Emergency control method and system for satellite communication robot dog

Abstract

The application belongs to the technical field of robot control, and particularly relates to an emergency control method and system for a satellite communication robot dog, which comprises the following steps: obtaining a round-trip delay and an effective data packet ratio of a robot dog data packet, and constructing a feature vector; calculating a link degradation index according to a deviation condition between the feature vector and a high-quality cluster; calculating a control authority level according to the link degradation index; obtaining an instruction redundancy according to the control authority level and the effective data packet ratio; and repeatedly sending an instruction data packet according to the instruction redundancy, and discarding repeated instructions by an instruction ID at a receiving end, so as to realize control over the robot dog. The application dynamically evaluates link quality and adjusts the instruction redundancy, thereby ensuring reliable execution of emergency instructions when the satellite link quality is poor.

Description

Technical Field

[0001] This invention relates to the field of robot control technology. More specifically, this invention relates to an emergency control method and system for a satellite communication robot dog. Background Technology

[0002] In special application scenarios such as emergency rescue and post-disaster exploration, intelligent robots, including robotic dogs, are playing an increasingly important role. These tasks often require robotic dogs to enter areas that are difficult for humans to reach or that are highly dangerous. Remote control of the robotic dogs is crucial to ensuring mission execution and operator safety. In wide-area or remote areas, terrestrial communication facilities are often damaged or lack coverage, making satellite links a necessary, and sometimes the only, means of communication for remote control.

[0003] However, satellite links inherently have high latency, with a round trip typically taking several seconds between the ground station, satellite, and remote robot. This round-trip latency directly results in operator commands not reaching the robot instantly. Furthermore, the stability of satellite links is highly susceptible to various environmental factors such as atmospheric conditions, weather changes, terrain obstruction, and electromagnetic interference. These factors can cause drastic fluctuations in communication quality, leading to a sharp decline in the proportion of valid data packets and severe packet loss.

[0004] In related technologies, many remote operation control systems are designed based on the assumption that the communication link is relatively reliable and stable. They often employ fixed communication protocols and command transmission strategies, lacking the ability to perceive and adapt to the quality of the communication link in real time. When the satellite link quality suddenly deteriorates, the fixed and non-redundant command transmission mechanism cannot guarantee the reliable delivery of critical commands such as emergency stops, posing a risk of the robot dog going out of control. Secondly, the control interface lacks awareness of the link status. When link latency and jitter are extremely high, high-risk commands may be delayed, out of order, or dropped due to link problems, causing the robot dog to execute dangerous actions. Summary of the Invention

[0005] To address the technical problem that the fixed control strategy cannot assess the satellite link status in real time, leading to the loss of critical commands and high-risk operations when the link quality is poor, the present invention provides solutions in the following aspects.

[0006] In a first aspect, the present invention provides an emergency control method for a satellite communication robot dog, comprising: acquiring the round-trip time delay and the ratio of valid data packets received by the robot dog within a time window; constructing a feature vector based on the average round-trip time delay, delay jitter, and valid data packet rate; wherein the average round-trip time delay is the mean of the round-trip time delay within the time window, the delay jitter is the standard deviation of the round-trip time delay within the time window, and the valid data packet rate is the proportion of valid data packets within the time window; acquiring a set of standard feature vectors collected under ideal conditions as a high-quality cluster; acquiring a link degradation index based on the distance between the feature vectors and the centroid of the high-quality cluster; acquiring a control authority level based on the link degradation index; acquiring an instruction redundancy based on the control authority level and the valid data packet rate; assigning a unique ID to the control instruction, and repeatedly sending instruction data packets carrying the unique ID according to the instruction redundancy; the robot dog receiving end comparing the unique ID with the ID of the received instruction to discard duplicate instruction data packets and execute the instructions in the non-duplicate instruction data packets, thereby realizing control of the robot dog.

