CN109255332A - A kind of diving apparatus running environment judges system - Google Patents
A kind of diving apparatus running environment judges system Download PDFInfo
- Publication number
- CN109255332A CN109255332A CN201811114753.XA CN201811114753A CN109255332A CN 109255332 A CN109255332 A CN 109255332A CN 201811114753 A CN201811114753 A CN 201811114753A CN 109255332 A CN109255332 A CN 109255332A
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- China
- Prior art keywords
- diving apparatus
- barrier
- diving
- key
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- 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
Abstract
The present invention provides a kind of diving apparatus running environment and judges system, the diving apparatus group constituted the system comprises more than one diving apparatus and the server communicated with each diving apparatus in the diving apparatus group；The server is decrypted according to the encrypted packet that each diving apparatus is fed back, scene in reductive water, and carries out diving apparatus visual analysis with diving apparatus visual angle.The present invention by diving apparatus group acquire video image can the behavioural characteristic to scene in water and diving apparatus group specifically analyzed, and data transmission procedure whole process encrypts, and the computational complexity for the Encryption Algorithm created in the present invention is lower but can obtain preferable secrecy effect.
Description
Technical field
The present invention relates to field of intelligent control more particularly to a kind of diving apparatus running environment to judge system.
Background technique
Artificial intelligence is a branch of computer science, it attempts to understand essence of intelligence, and is produced a kind of new
The intelligence machine that can be made a response in such a way that human intelligence is similar, the research in the field include robot, language identification, figure
As identification, natural language processing and expert system etc..Artificial intelligence is since the birth, and theory and technology is increasingly mature, using neck
Domain also constantly expands, it is contemplated that the following artificial intelligence bring sci-tech product, it will is the wisdom of humanity " container ".Manually
Intelligence can consciousness to people, thinking information process simulation.Artificial intelligence is not the intelligence of people, but can be thought as people
Examine, may also be more than people intelligence.
With the development of artificial intelligence, specific application field also more and more targetedly, is However, particularly in being dived
The control to diving apparatus cluster may be implemented there are no a kind of preferable control system for wetting system field.
Summary of the invention
In order to solve the above technical problem, the present invention provides a kind of diving apparatus running environment to judge system.
The present invention is realized with following technical solution:
A kind of diving apparatus running environment judges system, the system comprises:
The diving apparatus group and communicated with each diving apparatus in the diving apparatus group that more than one diving apparatus is constituted
Server；The server is decrypted according to the encrypted packet that each diving apparatus is fed back, scene in reductive water, and
Diving apparatus visual analysis is carried out with diving apparatus visual angle.
Further, the server is for executing following instructions:
The barrier around diving apparatus is obtained, barrier set is constituted；
Judge whether each barrier in the barrier set is among the visible area of the diving apparatus.
Further, described to judge whether each barrier in the barrier set is in the diving apparatus
Include: among visible area
Obtain the coordinate (x of the barrier1, y1, z1)；
Obtain the coordinate (x of the diving apparatus1, y1, z1) and diving apparatus useful direction angle (α, beta, gamma)；
Three deflections of the line of acquisition barrier and the diving apparatus in three-dimensional system of coordinate
IfAndAndThen the barrier is located at the visible area of the diving apparatus
Within the scope of the effective angle in domain, whereinIt is the maximum visual angle of the diving apparatus；
If the barrier is located within the scope of the effective angle of the visible area of the diving apparatus, the barrier is judged
Hinder whether object is located in the effective distance of the visible area of the diving apparatus；
If so, the barrier is located among the visible area of the diving apparatus.
Further, the diving apparatus includes central controller, and the central controller includes:
Computing module, for calculating the diving apparatus according to the three axis accelerometer and the three-axis gyroscope
Effective attitude angle, and effective attitude angle is transmitted to encrypting module；
Vision module is encoded for the shooting result to camera, and coding result is transmitted to data packet and is generated
Module；
Data packet generation module generates data packet simultaneously for identifying according to coding result, effective attitude angle and diving apparatus
The data packet is sent to encrypting module；
Encrypting module, for being encrypted to data packet, generating encrypted packet and transmitting it to communication module；
Communication module, is used for and server communication；
Deciphering module obtains control information therein for the data that server is sent to be decrypted；
Module is avoided, is sent to control for judging whether the diving apparatus will knock barrier, and by judging result
Molding block；
Control module, for controlling the driving part according to the control information or judging result.
