Multi-agv supervisory control system of unmanned warehouse under sensor attack

Abstract

The application discloses a kind of sensor attacks under the multi-AGV supervisory control system of unmanned warehouse, comprising: unmanned warehouse, for providing the physical space of warehouse equipment placement and automatic guided vehicle movement;Automatic guided vehicle is used to carry goods in unmanned warehouse;Automatic guided vehicle control center is used to control the motion behavior of each automatic guided vehicle in unmanned warehouse, and generates the expected travel route by setting up multi-automatic guided vehicle collision avoidance method to make automatic guided vehicle normally advance;A kind of sensor attacks under the multi-AGV supervisory control system of unmanned warehouse is proposed in the application, the motion behavior of automatic machine model is controlled by designing multi-automatic guided vehicle collision avoidance method in automatic guided vehicle control center, to make automatic guided vehicle normally advance, the influence of the proposed collision avoidance method is fully considered Information-physical system attack on multi-automatic guided vehicle in unmanned warehouse, guarantee the safety of each automatic guided vehicle in unmanned warehouse and the safety and high efficiency of system operation in unmanned warehouse.

Description

Technical Field

[0001] This invention relates to the field of obstacle avoidance control technology for automated guided vehicles, and specifically to a multi-AGV monitoring and control system for an unmanned warehouse under sensor attack. Background Technology

[0002] With the advent of the big data era, logistics and transportation technologies are undergoing rapid transformation. The widespread application of big data, artificial intelligence, and other technologies in the logistics industry has fueled the burgeoning technological innovation of unmanned warehouses. Unmanned warehouses aim to achieve automated operations in warehouse processes, including receiving, storage, sorting, and outbound shipments. Many domestic and international e-commerce giants are now establishing unmanned warehouses. Therefore, in future development, enhancing competitiveness through accelerated technological upgrades, reduced operating costs, and providing precise services to consumers is crucial for gaining a competitive edge in the application of unmanned warehouse technology. Currently, typical material handling equipment in unmanned warehouse infrastructure includes automated guided vehicles (AGVs), shuttles, and unmanned forklifts, which significantly improve warehouse operational efficiency. However, AGVs inevitably face the risk of collisions with other AGVs or obstacles in the warehouse, which can negatively impact the operational efficiency and safety of the unmanned warehouse system.

[0003] Traditional collision avoidance methods for autonomous driving are mostly based on algorithms such as A* and Dijkstra's algorithm, but these suffer from drawbacks such as high computational cost, slow convergence, and lack of real-time performance. In recent years, neural networks, ant colony optimization (ACO), and genetic algorithms have also been applied to path planning problems. Compared to the aforementioned algorithms, ACO has demonstrated excellent search capabilities, positive feedback characteristics, and distributed computing in the path planning and application of mobile robots, exhibiting strong heuristics and stability. However, ACO still suffers from slow convergence speed, susceptibility to local optima and stagnation, and lacks a systematic consideration of the impact of attacks on multi-AGV systems. In conclusion, existing research has not adequately solved the challenge of optimizing collision avoidance paths for multi-AGV systems. Summary of the Invention

[0004] To address the aforementioned shortcomings in existing technologies, this invention provides a multi-AGV monitoring and control system for unmanned warehouses under sensor attacks. By setting up a multi-AGV collision avoidance method in the AGV control center to generate expected travel routes and enable the AGVs to move forward normally, this invention solves the problem of difficult path optimization for multiple AGVs in unmanned warehouses.

[0005] To achieve the above-mentioned objectives, the technical solution adopted by this invention is as follows:

[0006] A multi-AGV monitoring and control system for an unmanned warehouse under sensor attack includes:

[0007] Unmanned warehouses provide physical space for the placement of storage equipment and the movement of automated guided vehicles;

[0008] Automated guided vehicles (AGVs) are used to move goods in unmanned warehouses.

[0009] The automated guided vehicle (AGV) control center is used to control the movement of each AGV in the unmanned warehouse and generate the expected travel route by setting multiple AGV collision avoidance methods to ensure the AGVs move forward normally.

