VGA unmanned automatic driving control method and system
阅读说明：本技术 一种vga无人自动驾驶控制方法及系统 (VGA unmanned automatic driving control method and system ) 是由 孙涛 于 2021-07-07 设计创作，主要内容包括：本发明提供了一种VGA无人自动驾驶控制方法,包括：步骤1：向所述目标无人设备发送输送任务,当所述任务操作为需要供料时,分配目标控制装置,并基于所述目标控制装置从目标仓库中调取待用货物放置在所述目标无人设备上；步骤2：控制接收到待用货物的目标无人设备按照预设轨迹进行运行；步骤3：记录所述目标无人设备在运行过程中的运行日志,判断是否存在紧急事件,若存在,基于数据接口,循环检测预设数据库,更新控制信息,来获取与所述紧急事件相关的远端控制指令；步骤4：根据所述远端控制指令,控制紧急装置进行相关操作,实现对所述目标无人设备的紧急控制。便于保证目标无人设备的安全性。(The invention provides a VGA unmanned automatic driving control method, which comprises the following steps: step 1: sending a conveying task to the target unmanned equipment, distributing a target control device when the task operation is that feeding is needed, and calling a standby cargo from a target warehouse to be placed on the target unmanned equipment based on the target control device; step 2: controlling the target unmanned equipment receiving the goods to be used to operate according to a preset track; and step 3: recording an operation log of the target unmanned equipment in an operation process, judging whether an emergency exists, if so, circularly detecting a preset database based on a data interface, and updating control information to obtain a remote control instruction related to the emergency; and 4, step 4: and controlling an emergency device to perform related operations according to the remote control instruction, so as to realize emergency control on the target unmanned equipment. The safety of the target unmanned equipment is convenient to guarantee.)
1. A VGA unmanned automatic driving control method is characterized by comprising the following steps:
step 1: sending a conveying task to the target unmanned equipment, distributing a target control device when the task operation is that feeding is needed, and calling a standby cargo from a target warehouse to be placed on the target unmanned equipment based on the target control device;
step 2: controlling the target unmanned equipment receiving the goods to be used to operate according to a preset track;
and step 3: recording an operation log of the target unmanned equipment in an operation process, judging whether an emergency exists, if so, circularly detecting a preset database based on a data interface, and updating control information to obtain a remote control instruction related to the emergency;
and 4, step 4: and controlling an emergency device to perform related operations according to the remote control instruction, so as to realize emergency control on the target unmanned equipment.
2. The VGA unmanned auto-steering control method of claim 1, wherein step 1: before sending a delivery task to the target unmanned device, the method comprises the following steps:
determining a monitoring mode for the target unmanned equipment, wherein the monitoring mode comprises the following steps:
acquiring historical record information of the target unmanned aerial vehicle, dividing the historical record information according to timestamps, determining running information of the target unmanned aerial vehicle in each running process, and analyzing a standard running set, a to-be-normalized running set and an error running set of the target unmanned aerial vehicle in each running process based on the running information;
classifying the historical information according to event detection types, acquiring N types of detection information, and establishing a detection set of each type of detection information based on each operation time period;
determining a first parameter in the standard operation set, a second parameter in the operation set to be normalized and a third parameter in the error operation set;
matching each detection set with the first parameter, the second parameter and the third parameter respectively to determine the fault rate of each type of detection set;
sorting all fault rates according to size, and calibrating a first set corresponding to the first n fault rates from all detection sets;
respectively analyzing the type data of each first set, and obtaining an operation structure of the target unmanned equipment corresponding to the analysis result according to a feedback database;
determining a first position of the operation structure and a second position of the rest structure;
and obtaining position distribution according to the first position and the second position, and calling a corresponding monitoring mode from a monitoring database to monitor the target unmanned equipment.
