CN112268560B - AGV moving path monitoring method and system - Google Patents
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Abstract
The invention relates to the technical field of intelligent control, and discloses an AGV moving path monitoring method and system, wherein the method comprises the following steps: the AGV transmits the acquired moving data to two different servers, the two different servers perform position distance safety calculation, weight coefficient safety calculation and prediction speed safety calculation on the received data respectively, and the prediction speed is transmitted to the AGV so that the AGV can monitor the moving path. The method and the system for monitoring the moving path of the AGV provided by the embodiment of the invention can improve the safety and the confidentiality of data and further achieve the monitoring effect.
Description
Technical Field
The invention relates to the technical field of intelligent control, in particular to a method and a system for monitoring a moving path of an AGV (automatic Guided Vehicle).
Background
With the convergence and development of information technology and industry, intelligent factories are more and more popular, and devices such as an AGV access network are used for monitoring and maintaining the AGV. However, once the AGV is hacked, the mobile platform steals the internal data, which disturbs the production order of the factory and even threatens the personal safety.
Although the traditional encryption algorithm can meet the requirements of data providers on data security, such as advanced encryption standards and the like, the traditional encryption algorithm has obvious defects that secret data cannot be directly processed and analyzed. The ciphertext is decrypted for monitoring purposes, which exposes the plaintext data to a single data processing center.
Disclosure of Invention
The technical problem to be solved by the embodiment of the invention is as follows: the method and the system for monitoring the moving path of the AGV transmit data to the two servers and monitor the path of the AGV according to the predicted speed obtained by the two servers.
In order to solve the above technical problem, in a first aspect, an embodiment of the present invention provides an AGV moving path monitoring method, where an AGV has n moving paths, an ith moving path has k moving data in a preset time interval, n >0, k >0, i ∈ [1, n ], and the method includes:
the method comprises the steps that an intelligent control unit of the AGV acquires moving data, divides the moving data into first data and second data, transmits the first data to a first server, and transmits the second data to a second server;
the first server acquires a first spatial distance and a first weight coefficient according to the first data and transmits the first spatial distance to the intelligent control unit, and the second server acquires a second spatial distance and a second weight coefficient according to the second data and transmits the second spatial distance to the intelligent control unit;
the intelligent control unit acquires a distance correlation matrix according to the first spatial distance and the second spatial distance, divides the distance correlation matrix into a first matrix and a second matrix, transmits the first matrix to the first server, and transmits the second matrix to the second server;
the first server acquires a first predicted speed according to the first matrix and the first weight coefficient and transmits the first predicted speed to the intelligent control unit, and the second server acquires a second predicted speed according to the second matrix and the second weight coefficient and transmits the second predicted speed to the intelligent control unit;
and the intelligent control unit monitors the path of the AGV according to the first predicted speed and the second predicted speed.
As a preferred scheme, the method for acquiring movement data, dividing the movement data into first data and second data, transmitting the first data to a first server, and transmitting the second data to a second server by an intelligent control unit of the AGV specifically includes:
the method comprises the steps that an intelligent control unit of the AGV obtains each piece of moving data of each moving path; wherein, the jth movement data of the ith movement path is represented as: d ij ＝(x ij ,y ij ,v ij ),i∈[1,n]，j∈[1,k]，x ij The abscissa, y, of the jth movement data of the ith movement path ij The ordinate, v, of the j-th movement data of the i-th movement path ij The speed of the jth piece of moving data of the ith moving path;
the intelligent control unit randomly divides each piece of moving data of each moving path into first data and second data; wherein, the first data of the jth movement data of the ith movement path is represented as: d' ij ＝(x ij ,v′ ij ) And the second data of the jth movement data of the ith movement path is expressed as: d ″ ij ＝(y ij ,v″ ij )，D ij ＝D′ ij +D″ ij ，v ij ＝v′ ij +v″ ij ；
The intelligent control unit transmits the first data to the first server and transmits the second data to the second server.