[0010] Furthermore, the specific process of generating the expected travel route by setting multiple automated guided vehicle (AGV) collision avoidance methods to enable the AGV to move forward normally is as follows:

[0011] Construct a single automated guided vehicle (AGV) system automaton model for each AGV in an unmanned warehouse;

[0012] Construct a single automated guided vehicle (AGV) controller automaton model for each AGV in an unmanned warehouse;

[0013] Based on the single automated guided vehicle system automaton model of each automated guided vehicle in the unmanned warehouse, construct the single automated guided vehicle automaton model of each automated guided vehicle in the unmanned warehouse under sensor attack.

[0014] Based on the single automated guided vehicle controller automaton model of each automated guided vehicle in the unmanned warehouse, a single automated guided vehicle controller automaton model of each automated guided vehicle in the unmanned warehouse under sensor attack is constructed.

[0015] The single automated guided vehicle (AGV) automaton model of each AGV in the unmanned warehouse under sensor attack is performed in parallel with the single automated guided vehicle controller (AGC) automaton model of each AGV in the unmanned warehouse under sensor attack, so as to obtain the full sensor attack automaton model of the AGV system under sensor attack.

[0016] Using the obtained full-sensor attack automaton model of the automated guided vehicle system under sensor attack, a real-time collision avoidance method for each automated guided vehicle is designed.

[0017] Furthermore, the specific process of constructing the single automated guided vehicle (AGV) system automaton model for each AGV in the unmanned warehouse is as follows:

[0018] The unmanned warehouse is divided into grids, and obstacle grids and boundary grids are set according to the grid division results;

[0019] The controllability and observability of each automated guided vehicle's movement in different directions are set, as well as whether there is an insertion behavior that can be enabled by the sensor to insert an attack event and whether there is an erasure behavior that can be enabled by the sensor to erase an attack event.

[0020] Based on the divided obstacle grid, boundary grid, and the controllability and observability of each automated guided vehicle (AGV) moving in different directions, a single AGV system automaton model is constructed for each AGV in the unmanned warehouse.

[0021] Furthermore, the specific process of dividing the unmanned warehouse into grids and setting obstacle and boundary grids based on the grid division results is as follows:

[0022] The unmanned warehouse is divided into a rectangular area with a length of m grids and a width of n grids, and a two-dimensional rectangular coordinate system is constructed with the vertex of the first grid as the origin, the length as the horizontal coordinate and the width as the vertical coordinate.

[0023] Set the locations of the automated guided vehicle (AGV) parking / charging area, goods storage area, picking station area, and AGV free passage area in the unmanned warehouse;

[0024] Configure the number of automated guided vehicles (AGVs) in the unmanned warehouse and the parking / charging location for each AGV, and assign each AGV a serial number. Numbering is done in a specific way.

[0025] Include the grid containing the cargo storage area and the picking station area in the obstacle grid of all automated guided vehicles;

[0026] Number After removing the grid cell containing the automated guided vehicle (AGV) in the parking / charging area, the grid cell containing the charging area in the AGV's parking / charging area will be added to the grid cell numbered [number missing]. The obstacle grid of the automated guided vehicle;

[0027] The remaining automated guided vehicles are currently located in a grid and are about to reach a grid, which are then numbered as follows: The obstacle grid of the automated guided vehicle;

[0028] Include the grid cells with an x-coordinate of 1 or m in the unmanned warehouse into the boundary grid of all automated guided vehicles;

[0029] The grid cells with a vertical coordinate of 1 or n in the unmanned warehouse are included in the boundary grid of all automated guided vehicles.

[0030] Furthermore, based on the divided obstacle grid, boundary grid, and the controllability and observability of each automated guided vehicle's (AGV) movement in different directions, the specific process for constructing a single AGV system automaton model for each AGV in the unmanned warehouse is as follows:

[0031] Construct the initial automaton of the automated guided vehicle (AGV) controlled system, namely:

[0032]