3. The VGA unmanned automatic drive control method of claim 1, wherein step 1, when the task operation is a need for feeding, assigning a target control device comprises:
determining a transportation path corresponding to the conveying task;
according to the starting point, the end point and the point information of the inflection point of the transportation path;
inputting the point information into a preset point difficulty judgment model to obtain a point difficulty value of each point;
calculating a reliable value K of the transportation path according to the following formula;
wherein e is0A point difficulty value representing a starting point; d0A weight value representing that the origin is based on the transport path; e is the same as1A point difficulty value representing an endpoint; d1A weight value representing an endpoint based on the transport path; deltaiA weight value representing that the ith inflection point is based on the transportation path; siA point-difficulty value representing the ith inflection point; n1 represents the total number of inflection points;
determining a point of the transportation path with the fault frequency higher than a preset frequency according to historical information, and regarding the point as a point to be monitored;
judging a stable value W of the target unmanned equipment operation based on the reliable value K and the following formula;
wherein f isjThe effective fitting value of the target unmanned equipment and the jth point to be monitored is represented, and the value range is (0, 1); n2 represents the total number of points to be monitored;
judging the stability grade of the stable value W based on a stability grade table;
when the stability value is a first stability grade, judging that the path transportation is reliable, and screening a device with the minimum waiting time from a target set of the transportation path end point as a target control device;
when the stability is in a second stability grade, matching a corresponding inflection point according to the position of the stability in a stability range corresponding to the second stability grade, and taking a device closest to the matched inflection point as a target control device;
and when the stability is a third stability level, judging that the path transportation is unreliable, and screening a device with the minimum waiting time from the target set of the starting point of the transportation path as a target control device.
4. The VGA unmanned automatic driving control method of claim 1, wherein step 1, based on the target control means, retrieving the goods to be used from a target warehouse to place on the target unmanned device, comprises:
based on the target control device, acquire corresponding transport task to the goods is transferred, and at the in-process of transferring, include:
carrying out first positioning on the target control device, carrying out second positioning on goods to be taken, and determining the current distribution of the target control device and the taken goods based on a first positioning result and a second positioning result;
estimating the operation times of the target control device needing to execute the goods calling in a preset time period, and determining an interception scheme for intercepting the current distribution according to the operation times;
respectively inputting each interception scheme into a scheme effective model, acquiring an effective value of each interception scheme, and extracting a first distribution corresponding to the interception scheme corresponding to the highest effective value as an area to be executed of the target control device;
determining that the target control device independently calls first consumption information of each first cargo based on the area to be executed, and simultaneously obtaining second consumption information of all first cargos which are called by the target control device based on different calling paths;
determining first-sent dispatching goods on the minimum dispatching consumption path according to all the first consumption information and the second consumption information, and sending dispatching instructions to the target control device;
and the target control device calls the first called goods according to the calling instruction.
5. The VGA unmanned auto-steering control method of claim 1, wherein step 3: recording an operation log of the target unmanned equipment in an operation process, and judging whether an emergency exists, wherein the operation log comprises the following steps:
preprocessing the running logs, screening existing outstanding logs, and performing pre-analysis on the outstanding logs;
constructing a prominent result of the prominent log according to a pre-analysis result, carrying out pattern display on the prominent result, and simultaneously carrying out overlapping comparison on the displayed prominent and a standard pattern to judge whether the overlapping degree is greater than a preset degree;
if yes, judging that no emergency exists;
otherwise, judging that the emergency exists.
6. The VGA unmanned automatic driving control method of claim 1, wherein in step 3, the preset database is cyclically detected based on the data interface, and the control information is updated, including:
determining the interface attribute of the data interface, and calling a detection circulation list based on the interface attribute;
sequentially detecting the preset databases according to the detection modes in the detection circular list to obtain a result list;
analyzing a first control instruction of each result of the result list and a second control instruction corresponding to each two results;
and acquiring matched information and unmatched information based on the first control instruction and the second control instruction, reserving a third instruction corresponding to the matched information, updating a fourth instruction corresponding to the unmatched information, and acquiring updated control information.
7. The VGA unmanned automatic driving control method of claim 1, wherein step 4, according to the remote control command, controlling an emergency device to perform related operations, comprises:
acquiring a matching label and a control label of the remote control instruction;
matching the corresponding emergency device according to the instruction tag;
and controlling the emergency device to perform related operations according to the control tag.