As a preferable aspect, the method further includes:
the intelligent control unit generates a random number k a 、k b 、r a 、r b And transmitted to the first server toAnd the second server; wherein k is a +k b ＝r a *r b ；
Then, the acquiring, by the first server, a first spatial distance and a first weight coefficient according to the first data and transmitting the first spatial distance to the intelligent control unit, and the acquiring, by the second server, a second spatial distance and a second weight coefficient according to the second data and transmitting the second spatial distance to the intelligent control unit specifically include:
the first server is based on
Computing
According to
Computing
The second server is according to p (i，η) ＝cos(y i -y η ) Calculating p (i，η) (ii) a Wherein x is i Is the abscissa, x, of the midpoint of the ith movement path η Is the abscissa, y, of the midpoint of the η -th path of travel i Is the ordinate, y, of the midpoint of the i-th path of travel η Is the ordinate of the middle point of the movement path of the nth, eta ∈ [1, n ]]；
The first server is based on
Computing
The second server is according to
Computing
Wherein f is equal to {9, 4, 5, 3},
the positions of f and rho selected each time are in one-to-one correspondence, and g belongs to [1, f ∈]；
The first server and the second server are to be connected
Exchanging the numerical values of (1);
the second server generates a random number d b(f，g) According to
Calculate t1 according to
Calculating d a(f,g) D is mixing a(f,g) Transmitting to the first server;
the first server is according to d' a1 ＝∑d a(f,g) Calculating d' a1 The second server is according to d' b1 ＝R*d b(f,g) Calculating d' b1 (ii) a Wherein R is the radius of the site where the AGV is located;
the first server is based on
Calculating a first spatial distance d 'of the ith movement path and the η th movement path' (i,η) The second server is according to d ″) (i,η) ＝R*d′ b1 Calculating a second spatial distance d' between the ith movement path and the eta movement path (i,η) ；
The first server is used for determining a first spatial distance d' (i,η) Transmitting the second spatial distance d' to the intelligent control unit by the second server (i,η) Is transmitted to the intelligent controllerA manufacturing unit;
the first server divides n moving paths into two parts, the first part has h moving paths, the second part has n-h moving paths, and the historical average speed of each moving path of the first part is calculated, so that the historical average speed set V1 of each moving path of the first part is obtained, wherein { vc | c ∈ [1, h ] }, h > 0;
the second server divides the n moving paths into two parts, the first part has h moving paths, the second part has n-h moving paths, and the historical average speed of each moving path of the second part is calculated, so that the historical average speed set V2 of each moving path of the second part is obtained, wherein { vd | d ∈ [ h +1, n ] }, h > 0;
the first server computing E (V1), E (V1) 2 )、E 2 (V1), the second server calculates E (V2), E (V2) 2 )、E 2 (V2); wherein E represents a mathematical expectation;
the first server is according to (V1)' (V1 + r) a Calculating (V1) ', the second server according to (V2)' -V2 + r b Calculating (V2)';
the second server generates a random number V bb1 And transmitting to the first server;
the first server is based on t2 ═ V1 ═ V2+ k b -V bb1 Calculate t2 from V aa1 ＝t2+k a -r a (V2)' calculating V aa1 ；
The first server computing E (V) aa1 ) Said second server computing E (V) bb1 )；
The first server is based on (E (V) aa1 ))′＝E(V aa1 )+r a Calculation (E (V) aa1 ) According to (E (V)) to the second server bb1 ))′＝E(V bb1 )+r b Calculation (E (V) bb1 ))′；
The first server and the second server are (E (V) aa1 ))′、(E(V bb1 ) ' are exchanged;
the second server generates a random number V' bb1 And according to t3 ═ E (V) aa1 ))′*E(V bb1 )+k b -V′ bb1 Calculating t3, according to V' aa1 ＝t3+k a -r a *(E(V bb1 ) 'calculate V' aa1 V is' aa1 Transmitting to the first server;
the first server is according to V a2 ＝V aa1 -V′ aa1 Calculating V a2 Said second server is according to V b2 ＝V bb1 -V′ bb1 Calculating V b2 ；
The first server is according to (V) a2 )′＝V a2 +r a Calculation of (V) a2 ) ', the second server is according to (V) b2 )′＝V b2 +r b Calculation of (V) b2 )′；
The first server, the second server will (V) a2 )′、(V b2 ) ' the values are exchanged;
the second server generates a random number theta 'and transmits the random number theta' to the first server; wherein, Θ ″ is a second weight coefficient of the c-th moving path and the d-th moving path, and Θ ″ { ω ″ ", where (c,d) }，c∈[1,h]，d∈[h+1,n]；
The first server is according to t4 ═ V a2 )′*V b2 +k b - Θ "calculating t4, according to Θ' ═ t4+ k a -r a *(V b2 ) 'calculate Θ'; wherein, Θ ' is a first weight coefficient of the c-th movement path and the d-th movement path, and Θ ' ═ ω ' (c,d) }，c∈[1,h]，d∈[h+1,n]。
As a preferred scheme, the acquiring, by the intelligent control unit, a distance correlation matrix according to the first spatial distance and the second spatial distance, dividing the distance correlation matrix into a first matrix and a second matrix, transmitting the first matrix to the first server, and transmitting the second matrix to the second server specifically includes:
the intelligent control unit is used for controlling the distance d 'according to the first space distance' (i,η) And the second spatial distance d ″) (i,η) Obtaining the space distance d of any two moving paths (i,η) (ii) a Wherein d is (i,η) Is the spatial distance between the ith and the eta paths of movement, d (i,η) ＝d′ (i,η) +d″ (i,η) ；
The intelligent control unit is used for controlling the spatial distance d according to any two moving paths (i,η) Obtaining the distance correlation matrix omega; wherein the content of the first and second substances,
the intelligent control unit randomly divides the distance correlation matrix omega into a first matrix omega 'and a second matrix omega'; wherein Ω' + Ω ";
the intelligent control unit transmits the first matrix omega' to the first server;
the intelligent control unit transmits the second matrix Ω ″ to the second server.
