75 results about "Heartbeat detection" patented technology

The invention discloses a memory synchronization method and system in a virtualization fault-tolerant environment, and relates to the technical field of data processing. The method comprises the following steps: capturing a memory write-in operation of a main node of a virtual machine, and generating a memory write-in log; dividing the memory write-in log into a plurality of memory data blocks through multi-thread processing; synchronizing the memory data block into the memory of the virtual machine standby node, and maintaining heartbeat detection between the virtual machine master node and the virtual machine standby node; and when detecting that the heartbeat of the main node of the virtual machine is abnormal, triggering the standby node of the virtual machine to carry out rollback takeover by utilizing the synchronous memory data. The technical problems that in the prior art, in the virtualized fault-tolerant environment, the memory data synchronization efficiency of main and standby virtual machines is low, the data consistency guarantee is insufficient, and the main node fault takeover delay is large are solved, and the technical effects that the memory synchronization real-time performance and accuracy are improved, rapid seamless takeover of the standby node is guaranteed, and service continuity is ensured are achieved.

The invention discloses a data network interaction system for rail transit data transmission, which relates to the technical field of data transmission and comprises a data acquisition module, an intelligent exchange scheduling module, a real-time processing module and a high-reliability transmission guarantee module. And high-speed and reliable transmission is ensured through a 10-gigabit point-to-point direct connection channel, and meanwhile, continuity is ensured by adopting a redundant link, so that efficient, stable and real-time processing of rail transit data is realized. According to the invention, a high-speed dedicated channel is constructed through direct connection of the 10-gigabit Ethernet, and hierarchical transmission of multi-source data is realized in combination with an intelligent scheduling strategy; meanwhile, hardware-level heartbeat detection and redundant links are deployed, and millisecond-level fault switching is guaranteed; and a dynamic threshold adjustment mechanism is introduced, the reliability and robustness of the system are adaptively optimized, and the high-real-time and high-reliability transmission requirements of rail transit are met.

The invention discloses a BCG heartbeat detection system, a training method and a detection method, and belongs to the technical field of medical signal processing. According to the method, a heart electro-mechanical coupling mechanism is utilized, physiological semantics implied in a BCG signal segment are mined through a cross-modal semantic anchoring module and a fine-grained waveform reconstruction module, and the physiological semantics are converted into heartbeat indication signals of QRS waves; wherein the cross-modal semantic anchoring module is used for extracting implicit ventricle depolarization global semantics by capturing a long-range dependency relationship in a BCG signal fragment so as to roughly lock a semantic anchor point of heartbeat generation in an uncertain waveform; and the fine-grained waveform reconstruction module fuses the global semantic features into the local waveform features through a cross attention mechanism to realize dynamic fusion and alignment of the morphological features and the semantic features. Based on the method, the dependence of a traditional method on BCG waveform form consistency is overcome, and accurate and robust heartbeat detection can be achieved under complex and changeable pathological conditions.

The invention discloses an Android system security protection method, system and device and a storage medium, and the method comprises the steps: adding a core protection service in a source code of an Android system, enabling the core protection service to serve as an independent process to run in a system layer, and respectively implanting a Socket client and a Socket server in a Zygote service and a SecurityGuard Service of the Android system to establish a bidirectional encryption communication channel, so as to achieve the security protection of the Android system. Timing heartbeat detection and tampering response are set in a two-way encryption communication channel, after the tampering response is triggered, Zygote service and Security Guard Service service are restarted, real-time monitoring of system core process communication is achieved, attacks such as memory tampering and code injection are effectively recognized, and based on Socket communication, remarkable influences on system performance are avoided.

The utility model provides a BNCT treatment room safety interlocking system, and relates to the technical field of BNCT treatment. The safety interlocking system can effectively overcome the false alarm defect of a safety interlocking system in the prior art, and specifically comprises treatment room equipment and a safety interlocking module, the treatment room equipment comprises a dose control module used for obtaining neutron beam flux and monitoring the neutron beam state, and a treatment control box used for controlling operation of the treatment terminal. The safety interlocking module is in communication connection with the dose control module through a first heartbeat detection line and a first alarm line which are independently arranged, and is in communication connection with the treatment control box through a second heartbeat detection line and a second alarm line which are independently arranged.