8. The VGA unmanned automatic driving control method according to claim 1, wherein in step 3, before recording the operation log of the target unmanned device in the operation process, the method further comprises:
acquiring m running data of the target unmanned equipment in the running process, performing data verification operation on the m running data through a preset verification algorithm, and acquiring m verification values;
matching the m check values with standard check values one by one, and judging whether malicious data exist in the m running data;
when the check value is not matched with the standard check value, judging that malicious data exist in the m pieces of operating data, wherein the data which are not matched with the standard check value are the malicious data, and meanwhile, marking and packaging the malicious data;
removing the packed malicious data;
otherwise, acquiring the data volume of the operating data, and matching a log data table with corresponding volume through the data volume;
all the running data are imported into the log data table, and meanwhile, the identifier of the log data table is obtained;
and establishing a log index according to the identifier of the log data table, and storing the running log based on the log index.
9. A VGA unmanned autopilot control system, comprising:
the distribution module is used for sending a conveying task to the target unmanned equipment, distributing a target control device when the task operation is that feeding is needed, and calling a standby cargo from a target warehouse to be placed on the target unmanned equipment based on the target control device;
the first control module is used for controlling the target unmanned equipment which receives the goods to be used to operate according to a preset track;
the recording module is used for recording an operation log of the target unmanned equipment in an operation process, judging whether an emergency exists or not, circularly detecting a preset database based on a data interface if the emergency exists, and updating control information to acquire a remote control instruction related to the emergency;
and the second control module is used for controlling an emergency device to perform related operations according to the remote control instruction so as to realize emergency control on the target unmanned equipment.
Technical Field
The invention relates to the technical field of automatic control, in particular to a VGA unmanned automatic driving automatic control method and system.
Background
An AGV is a transport vehicle equipped with an electromagnetic or optical automatic navigation device, capable of traveling along a predetermined navigation route, and having safety protection and various transfer functions. The industrial application does not need a driver's transport vehicle, and a rechargeable storage battery is used as a power source of the industrial application. Generally, a plurality of AGV trolleys form a flexible automatic conveying system under the unified command of a control system.
The AGV system may be classified into an unmanned transport vehicle, an unmanned tractor and an unmanned forklift. The AGVS system can be generally divided into 3-level control modes of a central management main control computer, a ground controller and an on-board controller.
Different unmanned vehicles have different functions, so that the unmanned vehicles need to be effectively distinguished in the use process, and the unmanned vehicles are unsafe due to the fact that the unmanned vehicles are unaware of accidents in the operation process.
Therefore, the invention provides a VGA unmanned automatic driving control method and system.
Disclosure of Invention
The invention provides a VGA unmanned automatic driving control method and system, which are used for solving the technical problems.
The invention provides a VGA unmanned automatic driving control method, which comprises the following steps:
step 1: sending a conveying task to the target unmanned equipment, distributing a target control device when the task operation is that feeding is needed, and calling a standby cargo from a target warehouse to be placed on the target unmanned equipment based on the target control device;
step 2: controlling the target unmanned equipment receiving the goods to be used to operate according to a preset track;
and step 3: recording an operation log of the target unmanned equipment in an operation process, judging whether an emergency exists, if so, circularly detecting a preset database based on a data interface, and updating control information to obtain a remote control instruction related to the emergency;
and 4, step 4: and controlling an emergency device to perform related operations according to the remote control instruction, so as to realize emergency control on the target unmanned equipment.
In one possible implementation, step 1: before sending a delivery task to the target unmanned device, the method comprises the following steps:
determining a monitoring mode for the target unmanned equipment, wherein the monitoring mode comprises the following steps:
acquiring historical record information of the target unmanned aerial vehicle, dividing the historical record information according to timestamps, determining running information of the target unmanned aerial vehicle in each running process, and analyzing a standard running set, a to-be-normalized running set and an error running set of the target unmanned aerial vehicle in each running process based on the running information;
classifying the historical information according to event detection types, acquiring N types of detection information, and establishing a detection set of each type of detection information based on each operation time period;
determining a first parameter in the standard operation set, a second parameter in the operation set to be normalized and a third parameter in the error operation set;
matching each detection set with the first parameter, the second parameter and the third parameter respectively to determine the fault rate of each type of detection set;
sorting all fault rates according to size, and calibrating a first set corresponding to the first n fault rates from all detection sets;
respectively analyzing the type data of each first set, and obtaining an operation structure of the target unmanned equipment corresponding to the analysis result according to a feedback database;
determining a first position of the operation structure and a second position of the rest structure;
and obtaining position distribution according to the first position and the second position, and calling a corresponding monitoring mode from a monitoring database to monitor the target unmanned equipment.
