RU140887U1 - COMPLEX OF MANAGEMENT OF ROBOTICAL OBJECTS - Google Patents

Abstract

A complex for managing robotic objects, containing a computer complex, a storage system for audit data of the organizational system and an equipment interface that provides the ability to connect to the equipment of the control center of the organizational system, which consists of computers connected to a computer network, a multimedia projector with a screen, a video system, and a video system setup computer , means of control over the objects of observation and means of two-way communication, characterized in that it contains a complex of information auditing and communications; based on the data collected by means of control and means of two-way communication about the objects of observation, provides the formation of control commands and data on the robotic objects that you want to use to perform actions, the coding of each control command with one signal to start encoding and transmitting this signal to the robotic object, which is required to be used for carrying out actions, while ensuring the possibility of creating a copy of the relevant data in this robotic object a control command signal; provides the ability to receive the coding start signal coming from the robotic object and create an information code corresponding to the given signal, which is a copy of the control information code generated in the robotic object and characterizing the execution or non-execution of the control command by it; provides the ability to transmit control commands, data on robotic objects that you want to use to conduct

Description

This technical solution relates to the field of management of the organizational system - enterprises, institutions, departments, their units and services. The subject area is the centers and control complexes of robotic objects - robots, automatic (automated) systems.

A well-known technical solution is a mobile robotic system and a method for controlling this system [1] RU 2313442 C1 contains several working modules that perform different tasks, a modular station designed to connect several working modules, and a mobile robot. A mobile robot includes: an electrical connector; a signal connecting element for exchanging signals with a working module connected to a mobile robot; controller located in the housing and designed to control the drive. A mobile robot, according to a work task intended for execution, selects one of several work modules from a modular station and connects to it. Carrying out the work task, the mobile robot works offline. The technical result achieved in this case is the ability to perform various functions of the robotic system by one robot by changing one working module to another. This technical solution allows you to create in the organizational system a different number of mobile robotic systems that differ in the type of actions performed and in the place of their placement in certain divisions of the organizational system. The disadvantage of this technical solution is the lack of a single control center in relation to the organizational system, which allows coordinated interaction of robotic systems based on data on the state of objects observed by the organizational system. The purpose of this interaction, as a rule, is to increase the efficiency of the organizational system.

A well-known technical solution - an interactive control system for a robotic system [2] RU 80050 U1, contains hardware and software for creating virtual scripts and synchronizing the operation of system components. Includes: a database of virtual models of dynamic objects (objects of observation, control, impact); a subsystem for transforming models for presentation on the screen; screen; adapter; subsystem of voice input and data manipulation: launch and system management console; information support unit and a critical situation reporting unit. The technical result achieved by this technical solution is the ability to remotely control robotic systems used in real time. The disadvantage of this technical solution is the limited use of the field of training operators for actions in difficult conditions. Scenarios of conditions (external environment) and scenarios of actions of operators in these conditions are formed in a virtual environment and then displayed on the screen. At the same time, information between system components, including control commands, is transmitted practically within the system, including transmission of operator monitors to screens. At the same time, this property when transmitting control commands to robotic systems located at a considerable distance from the control center, for example, in underwater observation objects, requires a high level of security and / or stealth from various kinds of interference and targeted negative influences. In this case, there is an inverse relationship between the amount of data encoding the control command and the level of stealth. The smaller the amount of data transmitted over the communication channel, the higher the level of stealth of the control team.

The closest analogue to the proposed technical solution is the well-known technical solution [3] RU 127493 U1. This technical solution contains an analytical center, a center for objective control, means of control over the objects of observation of the organizational system and communication facilities. This technical solution is made with the ability to visually display on the screens the monitoring data on the state of the objects of observation (control, impact) and on the performance indicators of the organizational system. including: activities in general, certain types of activities in the organizational system and in its units. Based on the control data, a centralized formation and use in the work of the organizational system of data on work scenarios, including management teams, to eliminate or prevent threats to the activities of the organizational system is ensured; to carry out planned work. However, this technical solution does not have the ability to provide covert transmission of control commands directly to the control system of robotic objects - robots, robotic systems. At the same time, the current level of development of robotics means organizational systems are increasingly using these tools in their activities. In this regard, the task of ensuring the secrecy of the transfer of control commands in order to bring them to the control system of robotic objects is relevant.

The technical problem, the implementation of which the present technical solution is aimed at, which was carried out taking into account the above, is to offer a complex of control of robotic objects that can provide a high level of stealth of control commands when transferring them to remote robotic objects.