As a preferable scheme, the acquiring, by the first server, a first predicted speed according to the first matrix and the first weight coefficient and transmitting the first predicted speed to the intelligent control unit, and the acquiring, by the second server, a second predicted speed according to the second matrix and the second weight coefficient and transmitting the second predicted speed to the intelligent control unit specifically include:
the first server is according to (ω' (c,d) )′＝ω′ (c,d) +r a Calculating (ω' (c,d) ) ', according to (d' (c,d) )′＝d′ (c,d) +r b Calculating (d' (c,d) ) 'and will be (ω' (c,d) )′、(d′ (c,d) ) ' the values are exchanged;
the first server generates a random number y (1,c,d) From t5 ═ ω' (c,d) )′*d′ (c,d) +k b -y (1,c,d) Calculate t5 from x (1,c,d) ＝t5+k a -r a *(d′ (c,d) ) ' calculate x (1,c,d) According to x' (1,c,d) ＝ω′ (c,d) *d′ (c,d) Calculate x' (1,c,d) ；
The second server is based on (ω ″) (c,d) )′＝ω″ (c,d) +r a Calculate (ω ″) (c,d) ) ', according to (d ″) (c,d) )′＝d″ (c,d) +r b Calculate (d ″) (c,d) ) ', will (ω ″) (c,d) )′、(d″ (c,d) ) ' the values are exchanged;
the second server generates a random number y (2,c,d) According to t6 ═ (ω ″) (c,d) )′*d″ (c,d) +k b -y (2,c,d) Calculate t6 from x (2,c,d) ＝t6+k a -r a *(d″ (c,d) ) ' calculate x (2,c,d) According to y' (1,c,d) ＝ω″ (c,d) *d″ (c,d) Calculate y' (1,c,d) ；
The first server is x according to v (x, c, d) (1,c,d) +x′ (1,c,d) +x (2,c,d) Calculating v (x, c, d), the second server being based on v (y, c, d) being y (1,c,d) +y′ (1,c,d) +y (2,c,d) Calculating v (y, c, d);
the first server is based on (v (x, c, d))' -v (x, c, d) + r a Calculating (v (x, c, d)) ', the second server based on (v (y, c, d))' -v (y, c, d) + r b Calculating (v (y, c, d))';
the first server and the second server exchange values of (v (x, c, d)) ', (v (y, c, d))';
the second server generates a random number gamma (1,c,d) According to t7 ═ v (x, c, d))' v (y, c, d) + k b -γ (1,c,d) Calculating t7 from β (1,c,d) ＝t7+k a -r a (v (y, c, d))' calculating beta (1,c,d) Will beta (1,c,d) Transmitting to the first server;
the first server is based on
Calculation of J a The second server is according to
Calculation of J b ；
The first server is according to (J) a )′＝J a +r a Calculation (J) a ) ', the second server is according to (J) b )′＝J b +r b Calculation (J) b )′；
The first server, the second server will (J) a )′、(J b ) ' the values are exchanged;
the second server generates a random number V ″ τ And transmitting the data to the first server and the intelligent control unit; wherein, V ″ τ The second predicted speed;
the first server according to t8 ═ J a )′*J b +k b -V″ τ Calculating t8, according to V' τ ＝t8+k a -r a *(J b ) 'calculate V' τ And is prepared from V' τ Transmitting the data to the intelligent control unit; wherein, V' τ Is the first predicted speed.
As a preferable scheme, the intelligent control unit performs path monitoring on the AGV according to the received first predicted speed and the second predicted speed, and specifically includes:
the intelligent control unit acquires a predicted speed according to the first predicted speed and the second predicted speed; wherein the predicted speed is represented as: v ═ V' τ +V″ τ And V is the predicted speed;
and the intelligent control unit monitors the path of the AGV according to the predicted speed.
In order to solve the above technical problem, in a second aspect, an embodiment of the present invention provides an AGV moving path monitoring system, where the system includes an AGV, a first server, and a second server, and the AGV includes an intelligent control unit; the system monitors the AGV moving path by adopting the AGV moving path monitoring method according to any one of the first aspect.
Compared with the prior art, the method and the system for monitoring the moving path of the AGV have the advantages that: the moving data of the AGV are split into two parts, the two parts are transmitted to two servers of different parties, and three steps of position distance safety calculation, weight coefficient safety calculation and prediction speed safety calculation are carried out, so that the problem that plaintext data are exposed to a single data processing center is solved, the safety and the confidentiality of the data are improved, and the monitoring effect is further achieved.
Drawings
In order to more clearly illustrate the technical features of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention will be briefly described below, and it is apparent that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on the drawings without inventive labor.
FIG. 1 is a schematic flow chart diagram illustrating a method for monitoring the travel path of an AGV according to a preferred embodiment of the present invention;
FIG. 2 is a schematic diagram of a preferred embodiment of an AGV travel path detection system according to the present invention.
Detailed Description
In order to clearly understand the technical features, objects and effects of the present invention, the following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention. Other embodiments, which can be derived by those skilled in the art from the embodiments of the present invention without inventive step, shall fall within the scope of the present invention.
In the description of the present invention, it should be understood that the numbers themselves, such as "first", "second", etc., are used only for distinguishing the described objects, do not have a sequential or technical meaning, and cannot be understood as defining or implying the importance of the described objects.
FIG. 1 is a flow chart illustrating a method for monitoring an AGV path according to a preferred embodiment of the present invention.
As shown in fig. 1, the method includes:
s100: the method comprises the steps that an intelligent control unit of the AGV acquires moving data, divides the moving data into first data and second data, transmits the first data to a first server and transmits the second data to a second server;
s200: the first server acquires a first spatial distance and a first weight coefficient according to the first data and transmits the first spatial distance to the intelligent control unit, and the second server acquires a second spatial distance and a second weight coefficient according to the second data and transmits the second spatial distance to the intelligent control unit;
s300: the intelligent control unit acquires a distance correlation matrix according to the first spatial distance and the second spatial distance, divides the distance correlation matrix into a first matrix and a second matrix, transmits the first matrix to the first server, and transmits the second matrix to the second server;
s400: the first server acquires a first prediction speed according to the first matrix and the first weight coefficient and transmits the first prediction speed to the intelligent control unit, and the second server acquires a second prediction speed according to the second matrix and the second weight coefficient and transmits the second prediction speed to the intelligent control unit;
s500: and the intelligent control unit monitors the path of the AGV according to the first predicted speed and the second predicted speed.