In one possible implementation, step 1, when the task is operated as requiring feeding, assigning a target control device comprises:
determining a transportation path corresponding to the conveying task;
according to the starting point, the end point and the point information of the inflection point of the transportation path;
inputting the point information into a preset point difficulty judgment model to obtain a point difficulty value of each point;
calculating a reliable value K of the transportation path according to the following formula;
wherein e is0A point difficulty value representing a starting point; d0A weight value representing that the origin is based on the transport path; e is the same as1A point difficulty value representing an endpoint; d1A weight value representing an endpoint based on the transport path; deltaiA weight value representing that the ith inflection point is based on the transportation path; siA point-difficulty value representing the ith inflection point; n1 represents the total number of inflection points;
determining a point of the transportation path with the fault frequency higher than a preset frequency according to historical information, and regarding the point as a point to be monitored;
judging a stable value W of the target unmanned equipment operation based on the reliable value K and the following formula;
wherein f isjThe effective fitting value of the target unmanned equipment and the jth point to be monitored is represented, and the value range is (0, 1); n2 represents the total number of points to be monitored;
judging the stability grade of the stable value W based on a stability grade table;
when the stability value is a first stability grade, judging that the path transportation is reliable, and screening a device with the minimum waiting time from a target set of the transportation path end point as a target control device;
when the stability is in a second stability grade, matching a corresponding inflection point according to the position of the stability in a stability range corresponding to the second stability grade, and taking a device closest to the matched inflection point as a target control device;
and when the stability is a third stability level, judging that the path transportation is unreliable, and screening a device with the minimum waiting time from the target set of the starting point of the transportation path as a target control device.
In one possible implementation manner, step 1, retrieving, based on the target control device, a standby good from a target warehouse to place on the target unmanned device, includes:
based on the target control device, acquire corresponding transport task to the goods is transferred, and at the in-process of transferring, include:
carrying out first positioning on the target control device, carrying out second positioning on goods to be taken, and determining the current distribution of the target control device and the taken goods based on a first positioning result and a second positioning result;
estimating the operation times of the target control device needing to execute the goods calling in a preset time period, and determining an interception scheme for intercepting the current distribution according to the operation times;
respectively inputting each interception scheme into a scheme effective model, acquiring an effective value of each interception scheme, and extracting a first distribution corresponding to the interception scheme corresponding to the highest effective value as an area to be executed of the target control device;
determining that the target control device independently calls first consumption information of each first cargo based on the area to be executed, and simultaneously obtaining second consumption information of all first cargos which are called by the target control device based on different calling paths;
determining first-sent dispatching goods on the minimum dispatching consumption path according to all the first consumption information and the second consumption information, and sending dispatching instructions to the target control device;
and the target control device calls the first called goods according to the calling instruction.
In one possible implementation, step 3: recording an operation log of the target unmanned equipment in an operation process, and judging whether an emergency exists, wherein the operation log comprises the following steps:
preprocessing the running logs, screening existing outstanding logs, and performing pre-analysis on the outstanding logs;
constructing a prominent result of the prominent log according to a pre-analysis result, carrying out pattern display on the prominent result, and simultaneously carrying out overlapping comparison on the displayed prominent and a standard pattern to judge whether the overlapping degree is greater than a preset degree;
if yes, judging that no emergency exists;
otherwise, judging that the emergency exists.