[0033] in, Indicates the number is The initial automaton of the automated guided vehicle (AGV) controlled system. Indicates the number is The initial automatic mechanism of the controlled system of the automated guided vehicle No. 1 The set of states, Indicates the number is The initial automatic mechanism of the controlled system of the automated guided vehicle No. 1 The event set, and , Indicates the number is The automated guided vehicle (AGV) moves eastward in a grid-like motion. Indicates the number is The automated guided vehicle (AGV) moved westward in a grid-like motion. Indicates the number is The automated guided vehicle (AGV) moves northwards in a grid-like motion. Indicates the number is The automated guided vehicle (AGV) moves southward by one grid. Indicates the number is The initial automatic mechanism of the controlled system of the automated guided vehicle No. 1 The transition function, Indicates the number is The initial automatic mechanism of the controlled system of the automated guided vehicle No. 1 The initial state;

[0034] An abnormal state is constructed. When the automated guided vehicle enters a grid cell in its obstacle grid or boundary grid, an abnormal state is triggered and added to the state set of the initial automaton of the automated guided vehicle controlled system constructed above.

[0035] For grids that are not in the obstacle grid or boundary grid, construct the corresponding normal state in the state set of the initial automaton of the above-constructed automated guided vehicle controlled system;

[0036] Based on the expected travel route generated by the automated guided vehicle control center for the automated guided vehicle, the state of the starting grid is listed as the initial state of the initial automaton of the automated guided vehicle's controlled system.

[0037] Based on the positional relationships between the grids represented by each state in the state set of the initial automaton of the automated guided vehicle (AGV) controlled system, the corresponding transition relationships are constructed and included in the transition function of the initial automaton of the AGV controlled system.

[0038] Furthermore, the specific process of constructing the single automated guided vehicle (AGV) controller automaton model for each AGV in the unmanned warehouse is as follows:

[0039] Construct the initial controller automaton of the automated guided vehicle (AGV) controlled system, namely:

[0040]

[0041] in, Indicates the number is The initial controller automaton of the automated guided vehicle (AGV) controlled system. Indicates the number is The initial controller of the automated guided vehicle's controlled system is the Automated Machine. The state set, Indicates the number is The initial controller of the automated guided vehicle's controlled system is the Automated Machine. The event set, and , The control number of the automated guided vehicle control center is: The automated guided vehicle (AGV) moves eastward in a grid-like motion. The control number of the automated guided vehicle control center is: The automated guided vehicle (AGV) moved westward in a grid-like motion. The control number of the automated guided vehicle control center is: The automated guided vehicle (AGV) moves northwards in a grid-like motion. The control number of the automated guided vehicle control center is: The automated guided vehicle (AGV) moves southward by one grid. Indicates the number is The initial controller of the automated guided vehicle's controlled system is the Automated Machine. The transition function, Indicates the number is The initial controller of the automated guided vehicle's controlled system is the Automated Machine. The initial state;

[0042] Based on the expected travel route generated by the automated guided vehicle control center for the automated guided vehicle, the state of the starting grid is listed as the initial state of the initial controller automaton of the automated guided vehicle's controlled system;

[0043] Based on the expected travel route generated by the automated guided vehicle (AGV) control center for the AGV, the corresponding states are added to the state set of the initial controller automaton of the AGV's controlled system. According to the positional relationship between the grids represented by each state, the corresponding transition relationship is constructed and included in the transition function of the initial controller automaton of the AGV's controlled system.

[0044] Furthermore, based on the constructed single automated guided vehicle (AGV) system automaton model for each AGV in the unmanned warehouse, the specific process for constructing the single AGV automaton model for each AGV in the unmanned warehouse under sensor attack is as follows:

[0045] Based on the single automated guided vehicle (AGV) system automaton model constructed for each AGV in the unmanned warehouse, the initial automaton of the AGV controlled system under sensor attack is constructed, namely:

[0046]

[0047] in, The number indicating the sensor attack is The initial automaton of the automated guided vehicle (AGV) controlled system. The number indicating the sensor attack is The initial automatic mechanism of the controlled system of the automated guided vehicle No. 1 The state set, The number indicating the sensor attack is The initial automatic mechanism of the controlled system of the automated guided vehicle No. 1 The set of events, The number indicating the sensor attack is The initial automatic mechanism of the controlled system of the automated guided vehicle No. 1 The transition function, The number indicating the sensor attack is The initial automatic mechanism of the controlled system of the automated guided vehicle No. 1 The initial state;

[0048] For events that can be enabled by sensor insertion attacks, a self-loop transition of the insertion behavior event is added to each state of the initial automaton of the automated guided vehicle under sensor attack.

