CN113079517B - Mobile command console and control method thereof - Google Patents
Mobile command console and control method thereof Download PDFInfo
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- CN113079517B CN113079517B CN202110308005.0A CN202110308005A CN113079517B CN 113079517 B CN113079517 B CN 113079517B CN 202110308005 A CN202110308005 A CN 202110308005A CN 113079517 B CN113079517 B CN 113079517B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W16/00—Network planning, e.g. coverage or traffic planning tools; Network deployment, e.g. resource partitioning or cells structures
- H04W16/18—Network planning tools
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention relates to the technical field of industrial control, and discloses a control method of a mobile command console, which comprises the following steps: segmenting a control area of the mobile command console by using a self-adaptive segmentation algorithm to obtain a plurality of sub-areas; optimizing the specific address of the communication base station in each sub-area by utilizing a communication base station coverage optimization algorithm based on a genetic algorithm, and establishing the communication base station at the determined address; the mobile command console determines a task scheduling control instruction by using a task scheduling strategy; the mobile command console antenna issues the task scheduling control command to the communication base station of the corresponding sub-area through the wireless network; the mobile command console utilizes a dynamic collision avoidance algorithm to move in real time, and moving targets are a communication base station for receiving task scheduling control instructions and an area with poor network coverage rate. The invention also provides a mobile command console. The invention realizes the command control of the mobile command console.
Description
Technical Field
The invention relates to the technical field of industrial control, in particular to a mobile command console and a control method thereof.
Background
In recent years, sudden industrial affairs have the characteristics of contingency of occurrence time, uncertainty of occurrence places, unpredictable destructiveness and the like, and bring potential serious harm to industrial sites. In view of the fact that the emergency industrial affairs usually occur under extreme conditions, the situation of the site is difficult to master in the first time in many cases, and the real-time situation of the site is difficult to accurately obtain by a remote command center, so that control and processing decisions cannot be timely transmitted according to the actual situation.
The existing wireless communication coverage method for the industrial site mainly generates the address establishing position of the communication base station of the industrial site by using a numerical model method, but the efficiency of the method depends on the number of the communication base stations and the area of the industrial site, meanwhile, the method ignores the relevance between the adjacent communication base stations, and cannot provide a closed solution of a communication coverage area.
In view of this, how to improve the communication efficiency of the industrial site and improve the command console so that the command console can transmit command control decisions in real time becomes a problem to be solved by those skilled in the art.
Disclosure of Invention
The invention provides a control method of a mobile command console, which comprises the steps of segmenting a console control area by using a self-adaptive segmentation algorithm to obtain a plurality of sub-areas, optimizing the specific address of a base station in each sub-area by using a base station coverage optimization algorithm based on a genetic algorithm, determining a task scheduling control command by using a task scheduling strategy by using a console, simultaneously transmitting the task scheduling control command to the corresponding sub-area by using a console antenna through a wireless network, executing an industrial control task by the sub-area according to the received task scheduling control command, and moving the mobile command console in real time by using a dynamic collision avoidance algorithm, wherein moving targets are the issuing area of the task scheduling control command and the area with poor network coverage rate.
In order to achieve the above object, the present invention provides a mobile command console control method, comprising:
s1, segmenting the control area of the mobile command console by using a self-adaptive segmentation algorithm to obtain a plurality of sub-areas;
s2, optimizing the concrete address of the communication base station in each sub-area by utilizing a communication base station coverage optimization algorithm based on a genetic algorithm, and establishing the communication base station at the determined address;
s3, the mobile command console determines a task scheduling control instruction by using a task scheduling strategy;
s4, the mobile command console antenna issues the task scheduling control instruction to the communication base station of the corresponding sub-area through the wireless network, the communication base station sends the task scheduling control instruction to the target equipment, and the target equipment executes the industrial control task according to the received task scheduling control instruction;
and S5, the mobile command console utilizes a dynamic collision avoidance algorithm to move in real time, and the moving target is a communication base station for receiving the task scheduling control instruction and an area with poor network coverage rate.
