtain a priority reference value, it is convenient for subsequent use.

[0183] The priority reference database pre-stores a comparison table of priority information of different data types and corresponding priority reference values, and the priority reference database is obtained after pre-input.

[0184] S64: Determine an adjusted transmission amount based on the bandwidth adjustment value.

[0185] The adjusted transmission volume refers to the transmission volume corresponding to the data transmission volume adjusted according to the bandwidth adjustment value, and different bandwidth adjustment values ​​correspond to different adjusted transmission volumes.

[0186] By inputting the bandwidth adjustment value into a preset adjustment transmission database to match and obtain the adjusted transmission volume, it is convenient for subsequent use.

[0187] The transmission adjustment database pre-stores a comparison table of different bandwidth adjustment values ​​and corresponding adjusted transmission amounts, and the transmission adjustment database is obtained through pre-input.

[0188] S65: Calculate the difference between the controlled data transmission amount and the adjusted data transmission amount and use it as the transmission deviation value.

[0189] The transmission deviation value refers to the deviation value corresponding to the deviation between the control data transmission amount and the adjustment transmission amount. By calculating the difference between the control data transmission amount and the adjustment transmission amount and using it as the transmission deviation value, it is convenient for subsequent use.

[0190] S66: Generate reference adjustment information based on the transmission deviation value and the priority reference value, and use the reference adjustment information as data adjustment information.

[0191] The reference adjustment information is data information corresponding to the data after the data is adjusted according to the priority reference value and the deviation of the transmission volume.

[0192] By analyzing the transmission deviation value and the priority reference value, reference adjustment information is generated, and the reference adjustment information is used as data adjustment information, thereby improving the accuracy of the acquired data adjustment information.

[0193] In step S66 , in order to further ensure the rationality of the reference adjustment information, it is necessary to perform further separate analysis and calculation on the reference adjustment information, which is specifically described in detail through the following steps.

[0194] The method for generating reference adjustment information includes the following steps:

[0195] S661: When the transmission deviation value has a positive value, sorting is performed from large to small based on the transmission deviation value, and forming a transmission deviation reference value according to the sorting result.

[0196] The transmission deviation reference value refers to a reference value corresponding to the result of the sorting of the transmission deviation values.

[0197] When the transmission deviation value is positive, it means that only a single adjustment is required at this time. Therefore, the transmission deviation values ​​are sorted from large to small, and the serial number value corresponding to the sorting result is multiplied by the preset reference ratio value, and the calculated product value is used as the transmission deviation reference value, so as to facilitate subsequent use.

[0198] The reference ratio value refers to a ratio value used to convert the sorting result into a transmission deviation reference value, and the reference ratio value is obtained through pre-input.

[0199] S662: Determine a comprehensive reference value based on the transmission deviation reference value and the priority reference value.

[0200] The comprehensive reference value refers to the reference value corresponding to the comprehensive reference based on the transmission deviation reference value and the priority reference value.

[0201] By calculating the sum of the transmission deviation reference value and the priority reference value and using it as a comprehensive reference value, subsequent use is facilitated.

[0202] S663: Sort the comprehensive reference values ​​from large to small, and use the control data transmission amount corresponding to the first-ranked comprehensive reference value as the selected transmission amount.

[0203] Among them, selecting the transmission volume means selecting the transmission volume corresponding to the need for adjustment, by sorting the comprehensive reference values ​​from large to small, and taking the control data transmission volume corresponding to the first-ranked comprehensive reference value as the selected transmission volume, which is convenient for subsequent use.

[0204] S664: Generate single adjustment information based on the selected transmission amount and the adjusted transmission amount, and use the single adjustment information as reference adjustment information.

[0205] Here, single adjustment information refers to the data information corresponding to a single adjustment.

[0206] By analyzing the selected transmission amount and the adjusted transmission amount, single adjustment information is generated, and the single adjustment information is used as reference adjustment information, thereby improving the accuracy of the obtained reference adjustment information.

[0207] S665: When there is no positive transmission deviation value, the priority reference values ​​are sorted from large to small, and the control data transmission volume corresponding to the first-ranked comprehensive reference value is used as the priority transmission volume.

[0208] The priority transmission volume refers to the transmission volume corresponding to when priority needs to be adjusted.