Technical solution - a complex for managing robotic objects (KU RO) contains a computer complex, a system for storing audit data on the activities of the organizational system, an equipment interface, a coding complex for information and communications with robotic objects, each of which contains communications, encoding and a control system. Communication facilities KU RO are intended for transmitting control commands to robotic objects and for receiving control information from them.

KU RO provides the ability to connect with the control center of the organizational system (TSU OS), containing the equipment of the working room and the equipment of the situation room. The workroom equipment includes at least five computers connected to a computer network, and a multimedia projector with a screen. The situation room equipment includes at least a video system and a video system setup computer. The KU RO equipment interface provides connections between the KU RO equipment and the equipment of the OS OS.

KU RO provides the ability to transfer control commands to the robotic objects of the organizational system sequentially:

- along the internal information path - from the computer complex via the equipment interface to the information encoding complex and further to the communication means;

- from communication means to robotic objects (sequentially - to communication means, coding means and to the control system of a robotic object).

Control commands are intended for their execution by robotic objects. According to the adopted control command, a robotic object - a robot or a robotic system - performs actions on the object (s) of observation or on other objects using a recorded (built-in) program corresponding to the received control command. Moreover, the objects of observation are such entities, tangible and intangible objects of the organizational system and the external environment, which affect the activities of the organizational system.

The data initiating actions for the management of robotic objects are actual data on the effectiveness of the organizational system. These data are generated in a computer complex based on:

- performance indicators of the state of the organizational system;

- required (normalized) data on the status of the activities of the organizational system;

- actual data on the status of the organizational system, developed depending on the actual performance of the objects of observation.

Control over the objects of observation is carried out by means of control, which include at least:

- a unit for generating telemetric digital information, and / or a unit for indicating the coordinates of the object of observation, and / or the monitored portion of the object of observation;

- a block indicating the current time of monitoring the state of the monitoring object;

- block for the formation of a video image of the object of observation;

- blocks for generating data on indicators of observed objects represented by dimensionless numbers and / or units.

The KU RO equipment interface provides the ability to receive actual data from the monitoring means of the monitoring objects connected to the two-way communication means and transfer them to the KU RO computing complex.

KU RO is made in such a way that the following technological data are generated, stored and ensured in the OS OS for display on computer screens, and / or on multimedia screens, and / or on video systems screens:

- data D on the required state of activity of the organizational system as a whole (target activity of the organizational system);

- data D _n about the required state of the nth type of activity of the organizational system, n = 1, 2, ..., N;

- data α _n on the assigned priority for the n-th activity of the organizational system;

- data S _nm about the required state of the nth activity carried out in the m-th unit of the organizational system, m = 1, 2, ..., M;

- data β _nm on the priority of the nth type of activity carried out in the m-th unit of the organizational system;

- data S _nm are formed as follows:

S _nm = γ _nm1 V _nm1 + γ _nm2 V _nm2 , + ... + γ _nmK V _nmK ;

- V _nmk - data on the required state of the k-th monitoring object, which affects the n-th type of activity carried out in the m-th unit of the organizational system, k = 1, 2, ..., K;

- data γ _nmk on the priority of the k-th monitoring object, which affects the n-th type of activity carried out in the m-th unit of the organizational system;

о требуемом l-ом показателе состояния k-го объекта наблюдения,

, где

- число показателей, которые применяются для характеристики состояния k-го объекта наблюдения;- data

about the required l-th state indicator of the k-th observation object,

where

- the number of indicators that are used to characterize the state of the k-th observation object;

представляются безразмерными числами, временными, метрическими, весовыми, стоимостными и другими единицами измерений; в состав данных о требуемых показателях объекта наблюдения входят данные о требуемых показателях физических, логических, информационных, территориальных, конструктивных, организационных и других типов связи k-го объекта наблюдения с другими объектами наблюдения;- data

are represented by dimensionless numbers, time, metric, weight, cost and other units of measurement; the data on the required indicators of the object of observation includes data on the required indicators of physical, logical, informational, territorial, constructive, organizational and other types of communication of the k-th object of observation with other objects of observation;

о приоритете l-ого показателя состояния k-го объекта наблюдения;- data

on the priority of the l-th state indicator of the k-th observation object;

о требуемом l-ом показателе состояния k-го объекта наблюдения, который оказывает влияние на n-ый вид деятельности, осуществляемой в m-ом подразделении организационной системы;- data

about the required l-th state indicator of the k-th monitoring object, which affects the n-th type of activity carried out in the m-th unit of the organizational system;

формируются следующим образом:

, если k-ый объекта наблюдения оказывает влияние на n-ый вид деятельности, осуществляемой в m-ом подразделении организационной системы;

- в противном случае;- data

are formed as follows:

if the k-th observation object affects the n-th type of activity carried out in the m-th unit of the organizational system;

- otherwise;

- data V _nmk are formed as follows:

.