Optionally, the segmenting the mobile command console control area by using the adaptive segmentation algorithm includes:
the command control area of the mobile command console is the whole industrial field, and the mobile command console controls all industrial equipment in the industrial field by sending command control instructions;
the region segmentation process of the self-adaptive segmentation algorithm comprises the following steps:
c1, expanding the command control area of the mobile command console by taking the existing communication base station as the center of a circle until the command control area is covered by the expanded circle;
c2, taking the intersection line of the expansion circles as a side line to obtain a plurality of polygons, and taking the obtained polygon area as a command control sub-area;
c3, connecting the vertexes of the polygon and the communication base station inside the polygon, thereby dividing the polygon into a plurality of triangles; dividing all polygons in the command control area, thereby dividing the command control area into a plurality of sub-triangular areas:
wherein:
r represents a command control area;
n represents the number of divided triangular regions.
Optionally, the optimizing the specific address of the communication base station in each sub-area by using the communication base station coverage optimization algorithm based on the genetic algorithm includes:
a1 initialization Gene set
Wherein n is the number of candidate communication base stations, and the position of the gene is the specific address of the communication base station; randomly distributing genes in a command control area; forming a triangular region
The inner set of genes as triangular regions
Chromosome(s) of
；
A2 dividing the sub-region
All chromosome sets in (A) as individual sub-regions
Then, then
Representing sub-regions
Will cover an area of
Representing triangular regions
The coverage area of (a);
a3 calculating the subregions separately
And a triangular region
Fitness function of (2):
wherein:
a4 random generation of a number for each individual sub-region
Wherein
If, if
If so, executing mutation operation, otherwise, performing the operation on the next sub-region individual until all the sub-region individuals are traversed, wherein T represents the mutation probability and is set to be 0.2;
a5, selecting m subarea chromosomes with the lowest fitness function, randomly selecting a gene with the value of 1 for each selected subarea chromosome, and reassigning the gene with the value of 0; simultaneously randomly selecting a gene with the value of 0, and reassigning the gene with the value of 1; wherein, if the numerical value of the gene is 1, the gene is a candidate communication base station, otherwise, the gene is a non-candidate communication base station;
a6, repeating the steps A4-A5 until a preset mutation number N is reached, and setting the mutation number N as 50; and calculating the fitness of each sub-region in the variation times, and establishing a communication base station for the gene with the gene value of 1 according to the optimal fitness of each sub-region and the gene value in the sub-region.
Optionally, the task scheduling policy is:
the mobile command console acquires task scheduling information initiated by a communication base station; the task scheduling information comprises operation, termination operation and the like of the industrial equipment;
creating a task scheduling strategy, wherein the task scheduling strategy is in the form of
Where T represents a task scheduling objective, H represents a job set of task objectives, I represents a task scheduling control instruction set, and D represents a dependency relationship between jobs, in one embodiment of the invention, if
Then, it means a is the upstream job of b, IF is the map: h
I, indicating the task scheduling control instruction content corresponding to the job;
storing the task scheduling strategy into a background log of the mobile command console, and sending a task scheduling instruction to a sub-area corresponding to the task; in an embodiment of the present invention, an administrator of the mobile command console checks the background log within a predetermined time period, and if an error task scheduling policy is found, error tracing is performed, where the predetermined time period is 1 day, that is, the administrator of the mobile command console checks the background log after each day.