Specifically, in the embodiment of the present invention, the mobile data is divided into two parts and transmitted to two different servers, and the two servers perform the position distance safety calculation according to the received data, so as to obtain the spatial distance between any 2 mobile paths in the road network. Subsequently, a weight coefficient safety calculation is performed, and a correlation strength vector between the two paths can be obtained. And finally, performing safe calculation of the predicted speed, predicting the average speed of the unknown path within a certain time interval, and monitoring the condition of the AGV moving path.
According to the method for monitoring the moving path of the AGV, provided by the embodiment of the invention, the moving data of the AGV are divided into two parts, the two parts are transmitted to two servers of different parties, and three steps of position distance safety calculation, weight coefficient safety calculation and prediction speed safety calculation are carried out, so that the problem that plaintext data are exposed to a single data processing center is solved, the safety and the confidentiality of the data are improved, and the monitoring effect is further achieved.
As a preferred embodiment, the method for acquiring movement data, dividing the movement data into first data and second data, transmitting the first data to a first server, and transmitting the second data to a second server by an intelligent control unit of an AGV specifically includes:
the method comprises the steps that an intelligent control unit of the AGV obtains each piece of moving data of each moving path; wherein, the j-th movement data of the ith movement path is represented as: d ij ＝(x ij ,y ij ,v ij ),i∈[1,n]，j∈[1,k]，x ij The abscissa, y, of the jth movement data of the ith movement path ij The ordinate, v, of the j-th movement data of the i-th movement path ij The speed of the jth moving data of the ith moving path;
the intelligent control unit randomly divides each piece of moving data of each moving path into first data and second data; wherein, the first data of the jth movement data of the ith movement path is represented as: d' ij ＝(x ij ,v′ ij ) And the second data of the jth movement data of the ith movement path is expressed as: d ″) ij ＝(y ij ,v″ ij )，D ij ＝D′ ij +D″ ij ，v ij ＝v′ ij +v″ ij ；
The intelligent control unit transmits the first data to the first server and transmits the second data to the second server.
This embodiment defines R (x, y, v) to represent the upload format of the movement data, where x and y represent the lateral position of the AGV in a two-dimensional plane,On the ordinate, v is the moving speed, and the AGV driving on the path i in the T time interval reports k pieces of data in total, and uses { (x) ij ,y ij ,v ij )|i∈[1,n]，j∈[1,k]Represents a set of mobile data, and randomly divides each element thereof into two parts, which are transmitted to the first server and the second server.
As a refinement of the above embodiment, the method further comprises:
the intelligent control unit generates a random number k a 、k b 、r a 、r b And transmitting to the first server and the second server; wherein k is a +k b ＝r a *r b ；
Then, the first server obtains a first spatial distance and a first weight coefficient according to the first data and transmits the first spatial distance to the intelligent control unit, and the second server obtains a second spatial distance and a second weight coefficient according to the second data and transmits the second spatial distance to the intelligent control unit, that is, a location distance safety calculation process and a weight coefficient safety calculation process specifically include:
the first server is based on
Calculating out
According to
Calculating out
The second server is according to p (i，η) ＝cos(y i -y η ) Calculating p (i，η) (ii) a Wherein x is i Is the abscissa, x, of the midpoint of the ith path of movement η Is the abscissa, y, of the midpoint of the η -th path of travel i Is the ordinate, y, of the midpoint of the i-th path of travel η Is the ordinate of the middle point of the eta movement path, eta belongs to [1, n ∈]；
The first server is based on
Computing
The second server is according to
Calculating out
Wherein f is equal to {9, 4, 5, 3},
the positions of f and rho selected each time are in one-to-one correspondence, and g belongs to [1, f ∈]；
The first server and the second server are to be connected
Exchanging the numerical values of (1);
the second server generates a random number d b(f，g) And according to
Calculate t1 based on
Calculating d a(f,g) D is mixing a(f,g) Transmitting to the first server;
the first server is according to d' a1 ＝∑d a(f,g) Calculating d' a1 The second server is according to d' b1 ＝R*d b(f,g) Calculating d' b1 (ii) a Wherein R is the radius of the site where the AGV is located;