[0209] When there is no positive value in the transmission deviation value, it means that multiple adjustments need to be made to the data at this time. Therefore, the priority reference values ​​are sorted from large to small, and the control data transmission volume corresponding to the first-ranked comprehensive reference value is used as the priority transmission volume for subsequent use.

[0210] S666: Calculate the difference between the priority transmission amount and the adjusted transmission amount and use it as the remaining transmission amount.

[0211] The transmission surplus refers to the remaining transmission amount after adjusting the priority transmission amount. The difference between the priority transmission amount and the adjusted transmission amount is calculated and used as the transmission surplus for subsequent use.

[0212] S667: Calculate the difference between the remaining transmission amount and the control data transmission amount and use it as the remaining deviation value.

[0213] The remaining deviation value refers to a deviation value corresponding to a deviation between the transmission remaining amount and the control data transmission amount.

[0214] The difference between the transmission remaining amount and the control data transmission amount is calculated and used as the remaining deviation value to facilitate subsequent use.

[0215] S668: Sort the data in ascending order based on the residual deviation values, and use the control data transmission amount corresponding to the residual deviation value that ranks first as the simultaneous transmission amount.

[0216] Among them, the simultaneous transmission volume refers to the transmission volume corresponding to simultaneous transmission. The residual deviation values ​​are sorted from small to large, and the control data transmission volume corresponding to the first-ranked residual deviation value is used as the simultaneous transmission volume for convenience of subsequent use.

[0217] S669: Determine comprehensive adjustment information based on the priority transmission amount, the simultaneous transmission amount, and the adjusted transmission amount, and use the comprehensive adjustment information as reference adjustment information.

[0218] Among them, comprehensive adjustment information refers to the data information corresponding to the comprehensive adjustment.

[0219] By compressing the priority transmission amount and the simultaneous transmission amount into the adjusted transmission amount, comprehensive adjustment information is formed, and the comprehensive adjustment information is used as reference adjustment information, thereby improving the accuracy of the obtained reference adjustment information.

[0220] In step S664 , in order to further ensure the rationality of the single adjustment information, it is necessary to perform further separate analysis and calculation on the single adjustment information, which is specifically described in detail through the following steps.

[0221] The method for generating single adjustment information includes the following steps:

[0222] S6641: A ratio value between the transmission deviation value and the selected transmission amount is used as the deviation ratio value.

[0223] The deviation ratio value refers to the ratio between the transmission deviation value and the selected transmission amount. By calculating the ratio between the transmission deviation value and the selected transmission amount and using it as the deviation ratio value, subsequent use is facilitated.

[0224] S6642: Determine the selected transmission type information based on the selected transmission amount.

[0225] The selection of transmission type information refers to the storage type information of the data corresponding to the selected transmission volume. Different selected transmission volumes correspond to different transmission type information.

[0226] By selecting the transmission amount, the corresponding data type is retrieved and used as the selected transmission type information. By inputting the selected transmission type information into a preset selected transmission type database to match and obtain the selected transmission type information, it is convenient for subsequent use.

[0227] The selected transmission type database pre-stores different selected transmission type information and corresponding selected transmission type information, and the selected transmission type database is obtained through pre-input.

[0228] S6643: Determine whether the deviation ratio value is greater than a preset reference ratio value. If so, execute S6644; if not, execute S6646.

[0229] The reference ratio value refers to the maximum ratio value that can be tolerated when partial conversion is possible, and the reference ratio value is obtained through pre-input.

[0230] Whether the partial conversion can be performed is determined by judging whether the deviation ratio value is greater than a preset reference ratio value.

[0231] S6644: Determine type conversion information based on the selected transmission type information.

[0232] The type conversion information refers to control information for conversion according to the type corresponding to the selected transmission type information. Different selected transmission type information corresponds to different type conversion information.

[0233] When the deviation ratio value is greater than the preset reference ratio value, it means that partial conversion cannot be performed at this time. Therefore, the selected transmission type information is input into the preset type conversion database to match the type conversion information for subsequent use.

[0234] The type conversion database pre-stores a comparison table of different selected transmission type information and corresponding type conversion information, and the type conversion database is obtained after pre-input.