The invention discloses a multi-protocol fusion bus interaction system and method, and relates to the technical field of intelligence information processing, the system comprises a protocol node, a bus device agent, a protocol converter, a Wi-Fi fusion layer and a device discovery center; the protocol node operates a guard process to maintain an equipment state and mark a message source node ID; the bus equipment agent is responsible for message filtering and cross-bus forwarding; the protocol converter encapsulates the data into Ethernet frames and transmits the Ethernet frames through Wi-Fi; protocol conversion is realized by the Wi-Fi fusion layer; the equipment discovery center dynamically manages the equipment and the bus list through heartbeat detection; the method comprises a message sending and receiving process and an equipment dynamic access process. According to the invention, a wired mode is replaced by Wi-Fi wireless transmission, so that the wiring cost is reduced; compatibility and transmission efficiency are improved through a protocol converter and intelligent message filtering; the system supports discovery and expansion of dynamic equipment, is suitable for complex industrial sites such as a data center, and has the advantages of high efficiency, expandability and easy maintenance.

The invention provides a recommendation method for an optimal maintenance scheme of the Internet of Things. The recommendation method comprises the following steps: step 1, acquiring system input; step 2, performing WSN simulation and cost evaluation based on the system input; and step 3, performing optimal maintenance scheme search under budget constraint by adopting an intelligent search algorithm. According to the method, the automatic recommendation of the maintenance module and the parameter combination configuration thereof can be realized by establishing an optimization model between the overall maintenance cost and the system reliability under the budget constraint aiming at factors such as network scales, node distribution, fault types and occurrence probabilities, energy consumption models and the like in different application scenes. According to the method, typical maintenance function modules such as remote restart, heartbeat detection and firmware updating serve as candidate components capable of being started as required, key parameters such as an energy early warning threshold value and heartbeat frequency are combined, the actual effect of a maintenance strategy is evaluated based on system modeling and simulation analysis, and therefore the optimal maintenance scheme is screened out.

The embodiment of the invention provides a task scheduling method, a task scheduling system, electronic equipment and a program product. Relates to the technical field of computers. The method comprises the following steps: acquiring node state information of each control node in a control node cluster by adopting a preset heartbeat detection mechanism; updating a candidate control node set for task allocation according to the node state information of the control nodes; receiving a to-be-processed task, and obtaining operation state information of each control node in the candidate control node set; determining a target control node through a preset scheduling strategy according to the to-be-processed task and the operation state information of the control node; and sending the to-be-processed task to the target control node, so that the target control node schedules the service nodes in the preset service node cluster to execute the to-be-processed task. According to the method, the technical effects of improving the node availability and improving the scheduling success rate are achieved through state perception of multiple control nodes, dynamic maintenance of the candidate set and a strategy based on the task and the running state.

The invention relates to a system for realizing transaction gateway distribution based on an asynchronous event model, and the system comprises an SDK access module which carries out the timeout judgment of a transaction request, and receives an asynchronous callback message response; the gateway access module is used for receiving the transaction request and decompressing the data; the service conversion module is used for loading service conversion rules from the service conversion management module and carrying out logic conversion and judgment on the request data; the data storage module is used for storing the business conversion rule and the effective time range thereof; and the service conversion management module provides addition, deletion, modification and check functions of service conversion rules. The system for realizing transaction gateway distribution based on the asynchronous event model has high availability, accesses the server through the SDK access module, realizes background service detection through the heartbeat detection module, realizes automatic switching when a fault is found, and ensures high availability of the service; according to the invention, the method is high in business rule taking-into-effect real-time performance, and has the obvious characteristics of high business rule taking-into-effect real-time performance, high expansibility, high availability and the like.

The invention discloses a collaborative scheduling method based on a cloud password service resource pool and a database agent, and relates to the technical field of cloud computing, and the method comprises the steps: obtaining a password service request from the database agent, and synchronously generating a request state snapshot comprising a password algorithm type, a computing progress mark and an intermediate computing result; monitoring the running state of each node in the cloud password service resource pool through a heartbeat detection mechanism, and obtaining a fault node identifier and a to-be-migrated request list when detecting that the password service node is abnormal; reading a corresponding request state snapshot according to the fault node identifier, and transmitting the request state snapshot to a standby password service node; and analyzing the intermediate calculation result in the request state snapshot by using the standby password service node, recovering the execution process of the password algorithm from the breakpoint position corresponding to the calculation progress mark, completing the remaining password calculation, and returning the final calculation result to the database agent. According to the invention, the breakpoint resume capability in the fault recovery process can be realized.