the first server is based on
Calculating a first spatial distance d 'between the ith movement path and the η th movement path' (i,η) The second server is according to d ″) (i,η) ＝R*d′ b1 Calculating a second spatial distance d' between the ith movement path and the eta movement path (i,η) ；
The first server is used for determining a first spatial distance d' (i,η) Transmitting the second spatial distance d' to the intelligent control unit by the second server (i,η) Transmitting the data to the intelligent control unit;
the first server divides the n moving paths into two parts, the first part has h moving paths, the second part has n-h moving paths, historical average speed of each moving path of the first part is calculated, and a historical average speed set V1 of each moving path of the first part is obtained, wherein { vc | c ∈ [1, h ] }, h > 0;
the second server divides the n moving paths into two parts, the first part has h moving paths, the second part has n-h moving paths, historical average speed of each moving path of the second part is calculated, and a historical average speed set V2 of each moving path of the second part is obtained, wherein { vd | d ∈ [ h +1, n ] }, h > 0;
the first server computing E (V1), E (V1) 2 )、E 2 (V1), the second server computing E (V2), E (V2) 2 )、E 2 (V2); wherein E represents a mathematical expectation;
the first server is according to (V1)' (V1 + r) a Calculating (V1) ', the second server according to (V2)' -V2 + r b Calculating (V2)';
the second server generates a random number V bb1 And transmitting to the first server;
the first server is based on t2 ═ V1 ═ V2+ k b -V bb1 Calculate t2 from V aa1 ＝t2+k a -r a (V2)' calculating V aa1 ；
The first server computing E (V) aa1 ) Said second server computing E (V) bb1 )；
The first server is based on (E (V) aa1 ))′＝E(V aa1 )+r a Calculation (E (V) aa1 ) According to (E (V)) to the second server bb1 ))′＝E(V bb1 )+r b Calculation (E (V) bb1 ))′；
The first server and the second server are (E (V) aa1 ))′、(E(V bb1 ) ' are exchanged;
the second server generates a random number V' bb1 And according to t3 ═ E (V) aa1 ))′*E(V bb1 )+k b -V′ bb1 Calculating t3, according to V' aa1 ＝t3+k a -r a *(E(V bb1 ) 'calculate V' aa1 V is' aa1 Transmitting to the first server;
the first server is according to V a2 ＝V aa1 -V′ aa1 Calculating V a2 Said second server is according to V b2 ＝V bb1 -V′ bb1 Calculating V b2 ；
The first server is according to (V) a2 )′＝V a2 +r a Calculation of (V) a2 ) ', the second server is according to (V) b2 )′＝V b2 +r b Calculation of (V) b2 )′；
The first server, the second server will (V) a2 )′、(V b2 ) ' are exchanged;
the second server generates a random number theta 'and transmits the random number theta' to the first server; wherein, Θ ″ is a second weight coefficient of the c-th moving path and the d-th moving path, and Θ ″ { ω ″ ", where (c,d) }，c∈[1,h]，d∈[h+1,n]；
The first server is according to t4 ═ V a2 )′*V b2 +k b - Θ "calculating t4, according to Θ' ═ t4+ k a -r a *(V b2 ) 'calculate Θ'; wherein, the theta' is the c-th moving pathThe distance and the first weight coefficient of the d-th movement path, Θ '═ ω' (c,d) }，c∈[1,h]，d∈[h+1,n]。
Wherein, the random number k a >0、k b >0、r a >0、r b >0、d b(f，g) >0、V bb1 >0、V bb2 >0、V′ bb1 >0、Θ″>0。
Alternatively, the value of the random number Θ "may be defined manually, and set according to requirements or experience.
As an improvement of the foregoing embodiment, the acquiring, by the intelligent control unit, a distance correlation matrix according to the first spatial distance and the second spatial distance, dividing the distance correlation matrix into a first matrix and a second matrix, transmitting the first matrix to the first server, and transmitting the second matrix to the second server specifically includes:
the intelligent control unit is used for controlling the intelligent control unit according to the first space distance d' (i,η) And the second spatial distance d ″) (i,η) Obtaining the spatial distance d of any two moving paths (i,η) (ii) a Wherein d is (i,η) Is the spatial distance between the ith and the eta paths of movement, d (i,η) ＝d′ (i,η) +d″ (i,η) ；
The intelligent control unit is used for controlling the spatial distance d according to any two moving paths (i,η) Obtaining the distance correlation matrix omega; wherein, the first and the second end of the pipe are connected with each other,
the intelligent control unit randomly divides the distance correlation matrix omega into a first matrix omega 'and a second matrix omega'; wherein Ω' + Ω ";
the intelligent control unit transmits the first matrix omega' to the first server;
the intelligent control unit transmits the second matrix Ω ″ to the second server.
Wherein the first matrixCan be expressed as:
the second matrix may be represented as:
and, the first matrix and the second matrix satisfy a relationship: Ω' + Ω ".