[0007] This invention constructs feature vectors reflecting latency, jitter, and data packet rate in real time under satellite communication links, calculates the link degradation index using high-quality clusters in an ideal environment, and then dynamically adjusts the control authority level and command redundancy. Command redundancy controls the number of repeated command data packets, and finally, a unique ID mechanism enables the robot dog to execute deduplicated commands. This allows for real-time assessment of unstable satellite link quality and dynamic adjustment of control strategies based on link quality. While ensuring low-latency operation, redundant transmission ensures command reliability when link quality is poor, achieving stable and reliable control of the robot dog in complex emergency scenarios.

[0008] Preferably, the step of constructing a feature vector based on average round-trip time, delay jitter, and effective data packet rate includes: normalizing the average round-trip time, delay jitter, and effective data packet rate respectively, and combining the normalized average round-trip time, delay jitter, and effective data packet rate into a feature vector.

[0009] Preferably, the normalization is maximum-minimum value normalization.

[0010] Preferably, the step of obtaining a set of standard feature vectors collected under ideal conditions as a high-quality cluster includes: performing a calibration procedure under an ideal environment with open, unobstructed satellite signals, and obtaining a set of feature vectors of the robot dog within 10 minutes under such environment as a high-quality cluster.

[0011] This invention provides an objective and stable benchmark for link quality assessment by performing a calibration procedure in an open, unobstructed ideal environment and collecting feature vectors for a specific duration as high-quality clusters. The high-quality clusters represent the performance of the robot dog under optimal communication conditions. Subsequently, by calculating the deviation of the real-time feature vectors from this benchmark, the degree of degradation of the current link relative to the ideal state can be accurately reflected, providing a reliable basis for calculating the link degradation index, enhancing the accuracy of the assessment results, and providing a certain foundation for emergency control of the robot dog.

[0012] Preferably, the link degradation index satisfies the following relationship: In the formula, for Link degradation index at any given moment. for The normalized value of the average round-trip time at time 1. for The normalized value of the time delay jitter at any given moment. for Effective data packet rate at any given time For the average round-trip time in the center of mass of a high-quality cluster, For high-quality cluster center latency jitter, For high-quality cluster centroids, the effective data packet rate, , and These are the weighting factors for average round-trip time, latency jitter, and effective data packet rate, respectively.

[0013] This invention calculates the link degradation index using a weighted Euclidean distance formula, which integrates the differences between average round-trip time, latency jitter, effective data packet rate, and high-quality cluster centroid. Furthermore, it uses weighting factors to differentiate the threat level of emergency control for machine dogs based on different indicators. This allows the link degradation index to not only reflect the overall deviation of the communication link but also highlight the deterioration of key performance indicators, thereby more accurately assessing the link status.

[0014] Preferably, the control permission levels satisfy the following relationship: In the formula, for Real-time control access levels for Link degradation index at any given moment. To preset the maximum link degradation index, It is a function with maximum value. For sensitivity factor, It is a very small positive number.

[0015] This invention uses the link degradation index, the maximum link degradation index, and the sensitivity factor to calculate the control authority level. This ensures that when the link quality degrades slightly, the authority level decreases slowly, while when the degradation index approaches its maximum value, the authority level decreases rapidly. This nonlinear response meets the risk sensitivity requirements in emergency control. At the same time, by setting a very small positive number, a minimum authority level is guaranteed, preventing the system authority from completely failing and enhancing the robustness of the control system.

[0016] Preferably, the instruction redundancy satisfies the following relationship: In the formula, for Instruction redundancy at any given moment for Real-time control access levels for Effective data packet rate at any given time This is the floor function.

[0017] This invention calculates instruction redundancy based on control authority level and effective data packet rate. Utilizing a logarithmic relationship, it inversely derives instruction redundancy based on the probability of data packet failure and the system's tolerance for failure. This ensures that the more severe the link quality and the lower the authority level, the higher the number of times instructions are repeatedly sent. It effectively combats high packet loss rates, guaranteeing the delivery probability of critical instructions under low-quality links with minimal communication cost, thus ensuring reliable execution of emergency control.