In a possible implementation manner, in step 3, the preset database is cyclically detected and the control information is updated based on the data interface, including:
determining the interface attribute of the data interface, and calling a detection circulation list based on the interface attribute;
sequentially detecting the preset databases according to the detection modes in the detection circular list to obtain a result list;
analyzing a first control instruction of each result of the result list and a second control instruction corresponding to each two results;
and acquiring matched information and unmatched information based on the first control instruction and the second control instruction, reserving a third instruction corresponding to the matched information, updating a fourth instruction corresponding to the unmatched information, and acquiring updated control information.
In a possible implementation manner, step 4, controlling the emergency device to perform related operations according to the remote control instruction, including:
acquiring a matching label and a control label of the remote control instruction;
matching the corresponding emergency device according to the instruction tag;
and controlling the emergency device to perform related operations according to the control tag.
In a possible implementation manner, in step 3, before recording the operation log of the target unmanned aerial device in the operation process, the method further includes:
acquiring m running data of the target unmanned equipment in the running process, performing data verification operation on the m running data through a preset verification algorithm, and acquiring m verification values;
matching the m check values with standard check values one by one, and judging whether malicious data exist in the m running data;
when the check value is not matched with the standard check value, judging that malicious data exist in the m pieces of operating data, wherein the data which are not matched with the standard check value are the malicious data, and meanwhile, marking and packaging the malicious data;
removing the packed malicious data;
otherwise, acquiring the data volume of the operating data, and matching a log data table with corresponding volume through the data volume;
all the running data are imported into the log data table, and meanwhile, the identifier of the log data table is obtained;
and establishing a log index according to the identifier of the log data table, and storing the running log based on the log index.
The invention provides a VGA unmanned automatic driving control system, which comprises:
the distribution module is used for sending a conveying task to the target unmanned equipment, distributing a target control device when the task operation is that feeding is needed, and calling a standby cargo from a target warehouse to be placed on the target unmanned equipment based on the target control device;
the first control module is used for controlling the target unmanned equipment which receives the goods to be used to operate according to a preset track;
the recording module is used for recording an operation log of the target unmanned equipment in an operation process, judging whether an emergency exists or not, circularly detecting a preset database based on a data interface if the emergency exists, and updating control information to acquire a remote control instruction related to the emergency;
and the second control module is used for controlling an emergency device to perform related operations according to the remote control instruction so as to realize emergency control on the target unmanned equipment.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a flowchart of a VGA unmanned automatic driving control method according to an embodiment of the present invention;
fig. 2 is a structural diagram of a VGA unmanned automatic driving control method in an embodiment of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
The invention provides a VGA unmanned automatic driving control method, as shown in figure 1, comprising the following steps:
step 1: sending a conveying task to the target unmanned equipment, distributing a target control device when the task operation is that feeding is needed, and calling a standby cargo from a target warehouse to be placed on the target unmanned equipment based on the target control device;
step 2: controlling the target unmanned equipment receiving the goods to be used to operate according to a preset track;
and step 3: recording an operation log of the target unmanned equipment in an operation process, judging whether an emergency exists, if so, circularly detecting a preset database based on a data interface, and updating control information to obtain a remote control instruction related to the emergency;
and 4, step 4: and controlling an emergency device to perform related operations according to the remote control instruction, so as to realize emergency control on the target unmanned equipment.
In this embodiment, the target unmanned device may be an unmanned transport vehicle, an unmanned tractor, an unmanned forklift, or the like.
In this embodiment, for example, the automated guided vehicle is controlled by the main control computer, and the AGV is assigned to the console according to the supply demand on site. AGVS is matched with a preset task, and the transportation of various materials is completed through one-key operation, so that 'fool operation' is realized; when the materials need to be fed, the materials are taken from the warehouse at any time by the operation of the control system of the administrator, and a large amount of goods to be used do not need to be stored beside the machine table, so that the area of the factory building is more fully and effectively utilized; the AGV trolley runs according to a set electromagnetic track by executing a computer instruction, does not need to be manually operated, avoids misoperation, reduces labor intensity and production cost, and fundamentally meets the requirement of changing warehouse production from labor intensive type to technology intensive type; the machine can transfer required goods as required, can realize according to single production, satisfies market diversification, individualized demand.
