CN115604011B - OSI protocol multi-point communication method based on robot and block chain - Google Patents
OSI protocol multi-point communication method based on robot and block chain Download PDFInfo
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- CN115604011B CN115604011B CN202211281233.4A CN202211281233A CN115604011B CN 115604011 B CN115604011 B CN 115604011B CN 202211281233 A CN202211281233 A CN 202211281233A CN 115604011 B CN115604011 B CN 115604011B
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- H04L63/00—Network architectures or network communication protocols for network security
- H04L63/04—Network architectures or network communication protocols for network security for providing a confidential data exchange among entities communicating through data packet networks
- H04L63/0428—Network architectures or network communication protocols for network security for providing a confidential data exchange among entities communicating through data packet networks wherein the data content is protected, e.g. by encrypting or encapsulating the payload
- H04L63/0442—Network architectures or network communication protocols for network security for providing a confidential data exchange among entities communicating through data packet networks wherein the data content is protected, e.g. by encrypting or encapsulating the payload wherein the sending and receiving network entities apply asymmetric encryption, i.e. different keys for encryption and decryption
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Abstract
The invention relates to a multipoint communication method based on a OSI protocol of a robot and a block chain, which relates to the technical field of robot communication and comprises the steps of establishing a robot communication network based on the block chain by a network construction module; the control execution unit of the network control module acquires information of a plurality of robots, links the robots as network nodes, and sets management nodes in the communication network; a network distribution unit of the network control module distributes network ip addresses and network private keys to a plurality of robots; the instruction generation module generates operation instructions corresponding to the information of each robot; the command transmission module sends the operation command information to the encryption module, the encryption module encrypts a public key of the operation command through a corresponding private key, and the control execution unit sends the encrypted operation command broadcast to a network; each robot receives the operation instruction and executes the operation instruction, so that the control accuracy of the collaborative production process of the multiple robots is improved.
Description
Technical Field
The invention relates to the technical field of robot communication, in particular to a multipoint communication method based on an OSI protocol of a robot and a block chain.
Background
Modern science and technology advances, brings convenience for many industries, and especially all industries replace manpower with artificial intelligence robots to reduce labor cost and improve production quality and production rate, and in the aspect of application, modern robots are based on multi-robot collaborative production workshops, and robot communication cannot meet the requirements of high-quality and high-efficiency production.
Chinese patent publication No.: CN110071860B discloses a robot communication method, a robot communication system and a robot, wherein the method comprises: selecting a management node from nodes of a communication ring network to generate a token; the management node generates address lists of all nodes in the communication ring network and broadcasts the address lists; the node with the token is used as a transmitting node, and when the data packet to be transmitted exists, the transmitting node transmits the data packet to be transmitted to the next node according to the address list; and the other nodes in the communication ring network sequentially transmit the data packets to be transmitted according to the address list, and when the data packets to be transmitted are successfully transmitted, the transmitting node transmits the token to the next node according to the address list, and the next node becomes a new transmitting node. Therefore, the problem of unreliable robot communication is solved; therefore, the robot communication method has the problem that the control of the cooperative production process of multiple robots is inaccurate, so that the production efficiency is low.
Disclosure of Invention
Therefore, the invention provides a multipoint communication method based on OSI protocol of robots and blockchain, which is used for solving the problem of low production efficiency caused by inaccurate control of the cooperative production process of multiple robots in the prior art.
In order to achieve the above object, the present invention provides a multipoint communication method based on a robot and a block chain OSI protocol, comprising:
s1, a network construction module establishes a robot communication network based on a block chain;
s2, a control execution unit of a network control module acquires information of a plurality of robots, chains the robots as network nodes, and sets management nodes in the communication network;
s3, a network distribution unit of the network control module distributes network ip addresses and network private keys to a plurality of robots;
s4, an instruction generation module generates operation instructions corresponding to the information of each robot;
s5, the instruction transmission module sends the operation instruction information to the encryption module, the encryption module encrypts the operation instructions of the robots through corresponding private keys and sets public keys of all the operation instructions, and the control execution unit sends the encrypted operation instructions to a network in a broadcast mode;
and S6, each robot receives the operation instruction and executes the operation instruction.