The invention discloses an industrial data disaster recovery backup method and system based on edge computing, and relates to the technical field of industrial internet and data security. A decentralized collaborative backup grid is constructed, so that scattered industrial edge nodes can be autonomously discovered and connected to form a dynamic backup neighbor relation network; a grid topology is automatically constructed among nodes through mutual perception and authentication of a service discovery protocol, on this basis, data to be backed up generated by any node can be encoded into fragmented data blocks and verification blocks through an erasure code technology, and the fragmented data blocks and the verification blocks are intelligently scheduled to a plurality of backup neighbor nodes for distributed storage. By means of continuous heartbeat detection and multi-dimensional health index analysis, the states of all nodes in a grid are monitored in real time, once it is detected that the nodes are abnormal, a data reconstruction process based on erasure codes is automatically triggered without a central instruction, original data are recovered through surviving coding blocks, and a self-organizing and self-healing disaster recovery system is formed.

The invention discloses a running state monitoring method and device, electronic equipment and a storage medium, and relates to the technical field of computers. Creating a bidirectional forwarding detection session between the first device and the second device in a bidirectional forwarding detection module according to the identified heartbeat registration information, so as to execute a heartbeat message transceiving task based on the bidirectional forwarding detection module, and synchronizing an execution result parameter of the heartbeat message transceiving task to the first software unit, the bidirectional forwarding detection module is a hardware module specially used for monitoring link and path states between devices on the devices, and the problem of state misjudgment caused by the fact that heartbeat data packets are not sent in time due to scheduling of a central processing unit can be effectively solved by unloading heartbeat detection tasks of a software unit to the bidirectional forwarding detection module for execution. The precision of the heartbeat detection result is improved, and the pressure of executing the heartbeat detection task of the software unit by the central processing unit is reduced.

The invention discloses an unmanned aerial vehicle cluster collaborative trajectory planning method, and belongs to the technical field of unmanned aerial vehicles, and the method comprises the steps: enabling four unmanned aerial vehicles to form a formation to form a three-dimensional ideal tetrahedron, and carrying out the real-time obstacle avoidance and trajectory optimization through the combination of a dynamic safety ball and a convex polyhedron, and automatic takeover when the pilot aircraft or the wing aircraft is lost is realized through heartbeat detection and a replacement priority table, so that the technical problems of dynamic obstacle avoidance, collision detection, trajectory optimization and automatic replacement of failure of the pilot aircraft when the unmanned aerial vehicle cluster cooperatively flies in a three-dimensional space are solved. According to the scheme, the maximum allowable deformation range of the whole formation is achieved, dynamic obstacle avoidance is achieved, automatic taking-over of unmanned aerial vehicles and updating of formation safety convex polyhedrons are achieved through a virtual safety ball and a replacement priority table according to the condition that wing planes or pilot planes are out of communication, and task continuity is guaranteed.

The invention discloses a two-way communication method for a digital twin system and PLC (Programmable Logic Controller) equipment in a Linux environment, which comprises the following steps of: establishing a secure communication channel based on TCP (Transmission Control Protocol) and TLS (Transport Layer Server) encryption and two-way authentication, defining an application layer message structure, and finishing initial secure link connection; developing, integrating and packaging a UE5 plug-in with a communication function, and providing visual blueprint nodes to configure PLC equipment parameters and process message serialization; based on a secure communication channel and a UE5 plug-in, real-time bidirectional data interaction is executed between the digital twin system and PLC equipment, and connection is maintained through heartbeat detection and automatic reconnection; and constructing the UE5 project containing the plug-in into a Linux executable file through a cross compiling tool chain, and deploying and configuring the Linux executable file. According to the invention, a safe, real-time and easy-to-use complete solution for bidirectional communication between the digital twin system and the PLC equipment in the Linux environment with good expansibility is formed while the requirements of localization and autonomous controllability are met.

The invention relates to the field of network application management, and provides a method for managing communication between intelligent devices based on service awareness, which comprises the following steps: analyzing an operation instruction initiated by a user for a controlled end device to determine a service type to which the operation instruction belongs; dynamically selecting a target communication interface corresponding to a service type according to the service type to which the operation instruction belongs; performing parameter packaging on the operation instruction based on a communication protocol corresponding to the target communication interface to generate a communication request; putting the communication request into an asynchronous sending queue, distributing a working thread for the communication request through a thread pool, and sending the communication request to the controlled end equipment; receiving a response of the controlled end device to the communication request, and calling a callback function bound with the operation instruction to process the response of the controlled end device to the communication request; a heartbeat detection thread is independently run to monitor a connection state. According to the technical scheme, the communication parallelism, the response speed and the connection reliability between the devices are improved.