.

о фактическом l показателе k-го объекта наблюдения, который оказывает влияние на n-ый вид деятельности, осуществляемой в m-ом подразделении организационной системы, данные V^*l _nmk представляются безразмерными числами, временными, метрическими, весовыми, стоимостными и другими единицами измерений, видеоизображениями, в состав данных о фактических показателях объектов наблюдения входят данные о фактических показателях физических, логических, информационных, территориальных, конструктивных, организационных и других типов связи k-го объекта наблюдения с другими объектами наблюдения. В случае изменения оперативных данных V^*l _nmk о фактическом l показателе k-го объекта наблюдения, который оказывает влияние на n-ый вид деятельности, осуществляемой в m-ом подразделении организационной системы, формируются, сохраняются и отображаются на экранах следующие данные:In the means of control over the objects of observation operational data are generated

on the actual l indicator of the k-th observation object, which affects the n-th type of activity carried out in the m-th unit of the organizational system, the data V ^{* l} _{nmk are} represented by dimensionless numbers, time, metric, weight, cost and other units, video images, the data on the actual indicators of the objects of observation include data on the actual indicators of physical, logical, informational, territorial, constructive, organizational and other types of communication of the k-th object observations with other objects of observation. In case of changing operational data V ^{* l} _nmk about the actual l indicator of the k-th monitoring object, which affects the n-th type of activity carried out in the m-th unit of the organizational system, the following data is generated, stored and displayed on the screens:

;- data ΔV ^{* l} _nmk on the absolute value of the deviation of data V ^{* l} _nmk on the actual l indicator of the k-th monitoring object, which affects the nth type of activity carried out in the m-th unit of the organizational system from the data V ^l _nmk о the required l indicator of the k-th monitoring object, which affects the n-th type of activity carried out in the m-th unit of the organizational system:

;

- data V ^* _nmk on the actual state of the k-th monitoring object, which affects the n-th type of activity carried out in the m-th unit of the organizational system, while V * _nmk = µ ¹ _k (V ¹ _nmk -ΔV * ¹ _nmk ) + μ ² _k (V ² _nmk -ΔV * ² _nmk ) + ... + μ ^L_k _k (V * ^L_k _nmk -V * ^L_k _nmk );

- data S * _nm on the actual state of the nth activity carried out in the m-th unit of the organizational system, with S * _nm = γ _nm1 V * _nm1 + γ _nm2 V * _nm2 , + ... + γ _nmK V * _nmK ;

- data ΔS * _nm on the actual performance indicator of the nth activity in the mth division of the organizational system, with ΔS * _nm = S * _nm / S _nm ;

- data ΔS _{nm crit.} on the efficiency indicator of the nth type of activity carried out in the m-th unit of the organizational system, a decrease, in comparison with which, of the actual indicator means the existence of a threat to the nth type of activity in the m-th unit of the organizational system and the need to take actions to eliminate it ;

- data ΔS _nm-add on the efficiency indicator of the nth activity carried out in the m-th unit of the organizational system, a decrease in comparison with which, the actual indicator means the possibility of a threat to the n-th activity in the m-th unit of the organizational system and the need for action to prevent the emergence of a threat.

- data D _n about the required state of the nth activity of the organizational system, with D _n = β _n1 S _n1 + β _n2 S _n2 , + ... + β _nM S _nM ;

- data D ^* _n on the actual state of the nth activity of the organizational system, with D * _n = β _n1 S * _n1 + β _n2 S * _n2 , + ... + β _nM S * _nM

- data ΔD * _n on the actual performance indicator of the nth type of activity of the organizational system, while ΔD * _n = D * _n / D _n ;

- data ΔD _n-crit on a critical indicator of the effectiveness of the n-th type of activity of the organizational system, a decrease in comparison with which, the actual indicator means the existence of a threat to this type of activity of the organizational system and the need to take actions to eliminate it;

- data ΔD _n-add . on a permissible efficiency indicator of the nth type of activity of the organizational system, a decrease in comparison with which, the actual indicator means the possibility of a threat to this type of activity of the organizational system and the need to take actions to prevent the appearance of a threat;

- data D about the required state of activity of the organizational system as a whole, with D = α ₁ D ₁ + α ₂ D ₂ , + ... + α _N D _N ;

;- D * data on the actual state of the activities of the organizational system as a whole, while

;

- data ΔD * on the actual performance indicator of the organizational system as a whole, with AD * = D * / D;

- data ΔD _crit. a critical indicator of the effectiveness of the organizational system as a whole, a decrease, compared with which, the actual indicator ΔD * of the effectiveness of the organizational system as a whole means that there is a threat to the activities of the organizational system as a whole and the need for action to eliminate it;

- data ΔD _add. on the acceptable performance indicator of the organizational system as a whole, a decrease, in comparison with which, the actual indicator ΔD * of the performance of the organizational system as a whole means the possibility of a threat to the activities of the organizational system as a whole and the need to take actions to prevent the emergence of a threat.

