CN111158277B - Building sensing Internet of things system based on edge computing cluster and method thereof - Google Patents
Building sensing Internet of things system based on edge computing cluster and method thereof Download PDFInfo
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Abstract
The invention discloses a building sensing Internet of things system based on an edge computing cluster, which comprises the following components: sensors, cluster controllers, functional facilities; the sensor is connected with the cluster controller and used for collecting relevant data in a building and sending the relevant data to the cluster controller; the cluster controller is connected with the sensors and the functional facilities, and is used for executing calculation, analysis and decision according to the related data transmitted by the sensors and the functional facilities, and issuing control instructions to the functional facilities; the functional facilities are connected with the cluster controller and used for collecting relevant data in a building, sending the relevant data to the cluster controller and carrying out corresponding operation according to the control instruction issued by the cluster controller. The system adopts a redundant backup mechanism for the edge computing cluster, and improves the data acquisition capacity and the computing and analyzing capacity of the cluster controller.
Description
Technical Field
The invention relates to the technical field of Internet of things, in particular to a building sensing Internet of things system and a building sensing Internet of things method based on an edge computing cluster.
Background
The internet of things is also called "network of everything interconnection", and with the development of the internet of things technology, in the near future, various aspects of "things" in a building, including various types of sensors, and various types of functional facilities (such as fire fighting facilities, air-conditioning heating facilities, air purification facilities, lighting facilities, access control facilities, gate facilities, display screens, speakers, smart furniture, etc.), can all achieve mutual communication and information intercommunication based on a unified internet of things protocol.
Such interworking may provide a number of beneficial functions, such as air conditioning heating facilities, lighting facilities, smart furniture, etc. that may work together to create an indoor environment for a user that is conducive to work, leisure, or sleep from a variety of aspects such as temperature, lighting, furniture status, etc.; for another example, in the event of a fire, the fire protection, access and gate, display screen, and speaker may act together to alert the user, guide the escape, and remove various traffic restrictions to provide a clear traffic route.
However, under the condition of the internet of things, if the traditional C-S mode (client-server) is continuously adopted, all data of the client is uploaded to the central server, the central server performs calculation, analysis and decision making, then a control instruction is sent to each client, and the server transfers information for the client; because the number of the sensors and the functional facilities as the clients is extremely large and the mutual communication requirements are strong, the communication overhead is inevitably increased, the processing load of the central server is hard to bear, and the timeliness of decision response is obviously reduced.
Therefore, under the condition of the internet of things, a cluster architecture based on edge computing is increasingly adopted to organize sensors and functional facilities in a building; the architecture organizes a certain number of sensors and functional facilities at the front end into clusters based on a certain organization rule, and the building has a certain number of clusters with different functions or located in different spaces (for example, all sensors and functional facilities on the same floor or the same room are organized into a cluster; the sensors and functions of the same cluster can directly communicate with each other based on the internet of things protocol, or communicate with other sensors and functions of the cluster as relays (for example, a and B cannot directly communicate, but communication between a and B is realized through C relay, A, B, C are in the same cluster); determining a cluster controller in the same cluster, wherein the cluster controller is responsible for executing calculation, analysis and decision according to data provided by the sensors and the functional facilities of the cluster, and issuing control instructions to the functional facilities of the cluster; the cluster controller can be specially arranged and also can be a functional facility with certain information calculation capacity; therefore, most data and instructions are transmitted in the cluster without communicating with the central server (the central server is still reserved and is used for processing tasks which cannot be processed or have no authority to process by the cluster, or transferring data and instructions among clusters, monitoring the running state of each cluster, adjusting the organization of the clusters, such as adding or removing sensors or functional facilities to the clusters, combining the clusters, removing the clusters and the like), communication overhead is reduced, timeliness is improved, and load is reduced.