Optionally, the mobile command console antenna issues the task scheduling control command to the communication base station of the corresponding sub-area through the wireless network, including:
the instruction transmission algorithm based on the wireless network adopts a communication security management algorithm based on user authentication, and the flow of the communication security management algorithm based on the user authentication is as follows:
1) generating system authentication parameters in a system registration stage, wherein the system authentication parameters comprise an elliptic curve encryption parameter, a system master key a and a system public key s, the system parameters are transmitted to each communication base station, and the system master key a is stored by a mobile command console;
2) the user registration algorithm is used for generating a private key for each console user, each console user obtains a serial number ID as identity information in advance, the mobile command console takes the master key a and the serial number ID of the console user as input, the private key of each communication base station is obtained by performing multiple calculations on a selected elliptic curve, and the private key is sent to the corresponding communication base station;
3) the mobile command console initiating the instruction transmission and the communication base station obtain the same session key through key negotiation, and the session key is used for encrypting the communication instruction, so that the confidentiality of data is protected; meanwhile, the mobile command console generates a message digest by using a session key and the instruction to be transmitted by adopting a hash message authentication code, the communication base station authenticates the validity of the sender through the message digest and checks whether the transmission instruction is tampered or not, so that the integrity of the transmission instruction is guaranteed;
4) before sending a transmission instruction containing a secret key, the mobile command console encrypts the command by using a private key of a target communication base station and signs the command by using a self master secret key a; after receiving the transmission instruction, the communication base station adopts a system public key s to authenticate the signature, if the signature passes the authentication, the communication base station uses a self private key to decrypt the transmission instruction, and if the signature does not pass the authentication, the communication base station refuses to receive the transmission instruction.
Optionally, the moving command console utilizes a dynamic collision avoidance algorithm to move in real time, and the method includes:
b1, setting the target point of the mobile command console, wherein in one embodiment of the invention, the target point is a communication base station receiving the task scheduling control instruction and an area with poor network coverage;
b2 setting the gravitational field function of the mobile command console:
wherein:
x represents the current position of the mobile command console;
k is the gravitational constant, which is set to 4;
d is 1/2 for the distance between the starting position and the target point of the mobile command console;
then the gravity of the target point on the mobile command console is:
b3 setting the repulsive force field function of the mobile command console:
wherein:
the repulsion force of the obstacles on the mobile command console is as follows:
and B4, the mobile command console modifies the path in real time according to the attracted force of the target point and the repulsive force of the obstacle, so that the dynamic collision avoidance of the mobile command console is realized.
In addition, to achieve the above object, the present invention further provides a mobile command console, comprising:
the base station distribution setting device is used for segmenting the control area of the mobile command console by using a self-adaptive segmentation algorithm to obtain a plurality of sub-areas, optimizing the specific address of the communication base station in each sub-area by using a communication base station coverage optimization algorithm based on a genetic algorithm, and establishing the communication base station at the determined address;
the communication processor is used for determining a task scheduling control instruction by the mobile command console by using a task scheduling strategy;
the control device of the control console is used for the mobile command control console antenna to issue a task scheduling control command to the communication base station of the corresponding subregion through a wireless network, the communication base station sends the task scheduling control command to the target equipment, the target equipment executes an industrial control task according to the received task scheduling control command, the mobile command control console utilizes a dynamic collision avoidance algorithm to carry out real-time movement, and the moving target is the communication base station receiving the task scheduling control command and the area with poor network coverage rate.
In addition, to achieve the above object, the present invention further provides a computer readable storage medium, which stores mobile command console control program instructions, where the mobile command console control program instructions can be executed by one or more processors to implement the steps of the implementation method of mobile command console control as described above.
Compared with the prior art, the invention provides a control method of a mobile command console, which has the following advantages:
firstly, the invention adopts a self-adaptive segmentation algorithm to segment a control area of a mobile command console to obtain sub-areas and triangular areas of the control area, and optimizes the specific address of a communication base station in each sub-area by utilizing a communication base station coverage optimization algorithm based on a genetic algorithm according to the segmented areas, wherein in the communication base station coverage optimization algorithm, a gene set is initialized firstly
Wherein n is the number of candidate communication base stations, and the position of the gene is the specific address of the communication base station; genes are randomly distributed in a command control area; dividing the triangle into regions
The inner set of genes as triangular regions
Chromosome of (2)
(ii) a Dividing the sub-region
All chromosome sets in (A) as individual sub-regions
Then, then
Representing sub-regions
Will cover an area of
Representing triangular regions
The coverage area of (a); calculating sub-regions separately
And a triangular region
Fitness function of (2):
wherein:
is a sub-region
A fitness function of;
is a triangular region
A fitness function of; randomly generating a number for each sub-region individual
Wherein
If, if
If so, executing mutation operation, otherwise, performing the operation on the next sub-region individual until all the sub-region individuals are traversed, wherein T represents the mutation probability and is set to be 0.2; selecting m subarea chromosomes with the lowest fitness function, randomly selecting a gene with the value of 1 for each selected subarea chromosome, and reassigning the gene with the value of 0; at the same time, randomly selecting a gene with a value of 0, and reassigning the gene with a value of 1; wherein, if the numerical value of the gene is 1, the gene is a candidate communication base station, otherwise, the gene is a non-candidate communication base station; and calculating the fitness of each subregion after mutation, and establishing a communication base station for the gene with the gene value of 1 according to the optimal fitness of each subregion and the gene value in the subregion. Compared with the traditional algorithm, the algorithm of the invention has the advantages that the sub-region chromosomes with poor performance tend to be optimized by mutation operation according to the guidance of the sub-region chromosome fitness function, so that the established communication base station can cover more control regions, and the communication of the control instructions of the command console is facilitated.