KU RO made with the possibility of forming, saving and transmitting to display on the screens of the OS OS the following data:

- data Q _crit. the number of critical scenarios designed to support decision-making on eliminating threats to the activities of the organizational system as a whole:

, где P(W^q1 _крит.) и P(W^q1-1 _крит.) - соответственно данные о прогнозируемых вероятностях для выбора критического сценария W^q1 _крит. и критического сценария W^q1-1 _крит., P(W⁰ _крит.)=0;- data W _crit. about a variety of critical scenarios designed to support decision-making on eliminating threats to the activities of the organizational system as a whole, provided 0≤ΔD * <ΔD _crit. , while W _crit. = {W ¹ _crit. or W ² _crit. ... or W ^Qcrit. _Crete. }, where W ^q1 _crit. - data on the q1-th critical scenario, designed to support decision-making on eliminating the threat to the activities of the organizational system as a whole, where q1 - data on the priority of the critical scenario, q1 = 1, 2, ..., Q _crit. , while the condition P (W ^q1 _crit. ) ≥Р (W ^q1-1 _crit. ),

, where P (W ^q1 _crit. ) and P (W ^q1-1 _crit. ) - respectively, data on the predicted probabilities for choosing the critical scenario W ^q1 _crit. and critical scenario W ^q1-1 _crit. , P (W ⁰ _crit. ) = 0;

- data Q _prev. the number of warning scenarios designed to support decision-making to prevent threats to the activities of the organizational system as a whole;

, где P(W^q2 _пред.) и P(W^q2-1 _пред.) - соответственно данные о прогнозируемых вероятностях для выбора предупреждающего сценария W^q2 _пред. и предупреждающего сценария W^q2-1 _пред., P(W⁰ _пред.)=0;- data W _prev. about a variety of warning scenarios designed to support decision-making to prevent threats to the activities of the organizational system as a whole, provided ΔD _crit. ≤ΔD * <ΔD _add. , with W _prev. = {W ¹ _before or W ² _prev. ... or W ^Qrep. _before } where W ^q2 _prev. - data on q2-th warning scenario, q2 - data on priority of this scenario. q2 = 1, 2, ..., Q _before , while the condition P (W ^q2 _prev. ) ≥P (W ^q2-1 _prev ),

, where P (W ^q2 _pred. ) and P (W ^q2-1 _pred. ) - respectively, the data on the predicted probabilities for choosing the warning scenario W ^q2 _pred. and warning script W ^q2-1 _prev. , P (W ⁰ _prev. ) = 0;

, где P(W^q3 _план.) и P(W^q3-1 _план) - соответственно данные о прогнозируемых вероятностях для выбора планового сценария W^q3 _план. и планового сценария W^q3-1 _план., P(W⁰ _план)=0;- data Q _plan. the number of planned scenarios designed to support decision-making on improving the efficiency of the organizational system as a whole; W _plan data _. about the set of planned scenarios designed to support decision-making on improving the efficiency of the organizational system as a whole, provided ΔD _add. ≤ΔD * <1, with W _plan. = {W ¹ _plan. or W ² _plan. ... or W ^Qplan. _plan. }, where W ^{q3 is a} _plan. - data on the q3th planned scenario, q3 - data on the priority of this scenario, q3 = 1, 2, ..., Q _plan , while the condition P (W ^q3 _plan. ) ≥P (W ^q3-1 _plan ) is ^fulfilled ,

, where P (W ^q3 _plan. ) and P (W ^q3-1 _plan ) are the data on the predicted probabilities for choosing the planned scenario W ^q3 _plan. and the planned scenario W ^q3-1 _plan. , P (W ⁰ _plan ) = 0;

- data U _n-crit. the number of critical scenarios designed to support decision-making on eliminating threats to the nth activity of the organizational system;