Further, the encrypted instruction of the encrypting module execution includes:
Obtain be-encrypted data；
Password for inquiry dictionary simultaneously obtains key set to be extracted from the password dictionary, the key set to be extracted with it is described
Be-encrypted data does not have identical characters；The each key length of password dictionary is identical, and the server and diving apparatus are shared
Identical password dictionary；
A key is randomly selected from the key set to be extracted as current key；
Record the mark of the equipment and the corresponding relationship of current key；
The highest character of the frequency of occurrences in the be-encrypted data is counted, and obtains the specific number of its appearance；
The interference character string of preset length is generated, the interference character string has the characteristics that following: the interference character string packet
The alphabet in the current key is included, and only includes the character in the current key, and the interference character string
The frequency of occurrence of the minimum character of the middle frequency of occurrences is higher than the frequency of occurrence of the highest character of the frequency of occurrences in be-encrypted data；
M current key of splicing obtains key string, and will be to be added described in each character radom insertion in the key string
The first serial data is obtained among ciphertext data；
First serial data and the interference string-concatenation obtain encryption data.
In the description of the invention, it is to be understood that term " center ", " longitudinal direction ", " transverse direction ", "upper",
The orientation or position of the instructions such as "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside"
Relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description the invention and simplifies description, and
It is not that the device of indication or suggestion meaning or element must have a particular orientation, be constructed and operated in a specific orientation, therefore
It should not be understood as the limitation to the invention.In addition, term " first ", " second " etc. are used for description purposes only, and cannot manage
Solution is indication or suggestion relative importance or the quantity for implicitly indicating indicated technical characteristic.Define as a result, " the
One ", the feature of " second " etc. can explicitly or implicitly include one or more of the features.In the invention
In description, unless otherwise indicated, the meaning of " plurality " is two or more.
In the description of the invention, it should be noted that unless otherwise clearly defined and limited, term " peace
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or one
Ground connection；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, the indirect phase of intermediary can also be passed through
Even, it can be the connection inside two elements.For the ordinary skill in the art, it can be managed by concrete condition
Solve concrete meaning of the above-mentioned term in the invention.
The beneficial effects of the present invention are:
A kind of diving apparatus running environment is provided in the present invention and judges system, by acquiring video to diving apparatus group
Image can the behavioural characteristic to scene in water and diving apparatus group specifically analyzed, and data transmission procedure is whole
It encrypts, the computational complexity for the Encryption Algorithm created in the present invention is lower but can obtain preferable secrecy effect.
Detailed description of the invention
Fig. 1 is central controller block diagram provided in this embodiment；
Fig. 2 is a kind of analysis method stream of the barrier visual angle provided in this embodiment to each diving apparatus motion conditions
Cheng Tu；
Fig. 3 is whether the sight between two diving apparatuses provided in this embodiment judged in each combination is described
The specific method flow chart that barrier blocks；
Fig. 4 is a kind of method flow that diving apparatus visual analysis is carried out with diving apparatus visual angle provided in this embodiment
Figure；
Fig. 5 is encryption method flow chart provided in this embodiment；
Fig. 6 is decryption method flow chart provided in this embodiment.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, the present invention will be made below further detailed
Description.
The embodiment of the present invention provides a kind of diving apparatus running environment and judges system, and it is latent that the system comprises more than one
The diving apparatus group and the server communicated with each diving apparatus in the diving apparatus group that wetting system is constituted；Each diving
Equipment has unique mark, and based on some communication key and the server communication.
Each diving apparatus is axially symmetric structure, is each provided with camera in the two sides on the head of the diving apparatus,
It can achieve most of direction in addition to dead astern in order to the visible area of the diving apparatus.The diving apparatus
Head is provided with three axis accelerometer and three-axis gyroscope with the position that symmetry axis intersects, and sets for diving described in real-time monitoring
The standby acceleration and corresponding angular speed along local Coordinate System.The tail portion of the diving apparatus is additionally provided with driving part, fortune
Dynamic component and turning member, the driving part are all connected with the moving component and the turning member.
The diving apparatus further includes central controller, the central controller and the driving part, camera, three
Axis accelerometer and three-axis gyroscope are all connected with, and the central controller is as shown in Figure 1, comprising:
Computing module, for calculating the diving apparatus according to the three axis accelerometer and the three-axis gyroscope
Effective attitude angle, and effective attitude angle is transmitted to encrypting module；
Vision module is encoded for the shooting result to camera, and coding result is transmitted to data packet and is generated
Module；
Data packet generation module generates data packet simultaneously for identifying according to coding result, effective attitude angle and diving apparatus
The data packet is sent to encrypting module；
Encrypting module, for being encrypted to data packet, generating encrypted packet and transmitting it to communication module；
Communication module, is used for and server communication；
Deciphering module obtains control information therein for the data that server is sent to be decrypted；
Module is avoided, is sent to control for judging whether the diving apparatus will knock barrier, and by judging result
Molding block；
Control module, for controlling the driving part according to the control information or judging result.
The server is decrypted according to the encrypted packet that each diving apparatus is fed back, scene in reductive water, and right
Scene and each diving apparatus are analyzed in water, in order to the comprehensive motion conditions for controlling diving apparatus group, convenient for sending out to it
Cloth control instruction.