[0235] S6645: Convert and adjust the selected transmission amount based on the type conversion information to form overall adjustment information, and use the overall adjustment information as single adjustment information.

[0236] The overall adjustment information refers to the data information corresponding to the overall conversion adjustment.

[0237] The selected transmission amount is converted and adjusted through the type conversion information, thereby forming overall adjustment information, and the overall adjustment information is used as single adjustment information to improve the accuracy of the obtained single adjustment information.

[0238] S6646: Retrieve the basic transmission volume based on the selected transmission volume.

[0239] The basic transmission volume refers to the transmission volume corresponding to the basic content in the data corresponding to the selected transmission volume.

[0240] When the deviation ratio value is not greater than the preset reference ratio value, it indicates that partial conversion is possible at this time, so the corresponding data type is retrieved by selecting the transmission amount and used as the selected transmission type information.

[0241] By inputting the selected transmission type information into the preset basic transmission database to match and obtain the basic transmission volume, it is convenient for subsequent use.

[0242] The basic transmission database pre-stores a comparison table of different selected transmission type information and corresponding basic transmission amounts, and the basic transmission database is obtained through pre-input.

[0243] S6647: Generate partial adjustment information based on the basic transmission amount and the adjusted transmission amount, and use the partial adjustment information as single adjustment information.

[0244] Partial adjustment information refers to data information corresponding to partial conversion adjustments.

[0245] Partial adjustment information is generated by analyzing the basic transmission amount and the adjusted transmission amount, and the partial adjustment information is used as single adjustment information, thereby improving the accuracy of the obtained single adjustment information.

[0246] In step S6647, in order to further ensure the rationality of some of the adjustment information, it is necessary to perform further separate analysis and calculation on some of the adjustment information, which is specifically described in detail through the following steps.

[0247] The method for generating partial adjustment information includes the following steps:

[0248] S66471: Determine basic adjustment information based on the basic transmission volume.

[0249] The basic adjustment information refers to the data information corresponding to the compression adjustment of the basic content, and different basic transmission amounts correspond to different basic adjustment information.

[0250] By inputting the basic transmission amount into a preset basic adjustment database to match and obtain basic adjustment information, it is convenient for subsequent use. The basic adjustment database pre-stores a comparison table of different basic transmission amounts and corresponding basic adjustment information, and the basic adjustment database is obtained after pre-input.

[0251] S66472: Determine the remaining transmission amount based on the selected transmission amount and the basic transmission amount.

[0252] The remaining transmission capacity refers to the remaining transmission capacity after deducting the selected transmission capacity from the selected transmission capacity. The difference between the selected transmission capacity and the basic transmission capacity is calculated and used as the remaining transmission capacity for subsequent use.

[0253] S66473: Determine whether the basic transmission amount is greater than the transmission deviation value. If yes, execute S66474; if no, execute S66475.

[0254] Here, whether the basic transmission amount is greater than the transmission deviation value is judged, thereby judging whether the remaining part needs to be converted.

[0255] S66474: Use basic adjustment information as partial adjustment information.

[0256] When the basic transmission amount is greater than the transmission deviation value, it means that the remaining part does not need to be converted at this time, so the basic adjustment information is directly used as the partial adjustment information, thereby improving the accuracy of the obtained partial adjustment information.

[0257] S66475: Determine the remaining transmission type information and the single type transmission amount based on the remaining transmission amount.

[0258] The remaining transmission type information refers to the type information of the remaining data, and the single type transmission amount refers to the transmission amount corresponding to a single type in the remaining data. The remaining transmission amount includes the remaining transmission type information and the single type transmission amount.

[0259] When the basic transmission volume is not greater than the transmission deviation value, it means that the remaining part needs to be converted at this time. Therefore, the corresponding data type is retrieved through the remaining transmission volume and used as the selected transmission type information. The selected transmission type information is input into the preset remaining transmission database to match the remaining transmission type information and the single type transmission volume, which is convenient for subsequent use.

[0260] The remaining transmission database pre-stores a comparison table of different selected transmission type information, corresponding remaining transmission type information, and single type transmission volume. The remaining transmission database is obtained through pre-input.

[0261] S66476: Generate selected type adjustment information based on the remaining transmission type information and the single type transmission amount, and combine the selected type adjustment information with the basic adjustment information to form partial adjustment information.