, где P(W^nu1 _крит.) и P(W^n(u1-1) _крит.) - соответственно данные о прогнозируемых вероятностях для выбора критического сценария W^nu1 _крит. и критического сценария W^n(u1-1) _крит., P(Wⁿ⁰ _крит.)=0;- data W ⁿ _crit. on the set of critical scenarios designed to support decision-making on eliminating threats to the nth type of activity of the organizational system under the condition 0≤ΔD * _n <ΔD _n-crit. , while W ⁿ _crit. = {W ⁿ¹ _crit. or W ⁿ² _crit. ... or W ^{nUn crit.} _Crete. }, where W ^nu1 _crit. - data on the u1th critical scenario, designed to support decision-making on eliminating the threat to the nth activity of the organizational system, where u1 is the priority scenario critical information, u1 = 1, 2, ..., U _n-crit. , while the condition P (W ^nu1 _crit. ) ≥P (W ^{n (u1-1)} _crit. ),

, where P (W ^nu1 _crit. ) and P (W ^{n (u1-1)} _crit. ) - respectively, data on the predicted probabilities for choosing the critical scenario W ^nu1 _crit. and critical scenario W ^{n (u1-1)} _crit. , P (W ⁿ⁰ _crit. ) = 0;

- data U _n-pred. the number of warning scenarios designed to support decision-making to prevent threats to the nth activity of the organizational system;

; где P(W^nu2 _пред.) и P(W^n(u2-1) _пред.) - соответственно данные о прогнозируемых вероятностях для выбора предупреждающего сценария W^nu2 _пред и предупреждающего сценария W^n(u2-1) _пред., P(Wⁿ⁰ _пред.)=0;- data W ⁿ _prev. about the set of warning scenarios designed to support decision-making on preventing threats to the nth activity of the organizational system under the condition ΔD _n-crit. ≤ΔD * _n <AD _n-add , with W ⁿ _before. = {W ⁿ¹ _previous or W ⁿ² _prev. ... or W ^nUn-prev. _before }, where W ^nu2 _prev. - data on the u2-th warning scenario, designed to support decision-making on preventing threats to the n-th type of activity of the organizational system, where u2 - data on the priority of the warning scenario, u2 = 1, 2, ..., U _n-prev. while the condition P (W ^nu2 _prev. ) ≥Ρ (W ^{n (u2-1)} _prev. ),

; where P (W ^nu2 _prev. ) and P (W ^{n (u2-1)} _prev. ) - respectively, data on the predicted probabilities for choosing the warning scenario W ^nu2 _before and the warning scenario W ^{n (u2-1)} _prev., P (W ⁿ⁰ _prev. ) = 0;

- data U _n-plan. on the number of planned scenarios designed to support decision-making on improving the efficiency of the nth type of activity of the organizational system;

, где P(W^nu3 _план.) и Ρ{W^n(u3-1) _план.) - соответственно данные о прогнозируемых вероятностях для выбора предупреждающего сценария W^nu3 _план. и предупреждающего сценария W^n(u3-1) _план., Р(Wⁿ⁰ _план.)=0;- data W ⁿ _plan. about the set of planned scenarios designed to support decision-making on improving the efficiency of the nth type of activity of the organizational system, provided ΔD _n-add. ≤ΔD * _n <1, with W ⁿ _plan. = {W ⁿ¹ _plan. or W ⁿ² _plan. ... or W ^{nUn plan.} _plan. }, where is W ^nu3 _plan. - - data on the u3th planning scenario, designed to support decision-making on improving the efficiency of the n-th type of activity of the organizational system, where u3 - data on the priority of the planning scenario, u3 = 1, 2, ..., U _n-plan. , while the condition P (W ^nu3 _plan ) ≥P (W ^{n (u3-1)} _plan ) is ^satisfied ,

, where P (W ^nu3 _plan. ) and Ρ {W ^{n (u3-1)} _plan. ) - respectively, data on the predicted probabilities for choosing the warning scenario W ^nu3 _plan. and warning scenario W ^{n (u3-1)} _plan. , P (W ⁿ⁰ _plan. ) = 0;

- data Y _{nm crit.} on the number of critical scenarios designed to support the decision to eliminate the threat to the nth activity in the m-th unit of the organizational system carried out in its m-th unit;

, где Р{W^nmy1 _крит.) и P(W^nm(y1-1) _крит.) - соответственно данные о прогнозируемых вероятностях для выбора критического сценария W^nmy1 _крит. и критического сценария W^nm(y1-1) _крит., P(W^nm0 _крит.)=0;- data W ^nm _crit. on the set of critical scenarios designed to support decision-making on eliminating the threat to the nth type of activity of the organizational system in its m-th unit under the condition 0≤ΔS * _nm <ΔS _nm-crit. , while W ^nm _crit. = {W ^nm1 _crit. or W ^nm2 _crit. ... or W ^{nmYnm crit.} _Crete. }, where W ^nmy1 _crit. - data on the y1th critical scenario, designed to support decision-making on eliminating the threat to the nth type of activity of the organizational system in its mth division, where y1 is the priority scenario data, y1 = 1, 2, ..., Y _{nm crit} , while the condition P (W ^nmy1 _crit. ) ≥P (W ^{nm (y1-1)} _crit. ),

where P {W ^nmy1 _crit. ) and P (W ^{nm (y1-1)} _crit. ) ^{—respectively,} data on the predicted probabilities for choosing the critical scenario W ^nmy1 _crit. and the critical scenario W ^{nm (y1-1)} _crit ., P (W ^nm0 _crit. ) = 0;