As an improvement of the foregoing embodiment, the first server obtains a first predicted speed according to the first matrix and the first weight coefficient and transmits the first predicted speed to the intelligent control unit, and the second server obtains a second predicted speed according to the second matrix and the second weight coefficient and transmits the second predicted speed to the intelligent control unit, that is, a predicted speed safety calculation process specifically includes:
the first server is according to (ω' (c,d) )′＝ω′ (c,d) +r a Calculating (ω' (c,d) ) ', according to (d' (c,d) )′＝d′ (c,d) +r b Calculating (d' (c,d) ) 'and will be (ω' (c,d) )′、(d′ (c,d) ) ' the values are exchanged;
the first server generates a random number y (1,c,d) According to t5 ═ ω' (c,d) )′*d′ (c,d) +k b -y (1,c,d) Calculate t5 from x (1,c,d) ＝t5+k a -r a *(d′ (c,d) ) ' calculate x (1,c,d) According to x' (1,c,d) ＝ω′ (c,d) *d′ (c,d) Calculate x' (1,c,d) ；
The second server is based on (ω ″) (c,d) )′＝ω″ (c,d) +r a Calculate (ω ″) (c,d) ) ', according to (d ″) (c,d) )′＝d″ (c,d) +r b Calculating (d ″) (c,d) ) ', will (ω ″) (c,d) )′、(d″ (c,d) ) ' the values are exchanged;
the second server generates a random number y (2,c,d) According to t6 ═ (ω ″) (c,d) )′*d″ (c,d) +k b -y (2,c,d) Calculate t6 from x (2,c,d) ＝t6+k a -r a *(d″ (c,d) ) ' calculate x (2,c,d) According to y' (1,c,d) ＝ω″ (c,d) *d″ (c,d) Calculate y' (1,c,d) ；
The first server is x according to v (x, c, d) (1,c,d) +x′ (1,c,d) +x (2,c,d) Calculating v (x, c, d), the second server according to v (y, c, d) to y (1,c,d) +y′ (1,c,d) +y (2,c,d) Calculating v (y, c, d);
the first server is based on (v (x, c, d))' -v (x, c, d) + r a Calculating (v (x, c, d)) ', the second server based on (v (y, c, d))' -v (y, c, d) + r b (v (y, c, d))';
the first server and the second server exchange values of (v (x, c, d)) ', (v (y, c, d))';
the second server generates a random number gamma (1,c,d) According to t7 ═ v (x, c, d))' v (y, c, d) + k b -γ (1,c,d) Calculating t7 from β (1,c,d) ＝t7+k a -r a (v (y, c, d))' calculating β (1,c,d) Will beta (1,c,d) Transmitting to the first server;
the first server is based on
Calculation of J a The second server is according to
Calculation of J b ；
The first server is according to (J) a )′＝J a +r a Calculation (J) a ) ', the second server is according to (J) b )′＝J b +r b Calculation (J) b )′；
The first server, the second server will (J) a )′、(J b ) ' numberExchanging values;
the second server generates a random number V ″ τ And transmitting the data to the first server and the intelligent control unit; wherein, V ″ τ The second predicted speed;
the first server according to t8 ═ J a )′*J b +k b -V″ τ Calculating t8, according to V' τ ＝t8+k a -r a *(J b ) 'calculate V' τ And is prepared from V' τ Transmitting to the intelligent control unit; wherein, V' τ The first predicted speed is used.
Wherein the random number y (1,c,d) >0、y (2,c,d) >0、γ (1,c,d) >0、V″ τ >0。
Optionally, a random number V ″ τ The value of (b) can also be defined manually and set according to requirements or experience.
As an improvement of the above embodiment, the intelligent control unit performs path monitoring on the AGV according to the received first predicted speed and the second predicted speed, and specifically includes:
the intelligent control unit acquires a predicted speed according to the first predicted speed and the second predicted speed; wherein the predicted speed is represented as: v ═ V' τ +V″ τ And V is the predicted speed;
and the intelligent control unit monitors the path of the AGV according to the predicted speed.
FIG. 2 is a schematic structural diagram of a preferred embodiment of an AGV travel path monitoring system according to the present invention, the system includes an AGV, a first server and a second server, the AGV includes an intelligent control unit; the system adopts the AGV moving path monitoring method according to any one of the embodiments to monitor the AGV moving path.
According to the AGV moving path monitoring system provided by the embodiment of the invention, moving data of the AGV are divided into two parts, the two parts are transmitted to two servers of different parties, and three steps of position distance safety calculation, weight coefficient safety calculation and prediction speed safety calculation are carried out, so that the problem that plaintext data are exposed to a single data processing center is solved, the safety and the confidentiality of the data are improved, and the monitoring effect is further achieved.
The above description is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and it should be noted that, for those skilled in the art, several equivalent obvious modifications and/or equivalent substitutions can be made without departing from the technical principle of the present invention, and these obvious modifications and/or equivalent substitutions should also be regarded as the scope of the present invention.
Claims (7)
1. An AGV moving path monitoring method is characterized in that an AGV has n moving paths, an ith moving path has k moving data in a preset time interval, n is greater than 0, k is greater than 0, i belongs to [1, n ], and the method comprises the following steps:
the method comprises the steps that an intelligent control unit of the AGV acquires moving data, divides the moving data into first data and second data, transmits the first data to a first server, and transmits the second data to a second server;
the first server acquires a first spatial distance and a first weight coefficient according to the first data and transmits the first spatial distance to the intelligent control unit, and the second server acquires a second spatial distance and a second weight coefficient according to the second data and transmits the second spatial distance to the intelligent control unit;
the intelligent control unit acquires a distance correlation matrix according to the first spatial distance and the second spatial distance, divides the distance correlation matrix into a first matrix and a second matrix, transmits the first matrix to the first server, and transmits the second matrix to the second server;
the first server acquires a first prediction speed according to the first matrix and the first weight coefficient and transmits the first prediction speed to the intelligent control unit, and the second server acquires a second prediction speed according to the second matrix and the second weight coefficient and transmits the second prediction speed to the intelligent control unit;
the intelligent control unit monitors the path of the AGV according to the first predicted speed and the second predicted speed;
wherein the first data is different from the second data.
2. The AGV travel path monitoring method according to claim 1, wherein the AGV intelligent control unit obtains movement data, divides the movement data into first data and second data, transmits the first data to a first server, and transmits the second data to a second server, and specifically comprises:
the method comprises the steps that an intelligent control unit of the AGV obtains each piece of moving data of each moving path; wherein, the j-th movement data of the ith movement path is represented as: d ij ＝(x ij ,y ij ,v ij ),i∈[1,n]，j∈[1,k]，x ij The abscissa, y, of the jth movement data of the ith movement path ij The ordinate, v, of the j-th movement data of the i-th movement path ij The speed of the jth moving data of the ith moving path;
the intelligent control unit randomly divides each piece of moving data of each moving path into first data and second data; wherein, the first data of the jth movement data of the ith movement path is represented as: d' ij ＝(x ij ,v′ ij ) And the second data of the jth movement data of the ith movement path is expressed as: d ″) ij ＝(y ij ,v″ ij )，D ij ＝D′ ij +D″ ij ，v ij ＝v′ ij +v″ ij ；
The intelligent control unit transmits the first data to the first server and transmits the second data to the second server.