[0262] The selected type adjustment information refers to the data information corresponding to the remaining data after selection and adjustment based on the type.

[0263] By analyzing the remaining transmission type information and the single type transmission amount, the selected type adjustment information is generated, and the selected type adjustment information is combined with the basic adjustment information to form partial adjustment information, thereby improving the accuracy of the obtained partial adjustment information.

[0264] In step S66476, in order to further ensure the rationality of the selected type adjustment information, it is necessary to perform further separate analysis and calculation on the selected type adjustment information, which is specifically described in detail through the following steps.

[0265] The method for generating the selection type adjustment information includes the following steps:

[0266] S664761: Determine a type conversion reference value based on the remaining transmission type information.

[0267] The type conversion reference value refers to a reference value corresponding to data conversion according to the type corresponding to the remaining transmission type information. Different remaining transmission type information corresponds to different type conversion reference values.

[0268] The remaining transmission type information is input into a preset type conversion reference database to match and obtain a type conversion reference value, which is convenient for subsequent use.

[0269] The type conversion reference database pre-stores a comparison table of different residual transmission type information and corresponding type conversion reference values, and the type conversion reference database is obtained through pre-input.

[0270] S664762: Determine a conversion benchmark reference value based on the transmission deviation value.

[0271] The conversion benchmark reference value refers to the maximum reference value corresponding to the transmission deviation value, and different transmission deviation values ​​correspond to different conversion benchmark reference values.

[0272] The transmission deviation value is input into the preset conversion benchmark reference database to match the conversion benchmark reference value, which is convenient for subsequent use.

[0273] The conversion benchmark reference database pre-stores different transmission deviation values ​​and corresponding conversion benchmark reference values, and the conversion benchmark reference database is obtained through pre-input.

[0274] S664763: Determine whether the type conversion reference value is greater than the conversion base reference value. If so, execute S664764; if not, execute S664766.

[0275] Here, by judging whether there is a type conversion reference value greater than the conversion base reference value, it is judged whether it is necessary to adopt multiple types for conversion from the remaining data.

[0276] S664764: Select the remaining transmission type information corresponding to the type conversion reference value being greater than the conversion base reference value as the single reference type information.

[0277] Among them, when there is a type conversion reference value greater than the conversion benchmark reference value, it means that there is no need to use multiple types for conversion from the remaining data at this time. Therefore, the remaining transmission type information corresponding to the type conversion reference value greater than the conversion benchmark reference value is selected and defined as a single reference type information, which is convenient for subsequent use.

[0278] S664765: Determine single type adjustment information based on single reference type information and single type transmission amount, and use the single type adjustment information as selected type adjustment information.

[0279] Among them, single-type adjustment information refers to the data information corresponding to the adjustment using a single type.

[0280] By inputting the single reference type information into a preset single reference type conversion database to match and obtain the single reference type conversion information, and converting the single type transmission amount according to the single reference type conversion information to obtain the single type adjustment information, and using the single type adjustment information as the selected type adjustment information, the accuracy of the obtained selected type adjustment information is improved.

[0281] The single reference type conversion information refers to the conversion information corresponding to the conversion of a single type. The single reference type conversion database pre-stores different single reference type information and the corresponding single reference type conversion information, and the single reference type conversion database is obtained through pre-input.

[0282] S664766: Calculate the sum of any two type conversion reference values ​​and use it as the combined reference value.

[0283] The combined reference value refers to the reference value corresponding to the combination of two type conversion reference values.

[0284] When there is no type conversion reference value greater than the conversion base reference value, it means that multiple types need to be converted from the remaining data. Therefore, the sum of any two type conversion reference values ​​is calculated and used as the combined reference value for subsequent use.

[0285] S664767: Select the remaining transmission type information corresponding to the combined reference value being greater than the conversion reference value as the combined reference type information.

[0286] Among them, the remaining transmission type information corresponding to the combined reference value being greater than the conversion benchmark reference value is selected and defined as the combined reference type information, which is convenient for subsequent use.

[0287] S664768: Determine the combined type adjustment information based on the combined reference type information and the single type transmission amount, and use the combined type adjustment information as the selected type adjustment information.