[0049] For events that can be enabled by sensor erasure attacks, a transition of the parallel erasure event is added to the initial automaton of the automated guided vehicle controlled system under sensor attack when the event occurs.

[0050] Furthermore, based on the constructed single automated guided vehicle (AGV) controller automaton model for each AGV in the unmanned warehouse, the specific process for constructing the single AGV controller automaton model for each AGV in the unmanned warehouse under sensor attack is as follows:

[0051] Based on the single automated guided vehicle (AGV) controller automaton model constructed for each AGV in the unmanned warehouse, the initial automaton of the AGV controller under sensor attack is constructed, namely:

[0052]

[0053] in, The number indicating the sensor attack is The initial automaton of the automated guided vehicle controller, The number indicating the sensor attack is The initial automatic mechanism of the automated guided vehicle controller. The state set, The number indicating the sensor attack is The initial automatic mechanism of the automated guided vehicle controller. The set of events, The number indicating the sensor attack is The initial automatic mechanism of the automated guided vehicle controller. The transition function, The number indicating the sensor attack is The initial automatic mechanism of the automated guided vehicle controller. The initial state;

[0054] For events that can be enabled by sensor insertion attacks, when such events occur, a transition of the insertion behavior event parallel to that event is added to the initial automaton of the automated guided vehicle controller under the sensor attack.

[0055] For events that can be enabled by sensor erase attacks, a self-looping transition of the erase behavior event is added to each state of the initial automaton of the automated guided vehicle controller under sensor attack.

[0056] Furthermore, the specific process of performing parallel computation between the single automated guided vehicle (AGV) automaton model of each AGV in the unmanned warehouse under sensor attack and the single AGV controller automaton model of each AGV in the unmanned warehouse under sensor attack is as follows:

[0057] The single-autonomous vehicle automaton model of each automated guided vehicle (AGV) in the unmanned warehouse under sensor attack is performed in parallel with the single-autonomous vehicle controller automaton model of each AGV in the unmanned warehouse under sensor attack, to obtain the full sensor attack automaton model of the AGV system under sensor attack, i.e.:

[0058]

[0059] in, The number indicating the sensor attack is The fully sensor-attack automaton model of the automated guided vehicle system. Represents the parallel operator. This represents the initial state in the single automated guided vehicle (AVR) automaton model and the single automated guided vehicle (AGV) controller automaton model. Connected parts, The number indicating the sensor attack is The initial automatic mechanism of the controlled system of the automated guided vehicle No. 1 The initial state, The number indicating the sensor attack is The initial automatic mechanism of the automated guided vehicle controller. The initial state, The number indicating the sensor attack is The initial automatic mechanism of the controlled system of the automated guided vehicle No. 1 The state set, The number indicating the sensor attack is The initial automatic mechanism of the automated guided vehicle controller. The state set, Represents the Cartesian product symbol. The number indicating the sensor attack is Full sensor attack automaton model of the automated guided vehicle system The state set, The number indicating the sensor attack is Full sensor attack automaton model of the automated guided vehicle system The set of events, The number indicating the sensor attack is Full sensor attack automaton model of the automated guided vehicle system The transition function, The number indicating the sensor attack is Full sensor attack automaton model of the automated guided vehicle system The initial state.

[0060] Furthermore, the specific process of designing a real-time collision avoidance method for each automated guided vehicle (AGV) using the obtained full-sensor attack automaton model of the AGV system under sensor attacks is as follows:

[0061] If the first element of the full sensor attack automaton model of the automated guided vehicle system under sensor attack can reach the abnormal state of the full sensor attack automaton model through a controllable event or through an uncontrollable event sequence, then remove the transitions of all identical events in the single automated guided vehicle controller automaton model.