The invention discloses an energy-saving urban road lighting intelligent regulation and control system, and relates to the technical field of high-efficiency energy-saving industries. A street lamp communication network is reconstructed into a decentralized and peer-to-peer Mesh network, and a single lamp controller of each street lamp is endowed with an independent main control unit; a built-in Mesh communication module and a built-in network topology management module enable the system to have the capability of autonomously networking with any physically adjacent neighbor node, after the system is powered on, each main control unit automatically searches and establishes connection with other units in the communication range of the main control unit, and a distributed communication network covering a whole road network is dynamically formed. When any node in the system fails due to hardware damage or power failure, the node directly adjacent to the node can instantly sense the fault of the route through a heartbeat detection mechanism, and the network topology management module immediately starts a route reconstruction algorithm to switch the data flow which originally needs to pass through the fault node to a standby path formed by other healthy nodes.

The invention belongs to the technical field of network equipment detection, and provides a network equipment edge detection method and system based on a heartbeat detection mechanism, and the method comprises the steps: generating a dynamic detection strategy, and distributing the dynamic detection strategy to a target detection node in an edge detection equipment cluster; constructing a detection message corresponding to the detection mode according to the dynamic detection strategy, and sending the detection message to the target equipment; the network equipment which carries the forwarding of the detection message identifies the type of the detection signaling, and adds in-band telemetry data to a response message for reporting when forwarding the response message returned by the target equipment; receiving a response message comprising the in-band telemetry data and carrying out association processing to generate fused network state information; the network behavior portrait is updated according to the network state information, the detection mode and the detection signaling type in the dynamic detection strategy of the next period are adjusted based on the updated network behavior portrait, and the real-time performance, the self-adaptability and the fault positioning precision of network equipment detection are improved.

The application relates to the technical field of mobile communication, and discloses an adaptation method of an application function (AF) in a 5GC system broadcast service, which comprises the following steps: a multi-area PCF environment is constructed, each PCF stores user online information through a corresponding CDF, and each PCF is connected with a data center (DC); an application function (AF) is connected with a plurality of PCFs through different network paths, and a heartbeat detection mechanism is constructed with a main PCF; in a normal service process, the application function (AF) initiates an authorization and authentication request to the main PCF through a main link, the main PCF generates a PCC rule according to strategy information and delivers the PCC rule to an SMF, user information is stored in a local CDF and is synchronized to the data center (DC); when a fault occurs between the application function (AF) and the main PCF, the application function (AF) is switched to a standby communication to recover the service. According to the method, the system can be automatically and quickly switched to a standby path, and the fault risk of a single Rx connection is eliminated.

This invention discloses an adaptive detection and separation method for human breathing and heartbeat signals in fire rescue. The invention includes software, hardware, and algorithms. It can automatically select the equipment's operating frequency band according to the needs of fire rescue, performing breathing detection after penetrating obstacles and when there are no obstacles or only a few obstacles. The detection function is implemented by controlling a USRP B210-based software-defined radar hardware through GNU Radio Companion software. Data preprocessing of the transmitted and received baseband signals yields a composite signal of superimposed human breathing and heartbeat signals. To address the difficulty in separating human breathing and heartbeat signals in software-defined radar detection, adaptive filtering and moving target display are applied to the composite signal to separate the breathing and heartbeat signals. The method includes: a human breathing and heartbeat signal detection method based on software-defined radar, and an adaptive human breathing and heartbeat signal separation method based on minimum mean square error moving target display.

The application provides an 8K high code rate panoramic live broadcast grading distribution method for a sports event private network, and belongs to the technical field of live broadcast distribution.The original 8K panoramic video is compressed and encoded by a high-efficiency video coding standard to generate a high code rate video stream in a live source node, and the high code rate video stream is pushed to a first forwarding node through a real-time transmission protocol.The maximum transmission unit of the private network full link is uniformly configured as 9000 bytes in the first forwarding node, and a data plane development kit user state protocol stack is enabled.A second distribution node concurrently pushes the high code rate video stream to terminal equipment through a lock-free ring buffer.A fault detection module combines active heartbeat detection with passive response time monitoring to monitor the node state in real time, and migrates the affected terminal to a backup node within a second, thereby solving the technical problems of high transmission delay and poor concurrent stability of the high code rate video stream during the grading distribution of the 8K high code rate panoramic video of the sports event private network.