In this embodiment, the emergency device, such as an emergency safety device, may remotely cut off the power supply to the AGV in case of emergency, and record the log in the background, so as to avoid injury to workers and damage to the inventory.
Still can be AGV organism dust pelletizing system, can close through the long-range opening of system, reach clear purpose through evenly spraying volatile liquid washing liquid.
In this embodiment, the preset database is preset.
The beneficial effects of the above technical scheme are: through according to carrying task allocation target control device, be convenient for accurate distribution, and through the log of record, judge the incident, and then obtain the instruction, realize the security to target unmanned aerial vehicle, be convenient for guarantee target unmanned aerial vehicle's security to emergency device.
The invention provides a VGA unmanned automatic driving control method, which comprises the following steps: before sending a delivery task to the target unmanned device, the method comprises the following steps:
determining a monitoring mode for the target unmanned equipment, wherein the monitoring mode comprises the following steps:
acquiring historical record information of the target unmanned aerial vehicle, dividing the historical record information according to timestamps, determining running information of the target unmanned aerial vehicle in each running process, and analyzing a standard running set, a to-be-normalized running set and an error running set of the target unmanned aerial vehicle in each running process based on the running information;
classifying the historical information according to event detection types, acquiring N types of detection information, and establishing a detection set of each type of detection information based on each operation time period;
determining a first parameter in the standard operation set, a second parameter in the operation set to be normalized and a third parameter in the error operation set;
matching each detection set with the first parameter, the second parameter and the third parameter respectively to determine the fault rate of each type of detection set;
sorting all fault rates according to size, and calibrating a first set corresponding to the first n fault rates from all detection sets;
respectively analyzing the type data of each first set, and obtaining an operation structure of the target unmanned equipment corresponding to the analysis result according to a feedback database;
determining a first position of the operation structure and a second position of the rest structure;
and obtaining position distribution according to the first position and the second position, and calling a corresponding monitoring mode from a monitoring database to monitor the target unmanned equipment.
In this embodiment, the historical record information is obtained by recording the device in the historical operation process, and the failure rate is determined by a way of collecting the time stamp and a way of detecting the type.
In this embodiment, the standard operation set refers to a data set completely meeting the operation standard, the operation set to be normalized refers to a data set meeting the operation standard, but within a boundary range, and the error operation set refers to a data set completely not meeting the operation standard.
In this embodiment, the event detection type refers to a failure type, an emergency braking type, a smooth operation type, an operation time type, and the like.
In this embodiment, the detection set refers to a corresponding set of different types of parameters.
In this embodiment, the first parameter refers to a standard operating parameter, and includes parameters of various detection types, the second parameter and the third parameter are the same.
In the embodiment, the fault rate is conveniently acquired through matching processing, and because the standard, the to-be-normalized and the error set exist, when different parameters are matched, which parameters have errors can be acquired, and further the fault rate is acquired.
In this embodiment, the first set includes detection sets corresponding to n failure rates.
In this embodiment, the feedback database is preset.
The beneficial effects of the above technical scheme are: through adopting two kinds of modes to detect, be convenient for effectively confirm the fault rate, secondly confirm the operation structure through selecting the set, and then distribute according to its position that corresponds, invoke the monitoring mode, be convenient for effectively detect, provide the basis for the safety of follow-up equipment.
The invention provides a VGA unmanned automatic driving control method, step 1, when the task operation is that needs to supply material, assign the goal controlling device, comprising:
determining a transportation path corresponding to the conveying task;
according to the starting point, the end point and the point information of the inflection point of the transportation path;
inputting the point information into a preset point difficulty judgment model to obtain a point difficulty value of each point;
calculating a reliable value K of the transportation path according to the following formula;
wherein e is0A point difficulty value representing a starting point; d0Representing origin based on transportationA weight value of the path; e is the same as1A point difficulty value representing an endpoint; d1A weight value representing an endpoint based on the transport path; deltaiA weight value representing that the ith inflection point is based on the transportation path; siA point-difficulty value representing the ith inflection point; n1 represents the total number of inflection points;
determining a point of the transportation path with the fault frequency higher than a preset frequency according to historical information, and regarding the point as a point to be monitored;
judging a stable value W of the target unmanned equipment operation based on the reliable value K and the following formula;
wherein f isjThe effective fitting value of the target unmanned equipment and the jth point to be monitored is represented, and the value range is (0, 1); n2 represents the total number of points to be monitored;
judging the stability grade of the stable value W based on a stability grade table;
when the stability value is a first stability grade, judging that the path transportation is reliable, and screening a device with the minimum waiting time from a target set of the transportation path end point as a target control device;
when the stability is in a second stability grade, matching a corresponding inflection point according to the position of the stability in a stability range corresponding to the second stability grade, and taking a device closest to the matched inflection point as a target control device;
and when the stability is a third stability level, judging that the path transportation is unreliable, and screening a device with the minimum waiting time from the target set of the starting point of the transportation path as a target control device.