[0062] The present invention has the following beneficial effects:

[0063] This invention proposes a multi-AGV monitoring and control system for unmanned warehouses under sensor attacks. An automaton model is constructed at the Automated Guided Vehicle (AGV) control center, and mature discrete event system modeling and analysis theory is introduced to analyze and study the behavior of multiple AGVs in the unmanned warehouse, which helps to enhance the accuracy and credibility of the conclusions. Simultaneously, a multi-AGV collision avoidance method is designed to control the motion behavior of the automaton model, ensuring the normal forward movement of the AGVs. The proposed collision avoidance method fully considers the impact of cyber-physical system attacks on multiple AGVs in the unmanned warehouse, fully guaranteeing the safety of each AGV in the unmanned warehouse, while also ensuring the safe and efficient operation of the system within the unmanned warehouse. Attached Figure Description

[0064] Figure 1 This is a schematic diagram of the structure of a multi-AGV monitoring and control system for an unmanned warehouse under sensor attack proposed in this invention;

[0065] Figure 2 This is a schematic diagram of the unmanned warehouse in this invention;

[0066] Figure 3 This is a flowchart illustrating a multi-autonomous vehicle collision avoidance method. Detailed Implementation

[0067] The specific embodiments of the present invention are described below to enable those skilled in the art to understand the present invention. However, it should be understood that the present invention is not limited to the scope of the specific embodiments. For those skilled in the art, various changes are obvious as long as they are within the spirit and scope of the present invention as defined and determined by the appended claims. All inventions utilizing the concept of the present invention are protected.

[0068] like Figure 1 As shown, a multi-AGV monitoring and control system for an unmanned warehouse under sensor attack includes:

[0069] Unmanned warehouses are physical spaces used to provide storage equipment for placement and automated guided vehicles for movement.

[0070] Automated guided vehicles (AGVs) are used to move goods in unmanned warehouses.

[0071] The automated guided vehicle (AGV) control center is used to control the movement of each AGV in the unmanned warehouse and generate the expected travel route by setting multiple AGV collision avoidance methods to ensure the AGVs move forward normally.

[0072] In an optional embodiment of the present invention, Figure 1This is a schematic diagram of a multi-AGV monitoring and control system for an unmanned warehouse under sensor attack conditions proposed in this invention. In the unmanned warehouse, the automated guided vehicle (AGV) control center controls the movement of each AGV through control commands, and simultaneously feeds back the observed movement behavior of each AGV to the control center. If a sensor attacker attempts to attack the movement of an AGV, the attack event is reported to the control center, which then rationally assigns tasks to each AGV and generates a planned route, thereby ensuring the safe and efficient operation of the entire unmanned warehouse system. In this embodiment, several AGVs form the core of the AGV control center, used for transporting goods within the unmanned warehouse.

[0073] like Figure 2 As shown, Figure 2 This is a schematic diagram of the unmanned warehouse in this invention. The unmanned warehouse is divided into several grids to provide physical space for the placement of storage equipment and the movement of automated guided vehicles (AGVs). The unmanned warehouse is further divided into rectangular areas with a length of m grids and a width of n grids, including an AGV parking / charging area, a goods storage area, a picking station area, and an AGV free passage area. Figure 2 The automated guided vehicle (AGV) parking / charging area consists of the second to sixth grids in the first row; the goods storage area consists of the fourth and fifth grids in the middle of the third row and the fourth and fifth grids in the middle of the fourth row; and the picking area consists of the second, fourth, and sixth grids in the sixth row. The working principle of this invention is as follows: In the unmanned warehouse, there are several AGVs, each with an AGV control center that automatically assigns orders based on proximity. After receiving an order picking command, the AGV departs from its parking point, first proceeding to the target shelf, retrieving the goods from the goods storage area and delivering them to the picking area. Then, the AGV returns empty to the goods storage area, awaiting the picking system to issue the next order command. Based on the above-described operation of the Automated Guided Vehicle (AGV), the movement of the AGV in the warehouse can be divided into four stages according to the location of the starting and ending points of each movement: Stage 1 is the AGV moving from the parking position to the target shelf; Stage 2 is the AGV moving from the shelf to the target picking station; Stage 3 is the AGV moving from the picking station to the shelf where it retrieves the next item; Stage 4 is the AGV returning directly to the parking position from the picking station to rest or recharge. Each AGV can only be in one of these four stages at a time. The AGV control center designs a control program for each AGV based on the generated travel route and the actual conditions of the warehouse, distributing the control over the AGV's movement.