Embodiments of the present application disclose a message fault processing method and device, a computing device and a computer storage medium, wherein the method comprises: obtaining a fault frequency of a message sending fault, and performing heartbeat detection on a production end to obtain a heartbeat detection result; determining a fault type corresponding to the message sending fault according to the fault frequency and the heartbeat detection result; and executing a fault processing strategy corresponding to the fault type according to the fault type, so as to eliminate the message sending fault. The scheme adds a heartbeat detection mechanism to the production end, effectively identifies the fault type corresponding to the message sending fault by fully combining the fault frequency of the message sending fault and the heartbeat detection result, eliminates the message sending fault by executing different fault processing strategies for different fault types, can improve the success probability of the failed message retry on the premise of ensuring the message order, and realizes that the business of the production end and the business of the consumption end are not sensitive to the fault of the cluster, without affecting the upstream and downstream businesses.

This invention discloses a method for ensuring high availability of a cross-border payment multi-channel system, comprising: monitoring network accessibility and application layer accessibility; employing a monitoring scheme that involves multiple monitoring samples and pushing the sampling results into corresponding fixed-length message queues; monitoring the results of normal payment requests at the application layer and performing data cleaning on actual payment requests; conducting corresponding-level monitoring through network accessibility monitoring queues, application service layer heartbeat detection monitoring queues, and payment service payment success rate monitoring queues; adopting different response plans according to different levels of problems; establishing an availability switch for each channel, reducing routing priority to the lowest level, and prioritizing routing to available channels. The payment system can monitor the availability of payment service channels down to the minute level and accurately identify problems in target channels. The payment system adopts different contingency plans according to the problem type to ensure the high availability of the cross-border payment system.

The invention provides a pre-mixing plant ultra-remote quality management and control system integrating concrete production data and video monitoring, and relates to the technical field of concrete production management and control, and the system comprises an intelligent ultra-remote control platform which comprises a network control module, a remote control module, a remote observation module and a data fusion management and control module. A unified operation interface and an industrial-grade communication link are arranged in the intelligent ultra-remote control platform. Concurrent ultra-remote centralized command of a single centralized control center to a plurality of premixing plants is realized through the intelligent ultra-remote control platform, and the network control plate adopts a redundant architecture in which a point-to-point special digital link is combined with a standby communication network. Through cooperation of a main and standby link automatic switching unit and an end-to-end heartbeat detection mechanism, the stability and certainty of instruction issuing and state returning are ensured, the problems of network jitter, instruction delay and production interruption caused by traditional public network transmission are thoroughly solved, and seamless real-time scheduling and unified operation of cross-regional stations are supported.

The invention discloses a plug-in type communication architecture supporting multiple industrial protocols. The plug-in type communication architecture comprises a protocol adapter dynamic loading module, a protocol adapter dynamic loading module and a protocol adapter dynamic loading module, wherein the protocol adapter dynamic loading module is used for dynamically loading and unloading adapters of the multiple industrial protocols during operation; the container arrangement module is used for realizing plug-in deployment and automatic discovery of services through a containerization technology; the asynchronous processing and connection pool collaborative optimization module is used for reducing communication time delay through asynchronous I / O processing and connection pool management; and the heartbeat detection and automatic fault recovery module is used for improving the reliability of the system through a heartbeat detection and automatic recovery mechanism. According to the architecture, industrial protocol plug and play and flexible service deployment are realized through protocol adapter dynamic loading and container arrangement, and the system expansibility is improved; through asynchronous processing and connection pool collaborative optimization, the communication time delay is reduced, and the throughput capacity is improved; the reliability and the self-healing capability of the system are enhanced through heartbeat detection and an automatic fault recovery mechanism, and finally collaborative optimization of time delay, multi-protocol compatibility and reliability is realized in a complex industrial environment.

The application relates to a service processing method and device, computer equipment, a storage medium and a computer program product. The method comprises the following steps: sending heartbeat detection instructions to a plurality of application service ends arranged in a first service processing center at a fixed time, so as to obtain heartbeat detection statistical results by counting heartbeat detection results corresponding to the plurality of application service ends; determining whether the first service processing center has a fault according to the heartbeat detection statistical results; when a service request for a target application service end of the first service processing center is detected and it is determined that the first service processing center has a fault, starting a target application service end of a second service processing center according to a routing configuration file; and sending the service request to the target application service end of the second service processing center, so as to process a service corresponding to the service request based on the target application service end of the second service processing center. The method can improve service continuity.