Further, in the step S2, when a management node is set in the communication network, the control execution unit obtains a plurality of operation instructions generated by the instruction generation module, and sends a preset number of operation instructions to a plurality of robots, the feedback recognition unit of the network control module obtains an average feedback rate W of the operation instructions of the plurality of robots, and preliminarily determines whether the operation instructions are executed by the plurality of robots according to a comparison result of the average feedback rate W and the preset feedback rate W0,
if W is more than or equal to W0, the control execution unit determines that a plurality of robots execute the operation instructions to reach the standard;
if W is less than W0, the control execution unit determines that the operation instructions executed by a plurality of robots do not reach the standard.
Further, in the step S2, when the control execution unit determines that the operation instructions of the plurality of robots are up to standard, the control execution unit calculates a rate difference Cw between the average feedback rate W and a preset feedback rate W0, sets cw=w0-W, and primarily determines the number of the set management nodes according to a comparison result of the rate difference and the preset rate difference,
wherein the control execution unit is provided with a first preset feedback rate difference Cw1, a second preset feedback rate difference Cw2, a first management node number A1, a second management node number A2 and a third management node number A3, wherein W1 is less than W2, A1 is less than A2 and less than A3,
when Cw is less than or equal to Cw1, the control execution unit preliminarily determines that the number of the management nodes is A3;
when Cw1 is more than Cw and less than or equal to Cw2, the control execution unit preliminarily determines that the number of the management nodes is A2;
when Cw > Cw2, the control execution unit preliminarily determines that the management node number is A3.
Further, in the step S6, when each of the robots receives and executes the operation instruction, the control execution unit determines the integrity Y of each of the robots executing the operation instruction, sets
Wherein R is the execution quantity of the operation instructions, R0 is the total quantity of the operation instructions, alpha is the execution quantity weight of the operation instructions, G is the displacement quantity of single operation in the operation instructions, G0 is the standard displacement quantity of single operation in the operation instructions, and beta is the displacement quantity weight of single operation in the operation instructions.
Further, when the control execution unit determines that the integrity is completed, determining whether the execution of the operation instruction of each robot is qualified according to the comparison result of the integrity Y and the preset integrity Y0,
if Y is more than or equal to Y0, the control execution unit judges that the operation instruction of the robot is qualified to be executed;
and if Y is less than Y0, the control execution unit judges that the operation instruction of the robot is not qualified to execute.
Further, when the control execution unit determines that the execution of the operation instruction of the robot is qualified, the control execution unit acquires the historical operation data of the robot stored in the data storage unit, determines the execution qualification rate S of each robot according to the historical operation data, sets s=t/Tz, determines whether each robot can be used as a management node according to the comparison result of the execution qualification rate S and the preset execution qualification rate S0, wherein T is the qualification number of the execution operation instruction in the historical operation data, tz is the total number of the execution operation instruction in the historical operation data,
if S is more than or equal to S0, the control execution unit determines that the robot can be used as a management node;
if S is less than S0, the control execution unit determines that the robot cannot be used as a management node.
Further, when the control execution unit determines that the operation instruction of the robot is not qualified for execution, the control execution unit counts the unqualified number D of the robot which is unqualified for execution, and determines whether to adjust the number of management nodes according to the comparison result of the unqualified number D and the preset unqualified number, wherein the control execution unit is provided with a first preset unqualified number D1 and a second preset unqualified number D2,
when D is less than or equal to D1, the control execution unit judges that the number of the management nodes is not regulated;
when D1 is more than D and less than or equal to D1, the control execution unit preliminarily judges to adjust the number of the management nodes;
when D > D2, the control execution unit determines to adjust the number of the management nodes.