[0074] like Figure 3As shown, the specific process of generating the expected travel route by setting multiple automated guided vehicle (AGV) collision avoidance methods to enable the AGV to move forward normally is as follows:

[0075] Construct a single automated guided vehicle (AGV) system automaton model for each AGV in an unmanned warehouse.

[0076] Construct a single automated guided vehicle (AGV) controller automaton model for each AGV in an unmanned warehouse.

[0077] Based on the single automated guided vehicle (AGV) system automaton model of each AGV in the unmanned warehouse, a single AGV automaton model of each AGV in the unmanned warehouse under sensor attack is constructed.

[0078] Based on the single automated guided vehicle (AGV) controller automaton model of each AGV in the unmanned warehouse, a single AGV controller automaton model of each AGV in the unmanned warehouse under sensor attack is constructed.

[0079] The single Automated Guided Vehicle (AVR) automaton model of each AVR in the unmanned warehouse under sensor attack is performed in parallel with the single AVR controller automaton model of each AVR in the unmanned warehouse under sensor attack, to obtain the full sensor attack automaton model of the AVR system under sensor attack.

[0080] Using the obtained full-sensor attack automaton model of the automated guided vehicle system under sensor attack, a real-time collision avoidance method for each automated guided vehicle is designed.

[0081] In this embodiment, the controlled system and controller of each automated guided vehicle (AGV) in the unmanned warehouse are modeled using the formal modeling method of discrete event systems. The case of sensor attack on the controlled system is considered to obtain the possible future behavior of each AGV in the unmanned warehouse under sensor attack. The behavior is then controlled by the control theory of discrete event systems to obtain the real-time collision avoidance strategy of each AGV, thereby ensuring the driving safety of vehicles in the unmanned warehouse. The whole process has logical rigor.

[0082] Specifically, the process of constructing the automaton model for each automated guided vehicle (AGV) system in an unmanned warehouse is as follows:

[0083] The unmanned warehouse is divided into grids, and obstacle grids and boundary grids are set according to the grid division results.

[0084] The system determines the controllability and observability of each automated guided vehicle's (AGV) movement in different directions, whether there are insertion behaviors that can be enabled by sensor-activated insertion attacks, and whether there are erasure behaviors that can be enabled by sensor-activated erasure attacks.

[0085] Based on the divided obstacle grid, boundary grid, and the controllability and observability of each automated guided vehicle (AGV) moving in different directions, a single AGV system automaton model is constructed for each AGV in the unmanned warehouse.

[0086] In this embodiment, the unmanned logistics warehouse is formalized into an automaton model that is easy to analyze and compute using automata, a classic formal modeling tool. By dividing the unmanned warehouse into several grids and adopting a whole-part approach, it is convenient to study the trajectory of each automated guided vehicle (AGV) in the warehouse, thereby establishing a controller for each AAV. Based on this, by considering the impact of sensor attacks on each AAV subsystem, the behavior of each AAV under sensor attacks is analyzed, and then the entire unmanned warehouse system is comprehensively considered to design a multi-AGV collision avoidance strategy for the unmanned warehouse under sensor attacks.

[0087] Specifically, the process of dividing the unmanned warehouse into grids and setting obstacle and boundary grids based on the grid division results is as follows:

[0088] The unmanned warehouse is divided into rectangular areas with a length of m grids and a width of n grids. A two-dimensional Cartesian coordinate system is constructed with the vertex of the first grid as the origin, the length as the horizontal coordinate, and the width as the vertical coordinate.

[0089] The location of the automated guided vehicle (AGV) parking / charging area, goods storage area, picking area, and AGV free passage area in the unmanned warehouse is set.