- data Y _nm-pred. the number of warning scenarios designed to support decision-making on preventing threats to the nth activity in the m-th unit of the organizational system carried out in its m-th unit;

, где P(W^nmy2 _пред.) и P(W^nm(y2-1) _пред.) - соответственно данные о прогнозируемых вероятностях для выбора предупреждающего сценария W^nmy2 _пред. и предупреждающего сценария W^nm(y2-1) _пред., P(W^nm0 _пред.)=0;- data W ^nm _prev. about the set of warning scenarios designed to support decision-making on preventing threats to the nth type of activity of the organizational system in its m-th unit, provided ΔS _nm-crit. ≤ΔS * _nm <ΔS _nm-add. , with W ^nm _prev. = {W ^nm1 _crit. or W ^nm2 _crit. ... or W ^{nmYnm crit.} _Crete. }, where W ^nmy2 _πred. - data on the y2-th warning scenario designed to support decision-making on preventing threats to the nth activity of the organizational system in its m-th unit, where y2 is the priority information on the warning scenario, y2 = 1, 2, ..., Y _nm-pred , while the condition P (W ^nmy2 _prev. ) ≥Р (W ^{nm (y2-1)} _prev. ),

, where P (W ^nmy2 _prev. ) and P (W ^{nm (y2-1)} _prev. ) are the data on the predicted probabilities for choosing the warning scenario W ^nmy2 _prev. and warning scenario W ^{nm (y2-1)} _before. , P (W ^nm0 _prev. ) = 0;

- data Y _nm-plan. on the number of planned scenarios designed to support decision-making on improving the efficiency of the nth activity in the m-th unit of the organizational system carried out in its m-th unit;

, при этом

, где

- данные о у3-ом плановом сценарии, предназначенном для поддержки принятия решения по повышению эффективности n-го вида деятельности организационной системы в ее m-ом подразделении, где у3 - данные о приоритете планового сценария, y3=1, 2, …, Y_nm-план., при этом выполняется условие

,

, где

и

- соответственно данные о прогнозируемых вероятностях для выбора планового сценария

. и планового сценария

,

.- data W ^nm _plan. on the set of planned scenarios intended to support decision-making on increasing the activity of the nth type of activity of the organizational system in its m-th unit, provided

, wherein

where

- data on the y3th planned scenario, intended to support decision-making on increasing the efficiency of the n-th type of activity of the organizational system in its m-th unit, where y3 - data on the priority of the planned scenario, y3 = 1, 2, ..., Y _{nm -plan.} , while the condition

,

where

and

- accordingly, the data on the predicted probabilities for choosing a planned scenario

. and planned scenario

,

.

The technological data listed above is stored in the audit data storage system of KU RO, is periodically audited, updated and used at the operational stage.

The data on work scenarios includes control commands (data on control commands) intended for their execution by robotic objects.

The essence of the technical solution is illustrated by drawings.

Figure 1 - Structural diagram of a complex control robotic objects.

Figure 2 - Algorithm for encoding a control command (fragment).

Figure 3 - Decoding algorithm of the control command (fragment).

Figure 4 - Timing diagrams when encoding a control command (example).

Figure 5 - Timing diagrams when decoding a control command (example).

6 is a diagram of KU RO in connection with the control center of the organizational system (CC OS).

Figure 1 shows the structure of KU RO, where:

1 - computer complex;

2 - storage system for audit data of the organizational system;

3 - equipment interface;

4 - complex encoding information;

5.1 ÷ 5.R - means of communication with robotic objects.

Figure 2 ÷ figure 5 shows a diagram of the algorithms and timing diagrams explaining the processes of generating and transmitting control commands from KU RO to robotic objects, reception to KU RO and processing of control information coming from robotic objects.