[0018] Preferably, the step of obtaining instruction redundancy based on control authority level and effective data packet rate includes: when the effective data packet rate is 1 or 0, the instruction redundancy is 1.

[0019] Preferably, the robot dog receiver compares the unique ID with the ID of the received instruction to discard duplicate instruction data packets, including: the robot dog receiver compares the ID of the newly received instruction data packet with the ID of the previously executed instruction stored locally; if the ID of the newly received instruction data packet is greater than the local ID, the new instruction is executed and the local ID is updated; if the ID of the newly received instruction data packet is less than or equal to the local ID, the newly received instruction data packet is discarded.

[0020] Secondly, the present invention provides an emergency control system for a satellite communication robot dog, including a processor and a memory, wherein the memory stores computer program instructions, and when the computer program instructions are executed by the processor, the above-mentioned emergency control method for a satellite communication robot dog is implemented.

[0021] By adopting the above technical solution, the emergency control method of the satellite communication robot dog is generated into a computer program and stored in a memory so that it can be loaded and executed by the processor. In this way, a terminal device can be made based on the memory and the processor for convenient use.

[0022] The beneficial effects of this invention are as follows: Firstly, by constructing feature vectors, this invention achieves a comprehensive real-time assessment of the satellite communication link status, overcoming the limitations of single-index assessment. Secondly, by introducing high-quality clusters calibrated under ideal conditions as a reference benchmark, it can calculate the link degradation index of the current link compared to its optimal state, providing a more accurate and comparative basis for subsequent decision-making. Thirdly, this invention maps the link degradation index to control authority levels. When link quality deteriorates, it can proactively restrict high-risk or high-bandwidth commands that operators can execute, mitigating control risks that may arise from command delays or loss at the source. Fourthly, based on the current effective data packet rate and control authority level, it reverse-engineers the command redundancy required to ensure command delivery, automatically increasing the number of times critical commands are sent when link quality is poor, thereby combating high packet loss rates and ensuring the final reliable delivery of commands, achieving emergency control for the robot dog. Attached Figure Description

[0023] Figure 1 This is a flowchart illustrating an emergency control method for a satellite communication robot dog according to the present invention;

[0024] Figure 2 This is a schematic diagram illustrating latency and effective data packet rate;

[0025] Figure 3 This is a schematic diagram illustrating control permission levels;

[0026] Figure 4 This is a schematic diagram illustrating instruction redundancy. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0029] This invention discloses an emergency control method for a satellite communication robot dog, referring to... Figure 1 This includes steps S1-S5:

[0030] S1. Construct a feature vector based on the round-trip delay of the data packets received by the robot dog and the proportion of effective data packets.

[0031] Specifically, a time window is set, and the round-trip time of the data packets received by the robot dog within the time window is obtained. The average round-trip time is the mean of the round-trip time within the time window, the standard deviation of the round-trip time within the time window is the delay jitter, and the proportion of valid data packets received by the robot dog within the time window is the effective data packet rate.

[0032] For example, the length of the time window is 1 second.

[0033] Furthermore, the values ​​in the feature vector are normalized by the maximum and minimum values ​​through the historical operating boundaries of the robot dog system. The normalized values ​​are then combined into a feature vector. For example, if the historical operating boundaries of the average round-trip time are 0.4 seconds and 2 seconds, then the average round-trip time is normalized using 2 seconds and 0.4 seconds as the maximum and minimum values.

[0034] In one embodiment, the feature vectors satisfy the following relation:

[0035] ;

[0036] In the formula, for The feature vector at time step, for The normalized value of the average round-trip time at time 1. for The normalized value of the time delay jitter at any given moment. for Effective data packet rate at any given time.