[0288] The combination type adjustment information refers to the data information corresponding to the adjustment using multiple types.

[0289] By inputting the combination reference type information into a preset combination reference type conversion database to match the combination reference type conversion information, and then converting the single type transmission amount according to the combination reference type conversion information to obtain the combination type adjustment information, and using the combination type adjustment information as the selection type adjustment information, the accuracy of the obtained selection type adjustment information is improved.

[0290] The combination reference type conversion information refers to the conversion information corresponding to the conversion of a single type. The combination reference type conversion database pre-stores different combination reference type information and the corresponding combination reference type conversion information, and the combination reference type conversion database is obtained through pre-input.

[0291] Based on the same inventive concept, an embodiment of the present invention provides a control system for joint action of safety modules in an emergency environment, including:

[0292] The collection module is used to collect emergency environment detection information and current available bandwidth value;

[0293] A memory for storing the above-mentioned control method for joint action of safety modules based on an emergency environment;

[0294] The processor loads and executes the program in the memory.

[0295] Those skilled in the art will clearly understand that for the sake of convenience and brevity, the division of the above-mentioned functional modules is only used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working processes of the above-mentioned systems, devices, and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0296] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiment. All technical solutions based on the concept of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, various improvements and modifications that do not depart from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A control method for the joint action of safety modules based on an emergency environment, characterized in that: include: S1: Collect emergency environment detection information and current available bandwidth value; S2: Generate safety control information based on the emergency environment detection information; S3: Determine a transmission required bandwidth value based on the security control information; S4: Calculate the difference between the transmission required bandwidth value and the current available bandwidth value and use it as the bandwidth adjustment value; S5: Determine whether the bandwidth adjustment value is a positive value; S6: If yes, generating data adjustment information based on the emergency environment detection information, the security control information and the bandwidth adjustment value; S7: Determine a bandwidth adjustment transmission scheme based on the data adjustment information and the transmission required bandwidth value, and execute the bandwidth adjustment transmission scheme to control the preset security module to perform a joint action, wherein the bandwidth adjustment transmission scheme refers to a scheme for transmitting data after adjusting the bandwidth; S8: If not, determining a bandwidth allocation transmission scheme based on the security control information and the transmission required bandwidth value, and executing the bandwidth allocation transmission scheme to control the preset security modules to perform joint actions, wherein the bandwidth allocation transmission scheme refers to a scheme for allocating transmission according to the required bandwidth; The method for generating the security control information includes: S21: Retrieving detection type information and detection data information based on the emergency environment detection information; The method for generating data adjustment information includes: S61: Retrieve and control data transmission volume based on the security control information; S62: Determine data type priority information based on the security control information and the detection type information; S63: Determine a priority reference value based on the data type priority information; S64: Determine an adjusted transmission amount based on the bandwidth adjustment value; S65: Calculate the difference between the control data transmission amount and the adjusted data transmission amount and use it as a transmission deviation value; S66: Generate reference adjustment information based on the transmission deviation value and the priority reference value, and use the reference adjustment information as the data adjustment information.

2. A control method for joint action of safety modules based on emergency environment according to claim 1, characterized in that: The method for generating security control information further includes: S22: Determine type initial control information, type reference data information, and type duration reference value based on the detected type information; S23: determining data deviation information based on the category reference data information and the detection data information; S24: generating a control selection reference value based on the data deviation information and the type duration reference value; S25: Selecting the type of initial control information based on the control selection reference value to form selected control information, and using the selected control information as the security control information.

3. A control method for joint action of safety modules based on emergency environment according to claim 2, characterized in that: The method for generating the control selection reference value includes: S241: Determine a data deviation duration value and a data deviation value based on the data deviation information; S242: Determine a data deviation amplitude value and a data deviation change value based on the data deviation value; S243: Determine an amplitude reference value based on the data deviation amplitude value; S244: determining a change reference value based on the data deviation change value; S245: Calculate the difference between the data deviation duration value and the category duration reference value and use it as the duration deviation value; S246: Determine a time reference value based on the duration deviation value; S247: Calculate the sum of the amplitude reference value, the change reference value, and the time reference value and use it as the control selection reference value.