The beneficial effects of the above technical scheme are: the point difficulty values of all points are determined by determining all points of a transportation path and a model, the stability grade is convenient to effectively determine by calculating the reliable values of the path and the stable values of the equipment according to a formula, different target control devices are obtained by grading the stability grade, the efficiency is convenient to improve, and the safety of the equipment is indirectly improved.
The invention provides a VGA unmanned automatic driving control method, which comprises the following steps of 1, based on a target control device, transferring goods to be used from a target warehouse to be placed on target unmanned equipment, and comprises the following steps:
based on the target control device, acquire corresponding transport task to the goods is transferred, and at the in-process of transferring, include:
carrying out first positioning on the target control device, carrying out second positioning on goods to be taken, and determining the current distribution of the target control device and the taken goods based on a first positioning result and a second positioning result;
estimating the operation times of the target control device needing to execute the goods calling in a preset time period, and determining an interception scheme for intercepting the current distribution according to the operation times;
respectively inputting each interception scheme into a scheme effective model, acquiring an effective value of each interception scheme, and extracting a first distribution corresponding to the interception scheme corresponding to the highest effective value as an area to be executed of the target control device;
determining that the target control device independently calls first consumption information of each first cargo based on the area to be executed, and simultaneously obtaining second consumption information of all first cargos which are called by the target control device based on different calling paths;
determining first-sent dispatching goods on the minimum dispatching consumption path according to all the first consumption information and the second consumption information, and sending dispatching instructions to the target control device;
and the target control device calls the first called goods according to the calling instruction.
In this embodiment, the first location refers to a current location of the target control device, the second location refers to a current location of the cargo, and a current distribution of the device and the cargo can be effectively determined according to a result of the first location and a result of the second location.
In this embodiment, the estimated operation times refers to the times of calling the goods, and since the goods are distributed in different positions of one area, an optimal intercepting scheme is obtained to intercept the distributed area to obtain a first distribution, and then an area to be executed, that is, an area where the goods are called by the device, is obtained.
In this embodiment, the consumption information that is retrieved individually and the retrieval information of different paths are obtained, so that the path with the minimum consumption is conveniently determined comprehensively, and since the loss corresponding to the cargo at the first position on the path is not necessarily retrieved and is the minimum, in order to maintain the minimum loss principle, the optimal position is determined to retrieve the cargo, that is, the cargo is retrieved for the first issue.
The beneficial effects of the above technical scheme are: the current distribution is determined according to the positioning results of the two devices, so that the least goods consumed by calling can be effectively determined, the order can be conveniently sent to the device to call the goods, and the time is saved.
The invention provides a VGA unmanned automatic driving control method, which comprises the following steps: recording an operation log of the target unmanned equipment in an operation process, and judging whether an emergency exists, wherein the operation log comprises the following steps:
preprocessing the running logs, screening existing outstanding logs, and performing pre-analysis on the outstanding logs;
constructing a prominent result of the prominent log according to a pre-analysis result, carrying out pattern display on the prominent result, and simultaneously carrying out overlapping comparison on the displayed prominent and a standard pattern to judge whether the overlapping degree is greater than a preset degree;
if yes, judging that no emergency exists;
otherwise, judging that the emergency exists.
The beneficial effects of the above technical scheme are: by screening the logs, patterns are further constructed, and whether emergency events exist or not can be effectively judged through overlapping comparison, so that the safety of equipment is indirectly guaranteed.