[0037] in, This reflects the average time from when a command is issued by the control center to when the robot dog receives and confirms it. This reflects the stability of the satellite link. It reflects the bandwidth and packet loss of the link, and through multi-dimensional data features, it can comprehensively measure the satellite link's performance at different times. The state.

[0038] S2. Calculate the link degradation index based on the deviation of the feature vector from the high-quality cluster.

[0039] It should be noted that the feature vector of the robot dog will be different when it is in different usage environments. For example, the average round-trip time is greater in an environment with signal obstruction than in an open environment with no obstruction. The feature vector will also be different in different environments. Therefore, this invention calculates the link degradation index based on the deviation of the feature vector from the high-quality cluster.

[0040] Specifically, before deploying the robot dog, a calibration procedure is performed in an ideal environment with open, unobstructed satellite signals to obtain the robot dog's feature vectors within 10 minutes under this environment. The feature vectors collected under this environment are used as standard feature vectors, and the set of standard feature vectors is used as high-quality clusters. The link degradation index is obtained based on the distance between the feature vectors collected in real time during emergency control and the centroid of the high-quality clusters. The time length for collecting feature vectors is a preset value, and the implementers can determine the time length for collecting feature vectors according to the actual situation.

[0041] In one embodiment, the link degradation index satisfies the following relationship:

[0042] ;

[0043] In the formula, for Link degradation index at any given moment. for The normalized value of the average round-trip time at time 1. for The normalized value of the time delay jitter at any given moment. for Effective data packet rate at any given time For the average round-trip time in the center of mass of a high-quality cluster, For high-quality cluster center latency jitter, For high-quality cluster centroids, the effective data packet rate, , and These are weighting factors for average round-trip time, latency jitter, and effective data packet rate, respectively, in this embodiment. It is 0.5. It is 0.2. The weight is set to 0.3, and the implementers can determine the weighting factor based on the actual situation.

[0044] It's easy to understand that the centroid of the high-quality cluster represents the ideal communication state of the robot dog. The greater the difference between the robot dog's real-time feature vector and the centroid of the high-quality cluster, the further the robot dog's real-time communication state deviates from the ideal communication state, and the more likely the robot dog's communication link is to be interfered with, resulting in a larger link degradation index. Conversely, the smaller the difference between the robot dog's real-time feature vector and the centroid of the high-quality cluster, the closer the robot dog's real-time communication state is to the ideal communication state, resulting in a smaller link degradation index. Furthermore, the deviation of different indicators in the feature vector poses different threats to the robot dog's emergency control when the robot dog is used in different application scenarios. Therefore, the influence of different indicators in the feature vector on the link degradation index is adjusted by weighting factors.

[0045] S3. Calculate the control permission level based on the link degradation index.

[0046] To combine link quality assessment with remote operation control, this invention calculates the control authority level based on the link degradation index, thereby restricting the types of instructions that the operator can send when the control authority level is low, thus avoiding high-risk operations from the source.

[0047] Specifically, the control permission level is obtained based on the real-time link degradation index and the preset maximum link degradation index. The human-machine interface used by the operator dynamically adapts its functions according to the obtained control permission level. The preset maximum link degradation index is 0.8, and the implementers can determine this value according to the actual situation.

[0048] For example, the trajectory planning tool on the human-machine interface is activated and available to the operator only when the control permission level is greater than a preset threshold (e.g., 0.8); when the control permission level is lower than a safety threshold (e.g., 0.3), the human-machine interface will be automatically locked, and only low-bandwidth, high-robust instruction buttons such as safety warnings will be displayed to the operator.

[0049] In one embodiment, the control permission levels satisfy the following relationship:

[0050] ;

[0051] In the formula, for Real-time control access levels for Link degradation index at any given moment. To preset the maximum link degradation index, It is a function with maximum value. For sensitivity factor, It is a very small positive number, in this embodiment It is 2. The value is 0.01, and the implementers can adjust it according to the actual situation. and The value of .