Figure 6 shows the structure of KU RO in conjunction with the components of the control center of the organizational system and with robotic objects, which show:

- connection interface 3 of the equipment from the KU RO:

internal connections (with computing complex 1, system 2 for storing audit data of the activities of the organizational system, complex 4 for coding information),

with the equipment of the central office of the OS (with a computer network, a multimedia projector, a video system and a computer for adjusting the video system), with two-way communication with the objects of observation;

- connection of means of 5.1 ÷ 5.R communication from the KU RO, on the one hand, with communication facilities of robotic objects and, on the other hand, with information encoding complex 4;

- internal connections in the central office of the OS and in robotic facilities. KU RO works as follows.

In the initial state, in the computing complex 1, technological data is generated and stored.

At the stage of operation, control means collect data on the actual performance of the objects under observation. By means of two-way communication, this data is transferred through the interface 3 of the equipment to computer complex 1. In computer complex 1, data are processed, data on actual and required indicators of monitoring objects are compared, data are compiled from the results of comparison of actual conditions of monitoring objects, organizational activities the system as a whole, its types of activities and the types of activities of units of the organizational system. The processing order is given above.

Depending on the results of the assessment of the actual state of activity of the organizational system (in general, types of activities, etc.), data on the scenario that should be applied in the situation that has arisen are determined. The scenario is determined from among the following types of scenarios:

- to eliminate threats to the activities of the organizational system as a whole;

- to eliminate threats to certain types of activities of the organizational system;

- to eliminate threats to the activities of organizational units;

- to prevent threats to the activities of the organizational system as a whole;

- to prevent threats to certain types of activities of the organizational system;

- to prevent threats to the activities of units of the organizational system;

- to improve the efficiency of the organizational system as a whole (including planned work);

- to improve the efficiency for certain types of activities of the organizational system (including planned work);

- to increase the efficiency for the activities of units of the organizational system (including planned work).

The selected scenario is stored in a computer complex and it is possible to display it on the screens of the OS OS.

Scenario data includes at least:

- data about the robotic objects of the organizational system that you want to use for actions, for example, index codes - 1 ÷ R (see figure 1);

- control commands (data on control commands, for example, their codes) to robotic objects, indicating the actions to be performed and the objects in relation to which these actions should be carried out.

If a robotic object is assigned to only one object, this object may not be indicated in the scenario data.

Data on the robotic objects of the organizational system that you want to use to perform actions (addresses, indices or codes) are transmitted via the internal information path from the computer complex 1 through the equipment interface 3 to the information encoding complex 4 of the production center 5.

The functioning of the production center 5 is illustrated using the illustrations presented in the following figures:

figure 2 - algorithm for encoding information;

figure 3 - algorithm for decoding information;

figure 4 - timing diagrams of coding information;

5 is a timing diagram of decoding information.

Complex 4 encoding information performs the following functions when encoding a control command:

- receives scenario information from computer complex 1 and stores them - at least data about the address (code, index) of the robotic object and a control command (for example, in the form of their binary codes);

- determines at the address (index) of the corresponding robotic object the means of communication intended for communication with the robotic object specified in the address, for example, means of communication 5.1;

- performs encoding of the received information — the control command from the composition of the scenario data by generating a single signal corresponding to this command — the coding start signal (FIG. 2, FIG. 4), and this signal makes it possible to create a copy of the corresponding control command in the robotic object;

- transmits the generated coding start signal to a communication means, for example, communication means 5.1, which receives this signal and transmits it through a communication channel, for example, in the optical wavelength range, to a robotic object (for example, object 1), in which a copy of the control command corresponding to this signal.

The information encoding complex 4 performs the following functions when decoding the encoding start signal received from a robotic object:

- receives from the communication means (for example, 5.1 communication means) a signal received by this means from the communication channel and transmitted earlier to the communication channel from the communication means of a robotic object (for example, object 1), and this signal is related to the control information code generated in the robotic the facility and characterizing the execution or non-execution of the management team;

- decoding the received coding start signal by generating the information code corresponding to this signal, which is a copy of the control information code generated in the robotic object (Fig. 3, Fig. 5);

- determines by the index of the means of communication (for example, means of 5.1 communication) the address of the robotic means (for example, object 1) from which the coding start signal was transmitted;

- transmits data on the address of the robotic means and the control information received from it to the computer complex 1.

Computing complex 1 receives this information, remembers and processes it in accordance with the algorithm for processing data received from monitoring tools of objects of observation of the organizational system. Then it ensures the transfer of this information to the OS control center for display on computer screens, a multimedia projector, and a video system.

Communication facilities of robotic objects operate similarly to communication facilities of KU RO. As these means can be applied, essentially, any known means of communication, depending on the communication channels used KU RO with robotic systems.

Means of encoding robotic objects operate similarly to complex 4 of encoding information, except that they do not need to implement an algorithm for determining the addresses of objects.