The embodiment of the present invention specifically provides a kind of barrier visual angle to the analysis method of each diving apparatus motion conditions,
As shown in Figure 2, comprising:
S101. the minimum outsourcing rectangle of barrier is obtained；
S102. using vertical direction as Y-axis, three-dimensional right angle is constructed as origin using the geometric center of the minimum outsourcing rectangle
Coordinate system；
S103. the diving apparatus around the barrier is obtained, target diving apparatus set is constituted；
S104. it obtains in the target diving apparatus set using two elements as each combination of target；
S105. judge whether the sight between two in each combination diving apparatuses is blocked by the barrier.
Specifically, whether the sight between two diving apparatuses judged in each combination is hidden by the barrier
The specific method of gear is as shown in Figure 3, comprising:
S1051. three for obtaining the minimum outsourcing rectangle vertically divide face equally, and normal vector is
S1052. the direction vector of the line in combination between two diving apparatuses is obtained
S1053. target value is obtainedWherein P0It is one of them position coordinates of two diving apparatuses；
If being S1054. in the section of (0,1) there are two target value, then two diving apparatuses in the combination are determined
Between sight be blocked.
The embodiment of the present invention specifically provides a kind of method for carrying out diving apparatus visual analysis with diving apparatus visual angle, such as
Shown in Fig. 4, comprising:
S201. the barrier around diving apparatus is obtained, barrier set is constituted；
S202. judge whether each barrier in the barrier set is in the visible area of the diving apparatus
Among.
Specifically, it is described judge whether each barrier in the barrier set be in the diving apparatus can
Include: among viewed area
S2021. coordinate (the x of the barrier is obtained1, y1, z1)。
S2022. coordinate (the x of the diving apparatus is obtained1, y1, z1) and diving apparatus useful direction angle (α, beta, gamma).
S2023. judge whether the barrier is located within the scope of the effective angle of the visible area of the diving apparatus.
Specifically, three deflections of the line of barrier and the diving apparatus in three-dimensional system of coordinate are obtained first
IfAndAndIt is then described
Barrier is located within the scope of the effective angle of the visible area of the diving apparatus, whereinIt is the maximum of the diving apparatus
Visual angle.
S2024. if so, judging whether the barrier is located at the effective distance of the visible area of the diving apparatus
It is interior.
Specifically, ifThen the barrier, which is located at, can be region
In effective coverage.
S2025. if so, the barrier is located among the visible area of the diving apparatus.
Further, in order to promoted diving apparatus group with the communications security of server, in the embodiment of the present invention for
The communication process of server and each diving apparatus carries out whole encryption.The embodiment of the present invention specifically discloses a kind of dive under water and sets
The encryption method at standby end, the encryption method are executed by encrypting module, and the encryption method is as shown in Figure 5, comprising:
S301. be-encrypted data is obtained.
S302. password for inquiry dictionary and obtain key set to be extracted from the password dictionary, the key set to be extracted with
The be-encrypted data does not have identical characters；The each key length of password dictionary is identical, the server and diving apparatus
Share identical password dictionary.
S303. a key is randomly selected from the key set to be extracted as current key.
S304. the mark of the equipment and the corresponding relationship of current key are recorded.
S305. the highest character of the frequency of occurrences in the be-encrypted data is counted, and obtains the specific number of its appearance.
S305. the interference character string of preset length is generated, the interference character string has the characteristics that following: the noise word
Symbol string includes the alphabet in the current key, and only includes the character in the current key, and the interference
The frequency of occurrence of the minimum character of the frequency of occurrences is higher than the appearance of the highest character of the frequency of occurrences in be-encrypted data in character string
Number；
S306. splice M current key and obtain key string, and by each character radom insertion institute in the key string
It states and obtains the first serial data among be-encrypted data；
S307. first serial data and the interference string-concatenation obtain encryption data.
Correspondingly, server end decryption method is as shown in Figure 6, comprising:
S401. the frequency of occurrences of each character in the data received is counted；
S402. the maximum N number of target character of the frequency of occurrences is extracted；
S403. key of the inquiry including N number of target character in password dictionary, obtains target cipher key；
S404. target data is extracted from the data received according to the target cipher key.
Further, the encryption of current key progress next time can be used in diving apparatus, can also be any primary logical
Current key is changed by executing step S301-S307 before letter.
The mark of diving apparatus and the corresponding relationship of target cipher key are also recorded in server end, in communication process later
In be decrypted first using target cipher key, if successful decryption, get target data；If decryption is unsuccessful, determine latent
Wetting system has replaced key, executes step S401-S404 from new.
Correspondingly, server also encrypts control information using target cipher key, and encrypted result is transmitted to diving
Equipment, in order to which diving apparatus is decrypted according to the current key that its own is recorded.