[0052] Among them, the link degradation index A higher value indicates a lower level of control authority, thus limiting high-risk operations by the robot dog due to command delays when communication functions are restricted; Link Degradation Index The smaller the value, the higher the control level. Under good communication conditions, the operator's instructions can be transmitted to the robot dog in a timely manner, so a higher control level should be given.

[0053] S4. Calculate instruction redundancy based on control authority level and package and send it to the robot dog.

[0054] It should be noted that the control authority level not only represents operational authority, but also directly reflects the link quality calculated in previous steps. A lower control authority level indicates poorer link quality, resulting in a higher probability of data packet loss. In emergency remote operation scenarios, the loss of critical instructions is unacceptable. Therefore, this invention utilizes instruction redundancy to combat high packet loss rates. By calculating the number of retransmissions required for an instruction based on the control authority level, the lower the control authority level and the worse the link, the higher the instruction redundancy, thereby increasing the probability of successful instruction packet reception and ensuring the final reliable execution of emergency instructions.

[0055] Specifically, when the operator's human-machine interface is not locked, instruction redundancy is obtained based on the control permission level and the effective data packet rate in the feature vector. The operator's instructions are repeatedly transmitted via satellite link. Second-rate.

[0056] In one embodiment, instruction redundancy satisfies the following relationship:

[0057] ;

[0058] In the formula, for Instruction redundancy at any given moment for Real-time control access levels for Effective data packet rate at any given time This is the floor function.

[0059] in, for The probability of data packet transmission failure at any given time is then used for continuous transmission. The probability that all data packets fail is ,when A higher value indicates that the operator is in a high-privilege state, allowing the operator to send fine-grained control commands to the robot dog. The robot dog's communication link is also good, and the tolerance for command transmission failures is correspondingly higher. Therefore, the robot dog can receive control commands without requiring additional redundant data packets. The lower the privilege level, the more dangerous and low-privilege the robot dog control system is in an emergency state. At this point, the tolerance for command transmission failures is lower, requiring additional redundant data packets to ensure the robot dog receives control commands. For the highest tolerable probability of all data packets failing to be sent, make Obtained through mathematical relation transformation and obtain Since the number of data packets sent is an integer, therefore... As instruction redundancy, it represents the number of times instruction data packets are repeatedly sent.

[0060] It should be added that the effective data packet rate When the value is 1, the command data will definitely be received by the robot dog. In this case, sending one command data packet is sufficient, resulting in an effective data packet rate. When the value is 0, the robot dog will not receive the command data packets no matter how many times they are sent. In this case, sending only one command data packet is sufficient. For 1, and When the value is 0, the instruction redundancy is 1, avoiding the waste of communication resources.

[0061] For example, Figure 2 This is a diagram illustrating latency and effective data packet rate. Figure 3 This is a diagram illustrating the control access levels. Figure 4 This diagram illustrates instruction redundancy. As can be seen from the diagram, when the average round-trip time and latency jitter increase, and the effective data packet rate decreases, the control authority level will also decrease, thereby increasing instruction redundancy and achieving dynamic adjustment of the number of operation instructions sent.

[0062] S5. Control the robot dog by sending instruction data packets according to the instruction redundancy.

[0063] Specifically, a unique ID is assigned to each control command at the sending end. The sending end continuously sends command data packets with the IDs to the robot dog. When the robot dog receives a new instruction packet, it compares the ID of the received instruction packet with the ID of the previously received instruction packet. If the new ID is greater than the local ID, the instruction is executed and the local ID is updated. If the new ID is less than or equal to the local ID, it is determined to be a duplicate instruction and is discarded. This ensures that when multiple instruction packets corresponding to the same instruction successfully arrive at the robot dog, the instruction is executed only once, thereby enabling emergency control of the robot dog.