However, an internet of things system based on an edge computing cluster architecture also has a certain short board, because the data acquisition capacity and the computing and analyzing capacity of a cluster controller are far inferior to those of a central server (because the hardware and software of the cluster controller cannot be configured according to the standard of the central server, the cost is not allowed), the probability of errors is obviously increased, for example, a part of sensors in a cluster cannot provide data or the provided data is unreliable, and the cluster controller is easily caused to make wrong decisions, thereby bringing wrong control instructions; the cluster controller may also generate an erroneous decision, or have a large decision delay, due to its limited computational analysis capability, resulting in erroneous or lagging control instructions; even the cluster controller itself may stop working; this may cause some functions of the building to fail to function properly, and particularly, problems related to fire fighting, security, lighting, air conditioning and heating may have serious effects.
Therefore, how to improve the data acquisition capability and the calculation and analysis capability of the cluster controller and reduce the error rate is a problem to be solved urgently by those skilled in the art.
Disclosure of Invention
In view of the above problems, an object of the present invention is to solve the problem that some functions of a building cannot function normally due to low data acquisition capability and low computation and analysis capability and easy error occurrence of a cluster controller in an internet of things system based on an edge computing cluster architecture at present.
The embodiment of the invention provides a building sensing Internet of things system based on an edge computing cluster, which comprises the following components: sensors, cluster controllers, functional facilities;
the sensor is connected with the cluster controller and used for collecting relevant data in a building and sending the relevant data to the cluster controller;
the cluster controllers are at least 2, are connected with the sensors and the functional facilities, and are used for executing calculation, analysis and decision according to related data transmitted by the sensors and the functional facilities and issuing control instructions to the functional facilities;
the functional facilities are connected with the cluster controller and used for collecting relevant data in a building, sending the relevant data to the cluster controller and carrying out corresponding operation according to the control instruction issued by the cluster controller.
In one embodiment, further comprising: a central server;
the central server is connected with the sensor, the cluster controller and the functional facility, and is used for processing tasks which cannot be processed or have no authority to be processed by the clusters according to the related data of the sensor and the functional facility, transferring data and instructions among the clusters, monitoring the running state of each cluster and adjusting the organization of the clusters.
In one embodiment, the setting manner of the cluster controller includes any one of the following manners:
the cluster controller is set up exclusively, being doubled by a functional facility with information calculation capabilities.
In one embodiment, the cluster controller includes:
and the cluster controller determines the number of the cluster controllers configured in the cluster according to the total number of the sensors and the functional facilities in the cluster, the functions of the cluster and the building space where the cluster is located.
In one embodiment, the cluster controller is provided with at least 2, including:
and selecting 1 cluster controller as a main controller and the rest cluster controllers as backup controllers.
In one embodiment, the cluster controller includes: the system comprises a decision module, a voting module and a switching module;
the decision module is connected with the sensor, the functional facility and the voting module, and is used for calculating and analyzing the related data, generating a decision result and sending the decision result to the voting module;
the voting module is connected with the decision module and used for voting the decision result according to a voting rule to generate a voting score result and sending the voting score result to the switching module;
the switching module is connected with the voting module and the functional facilities and is used for switching the positions of the main controller and the backup controller according to the voting score result.
In view of the above, in a second aspect of the present application, a method for controlling a building sensing internet of things system based on an edge computing cluster is further provided, including:
the method comprises the following steps that a sensor and a functional facility collect relevant data in a building and send the relevant data to a cluster controller;
the cluster controller executes calculation, analysis and decision according to the related data transmitted by the sensors and the functional facilities, and issues a control instruction to the functional facilities;
and the functional facilities carry out corresponding operation according to the control instruction issued by the cluster controller.
In one embodiment, further comprising:
according to the related data of the sensors and the functional facilities, the central server processes tasks which cannot be processed or are not processed by the clusters, performs data and instruction transfer among the clusters, monitors the running state of each cluster and adjusts the organization of the clusters.
In one embodiment, the cluster controller performs calculations, analyses and decisions based on the related data transmitted by the sensors and the functional facilities, and issues control commands to the functional facilities, including:
the decision module carries out calculation and analysis on the related data to generate a decision result and sends the decision result to the voting module;
according to a voting rule, the voting module votes the decision result to generate a voting score result and sends the voting score result to the switching module;
and according to the voting score result, the switching module switches the statuses of the main controller and the backup controller.