3. The AGV travel path monitoring method of claim 2, further comprising:
the intelligent control unit generates a random number k a 、k b 、r a 、r b And transmitting to the first server and the second server; wherein k is a +k b ＝r a *r b ；
Then, the acquiring, by the first server, a first spatial distance and a first weight coefficient according to the first data and transmitting the first spatial distance to the intelligent control unit, and the acquiring, by the second server, a second spatial distance and a second weight coefficient according to the second data and transmitting the second spatial distance to the intelligent control unit specifically include:
the first server is according to l (i，η) ＝cos(x i )*cos(x η ) Calculating l (i，η) According to b (i，η) ＝sin(x i )*sin(x η ) Calculation of b (i，η) Said second server is according to p (i，η) ＝cos(y i -y η ) Calculating p (i，η) (ii) a Wherein x is i Is the abscissa, x, of the midpoint of the ith path of movement η Is the abscissa, y, of the midpoint of the η -th path of travel i Is the ordinate, y, of the midpoint of the i-th path of travel η Is the ordinate of the middle point of the eta movement path, eta belongs to [1, n ∈]；
The first server is based on
Computing
The second server is according to
Computing
Wherein f is equal to {9, 4, 5, 3},
the positions of f and rho selected each time are in one-to-one correspondence, and g belongs to [1, f ∈]；
The first server and the second server are to be connected
Exchanging the numerical values of (1);
the second server generates a random number d b(f，g) According to
Calculate t1 according to
Calculating d a(f,g) D is mixing a(f,g) Transmitting to the first server;
the first server is according to d' a1 ＝∑d a(f,g) Calculating d' a1 The second server is according to d' b1 ＝R*d b(f,g) Calculating d' b1 (ii) a Wherein R is the radius of the site where the AGV is located;
the first server is according to d' (i,η) ＝R*d′ a1 +b (i，η) Calculating a first spatial distance d 'of the ith movement path and the η th movement path' (i,η) The second server is according to d ″) (i,η) ＝R*d′ b1 Calculating a second spatial distance d' between the ith movement path and the eta movement path (i,η) ；
The first server is used for determining a first spatial distance d' (i,η) Transmitting the second spatial distance d' to the intelligent control unit by the second server (i,η) Transmitting the data to the intelligent control unit;
the first server divides the n moving paths into two parts, the first part has h moving paths, the second part has n-h moving paths, historical average speed of each moving path of the first part is calculated, and a historical average speed set V1 of each moving path of the first part is obtained, wherein { vc | c ∈ [1, h ] }, h > 0;
the second server divides the n moving paths into two parts, the first part has h moving paths, the second part has n-h moving paths, historical average speed of each moving path of the second part is calculated, and a historical average speed set V2 of each moving path of the second part is obtained, wherein { vd | d ∈ [ h +1, n ] }, h > 0;
the first server computing E (V1), E (V1) 2 )、E 2 (V1), the second server computing E (V2), E (V2) 2 )、E 2 (V2); wherein E represents a mathematical expectation;
the first server is according to (V1)' (V1 + r) a Calculating (V1) ', the second server according to (V2)' -V2 + r b Calculating (V2)';
the second server generates a random number V bb1 And transmitting to the first server;
the first server is based on t2 ═ V1 ═ V2+ k b -V bb1 Calculate t2 from V aa1 ＝t2+k a -r a (V2)' calculating V aa1 ；
The first server computing E (V) aa1 ) Said second server computing E (V) bb1 )；
The first server is based on (E (V) aa1 ))′＝E(V aa1 )+r a Calculation (E (V) aa1 ) According to (E (V)) to the second server bb1 ))′＝E(V bb1 )+r b Calculation (E (V) bb1 ))′；
The first server and the second server are (E (V) aa1 ))′、(E(V bb1 ) ' are exchanged;
the second server generates a random number V' bb1 And according to t3 ═ E (V) aa1 ))′*E(V bb1 )+k b -V′ bb1 Calculating t3, according to V' aa1 ＝t3+k a -r a *(E(V bb1 ) 'calculate V' aa1 V is' aa1 Transmitting to the first server;
the first server is according to V a2 ＝V aa1 -V′ aa1 Calculating V a2 Said second server is according to V b2 ＝V bb1 -V′ bb1 Calculating V b2 ；
The first server is according to (V) a2 )′＝V a2 +r a Calculation of (V) a2 ) ', the second server is according to (V) b2 )′＝V b2 +r b Calculation of (V) b2 )′；
The first server, the second server will (V) a2 )′、(V b2 ) ' the values are exchanged;
the second server generates a random number theta 'and transmits the random number theta' to the first server; wherein Θ "is a second weight coefficient of the c-th moving path and the d-th moving path, and Θ" { ω ″ ", where Θ" is a second weight coefficient of the c-th moving path and the d-th moving path (c,d) }，c∈[1,h]，d∈[h+1,n]；
The first server is according to t4 ═ V a2 )′*V b2 +k b - Θ "calculating t4, according to Θ' ═ t4+ k a -r a *(V b2 ) 'calculate Θ'; wherein Θ ' is a first weight coefficient of the c-th moving path and the d-th moving path, and Θ ' ═ ω ' (c,d) }，c∈[1,h]，d∈[h+1,n]。
4. The AGV travel path monitoring method according to claim 3, wherein said intelligent control unit obtains a distance correlation matrix according to said first spatial distance and said second spatial distance, divides said distance correlation matrix into a first matrix and a second matrix, transmits said first matrix to said first server, and transmits said second matrix to said second server, specifically comprising:
the intelligent control unit is used for controlling the distance d 'according to the first space distance' (i,η) And the second spatial distance d ″) (i,η) Obtaining the space distance d of any two moving paths (i,η) (ii) a Wherein d is (i,η) Is the spatial distance between the ith and the eta paths of movement, d (i,η) ＝d′ (i,η) +d″ (i,η) ；
The intelligent control unit is used for controlling the space distance d according to any two moving paths (i,η) Obtaining the distance correlation matrix omega; wherein the content of the first and second substances,
the intelligent control unit randomly divides the distance correlation matrix omega into a first matrix omega 'and a second matrix omega'; wherein Ω' + Ω ";
the intelligent control unit transmits the first matrix omega' to the first server;
the intelligent control unit transmits the second matrix Ω ″ to the second server.