[0090] In this embodiment, the unmanned warehouse is further divided into four functionally distinct areas: an automated guided vehicle (AGV) parking / charging area, a goods storage area, a picking station area, and an AGV free passage area. This allows for the establishment of automaton models of the AGVs' trajectories under different operating conditions, laying the foundation for subsequent multi-AGV collision avoidance strategies. The AGV parking / charging area occupies several grids within the unmanned warehouse and is used for parking and charging all AGVs. Each AGV parks in this area to charge after each use, and each AGV has its own fixed parking space and cannot enter the parking spaces of other AGVs. The goods storage area occupies several grids within the unmanned warehouse and is used to store goods awaiting transfer. Goods are arranged orderly on shelves, with each shelf occupying one grid in the goods storage area. The picking station area occupies several grids within the unmanned warehouse and contains picking stations for selecting goods transported from the goods storage area. Each picking station occupies one grid in the picking station area. The autonomous guided vehicles (AGVs) have free passage between the grids in the unmanned warehouse outside the three areas mentioned above.

[0091] Configure the number of automated guided vehicles (AGVs) in the unmanned warehouse and the parking / charging location for each AGV, and assign each AGV a serial number. Numbering is done in a specific way.

[0092] Include the grid containing the cargo storage area and the picking station area in the obstacle grid of all automated guided vehicles.

[0093] Number After removing the grid cell containing the automated guided vehicle (AGV) in the parking / charging area, the grid cell containing the charging area in the AGV's parking / charging area will be added to the grid cell numbered [number missing]. The obstacle grid of the automated guided vehicle.

[0094] The remaining automated guided vehicles are currently located in a grid and are about to reach a grid, which are then numbered as follows: The obstacle grid of the automated guided vehicle.

[0095] Include the grid cells with an x-coordinate of 1 or m in the unmanned warehouse into the boundary grid of all automated guided vehicles.

[0096] The grid cells with a vertical coordinate of 1 or n in the unmanned warehouse are included in the boundary grid of all automated guided vehicles.

[0097] Specifically, based on the divided obstacle grid, boundary grid, and the controllability and observability of each automated guided vehicle's (AGV) movement in different directions, the specific process of constructing the single AGV system automaton model for each AGV in the unmanned warehouse is as follows:

[0098] Construct the initial automaton of the automated guided vehicle (AGV) controlled system, namely:

[0099]

[0100] in, Indicates the number is The initial automaton of the automated guided vehicle (AGV) controlled system. Indicates the number is The initial automatic mechanism of the controlled system of the automated guided vehicle No. 1 The set of states, Indicates the number is The initial automatic mechanism of the controlled system of the automated guided vehicle No. 1 The event set, and , Indicates the number is The automated guided vehicle (AGV) moves eastward in a grid-like motion. Indicates the number is The automated guided vehicle (AGV) moved westward in a grid-like motion. Indicates the number is The automated guided vehicle (AGV) moves northwards in a grid-like motion. Indicates the number is The automated guided vehicle (AGV) moves southward by one grid. Indicates the number is The initial automatic mechanism of the controlled system of the automated guided vehicle No. 1 The transition function, and initially both the original set and the mapping set of the transition function are empty. Indicates the number is The initial automatic mechanism of the controlled system of the automated guided vehicle No. 1 The initial state is empty at the beginning.

[0101] An abnormal state is constructed when the automated guided vehicle enters a grid cell in its obstacle grid or boundary grid. This abnormal state is then added to the state set of the initial automaton of the automated guided vehicle controlled system constructed above.

[0102] For grids that are not in the obstacle grid or boundary grid, construct the corresponding normal state in the state set of the initial automaton of the automated guided vehicle controlled system constructed above.

[0103] Based on the expected travel route generated by the automated guided vehicle (AGV) control center for the AGV, the state of the starting grid is listed as the initial state of the initial automaton of the AGV controlled system.

[0104] Based on the positional relationships between the grids represented by each state in the state set of the initial automaton of the automated guided vehicle (AGV) controlled system, the corresponding transition relationships are constructed and included in the transition function of the initial automaton of the AGV controlled system.

[0105] In this embodiment, a single automated guided vehicle (AGV) automaton model is constructed for each AGV based on the terrain of the unmanned warehouse and the current state of other AGVs, so as to facilitate the implementation of subsequent collision avoidance strategies.