Meanwhile, the invention provides a dynamic collision avoidance algorithm aiming at a mobile command console, and in the moving process of the mobile command console, a target point of the mobile command console is firstly set, wherein the set target point is a communication base station for receiving a task scheduling control instruction and an area with poor network coverage rate; setting a gravitational field function of the mobile command console:
wherein: x represents the current position of the mobile command console;
representing a target point of the mobile command console; k is the gravitational constant, which is set to 4; d is 1/2 for the distance between the starting position and the target point of the mobile command console; then the gravity of the target point on the mobile command console is:
and setting a repulsion field function of the mobile command console:
wherein:
set it to 0.4 for repulsive field gain factor;
is the position of the obstacle;
the maximum influence distance of a single obstacle on the mobile command console;
in order to adjust the factors, the method comprises the following steps,
(ii) a The repulsion force of the obstacles on the mobile command console is as follows:
compared with the traditional algorithm, the distance between the target point and the obstacle of the mobile command console influences the new repulsion force to a great extent, so that the mobile command console modifies the path in real time according to the gravity of the target point and the repulsion force of the obstacle, and dynamic collision avoidance of the mobile command console is realized.
Drawings
Fig. 1 is a schematic flowchart of a mobile command console control method according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a mobile command console according to an embodiment of the present invention;
the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The control area of the control console is segmented by using a self-adaptive segmentation algorithm to obtain a plurality of sub-areas, a base station coverage optimization algorithm based on a genetic algorithm is used for optimizing the specific address of a base station in each sub-area, the control console determines a task scheduling control command by using a task scheduling strategy, meanwhile, a control console antenna transmits the task scheduling control command to the corresponding sub-area through a wireless network, the sub-areas execute an industrial control task according to the received task scheduling control command, the mobile command console uses a dynamic collision avoidance algorithm to move in real time, and the moving target is the issuing area of the task scheduling control command and the area with poor network coverage. Fig. 1 is a schematic diagram illustrating a control method of a mobile command console according to an embodiment of the present invention.
In this embodiment, the mobile command console control method includes:
and S1, segmenting the control area of the mobile command console by using a self-adaptive segmentation algorithm to obtain a plurality of sub-areas.
Firstly, for a command control area of a mobile command console, carrying out area segmentation by using a self-adaptive segmentation algorithm to obtain a plurality of sub-areas, wherein in one embodiment of the invention, the command control area of the mobile command console is the whole industrial field, and the mobile command console controls all industrial equipment in the industrial field by sending command control instructions;
the region segmentation process of the self-adaptive segmentation algorithm comprises the following steps:
c1, expanding the command control area of the mobile command console by taking the existing communication base station as the center of a circle until the command control area is covered by the expanded circle;
c2, taking the intersection line of the expansion circles as a side line to obtain a plurality of polygons, and taking the obtained polygon area as a command control sub-area;
c3, connecting the vertexes of the polygon and the communication base stations in the polygon, thereby dividing the polygon into a plurality of triangles; dividing all polygons in the command control area, thereby dividing the command control area into a plurality of sub-triangular areas:
wherein:
r represents a command control area;
n represents the number of divided triangular regions.
S2, optimizing the specific address of the communication base station in each sub-area by using a communication base station coverage optimization algorithm based on a genetic algorithm, and establishing the communication base station at the determined address.