In one embodiment, the switching module switches the statuses of the primary controller and the backup controller according to the voting score result, including:
if the voting score of the cluster controller serving as the backup controller is the highest, the switching module switches the cluster controller to be the main controller and issues the control instruction to the functional facility; and if the voting score of the cluster controller serving as the main controller is not the highest score, the switching module automatically switches the cluster controller to be the backup controller.
The technical scheme provided by the embodiment of the invention has the beneficial effects that at least:
the building sensing Internet of things system based on the edge computing cluster provided by the embodiment of the invention adopts a redundant backup mechanism for the edge computing cluster, more than 2 cluster controllers are arranged to analyze, calculate and decide related data uploaded by the sensors and the functional facilities, so that the error rate is reduced, the data acquisition capacity and the calculation and analysis capacity are improved, the functional facilities are effectively controlled to perform corresponding operations in time, the functions of the functional facilities are fully exerted, the communication overhead is reduced by arranging the cluster controllers, the timeliness is improved, and the processing load of a central server is reduced.
Meanwhile, the voting mechanism is used for scoring the decision result, the status switching between the main controller and the backup controller is realized according to the score result, the error rate of the cluster controller is reduced, the calculation and analysis capacity of the cluster controller is improved, the cluster controller can make a correct instruction through the voting mechanism, and the functional facilities are controlled to work normally.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic diagram of a building sensing internet of things system based on an edge computing cluster according to an embodiment of the present invention;
fig. 2 is a block diagram of a building sensing internet of things system based on an edge computing cluster according to an embodiment of the present invention;
FIG. 3 is a flow chart of a method for using a building sensing Internet of things system based on an edge computing cluster according to an embodiment of the present invention;
fig. 4 is a flowchart of step S202 according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Referring to fig. 1-2, an embodiment of the present invention provides an edge computing cluster-based building sensing internet of things system, including: a sensor 1, a cluster controller 2 and a functional facility 3;
the sensor 1 is connected with the cluster controller 2, and is used for collecting relevant data in a building and sending the relevant data to the cluster controller 2.
Specifically, the relevant data includes temperature, lighting, air quality, and the like.
The cluster controllers 2 are at least 2, are connected with the sensors 1 and the functional facilities 3, and are used for executing calculation, analysis and decision according to the related data transmitted by the sensors 1 and the functional facilities 3 and issuing control instructions to the functional facilities 3.
Specifically, the setting mode of the cluster controller 2 includes any one of the following modes:
the cluster controller 2 is exclusively set, and a function facility 3 with information calculation capability doubles as the cluster controller 2; alternatively, a part may be provided exclusively, and the other part may be doubled as the cluster controller 2 by the function facility 3.
Further, the cluster controller 2 determines the number of cluster controllers 2 configured in the cluster according to the total number of the sensors 1 and the functional facilities 3 in the cluster, the functions of the cluster, and the building space where the cluster is located;
e.g. total number<N1The cluster of (2) is configured with 2 cluster controllers, N1<Total number of<N2Configuring 3 or more cluster controllers (where N1、N2Specific numerical values can be set by the user); 2 cluster controllers are configured for clusters related to general functions, and 3 or more cluster controllers are configured for clusters related to important functions such as fire fighting, security protection, lighting, air conditioning and heating; configuring 2 cluster controllers for clusters in a general space area of a building, and configuring 3 or more cluster controllers for clusters in a key space area of the building;
further, at least 2 cluster controllers 2 are provided, wherein 1 cluster controller 2 is selected as a main controller, and the rest cluster controllers 2 are selected as backup controllers. The main controller generates a decision result based on calculation and analysis, and issues the control instruction to the functional facility 3 according to the decision result; the backup controller generates a decision result (not to drop control instructions) based on computational analysis.
The functional facility 3 is connected with the cluster controller 2 and used for collecting relevant data in a building, sending the relevant data to the cluster controller 2 and carrying out corresponding operation according to the control instruction issued by the cluster controller 2.
Specifically, the functional facilities 3 include a fire fighting facility, an air-conditioning heating facility, an air purification facility, a lighting facility, an entrance guard facility, and the like, and perform corresponding operations according to the control command issued by the cluster controller 2, for example, the heating facility performs temperature adjustment, the air purification performs air purification, and the entrance guard facility performs control switching.