The invention provides a VGA unmanned automatic driving control method, in step 3, based on a data interface, a preset database is circularly detected, and control information is updated, which comprises the following steps:
determining the interface attribute of the data interface, and calling a detection circulation list based on the interface attribute;
sequentially detecting the preset databases according to the detection modes in the detection circular list to obtain a result list;
analyzing a first control instruction of each result of the result list and a second control instruction corresponding to each two results;
and acquiring matched information and unmatched information based on the first control instruction and the second control instruction, reserving a third instruction corresponding to the matched information, updating a fourth instruction corresponding to the unmatched information, and acquiring updated control information.
In this embodiment, the detection cycle list includes a plurality of detection modes.
The beneficial effects of the above technical scheme are: the detection list is determined through the interface attribute, then the database is detected through a detection mode to obtain a result list, relevant information whether matched or not is obtained through an instruction, and then the instruction is updated, so that the safety of subsequent equipment is conveniently guaranteed.
The invention provides a VGA unmanned automatic driving control method, step 4, according to the said far-end control command, control the urgent device to carry on the relevant operation, including:
acquiring a matching label and a control label of the remote control instruction;
matching the corresponding emergency device according to the instruction tag;
and controlling the emergency device to perform related operations according to the control tag.
The beneficial effects of the above technical scheme are: the instruction is split into different labels, so that related operations are facilitated, and the safety of equipment is guaranteed.
The invention provides a VGA unmanned automatic driving control method, in step 3, before recording the running log of the target unmanned equipment in the running process, the method also comprises the following steps:
acquiring m running data of the target unmanned equipment in the running process, performing data verification operation on the m running data through a preset verification algorithm, and acquiring m verification values;
matching the m check values with standard check values one by one, and judging whether malicious data exist in the m running data;
when the check value is not matched with the standard check value, judging that malicious data exist in the m pieces of operating data, wherein the data which are not matched with the standard check value are the malicious data, and meanwhile, marking and packaging the malicious data;
removing the packed malicious data;
otherwise, acquiring the data volume of the operating data, and matching a log data table with corresponding volume through the data volume;
all the running data are imported into the log data table, and meanwhile, the identifier of the log data table is obtained;
and establishing a log index according to the identifier of the log data table, and storing the running log based on the log index.
In this embodiment, the preset check algorithm may be an algorithm for performing security check on data, and the operation data is taken into the preset check algorithm to be calculated and generate a check value.
In this embodiment, the preset check value may be set in advance to measure whether malicious data exists in the operating data, and when the calculated check value is not matched with the preset check value, it is determined that the data corresponding to the check value is malicious data.
In this embodiment, the log data table is used to store the operating data.
In this embodiment, the identifier of the operational data table may be an identification determined by determining the capacity and data content of the data table.
The beneficial effects of the above technical scheme are: the safety of the operation data can be ensured through the safety detection of the operation data, the storage regularity of the operation log can be improved through establishing the log index, and meanwhile, the operation log can be recorded in time.
The present invention provides a VGA unmanned automatic driving control system, as shown in fig. 2, comprising:
the distribution module is used for sending a conveying task to the target unmanned equipment, distributing a target control device when the task operation is that feeding is needed, and calling a standby cargo from a target warehouse to be placed on the target unmanned equipment based on the target control device;
the first control module is used for controlling the target unmanned equipment which receives the goods to be used to operate according to a preset track;
the recording module is used for recording an operation log of the target unmanned equipment in an operation process, judging whether an emergency exists or not, circularly detecting a preset database based on a data interface if the emergency exists, and updating control information to acquire a remote control instruction related to the emergency;
and the second control module is used for controlling an emergency device to perform related operations according to the remote control instruction so as to realize emergency control on the target unmanned equipment.
The beneficial effects of the above technical scheme are: through according to carrying task allocation target control device, be convenient for accurate distribution, and through the log of record, judge the incident, and then obtain the instruction, realize the security to target unmanned aerial vehicle, be convenient for guarantee target unmanned aerial vehicle's security to emergency device.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.