Further, the invention optimizes the specific address of the communication base station in each sub-area by utilizing a communication base station coverage optimization algorithm based on a genetic algorithm, wherein the communication base station coverage optimization algorithm based on the genetic algorithm comprises the following steps:
a1 initialization Gene set
Wherein n is the number of candidate communication base stations, and the position of the gene is the specific address of the communication base station; genes are randomly distributed in a command control area; forming a triangular region
The inner set of genes as triangular regions
Chromosome of (2)
；
A2 dividing the sub-region
All chromosome sets in (A) as individual sub-regions
Then, then
Representing sub-regions
Will cover an area of
Representing triangular regions
The coverage area of (a);
a3, respectivelyCalculating sub-regions
And a triangular region
Fitness function of (2):
wherein:
a4 random generation of a number for each individual sub-region
Wherein
If, if
Executing mutation operation, otherwise, executing the operation on the next sub-region individual until the traversal is completed for all the sub-region individuals, wherein T represents the mutationProbability, set it to 0.2;
a5, selecting m subarea chromosomes with the lowest fitness function, randomly selecting a gene with the value of 1 for each selected subarea chromosome, and reassigning the gene with the value of 0; simultaneously randomly selecting a gene with the value of 0, and reassigning the gene with the value of 1; wherein, if the numerical value of the gene is 1, the gene is a candidate communication base station, otherwise, the gene is a non-candidate communication base station;
a6, repeating the steps A4-A5 until a preset mutation number N is reached, and setting the mutation number N as 50; and calculating the fitness of each sub-region in the variation times, and establishing a communication base station for the gene with the gene value of 1 according to the optimal fitness of each sub-region and the gene value in the sub-region.
And S3, the mobile command console determines a task scheduling control instruction by using the task scheduling strategy.
Further, the mobile command console determines a task scheduling control instruction by using a task scheduling policy, wherein the task scheduling policy is as follows:
the mobile command console acquires task scheduling information initiated by a communication base station; the task scheduling information comprises operation, termination operation and the like of the industrial equipment;
creating a task scheduling strategy, wherein the task scheduling strategy is in the form of
Where T represents a task scheduling objective, H represents a job set of task objectives, I represents a task scheduling control instruction set, and D represents a dependency relationship between jobs, in one embodiment of the invention, if
Then, it means a is the upstream job of b, IF is the map: h
I, indicating the task scheduling control instruction content corresponding to the job;
storing the task scheduling strategy into a background log of the mobile command console, and sending a task scheduling instruction to a sub-area corresponding to the task; in an embodiment of the present invention, an administrator of the mobile command console checks the background log within a predetermined time period, and if an error task scheduling policy is found, error tracing is performed, where the predetermined time period is 1 day, that is, the administrator of the mobile command console checks the background log after each day.
S4, the mobile command console antenna issues the task scheduling control instruction to the communication base station of the corresponding sub-area through the wireless network, the communication base station sends the task scheduling control instruction to the target equipment, and the target equipment executes the industrial control task according to the received task scheduling control instruction.
Furthermore, the mobile command console antenna issues the task scheduling control command to the communication base station of the corresponding sub-area through the wireless network, the command transmission algorithm based on the wireless network adopts a communication security management algorithm based on user authentication, and the communication security management algorithm based on the user authentication has the following flow:
1) generating system authentication parameters in a system registration stage, wherein the system authentication parameters comprise an elliptic curve encryption parameter, a system master key a and a system public key s, the system parameters are transmitted to each communication base station, and the system master key a is stored by a mobile command console;
2) the user registration algorithm is used for generating a private key for each control console user, each control console user obtains a serial number ID as identity information in advance, the mobile command control console takes the master key a and the serial number ID of the control console user as input, the private key of each communication base station is obtained by performing multiple calculations on a selected elliptic curve, and the private key is sent to the corresponding communication base station;
3) the mobile command console initiating the instruction transmission and the communication base station obtain the same session key through key negotiation, and the session key is used for encrypting the communication instruction, so that the confidentiality of data is protected; meanwhile, the mobile command console generates a message digest by using a session key and the instruction to be transmitted by adopting a hash message authentication code, the communication base station authenticates the validity of the sender through the message digest and checks whether the transmission instruction is tampered or not, so that the integrity of the transmission instruction is guaranteed;
4) before sending a transmission instruction containing a secret key, the mobile command console encrypts the command by using a private key of a target communication base station and signs the command by using a self master secret key a; after receiving the transmission instruction, the communication base station adopts a system public key s to authenticate the signature, if the signature passes the authentication, the communication base station uses a self private key to decrypt the transmission instruction, and if the signature does not pass the authentication, the communication base station refuses to receive the transmission instruction.