Further, when the control execution unit determines to adjust the number of the management nodes, the control execution unit calculates a number ratio B1 of the disqualified number D and a second preset disqualified number D2, sets b1=d/D2, selects a corresponding adjustment coefficient according to a comparison result of the number ratio and the preset number ratio, and adjusts the number of the management nodes,
wherein the control execution unit is provided with a first preset ratio B1, a second preset ratio B2, a first regulating coefficient K1, a second regulating coefficient K2 and a third regulating coefficient K3, wherein B1 is smaller than B2, K1 is smaller than K2 and K3 is smaller than 1.5,
when B is less than or equal to B1, the control execution unit selects a first adjusting coefficient K1 to adjust the number of the management nodes;
when B1 is more than B and less than or equal to B2, the control execution unit selects a second adjusting coefficient K2 to adjust the number of the management nodes;
when B is more than B2, the control execution unit selects a third adjusting coefficient K3 to adjust the number of the management nodes;
when the control execution unit selects the j-th adjustment coefficient Kj to adjust the number of the management nodes, j=1, 2,3 is set, the control execution unit sets the adjusted number of the management nodes as A4, and a4=an×ki is set, wherein n=1, 2,3.
Further, when the control execution unit preliminarily determines to adjust the number of management nodes, the control execution unit obtains the complexity F of the operation instruction transmitted by the instruction transmission module, sets f=u/Uz, and determines whether to adjust the number of management nodes according to a comparison result of the complexity F and a preset complexity F0, wherein U is the number of types of operations in the operation instruction, uz is the total number of operations in the operation instruction,
if F is more than or equal to F0, the control execution unit judges to compensate the number of the management nodes;
and if F is less than F0, the control execution unit judges that the number of the management nodes is not compensated.
Further, when the control execution unit determines to compensate the number of management nodes, the control execution unit calculates a complexity difference value Δf between the complexity F and a preset complexity F0, sets Δf=f-F0, selects a corresponding compensation coefficient according to a comparison result of the complexity difference value and the preset complexity difference value to compensate the number of management nodes,
wherein the control execution unit is also provided with a first preset complexity difference delta F1, a second preset complexity difference delta F2, a first compensation coefficient X1, a second compensation coefficient X2 and a third compensation coefficient X3, wherein delta F1 is less than delta F2, X1 is less than X2 and X3 is less than 1.3,
when ΔF is less than or equal to ΔF1, the control execution unit selects a first compensation coefficient X1 to compensate the number of the management nodes;
when Δf1 is smaller than Δf2 and smaller than Δf2, the control execution unit selects a second compensation coefficient X2 to compensate the number of the management nodes;
when DeltaF is larger than DeltaF 2, the control execution unit selects a third compensation coefficient X3 to compensate the number of the management nodes;
when the control execution unit selects the e-th compensation coefficient Xe to compensate the number of management nodes, e=1, 2,3 is set, and the control execution unit sets the adjusted number of management nodes to A5, and a5=an×xe is set.
Compared with the prior art, the invention has the beneficial effects that the communication network based on the block chain is established, all production robots in a production workshop are used as block chain nodes to be linked, a plurality of robots are arranged in the communication network to be used as management nodes, when the production is required by organizing the robots, all the robots are managed through the arranged management nodes, whether the operation instructions executed by the robots are qualified or not is determined through the feedback of the management nodes, so that the pressure caused by the control of a plurality of robots only by a bus is avoided, the integrity of the operation instructions executed by the robots is ensured by arranging the robots to be used as the management nodes, the control accuracy of the cooperative production process of the robots is improved, and the production efficiency is further improved.
Further, the network control module is arranged in the communication network between the bus and the robots, the preset feedback rate is arranged in the control execution unit of the network control module, and when the management node is arranged, the preset number of operation instructions are executed in advance, the average feedback rate of all the robots to the operation instructions is determined, whether the executed operation instructions reach the standard or not is determined according to the comparison result of the average feedback rate and the preset feedback rate, the control accuracy of the cooperative production process of the multiple robots is further improved, and the production efficiency is further improved.
Further, when the average feedback rate of a plurality of robots executing the operation instruction is determined to reach the standard, the number of the set management nodes is determined according to the rate difference value between the feedback rate and the preset feedback rate, so that the robots can respond quickly and accurately to finish production when executing the collaborative production task, the control accuracy of the collaborative production process of the plurality of robots is further improved, and the production efficiency is further improved.