In this embodiment, a redundant backup mechanism is adopted for the edge computing cluster, more than 2 cluster controllers are arranged to analyze, calculate and make decisions on related data uploaded by the sensors and the functional facilities, so that the error rate is reduced, the data acquisition capability and the calculation and analysis capability are improved, the functional facilities are effectively controlled to perform corresponding operations in time, the functions of the functional facilities are fully exerted, the communication overhead is reduced by arranging the cluster controllers, the timeliness is improved, and the processing load of the central server is reduced.
In one embodiment, further comprising: a central server 4;
the central server 4 is connected to the sensor 1, the cluster controller 2 and the functional facility 3, and is configured to process a task that cannot be processed or has no authority to be processed by the cluster according to the related data of the sensor 1 and the functional facility 3, perform data and instruction transfer across the clusters, monitor the operating state of each cluster, and adjust the organization of the clusters.
In one embodiment, the cluster controller 2 includes: the cluster controller includes: a decision module 5, a voting module 6 and a switching module 7;
the decision module 5 is connected to the sensor, the functional facility and the voting module 6, and is configured to perform calculation analysis on the related data, generate a decision result, and send the decision result to the voting module 6.
The voting module 6 is connected to the decision module 5, and is configured to vote for the decision result according to a voting rule, generate a voting score result, and send the voting score result to the switching module 7.
Specifically, the scoring mechanism of the voting rule includes one of the following mechanisms, or the following mechanism scores are weighted and accumulated (i.e., the following scores are multiplied by the weighted values and then accumulated together) to obtain a total score:
(1) scoring is carried out according to the effective sensor or the effective sensing data corresponding to each cluster controller; due to the reasons of communication delay and the like and the requirement of decision timeliness, each cluster controller cannot be guaranteed to obtain effective data of all sensors in a cluster during decision making, so that the more the number of the effective sensors or the effective sensing data corresponding to each cluster controller during decision making, the higher the score is;
(2) scoring the decision result of each cluster controller according to the executability of the functional facilities in the cluster; for example, if the decision result exceeds the allowable execution range of the functional facility (for example, the adjustment of the illumination brightness exceeds the range that can be reached by the lighting facility), or if the functional facility cannot achieve the target required by the decision result in the valid time (for example, the air-conditioning and heating facility cannot achieve the temperature value predetermined by the decision result in the valid time), the executability is considered to be 0, and correspondingly, if the valid time required for achieving the target required by the decision result is longer, the lower the executability is, and the lower the executability is, the lower the score is;
(3) calculating a decision similarity index of each cluster controller under the condition that the cluster comprises more than three cluster controllers, and selecting one from other cluster controllers as a main controller if the decision result of the main controller and the average similarity index of other cluster controllers are lower than a threshold value; for example, if the decision result of the master controller a is to heat up 10 degrees, and the other cluster controllers B, C, D heat up 3, 5, and 4 degrees, respectively, then a is cancelled as the master controller, and one of the cluster controllers B-D is selected as the master controller.
The switching module 7 is connected to the voting module 6 and the functional facilities, and is configured to switch the statuses of the main controller and the backup controller according to the voting score result.
Specifically, the main controller and the backup controller exchange decision results with each other, and the status switching between the main controller and the backup controller is realized through a voting mechanism. If the voting score of the local cluster controller serving as the backup controller is the highest, the switching module 7 switches the local cluster controller to be the main controller and issues the control instruction to the functional facility; if the voting score of the local cluster controller as the master controller is not the highest score, the switching module 7 automatically switches the local cluster controller to the backup controller.
In the embodiment, the decision result is scored through a voting mechanism, the status switching between the main controller and the backup controller is realized according to the score result, the error rate of the cluster controller is reduced, the calculation and analysis capacity of the cluster controller is improved, the cluster controller can make a correct instruction through the voting mechanism, and the functional facilities are controlled to work normally.
Referring to fig. 3, a method for controlling a building sensing internet of things system based on an edge computing cluster includes:
s201, the sensor and the functional facility collect relevant data in the building and send the relevant data to the cluster controller.