The unit as illustrated by the separation member may or may not be physically separated, as unit
The component of display may or may not be physical unit, it can and it is in one place, or may be distributed over more
In a network unit.Some or all of unit therein can be selected to realize this embodiment scheme according to the actual needs
Purpose.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
It should be understood that the sequencing of the embodiments of the present invention is for illustration only, the excellent of embodiment is not represented
It is bad.
Those of ordinary skill in the art will appreciate that realizing that all or part of the steps of above-described embodiment can pass through hardware
It completes, relevant hardware can also be instructed to complete by program, the program can store in a kind of computer-readable
In storage medium, storage medium mentioned above can be read-only memory, disk or CD etc..
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (5)
1. a kind of diving apparatus running environment judges system, which is characterized in that the system comprises:
The diving apparatus group and the clothes communicated with each diving apparatus in the diving apparatus group that more than one diving apparatus is constituted
Business device；The server is decrypted according to the encrypted packet that each diving apparatus is fed back, scene in reductive water, and with diving
Equipment visual angle carries out diving apparatus visual analysis.
2. system according to claim 1, it is characterised in that:
The server is for executing following instructions:
The barrier around diving apparatus is obtained, barrier set is constituted；
Judge whether each barrier in the barrier set is among the visible area of the diving apparatus.
3. system according to claim 2, it is characterised in that:
It is described to judge whether each barrier in the barrier set is among the visible area of the diving apparatus and wrap
It includes:
Obtain the coordinate (x of the barrier1, y1, z1)；
Obtain the coordinate (x of the diving apparatus1, y1, z1) and diving apparatus useful direction angle (α, beta, gamma)；
Three deflections of the line of acquisition barrier and the diving apparatus in three-dimensional system of coordinate
IfAndAndThen the barrier is located at the visible area of the diving apparatus
Effective angle within the scope of, whereinIt is the maximum visual angle of the diving apparatus；
If the barrier is located within the scope of the effective angle of the visible area of the diving apparatus, judge that the barrier is
In the effective distance of the no visible area positioned at the diving apparatus；
If so, the barrier is located among the visible area of the diving apparatus.
4. system according to claim 3, it is characterised in that:
The diving apparatus includes central controller, and the central controller includes:
Computing module, for calculating effective appearance of the diving apparatus according to the three axis accelerometer and the three-axis gyroscope
State angle, and effective attitude angle is transmitted to encrypting module；
Vision module is encoded for the shooting result to camera, and coding result is transmitted to data packet generation module；
Data packet generation module generates data packet and by institute for identifying according to coding result, effective attitude angle and diving apparatus
It states data packet and is sent to encrypting module；
Encrypting module, for being encrypted to data packet, generating encrypted packet and transmitting it to communication module；
Communication module, is used for and server communication；
Deciphering module obtains control information therein for the data that server is sent to be decrypted；
Module is avoided, is sent to control mould for judging whether the diving apparatus will knock barrier, and by judging result
Block；
Control module, for controlling the driving part according to the control information or judging result.
5. system according to claim 4, it is characterised in that:
The encrypted instruction that the encrypting module executes includes:
Obtain be-encrypted data；
Password for inquiry dictionary simultaneously obtains key set to be extracted from the password dictionary, the key set to be extracted with it is described to be encrypted
Data do not have identical characters；The each key length of password dictionary is identical, and the server is shared identical with diving apparatus
Password dictionary；
A key is randomly selected from the key set to be extracted as current key；
Record the mark of the equipment and the corresponding relationship of current key；
The highest character of the frequency of occurrences in the be-encrypted data is counted, and obtains the specific number of its appearance；
The interference character string of preset length is generated, the interference character string has the characteristics that following: the interference character string includes institute
The alphabet in current key is stated, and only includes the character in the current key, and is gone out in the interference character string
The frequency of occurrence of the minimum character of existing frequency is higher than the frequency of occurrence of the highest character of the frequency of occurrences in be-encrypted data；
M current key of splicing obtains key string, and by number to be encrypted described in each character radom insertion in the key string
The first serial data is obtained among；
First serial data and the interference string-concatenation obtain encryption data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811114753.XA CN109255332A (en) | 2018-09-25 | 2018-09-25 | A kind of diving apparatus running environment judges system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811114753.XA CN109255332A (en) | 2018-09-25 | 2018-09-25 | A kind of diving apparatus running environment judges system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109255332A true CN109255332A (en) | 2019-01-22 |
Family
ID=65048699
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811114753.XA Withdrawn CN109255332A (en) | 2018-09-25 | 2018-09-25 | A kind of diving apparatus running environment judges system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109255332A (en) |
-
2018
- 2018-09-25 CN CN201811114753.XA patent/CN109255332A/en not_active Withdrawn
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Application publication date: 20190122 |