[0064] This invention also discloses an emergency control system for a satellite communication robot dog, including a processor and a memory. The memory stores computer program instructions, and when the computer program instructions are executed by the processor, an emergency control method for a satellite communication robot dog according to the present invention is implemented.

[0065] The system also includes other components well known to those skilled in the art, such as communication buses and communication interfaces, the settings and functions of which are known in the art and will not be described in detail here.

Claims

1. An emergency control method for a satellite communication robot dog, characterized in that, include: Obtain the round-trip time and the ratio of effective data packets received by the robot dog within the time window, and construct a feature vector based on the average round-trip time, delay jitter, and effective data packet rate; The average round-trip time is the mean of the round-trip time within the time window, the delay jitter is the standard deviation of the round-trip time within the time window, and the effective data packet rate is the proportion of effective data packets within the time window. Obtain a set of standard feature vectors collected under ideal conditions as a high-quality cluster; obtain the link degradation index based on the distance between the feature vectors and the centroids of the high-quality clusters; obtain the control authority level based on the link degradation index; obtain the instruction redundancy based on the control authority level and the effective data packet rate. A unique ID is assigned to the control command, and the command data packet carrying the unique ID is repeatedly sent according to the command redundancy; the robot dog receiver compares the unique ID with the ID of the received command to discard the duplicate command data packet and execute the command in the non-duplicate command data packet to realize the control of the robot dog. The link degradation index satisfies the following relationship: In the formula, for Link degradation index at any given moment. for The normalized value of the average round-trip time at time 1. for The normalized value of the time delay jitter at any given moment. for Effective data packet rate at any given time For the average round-trip time in the center of mass of a high-quality cluster, For high-quality cluster center latency jitter, For high-quality cluster centroids, the effective data packet rate, , and These are the weighting factors for average round-trip time, latency jitter, and effective packet rate, respectively. The control permission levels satisfy the following relationship: In the formula, for Real-time control access levels To preset the maximum link degradation index, It is a function with maximum value. For sensitivity factor, It is a very small positive number; Instruction redundancy satisfies the following relationship: In the formula, for Instruction redundancy at any given moment This is the floor function.

2. The emergency control method for a satellite communication robot dog according to claim 1, characterized in that, The step of constructing a feature vector based on average round-trip time, latency jitter, and effective data packet rate includes: normalizing the average round-trip time, latency jitter, and effective data packet rate respectively, and combining the normalized average round-trip time, latency jitter, and effective data packet rate into a feature vector.

3. The emergency control method for a satellite communication robot dog according to claim 2, characterized in that, The normalization is the maximum-minimum normalization.

4. The emergency control method for a satellite communication robot dog according to claim 1, characterized in that, The process of obtaining a set of standard feature vectors collected under ideal conditions as a high-quality cluster includes: performing a calibration procedure under an ideal environment with open, unobstructed satellite signals, and obtaining a set of feature vectors of the robot dog within 10 minutes under this environment as a high-quality cluster.

5. The emergency control method for a satellite communication robot dog according to claim 1, characterized in that, The step of obtaining instruction redundancy based on control authority level and effective data packet rate includes: when the effective data packet rate is 1 or 0, the instruction redundancy is 1.

6. The emergency control method for a satellite communication robot dog according to claim 1, characterized in that, The robot dog receiver compares the unique ID with the ID of the received instruction to discard duplicate instruction data packets. This includes: the robot dog receiver comparing the ID of the newly received instruction data packet with the ID of the previously executed instruction stored locally; if the ID of the newly received instruction data packet is greater than the local ID, then the new instruction is executed and the local ID is updated; if the ID of the newly received instruction data packet is less than or equal to the local ID, then the newly received instruction data packet is discarded.

7. An emergency control system for a satellite communication robot dog, characterized in that, include: A processor and a memory, wherein the memory stores computer program instructions that, when executed by the processor, implement an emergency control method for a satellite communication robot dog according to any one of claims 1-6.

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