Specifically, the relevant data includes temperature, lighting, air quality, and the like.
S202, the cluster controller executes calculation, analysis and decision according to the relevant data transmitted by the sensors and the functional facilities, and issues control instructions to the functional facilities.
Specifically, the cluster controller determines the number of cluster controllers configured in the cluster according to the total number of the sensors and the functional facilities in the cluster, the functions of the cluster, and the building space where the cluster is located.
Further, at least 2 cluster controllers 2 are provided, wherein 1 cluster controller 2 is selected as a main controller, and the rest cluster controllers 2 are selected as backup controllers. The main controller generates a decision result based on calculation and analysis, and issues the control instruction to the functional facility 3 according to the decision result; the backup controller generates a decision result (not to drop control instructions) based on computational analysis.
S203, the functional facility performs corresponding operation according to the control instruction issued by the cluster controller.
Specifically, the functional facilities include fire-fighting facilities, air-conditioning heating facilities, air purification facilities, lighting facilities, access control facilities and the like, and corresponding operations are performed according to the control commands issued by the cluster controller, for example, the heating facilities perform temperature regulation, the air purification performs air purification, and the access control facilities perform control switches.
In one embodiment, further comprising:
according to the related data of the sensors and the functional facilities, the central server processes tasks which cannot be processed or are not processed by the clusters, performs data and instruction transfer among the clusters, monitors the running state of each cluster and adjusts the organization of the clusters.
In one embodiment, as shown in fig. 4, step S202, namely the cluster controller performs calculation, analysis and decision-making according to the related data transmitted by the sensor and the functional facility, and issues a control command to the functional facility, includes:
s2021, the decision module performs calculation analysis on the related data to generate a decision result, and sends the decision result to the voting module;
s2022, according to the voting rule, the voting module votes the decision result to generate a voting score result, and sends the voting score result to the switching module.
S2023, according to the voting score result, the switching module switches the status of the main controller and the backup controller.
Specifically, the main controller and the backup controller exchange decision results with each other, and the status switching between the main controller and the backup controller is realized through a voting mechanism. If the voting score of the cluster controller serving as the backup controller is the highest, the switching module switches the cluster controller to be the main controller and issues the control instruction to the functional facility; and if the voting score of the cluster controller serving as the main controller is not the highest score, the switching module automatically switches the cluster controller to be the backup controller.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (7)
1. An edge computing cluster-based building sensing internet of things system, comprising: sensors, cluster controllers, functional facilities;
the sensor is connected with the cluster controller and used for collecting relevant data in a building and sending the relevant data to the cluster controller;
the cluster controllers are at least 2, are connected with the sensors and the functional facilities, and are used for executing calculation, analysis and decision according to related data transmitted by the sensors and the functional facilities and issuing control instructions to the functional facilities; among at least 2 cluster controllers, 1 cluster controller is used as a main controller, and the rest cluster controllers are used as backup controllers; and the cluster controller comprising: the system comprises a decision module, a voting module and a switching module; the decision module is connected with the sensor, the functional facility and the voting module, and is used for calculating and analyzing the related data, generating a decision result and sending the decision result to the voting module; the voting module is connected with the decision module and used for voting the decision result according to a voting rule to generate a voting score result and sending the voting score result to the switching module; the switching module is connected with the voting module and the functional facilities and is used for switching the positions of the main controller and the backup controller according to the voting score result;
the functional facility is connected with the cluster controller and is used for acquiring related data in a building, sending the related data to the cluster controller and carrying out corresponding operation according to the control instruction issued by the cluster controller;
wherein, the scoring mechanism of the voting rule comprises any one of the following three mechanisms (1) - (3), or the scores of the following three mechanisms (1) - (3) are respectively subjected to weight accumulation to obtain a total score as a voting score result: (1) scoring is carried out according to the number of the effective sensors or the effective sensing data corresponding to each cluster controller, and the score is higher when the number of the effective sensors or the effective sensing data corresponding to each cluster controller is larger during decision making; (2) scoring the decision result of each cluster controller according to the executability of the functional facilities in the cluster; if the decision result exceeds the allowable execution range of the function facility or the function facility can not reach the target required by the decision result in the effective time, the executable degree is considered to be 0, correspondingly, if the effective time required for reaching the target required by the decision result is longer, the executable degree is lower, and the score is lower if the executable degree is lower; (3) and calculating the decision similarity index of each cluster controller under the condition that the cluster comprises more than three cluster controllers, and selecting one cluster controller from other cluster controllers as the master controller if the decision result of the master controller is lower than the average similarity index of the other cluster controllers.