Further, the method and the device determine the integrity of the operation instructions executed by the robot when the robot executes the operation instructions, determine the qualification rate of the operation instructions executed by the robot according to the comparison result of the integrity and the preset integrity, and determine whether the robot can be used as a management node or not according to the qualification rate by acquiring the qualification rate of the operation instructions executed by the robot in the historical operation data, thereby further improving the control accuracy of the cooperative production process of multiple robots and further improving the production efficiency.
Further, when the operation instructions of the robots are unqualified, the unqualified quantity of the operation instructions executed in the robots is counted, whether the quantity of the management nodes is regulated or not is determined according to the comparison result of the unqualified quantity and the preset unqualified quantity, and the control accuracy of the cooperative production process of the robots is further improved, so that the production efficiency is further improved.
Drawings
Fig. 1 is a flowchart of a multi-point communication method based on a robot and a blockchain OSI protocol in accordance with an embodiment of the present invention;
fig. 2 is a logic block diagram of a control system to which a robot-based and blockchain OSI protocol multi-point communication method is applied in accordance with an embodiment of the present invention;
fig. 3 is a block diagram of a network control module in a control system based on a robot and blockchain OSI protocol multi-point communication method according to an embodiment of the present invention.
Detailed Description
In order that the objects and advantages of the invention will become more apparent, the invention will be further described with reference to the following examples; it should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present invention, and are not intended to limit the scope of the present invention.
It should be noted that, in the description of the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art according to the specific circumstances.
Fig. 1 is a flowchart of a method for multipoint communication based on the OSI protocol of robotics and blockchain in accordance with an embodiment of the present invention.
The embodiment of the invention discloses a multipoint communication method based on a robot and a block chain OSI protocol, which comprises the following steps:
s1, a network construction module establishes a robot communication network based on a block chain;
s2, a control execution unit of a network control module acquires information of a plurality of robots, chains the robots as network nodes, and sets management nodes in the communication network;
s3, a network distribution unit of the network control module distributes network ip addresses and network private keys to a plurality of robots;
s4, an instruction generation module generates operation instructions corresponding to the information of each robot;
s5, the instruction transmission module sends the operation instruction information to the encryption module, the encryption module encrypts the operation instructions of the robots through corresponding private keys and sets public keys of all the operation instructions, and the control execution unit sends the encrypted operation instructions to a network in a broadcast mode;
and S6, each robot receives the operation instruction and executes the operation instruction.
In the embodiment of the invention, the management node is a robot.
Specifically, in the step S2, when a management node is set in the communication network, the control execution unit obtains a plurality of operation instructions generated by the instruction generation module, and sends a preset number of operation instructions to a plurality of robots, the feedback recognition unit of the network control module obtains an average feedback rate W of the operation instructions of the plurality of robots, and primarily determines whether the operation instructions are executed by the plurality of robots according to a comparison result of the average feedback rate W and the preset feedback rate W0,
if W is more than or equal to W0, the control execution unit determines that a plurality of robots execute the operation instructions to reach the standard;
if W is less than W0, the control execution unit determines that the operation instructions executed by a plurality of robots do not reach the standard.
Specifically, in the step S2, when the control execution unit determines that the operation instructions are executed by a plurality of robots, the control execution unit calculates a rate difference Cw between the average feedback rate W and a preset feedback rate W0, sets cw=w0-W, and primarily determines the number of the set management nodes according to a comparison result of the rate difference and the preset rate difference,
wherein the control execution unit is provided with a first preset feedback rate difference Cw1, a second preset feedback rate difference Cw2, a first management node number A1, a second management node number A2 and a third management node number A3, wherein W1 is less than W2, A1 is less than A2 and less than A3,
when Cw is less than or equal to Cw1, the control execution unit preliminarily determines that the number of the management nodes is A3;
when Cw1 is more than Cw and less than or equal to Cw2, the control execution unit preliminarily determines that the number of the management nodes is A2;
when Cw > Cw2, the control execution unit preliminarily determines that the management node number is A3.