Further, when the communication base station receives the task scheduling control instruction, the task scheduling control instruction is sent to the target device, and the target device executes the industrial control task according to the received task scheduling control instruction.
And S5, the mobile command console utilizes a dynamic collision avoidance algorithm to move in real time, and the moving target is a communication base station for receiving the task scheduling control instruction and an area with poor network coverage rate.
Further, during the operation of the industrial equipment, the mobile command console utilizes a dynamic collision avoidance algorithm to move in real time, a moving target is a task scheduling control instruction and an area with poor network coverage, and the flow of the dynamic collision avoidance algorithm is as follows:
b1, setting the target point of the mobile command console, wherein in one embodiment of the invention, the target point is a communication base station receiving the task scheduling control instruction and an area with poor network coverage;
b2 setting the gravitational field function of the mobile command console:
wherein:
x represents the current position of the mobile command console;
k is the gravitational constant, which is set to 4;
d is 1/2 for the distance between the starting position and the target point of the mobile command console;
then the gravity of the target point on the mobile command console is:
b3 setting the repulsive force field function of the mobile command console:
wherein:
the repulsion force of the obstacles on the mobile command console is as follows:
and B4, the mobile command console modifies the path in real time according to the attracted force of the target point and the repulsive force of the obstacle, so that the dynamic collision avoidance of the mobile command console is realized.
The following describes embodiments of the present invention through an algorithmic experiment and tests of the inventive treatment method. The hardware test environment of the algorithm of the invention is as follows: inter (R) core (TM) i7-6700K CPU, wherein the software is Matlab2018 a; the comparison method is a command console control method based on PSO and a command console control method based on a neural network.
In the algorithm experiment, the data set is a command console control instruction of 10G. In the experiment, the control instruction is input into the control method of the command console, and the control accuracy of the acquisition command console is used as an evaluation index of algorithm feasibility.
According to the experimental result, the control accuracy of the PSO-based command console control method is 85.52%, the control accuracy of the neural network-based command console control method is 86.32%, and the control accuracy of the method is 88.79%.
The invention also provides a mobile command console. Fig. 2 is a schematic diagram illustrating an internal structure of a mobile command console according to an embodiment of the present invention.
In this embodiment, the mobile command console 1 includes at least a base station distribution setting device 11, a communication processor 12, a console control device 13, a communication bus 14, and a network interface 15.
The base station distribution setting device 11 may be a PC (Personal Computer), a terminal device such as a smart phone, a tablet Computer, or a mobile Computer, or may be a server.
The communication processor 12 includes at least one type of readable storage medium including flash memory, hard disks, multi-media cards, card type memory (e.g., SD or DX memory, etc.), magnetic memory, magnetic disks, optical disks, and the like. The communication processor 12 may in some embodiments be an internal storage unit of the mobile command console 1, for example a hard disk of the mobile command console 1. The communication processor 12 may also be an external storage device of the mobile command console 1 in other embodiments, such as a plug-in hard disk provided on the mobile command console 1, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. Further, the communication processor 12 may also include both an internal storage unit and an external storage device of the mobile command console 1. The communication processor 12 can be used not only to store application software and various types of data installed in the mobile command console 1, but also to temporarily store data that has been output or is to be output.
The console control device 13 may be, in some embodiments, a Central Processing Unit (CPU), controller, microcontroller, microprocessor or other data Processing chip for running program codes stored in the communication processor 12 or Processing data, such as mobile command console control program instructions.