4. The control method for the joint action of safety modules based on emergency environment according to claim 1 is characterized in that: The method for generating reference adjustment information includes: S661: When the transmission deviation value has a positive value, sort the transmission deviation values ​​from large to small, and form a transmission deviation reference value according to the sorting result; S662: Determine a comprehensive reference value based on the transmission deviation reference value and the priority reference value; S663: Sort the comprehensive reference values ​​from largest to smallest, and use the control data transmission amount corresponding to the first-ranked comprehensive reference value as the selected transmission amount; S664: Generate single adjustment information based on the selected transmission amount and the adjusted transmission amount, and use the single adjustment information as the reference adjustment information.

5. The control method for the joint action of safety modules based on emergency environment according to claim 4 is characterized in that: The method for generating the single adjustment information includes: S6641: using a ratio between the transmission deviation value and the selected transmission amount as a deviation ratio value; S6642: Determine selected transmission type information based on the selected transmission amount; S6643: Determine whether the deviation ratio value is greater than a preset reference ratio value; S6644: If yes, determine type conversion information based on the selected transmission type information; S6645: Convert and adjust the selected transmission amount based on the type conversion information to form overall adjustment information, and use the overall adjustment information as the single adjustment information; S6646: If no, retrieve the basic transmission amount based on the selected transmission amount; S6647: Generate partial adjustment information based on the basic transmission amount and the adjusted transmission amount, and use the partial adjustment information as the single adjustment information.

6. A control method for joint action of safety modules based on emergency environment according to claim 5, characterized in that: The method for generating the partial adjustment information includes: S66471: Determine basic adjustment information based on the basic transmission amount; S66472: Determine a remaining transmission amount based on the selected transmission amount and the basic transmission amount; S66473: Determine whether the basic transmission amount is greater than the transmission deviation value; S66474: If yes, use the basic adjustment information as the partial adjustment information; S66475: If no, determine the remaining transmission type information and the single type transmission amount based on the remaining transmission amount; S66476: Generate selected type adjustment information based on the remaining transmission type information and the single type transmission amount, and combine the selected type adjustment information with the basic adjustment information to form the partial adjustment information.

7. A control method for joint action of safety modules based on emergency environment according to claim 6, characterized in that: The method for generating the selection type adjustment information includes: S664761: Determine a type conversion reference value based on the remaining transmission type information; S664762: Determine a conversion reference value based on the transmission deviation value; S664763: Determine whether there is a type conversion reference value greater than the conversion base reference value; S664764: If yes, select the remaining transmission type information corresponding to the type conversion reference value being greater than the conversion base reference value as the single reference type information; S664765: Determine single type adjustment information based on the single reference type information and the single type transmission amount, and use the single type adjustment information as the selected type adjustment information; S664766: If not, then calculate the sum of any two type conversion reference values ​​and use it as the combined reference value; S664767: Select the remaining transmission type information corresponding to the combination reference value being greater than the conversion reference value as the combination reference type information; S664768: Determine combination type adjustment information based on the combination reference type information and the single type transmission amount, and use the combination type adjustment information as the selected type adjustment information.

8. The method for controlling the joint action of safety modules in an emergency environment according to claim 4, characterized in that: The method for generating reference adjustment information further includes: S665: When the transmission deviation value does not have a positive value, sort the control data transmission volume corresponding to the first-ranked comprehensive reference value from large to small based on the priority reference value as the priority transmission volume; S666: Calculate the difference between the priority transmission amount and the adjusted transmission amount and use it as the remaining transmission amount; S667: Calculate the difference between the transmission remaining amount and the control data transmission amount and use it as the remaining deviation value; S668: Sort the residual deviation values ​​in ascending order, and use the control data transmission volume corresponding to the residual deviation value ranked first as the simultaneous transmission volume; S669: Determine comprehensive adjustment information based on the priority transmission amount, the simultaneous transmission amount, and the adjusted transmission amount, and use the comprehensive adjustment information as the reference adjustment information.

9. A control system based on the joint action of safety modules in an emergency environment, characterized in that: include: The collection module is used to collect emergency environment detection information and current available bandwidth value; A memory, configured to store a control method for joint actions of safety modules based on an emergency environment according to any one of claims 1 to 8; The processor loads and executes the program in the memory.

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