Specifically, in the step S6, when each of the robots receives and executes the operation instruction, the control execution unit determines the integrity Y of execution of the operation instruction by each of the robots, sets
Wherein R is the execution quantity of the operation instructions, R0 is the total quantity of the operation instructions, alpha is the execution quantity weight of the operation instructions, G is the displacement quantity of single operation in the operation instructions, G0 is the standard displacement quantity of single operation in the operation instructions, and beta is the displacement quantity weight of single operation in the operation instructions.
Specifically, when the control execution unit determines that the integrity is completed, determining whether the execution of the operation instruction of each robot is qualified according to the comparison result of the integrity Y and the preset integrity Y0,
if Y is more than or equal to Y0, the control execution unit judges that the operation instruction of the robot is qualified to be executed;
and if Y is less than Y0, the control execution unit judges that the operation instruction of the robot is not qualified to execute.
Specifically, when the control execution unit determines that the execution of the operation instruction of the robot is qualified, the control execution unit acquires the historical operation data of the robot stored in the data storage unit, determines the execution qualification rate S of each robot according to the historical operation data, sets s=t/Tz, determines whether each robot can be used as a management node according to the comparison result of the execution qualification rate S and the preset execution qualification rate S0, wherein T is the qualification number of the execution operation instruction in the historical operation data, tz is the total number of the execution operation instruction in the historical operation data,
if S is more than or equal to S0, the control execution unit determines that the robot can be used as a management node;
if S is less than S0, the control execution unit determines that the robot cannot be used as a management node.
Specifically, when the control execution unit determines that the execution of the operation instruction of the robot is not qualified, the control execution unit counts the number D of unqualified robots that are unqualified for execution, and determines whether to adjust the number of management nodes according to the comparison result of the number D of unqualified robots and the preset number of unqualified robots, wherein the control execution unit is provided with a first preset number D1 of unqualified robots and a second preset number D2 of unqualified robots,
when D is less than or equal to D1, the control execution unit judges that the number of the management nodes is not regulated;
when D1 is more than D and less than or equal to D1, the control execution unit preliminarily judges to adjust the number of the management nodes;
when D > D2, the control execution unit determines to adjust the number of the management nodes.
Specifically, when the control execution unit determines to adjust the number of the management nodes, the control execution unit calculates a number ratio B1 of the disqualified number D and a second preset disqualified number D2, sets b1=d/D2, selects a corresponding adjustment coefficient according to a comparison result of the number ratio and the preset number ratio, adjusts the number of the management nodes,
wherein the control execution unit is provided with a first preset ratio B1, a second preset ratio B2, a first regulating coefficient K1, a second regulating coefficient K2 and a third regulating coefficient K3, wherein B1 is smaller than B2, K1 is smaller than K2 and K3 is smaller than 1.5,
when B is less than or equal to B1, the control execution unit selects a first adjusting coefficient K1 to adjust the number of the management nodes;
when B1 is more than B and less than or equal to B2, the control execution unit selects a second adjusting coefficient K2 to adjust the number of the management nodes;
when B is more than B2, the control execution unit selects a third adjusting coefficient K3 to adjust the number of the management nodes;
when the control execution unit selects the j-th adjustment coefficient Kj to adjust the number of the management nodes, j=1, 2,3 is set, the control execution unit sets the adjusted number of the management nodes as A4, and a4=an×ki is set, wherein n=1, 2,3.
Specifically, when the control execution unit preliminarily determines to adjust the number of management nodes, the control execution unit obtains the complexity F of the operation instruction transmitted by the instruction transmission module, sets f=u/Uz, and determines whether to adjust the number of management nodes according to a comparison result of the complexity F and a preset complexity F0, wherein U is the number of types of operations in the operation instruction, uz is the total number of operations in the operation instruction,
if F is more than or equal to F0, the control execution unit judges to compensate the number of the management nodes;
and if F is less than F0, the control execution unit judges that the number of the management nodes is not compensated.