5. The AGV path monitoring method of claim 4, wherein said first server obtains a first predicted speed according to said first matrix and said first weighting factor and transmits the first predicted speed to said intelligent control unit, and said second server obtains a second predicted speed according to said second matrix and said second weighting factor and transmits the second predicted speed to said intelligent control unit, further comprising:
the first server is according to (ω' (c,d) )′＝ω′ (c,d) +r a Calculating (ω' (c,d) ) ', according to (d' (c,d) )′＝d′ (c,d) +r b Calculating (d' (c,d) ) 'and will be (ω' (c,d) )′、(d′ (c,d) ) ' the values are exchanged;
the first server generates a random number y (1,c,d) From t5 ═ ω' (c,d) )′*d′ (c,d) +k b -y (1,c,d) Calculate t5 from x (1,c,d) ＝t5+k a -r a *(d′ (c,d) ) ' calculate x (1,c,d) According to x' (1,c,d) ＝ω′ (c,d) *d′ (c,d) Calculate x' (1,c,d) ；
The second server is based on (omega ″) (c,d) )′＝ω″ (c,d) +r a Calculate (ω ″) (c,d) ) ', according to (d ″) (c,d) )′＝d″ (c,d) +r b Calculating (d ″) (c,d) ) ', will (ω ″) (c,d) )′、(d″ (c,d) ) ' the values are exchanged;
the second server generates a random number y (2,c,d) According to t6 ═ (ω ″) (c,d) )′*d″ (c,d) +k b -y (2,c,d) Calculate t6 from x (2,c,d) ＝t6+k a -r a *(d″ (c,d) ) ' calculate x (2,c,d) According to y' (1,c,d) ＝ω″ (c,d) *d″ (c,d) Calculate y' (1,c,d) ；
The first server is x according to v (x, c, d) (1,c,d) +x′ (1,c,d) +x (2,c,d) Calculating v (x, c, d), the second server being based on v (y, c, d) being y (1,c,d) +y′ (1,c,d) +y (2,c,d) Calculating v (y, c, d);
the first server is based on (v (x, c, d))' -v (x, c, d) + r a Calculating (v (x, c, d)) ', the second server based on (v (y, c, d))' -v (y, c, d) + r b (v (y, c, d))';
the first server and the second server exchange values of (v (x, c, d)) ', (v (y, c, d))';
the second server generates a random number gamma (1,c,d) According to t7 ═ v (x, c, d))' v (y, c, d) + k b -γ (1,c,d) Calculating t7 from (1,c,d) ＝t7+k a -r a (v (y, c, d))' calculating beta (1,c,d) Will beta (1,c,d) Transmitting to the first server;
the first server is based on
Calculation of J a The second server is according to
Calculation of J b ；
The first server is according to (J) a )′＝J a +r a Calculation (J) a ) ', the second server is according to (J) b )′＝J b +r b Calculation (J) b )′；
The first server, the second server will (J) a )′、(J b ) ' the values are exchanged;
the second server generates a random number V ″ τ And transmitting the data to the first server and the intelligent control unit; wherein, V ″) τ The second predicted speed;
the first server according to t8 ═ J a )′*J b +k b -V″ τ Calculating t8, according to V' τ ＝t8+k a -r a *(J b ) 'calculate V' τ And is prepared from V' τ Transmitting the data to the intelligent control unit; wherein, V' τ Is the first predicted speed.
6. The AGV moving path monitoring method according to claim 5, wherein the monitoring of the AGV path by the intelligent control unit according to the received first predicted speed and the second predicted speed specifically comprises:
the intelligent control unit acquires a predicted speed according to the first predicted speed and the second predicted speed; wherein the predicted speed is represented as: v ═ V' τ +V″ τ And V is the predicted speed;
and the intelligent control unit monitors the path of the AGV according to the predicted speed.
7. The system for monitoring the moving path of the AGV is characterized by comprising the AGV, a first server and a second server, wherein the AGV comprises an intelligent control unit; the system monitors the moving path of an AGV using the AGV moving path monitoring method according to any one of claims 1 to 6.
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