The communication bus 14 is used to enable connection communication between these components.
The network interface 15 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface), and is typically used to establish a communication link between the mobile command console 1 and other electronic devices.
Optionally, the mobile command console 1 may further comprise a user interface, which may comprise a Display (Display), an input unit such as a Keyboard (Keyboard), and an optional user interface which may also comprise a standard wired interface, a wireless interface. Alternatively, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, or the like. The display, which may also be referred to as a display screen or display unit, is used, among other things, for displaying information processed in the mobile command console 1 and for displaying a visual user interface.
Fig. 2 only shows the mobile command console 1 with the components 11-15, and it will be understood by those skilled in the art that the structure shown in fig. 1 does not constitute a limitation of the mobile command console 1, and may include fewer or more components than shown, or some components in combination, or a different arrangement of components.
In the embodiment of the mobile command console 1 shown in fig. 2, the communication processor 12 stores therein mobile command console control program instructions; the steps of the console control device 13 executing the mobile command console control program instructions stored in the communication processor 12 are the same as the implementation method of the mobile command console control method, and are not described here.
In addition, an embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium stores mobile command console control program instructions, where the mobile command console control program instructions are executable by one or more processors to implement the following operations:
segmenting a control area of the mobile command console by using a self-adaptive segmentation algorithm to obtain a plurality of sub-areas;
optimizing the specific address of the communication base station in each sub-area by utilizing a communication base station coverage optimization algorithm based on a genetic algorithm, and establishing the communication base station at the determined address;
the mobile command console determines a task scheduling control instruction by using a task scheduling strategy;
the mobile command console antenna issues the task scheduling control instruction to the communication base station of the corresponding sub-area through the wireless network, the communication base station sends the task scheduling control instruction to the target equipment, and the target equipment executes the industrial control task according to the received task scheduling control instruction;
the mobile command console utilizes a dynamic collision avoidance algorithm to move in real time, and moving targets are a communication base station for receiving task scheduling control instructions and an area with poor network coverage rate.
It should be noted that the above-mentioned numbers of the embodiments of the present invention are merely for description, and do not represent the merits of the embodiments. And the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, apparatus, article, or method. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, apparatus, article, or method that includes the element.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (5)
1. A method for controlling a mobile command console, the method comprising:
s1, segmenting the control area of the mobile command console by using a self-adaptive segmentation algorithm to obtain a plurality of sub-areas;
s2, optimizing the specific address of the communication base station in each sub-area by using a communication base station coverage optimization algorithm based on a genetic algorithm, and establishing the communication base station at the determined address, wherein the optimizing the specific address of the communication base station in each sub-area by using the communication base station coverage optimization algorithm based on the genetic algorithm comprises the following steps:
a1 initialization Gene set
Wherein n is the number of candidate communication base stations, and the position of the gene is the specific address of the communication base station; randomly distributing genes in a command control area; forming a triangular region
The inner set of genes as triangular regions
Chromosome(s) of
；
A2 dividing the sub-region
All chromosome sets in (A) as individual sub-regions
Then, then
Representing sub-regions
Will cover an area of
Representing triangular regions
The coverage area of (a);
a3 calculating sub-regions separately
And a triangular region
Fitness function of (2):
wherein:
a4 random generation of a number for each individual sub-region
Wherein
If, if
If so, executing mutation operation, otherwise, performing the operation on the next sub-region individual until all the sub-region individuals are traversed, wherein T represents the mutation probability and is set to be 0.2;
a5, selecting m subarea chromosomes with the lowest fitness function, randomly selecting a gene with the value of 1 for each selected subarea chromosome, and reassigning the gene with the value of 0; simultaneously randomly selecting a gene with the value of 0, and reassigning the gene with the value of 1; wherein, if the numerical value of the gene is 1, the gene is a candidate communication base station, otherwise, the gene is a non-candidate communication base station;
a6: repeating the steps A4-A5 until a preset mutation number N is reached, and setting the mutation number N as 50; calculating the fitness of each subregion in the variation times, and establishing a communication base station for the gene with the gene value of 1 according to the optimal fitness of each subregion and the gene value in the subregion;
s3, the mobile command console determines a task scheduling control instruction by using a task scheduling strategy;
s4, the mobile command console antenna issues the task scheduling control instruction to the communication base station of the corresponding sub-area through the wireless network, the communication base station sends the task scheduling control instruction to the target device, and the target device executes the industrial control task according to the received task scheduling control instruction;
s5, the mobile command console utilizes the dynamic collision avoidance algorithm to move in real time, the moving target is a communication base station receiving the task scheduling control instruction and an area with poor network coverage, the mobile command console utilizes the dynamic collision avoidance algorithm to move in real time, and the method comprises the following steps:
b1, setting the target point of the mobile command console;
b2 setting the gravitational field function of the mobile command console:
wherein:
x represents the current position of the mobile command console;
k is the gravitational constant, which is set to 4;
d is 1/2 for the distance between the starting position and the target point of the mobile command console;
then the gravity of the target point on the mobile command console is:
b3 setting the repulsive force field function of the mobile command console:
wherein:
the repulsive force of the obstacle on the mobile command console is as follows:
and B4, the mobile command console modifies the path in real time according to the attracted force of the target point and the repulsive force of the obstacle.