The invention discloses a portable non-contact millimeter wave human respiration and heartbeat monitoring method and device. The device comprises a millimeter wave lens antenna, a radio frequency front end module, a digital control and intermediate frequency processing module, a digital signal processing module, a shell module and upper computer software. Non-contact respiration and heartbeat measurement is achieved through the millimeter-wave radar, narrow beams are achieved through the specially-made millimeter-wave lens antenna so as to improve the signal-to-noise ratio, vital signs of respiration waveforms, respiration frequencies, heartbeat waveforms and heartbeat frequencies are obtained through automatic processing of the digital signal processing module, and results are synchronously displayed on a shell screen and upper computer software. A laser indicating lamp in front of the housing facilitates observation of a measurement position and supports adapter power supply and battery power supply. The device has the characteristics of portability, miniaturization and integration, realizes accurate measurement of respiration and heartbeat in a non-contact scene, is used for emergency triage, intensive care and sleep monitoring, and meets the application requirements of rapid and accurate respiration and heartbeat detection clinically.

The application discloses a kind of respiratory heartbeat detection method, device, equipment and medium.The method comprises: identifying the phase signal of the object to be detected from the target distance image corresponding to the object to be detected;Respectively from the time domain angle and the frequency domain angle, the phase signal is separated, and the corresponding initial time domain signal component and initial frequency domain signal component are obtained;The initial time domain signal component and the initial frequency domain signal component are reconstructed, and the corresponding target frequency domain signal component is obtained;Actual breathing frequency of the object to be detected is obtained based on the target frequency domain signal component, and the actual heartbeat frequency of the object to be detected is obtained by twice harmonic weighting compensation selection to the target frequency domain signal component.The application selects more suitable heartbeat frequency from the target frequency domain signal component by using twice harmonic weighting compensation selection mode, effectively solves the false detection problem of the object to be detected in the interference state, and effectively improves the detection accuracy of breathing and heartbeat frequency.

This invention relates to the field of automotive sensor data processing technology, and discloses a unified diagnostic method and system for automotive-grade multi-source sensor data. The method includes: parsing multi-source sensor configuration files to generate a plug-in instance table; reading multi-type interface data to form a raw data packet sequence; generating a standardized frame message sequence based on plug-in templates and a circular buffer; recording the release status; and combining heartbeat detection, anomaly confidence, and a finite state machine to output operational diagnostic results. Compared to existing technologies where different types of sensors typically rely on independent drivers, especially under conditions of mixed operation with multiple communication interfaces, this invention addresses the technical problem of failing to achieve unified correlation diagnosis of interface reading anomalies, plug-in parsing anomalies, and release link anomalies. Because this application constructs a unified release record using a plug-in instance table, raw data packet sequence, standardized frame message sequence, and unified release record, it improves the accuracy and stability of anomaly localization in automotive-grade multi-source sensor systems.

The invention discloses a distributed power real-time data access system and method. The system comprises a data ID unified coding module, a unified data access interface module, a fault-tolerant device module and a regional service node module. The data ID unified coding module adopts a structured global unique coding rule, and a code comprises a region code used for directly positioning a data physical storage position; the unified data access interface module receives a client request, groups transmission data, dynamically allocates the request to an optimal regional service agent through a load balancing strategy, and performs data compression, decompression and result aggregation; the fault-tolerant device module realizes overtime processing, failure retry, fault recovery and heartbeat detection functions; the regional service node module is responsible for storage, query and processing; according to the invention, the efficiency and reliability of distributed power real-time data access can be improved.

The invention discloses a multi-mode cooperative control system and method for an unmanned vehicle. The method comprises the steps that a control end and an unmanned vehicle main control box maintain a communication link and judge the communication state of the control end and the unmanned vehicle main control box; the control end generates a control instruction data frame containing a software control end flag bit; the unmanned vehicle main control box analyzes the data frame to obtain a software flag bit, and reads the hardware state of the physical shift lever switch to obtain a hardware control mode; consistency verification is carried out on the software and hardware control modes, and the control instruction is executed when consistency verification is carried out; the system also guarantees the communication reliability through heartbeat detection, and achieves the interaction and management of a running state and a navigation task state through a refined state machine. Control right conflicts are fundamentally eradicated through software and hardware dual authentication, the system robustness is improved through a heartbeat mechanism and a security strategy, task controllability and man-machine cooperation efficiency are enhanced by means of detailed interaction of a state machine, and meanwhile good platform expansibility is achieved.