2. The building sensing internet of things system based on edge computing cluster of claim 1, further comprising: a central server;
the central server is connected with the sensor, the cluster controller and the functional facility, and is used for processing tasks which cannot be processed or have no authority to be processed by the clusters according to the related data of the sensor and the functional facility, transferring data and instructions among the clusters, monitoring the running state of each cluster and adjusting the organization of the clusters.
3. The building sensing internet of things system based on the edge computing cluster as claimed in claim 1, wherein the cluster controller is configured in any one of the following ways:
the cluster controller is set up exclusively, being doubled by a functional facility with information calculation capabilities.
4. The building sensing internet of things system based on edge computing cluster of claim 1, wherein the cluster controller comprises:
and the cluster controller determines the number of the cluster controllers configured in the cluster according to the total number of the sensors and the functional facilities in the cluster, the functions of the cluster and the building space where the cluster is located.
5. The method for controlling the building sensing internet of things system based on the edge computing cluster as claimed in claim 1, comprising:
the method comprises the following steps that a sensor and a functional facility collect relevant data in a building and send the relevant data to a cluster controller;
the cluster controller executes calculation, analysis and decision according to the related data transmitted by the sensors and the functional facilities, and issues a control instruction to the functional facilities; among the at least 2 cluster controllers, 1 cluster controller is used as a main controller, and the rest cluster controllers are used as backup controllers; a decision module of the cluster controller is connected with the sensor, the functional facility and the voting module, and is used for calculating and analyzing the related data, generating a decision result and sending the decision result to the voting module; the voting module is connected with the decision module and used for voting the decision result according to a voting rule to generate a voting score result and sending the voting score result to the switching module; the switching module is connected with the voting module and the functional facilities and is used for switching the positions of the main controller and the backup controller according to the voting score result;
the functional facility performs corresponding operation according to the control instruction issued by the cluster controller;
wherein, the scoring mechanism of the voting rule comprises any one of the following three mechanisms (1) - (3), or the scores of the following three mechanisms (1) - (3) are respectively subjected to weight accumulation to obtain a total score as a voting score result: (1) scoring is carried out according to the number of the effective sensors or the effective sensing data corresponding to each cluster controller, and the score is higher when the number of the effective sensors or the effective sensing data corresponding to each cluster controller is larger during decision making; (2) scoring the decision result of each cluster controller according to the executability of the functional facilities in the cluster; if the decision result exceeds the allowable execution range of the function facility or the function facility can not reach the target required by the decision result in the effective time, the executable degree is considered to be 0, correspondingly, if the effective time required for reaching the target required by the decision result is longer, the executable degree is lower, and the score is lower if the executable degree is lower; (3) and calculating the decision similarity index of each cluster controller under the condition that the cluster comprises more than three cluster controllers, and selecting one cluster controller from other cluster controllers as the master controller if the decision result of the master controller is lower than the average similarity index of the other cluster controllers.
6. The method for controlling the building sensing internet of things system based on the edge computing cluster as claimed in claim 5, further comprising:
according to the related data of the sensors and the functional facilities, the central server processes tasks which cannot be processed or are not processed by the clusters, performs data and instruction transfer among the clusters, monitors the running state of each cluster and adjusts the organization of the clusters.
7. The method as claimed in claim 6, wherein the switching module performs status switching between the main controller and the backup controller according to the voting score result, and the method comprises:
if the voting score of the cluster controller serving as the backup controller is the highest, the switching module switches the cluster controller to be the main controller and issues the control instruction to the functional facility; and if the voting score of the cluster controller serving as the main controller is not the highest score, the switching module automatically switches the cluster controller to be the backup controller.
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