Thus, the implementation of actions in accordance with the proposed technical solution, as can be seen from the time diagrams shown in FIG. 4 and FIG. 5, provides:

- covert transmission without distortion of control commands from KU RO to robotic objects;

- covert transmission without distortion of control information from robotic objects, including their reaction to control commands, to KU RO.

Moreover, in communication channels in both directions, only one unit signal is transmitted - the coding start signal. This is achieved using:

- synchronized sequences of clock pulses in the equipment KU RO and in communication and coding of robotic systems, the equality of their parameters (figure 5):

- synchronized sequences of coding start signals in KU RO equipment and in communications and coding of robotic systems, by the equality of their parameters (Fig. 5):

Synchronization of sequences of clock pulses can be provided using an external system, for example, the GLONASS system. In this case, the frequency of arrival of synchronizing signals is determined taking into account the stability indicators of communication channels, the duration of clock pulses and their periods.

The sequence of the signals of the beginning of the session in the equipment of KU RO and in the means of communication and coding of robotic systems are formed on the basis of clock pulses. Therefore, additional tools to synchronize these sequences are not required.

The implementation of complex 4 encoding information can be carried out on the basis of well-known computing means, by software execution of the above algorithms for encoding and decoding information (figure 2 and figure 3). In this case, only known simple arithmetic and logical operations are used. For example, in a software implementation, the following restrictive operations may be performed:

- information cannot be received in binary code containing only ones or only zeros;

- the information received from the computer complex and the control information are reset after transmitting the coding start signal to the communication medium;

- reception of new information from the computing complex 1 is made if the transmission of the coding start signal to the communication medium, due to the received previous information, has already been made, and the generated control information has been reset;

- ignoring the encoding of the generated coding start signals if the previously received information and the generated control information are not reset; as a result, the receipt of these signals does not initiate false actions to generate new control information;

- ignoring, when decoding the generated coding start signals, if the previously generated control information is not reset; as a result, the receipt of these signals does not initiate false actions to generate new control information;

- the number of clock pulses arriving in each of the periods of arrival of the coding start signals should be greater than the maximum possible decimal code generated by transcoding the binary code of the information coming from the computing complex.

Thus, the implementation of the proposed technical solution can be performed on the basis of well-known industrial hardware and software of computer technology and communications.

The main positive effect of the application of the proposed utility model - KU RO, is to increase the secrecy of the commands for controlling robots and robotic systems transmitted through the communication channel (automatic and automated systems). Increasing secrecy is achieved by reducing the time of transmission through the communication channel of information reproduced in a robotic object, as a control command. So, the proposed utility model provides the transmission of only one signal, instead of a combination of signals carrying a code word, from two or more bits, when using technical solutions - analogues of the proposed solution [1-3]. As a result, the time during which the control command in the proposed utility model can be detected is at least two times shorter in duration compared to the analogs [1-3]. Another positive effect of the use of the proposed utility model is to increase the noise immunity, due to the ability to concentrate the electric power available in KU RO in one signal.

The technical result provided by the above set of features is the expansion of functionality. This ensures the secrecy of the transfer of control commands to robotic objects, which is achieved by transmitting only one signal per communication channel per one control command, according to which this command is recreated in the robotic object.

Sources

[1] RU 2313442 C1, B25J 5/00 (2006.01), B25J 13/00 (2006.01), publ. December 27, 2007, bull. 36.

[2] RU 80050 U1, G09B 9/00 (2006.01), publ. 01/20/2009, bull. 2.

[3] RU 127493 U1, G05B 19/00 (2006.01), publ. 04/27/2013, bull. 12.

Claims (1)

A complex for managing robotic objects, containing a computer complex, a storage system for audit data of the organizational system and an equipment interface that provides the ability to connect to the equipment of the control center of the organizational system, which consists of computers connected to a computer network, a multimedia projector with a screen, a video system, and a video system setup computer , means of control over the objects of observation and means of two-way communication, characterized in that it contains a complex of information auditing and communications; based on the data collected by means of control and means of two-way communication about the objects of observation, provides the formation of control commands and data on the robotic objects that you want to use to perform actions, the coding of each control command with one signal to start encoding and transmitting this signal to the robotic object, which is required to be used for carrying out actions, while ensuring the possibility of creating a copy of the relevant data in this robotic object a control command signal; provides the ability to receive the coding start signal coming from the robotic object and create an information code corresponding to the given signal, which is a copy of the control information code generated in the robotic object and characterizing the execution or non-execution of the control command by it; provides the ability to transmit control commands, data about robotic objects that you want to use for actions, and copies of control information codes to the control center of the organizational system for display on computer monitors, multimedia projectors and video systems.

Images