Specifically, when the control execution unit determines to compensate the number of management nodes, the control execution unit calculates a complexity difference value Δf between the complexity F and a preset complexity F0, sets Δf=f-F0, selects a corresponding compensation coefficient according to a comparison result of the complexity difference value and the preset complexity difference value to compensate the number of management nodes,
wherein the control execution unit is also provided with a first preset complexity difference delta F1, a second preset complexity difference delta F2, a first compensation coefficient X1, a second compensation coefficient X2 and a third compensation coefficient X3, wherein delta F1 is less than delta F2, X1 is less than X2 and X3 is less than 1.3,
when ΔF is less than or equal to ΔF1, the control execution unit selects a first compensation coefficient X1 to compensate the number of the management nodes;
when Δf1 is smaller than Δf2 and smaller than Δf2, the control execution unit selects a second compensation coefficient X2 to compensate the number of the management nodes;
when DeltaF is larger than DeltaF 2, the control execution unit selects a third compensation coefficient X3 to compensate the number of the management nodes;
when the control execution unit selects the e-th compensation coefficient Xe to compensate the number of management nodes, e=1, 2,3 is set, and the control execution unit sets the adjusted number of management nodes to A5, and a5=an×xe is set.
Referring to fig. 2 and 3, fig. 2 is a logic block diagram of a control system applying a multi-point communication method based on a robot and a blockchain OSI protocol according to an embodiment of the present invention; fig. 3 is a block diagram of a network control module in a control system based on a robot and blockchain OSI protocol multi-point communication method according to an embodiment of the present invention.
The embodiment of the invention applies a control system based on a robot and a block chain OSI protocol multi-point communication method, and comprises the following steps:
a network construction module to construct a blockchain-based robotic communication network;
the network control module is connected with the network construction module and comprises a control execution unit for controlling the robots to execute operation instructions, a network distribution unit for distributing network ip addresses and network private keys to a plurality of robots, a feedback identification unit for receiving robot feedback information and a storage unit for storing historical operation data of the robots;
the command generation module is respectively connected with the network construction module and the network control module and is used for generating an operation command according to production requirements when the network construction module is used for constructing the robot communication network.
The command transmission module is respectively connected with the network control module and the command generation module and used for transmitting the command to the encryption module when the command generation module generates an operation command;
the encryption module is respectively connected with the network control module and the instruction transmission module and is used for encrypting the operation instruction and setting the public key according to the network private key determined by the network control module when the instruction transmission module transmits the operation instruction.
Thus far, the technical solution of the present invention has been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of protection of the present invention is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present invention, and such modifications and substitutions will be within the scope of the present invention.
The foregoing description is only of the preferred embodiments of the invention and is not intended to limit the invention; various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (1)
1. A robot and blockchain OSI protocol based multi-point communication method, comprising:
s1, a network construction module establishes a robot communication network based on a block chain;
s2, a control execution unit of a network control module acquires information of a plurality of robots, chains the robots as network nodes, and sets management nodes in the communication network;
s3, a network distribution unit of the network control module distributes network ip addresses and network private keys to a plurality of robots;
s4, an instruction generation module generates operation instructions corresponding to the information of each robot;
s5, the instruction transmission module sends the operation instruction information to the encryption module, the encryption module encrypts the operation instructions of the robots through corresponding private keys and sets public keys of all the operation instructions, and the control execution unit sends the encrypted operation instructions to a network in a broadcast mode;
s6, each robot receives the operation instruction and executes the operation instruction;
in the step S2, when a management node is set in the communication network, the control execution unit obtains a plurality of operation instructions generated by the instruction generation module, and sends a preset number of operation instructions to a plurality of robots, the feedback recognition unit of the network control module obtains an average feedback rate W of the operation instructions of the plurality of robots, and preliminarily determines whether the operation instructions executed by the plurality of robots reach the standard according to a comparison result of the average feedback rate W and the preset feedback rate W0,
if W is more than or equal to W0, the control execution unit determines that a plurality of robots execute the operation instructions to reach the standard;
if W is less than W0, the control execution unit determines that the operation instructions executed by a plurality of robots do not reach the standard;