2. The mobile command console control method of claim 1 wherein the segmenting the mobile command console control area using an adaptive segmentation algorithm comprises:
c1, expanding the command control area of the mobile command console by taking the existing communication base station as the center of a circle until the command control area is covered by the expanded circle;
c2, taking the intersection line of the expansion circles as a side line to obtain a plurality of polygons, and taking the obtained polygon area as a command control sub-area;
c3, connecting the vertexes of the polygon and the communication base stations in the polygon, thereby dividing the polygon into a plurality of triangles; dividing all polygons in the command control area, thereby dividing the command control area into a plurality of sub-triangular areas:
wherein:
r represents a command control area;
n represents the number of divided triangular regions.
3. The mobile command console control method of claim 1 wherein the task scheduling policy is:
the mobile command console acquires task scheduling information initiated by a communication base station;
creating a task scheduling strategy, wherein the task scheduling strategy is in the form of
Wherein T represents a task scheduling target, H represents a job set of the task target, I represents a task scheduling control instruction set, D represents a dependency relationship between jobs, and IF is a mapping: h
I, indicating the task scheduling control instruction content corresponding to the job;
and storing the task scheduling strategy into a background log of the mobile command console, and sending a task scheduling instruction to a sub-area corresponding to the task.
4. The mobile command console control method of claim 3, wherein the mobile command console antenna issues the task scheduling control command to the communication base station of the corresponding sub-area through the wireless network, and the method comprises:
1) generating system authentication parameters in a system registration stage, wherein the system authentication parameters comprise an elliptic curve encryption parameter, a system master key a and a system public key s, the system parameters are transmitted to each communication base station, and the system master key a is stored by a mobile command console;
2) the user registration algorithm is used for generating a private key for each console user, each console user obtains a serial number ID as identity information in advance, the mobile command console takes the master key a and the serial number ID of the console user as input, the private key of each communication base station is obtained by performing multiple calculations on a selected elliptic curve, and the private key is sent to the corresponding communication base station;
3) the mobile command console initiating the instruction transmission and the communication base station obtain the same session key through key negotiation, and the session key is used for encrypting the communication instruction, so that the confidentiality of data is protected; meanwhile, the mobile command console generates a message digest by using a session key and the instruction to be transmitted by adopting a hash message authentication code, the communication base station authenticates the validity of the sender through the message digest and checks whether the transmission instruction is tampered or not, so that the integrity of the transmission instruction is guaranteed;
4) before sending a transmission instruction containing a secret key, the mobile command console encrypts by using a private key of a target communication base station and signs by using a self master secret key a; and after receiving the transmission instruction, the communication base station authenticates the signature by adopting a system public key s, decrypts the transmission instruction by using a self private key if the signature passes the authentication, and refuses to receive the transmission instruction if the signature does not pass the authentication.
5. A computer readable storage medium having stored thereon mobile command console control program instructions executable by one or more processors to implement a mobile command console according to any one of claims 1 to 4.
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