when the control execution unit determines that the operation instructions of the robots are up to the standard, the control execution unit calculates a rate difference value Cw between the average feedback rate W and a preset feedback rate W0, sets cw=w0-W, and preliminarily determines the number of the set management nodes according to the comparison result of the rate difference value and the preset rate difference value,
wherein the control execution unit is provided with a first preset feedback rate difference Cw1, a second preset feedback rate difference Cw2, a first management node number A1, a second management node number A2 and a third management node number A3, wherein W1 is less than W2, A1 is less than A2 and less than A3,
when Cw is less than or equal to Cw1, the control execution unit preliminarily determines that the number of the management nodes is A3;
when Cw1 is more than Cw and less than or equal to Cw2, the control execution unit preliminarily determines that the number of the management nodes is A2;
when Cw is larger than Cw2, the control execution unit preliminarily determines that the number of the management nodes is A3;
in the step S6, when each of the robots receives and executes the operation instruction, the control execution unit determines the integrity Y of each of the robots executing the operation instruction, sets
Wherein R is the execution quantity of the operation instructions, R0 is the total quantity of the operation instructions, alpha is the weight of the execution quantity of the operation instructions, G is the displacement quantity of single operation in the operation instructions, G0 is the standard displacement quantity of single operation in the operation instructions, and beta is the weight of the displacement quantity of single operation in the operation instructions;
when the control execution unit determines that the integrity Y is finished, determining whether the execution of the operation instruction of each robot is qualified or not according to the comparison result of the integrity Y and the preset integrity Y0,
if Y is more than or equal to Y0, the control execution unit judges that the operation instruction of the robot is qualified to be executed;
if Y is less than Y0, the control execution unit judges that the operation instruction of the robot is unqualified;
when the control execution unit judges that the execution of the operation instruction of the robot is qualified, the control execution unit acquires the historical operation data of the robot stored in the data storage unit, determines the execution qualification rate S of each robot according to the historical operation data, sets S=T/Tz, determines whether each robot can be used as a management node according to the comparison result of the execution qualification rate S and the preset execution qualification rate S0, wherein T is the qualification times of executing the operation instruction in the historical operation data, tz is the total times of executing the operation instruction in the historical operation data,
if S is more than or equal to S0, the control execution unit determines that the robot can be used as a management node;
if S is less than S0, the control execution unit determines that the robot cannot be used as a management node;
when the control execution unit judges that the execution of the operation instruction of the robot is unqualified, the control execution unit counts the unqualified number D of the robot which is unqualified, determines whether to adjust the number of the management nodes according to the comparison result of the unqualified number D and the preset unqualified number, wherein the control execution unit is provided with a first preset unqualified number D1 and a second preset unqualified number D2,
when D is less than or equal to D1, the control execution unit judges that the number of the management nodes is not regulated;
when D1 is more than D and less than or equal to D1, the control execution unit preliminarily judges to adjust the number of the management nodes;
when D is more than D2, the control execution unit judges to adjust the number of the management nodes;
when the control execution unit judges that the number of the management nodes is regulated, the control execution unit calculates a number ratio B1 of the disqualified number D and a second preset disqualified number D2, sets B1=D/D2, selects a corresponding regulating coefficient according to a comparison result of the number ratio and the preset number ratio, and regulates the number of the management nodes, and sets the regulated number of the management nodes as A4, and sets A4=An×Ki, wherein Ki is the regulating coefficient of the number of the management nodes, and n=1, 2 and 3;
when the control execution unit preliminarily determines to adjust the number of the management nodes, the control execution unit obtains the complexity F of the operation instruction transmitted by the instruction transmission module, sets f=u/Uz, and determines whether to adjust the number of the management nodes according to a comparison result of the complexity F and a preset complexity F0, wherein U is the number of types of operations in the operation instruction, uz is the total number of operations in the operation instruction,
if F is more than or equal to F0, the control execution unit judges to compensate the number of the management nodes;
if F is less than F0, the control execution unit judges that the number of the management nodes is not compensated;
when the control execution unit determines to compensate the number of management nodes, the control execution unit calculates a complexity difference delta F between the complexity F and a preset complexity F0, sets delta f=f-F0, selects a corresponding compensation coefficient according to a comparison result of the complexity difference and the preset complexity difference to compensate the number of management nodes, and sets the adjusted number of management nodes as A5, and sets a5=an×xe, wherein Xe is the compensation coefficient of the number of management nodes.
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