[0106] Specifically, the process of constructing the single automated guided vehicle (AGV) controller automaton model for each AGV in an unmanned warehouse is as follows:

[0107] Construct the initial controller automaton of the automated guided vehicle (AGV) controlled system, namely:

[0108]

[0109] in, Indicates the number is The initial controller automaton of the automated guided vehicle (AGV) controlled system. Indicates the number is The initial controller of the automated guided vehicle's controlled system is the Automated Machine. The set of states, and initially the set of states is empty. , Indicates the number is The initial controller of the automated guided vehicle's controlled system is the Automated Machine. The event set, and , The control number of the automated guided vehicle control center is: The automated guided vehicle (AGV) moves eastward in a grid-like motion. The control number of the automated guided vehicle control center is: The automated guided vehicle (AGV) moved westward in a grid-like motion. The control number of the automated guided vehicle control center is: The automated guided vehicle (AGV) moves northwards in a grid-like motion. The control number of the automated guided vehicle control center is: The automated guided vehicle (AGV) moves southward by one grid. Indicates the number is The initial controller of the automated guided vehicle's controlled system is the Automated Machine. The transition function, and initially both the original set and the mapping set of the transition function are empty. Indicates the number is The initial controller of the automated guided vehicle's controlled system is the Automated Machine. The initial state is empty at the beginning.

[0110] Based on the expected travel route generated by the automated guided vehicle (AGV) control center for the AGV, the state of the starting grid is listed as the initial state of the initial controller automaton of the AGV controlled system.

[0111] Based on the expected travel route generated by the automated guided vehicle (AGV) control center for the AGV, the corresponding states are added to the state set of the initial controller automaton of the AGV's controlled system. According to the positional relationship between the grids represented by each state, the corresponding transition relationship is constructed and included in the transition function of the initial controller automaton of the AGV's controlled system.

[0112] In this embodiment, a corresponding controller is designed for the automated guided vehicle (AGV) based on the expected travel route generated by the AGV control center. This controller can effectively guide the AGV to travel along the expected route.

[0113] Specifically, based on the single automated guided vehicle (AGV) system automaton model of each AGV in the unmanned warehouse, the specific process of constructing the single AGV automaton model of each AGV under sensor attack is as follows:

[0114] Based on the single automated guided vehicle (AGV) system automaton model constructed for each AGV in the unmanned warehouse, the initial automaton of the AGV controlled system under sensor attack is constructed, namely:

[0115]

[0116] in, The number indicating the sensor attack is The initial automaton of the automated guided vehicle (AGV) controlled system. The number indicating the sensor attack is The initial automatic mechanism of the controlled system of the automated guided vehicle No. 1 The state set, and the state set here The number obtained above is The initial automatic mechanism of the controlled system of the automated guided vehicle No. 1 set of states equal, The number indicating the sensor attack is The initial automatic mechanism of the controlled system of the automated guided vehicle No. 1 The event set, and the event set Not only including the number The initial automatic mechanism of the controlled system of the automated guided vehicle No. 1 event collection Each element, and also includes the sensor attacker's insertion behavior on all events that can enable sensor insertion attacks and the sensor attacker's erasure behavior on all events that can enable sensor erasure attacks. The number indicating the sensor attack is The initial automatic mechanism of the controlled system of the automated guided vehicle No. 1 The transition function, and initially the transition function Equal to the number The initial automatic mechanism of the controlled system of the automated guided vehicle No. 1 transfer function , The number indicating the sensor attack is The initial automatic mechanism of the controlled system of the automated guided vehicle No. 1 The initial state, and the numbered The initial automatic mechanism of the controlled system of the automated guided vehicle No. 1 initial state same;

[0117] For events that can be enabled by sensor insertion attacks, a self-loop transition of the insertion behavior event is added to each state of the initial automaton of the automated guided vehicle under sensor attack.

[0118] For events that can be enabled by sensor erasure attacks, a transition of the parallel erasure event is added to the initial automaton of the automated guided vehicle controlled system under sensor attack when the event occurs.

[0119] In this embodiment, by considering the impact of sensor attacks on the behavior of the controlled system, an automaton model of the automated guided vehicle controlled system under sensor attacks is constructed to facilitate the implementation of subsequent collision avoidance strategies.

[0120] Specifically, based on the constructed single automated guided vehicle (AGV) controller automaton model for each AGV in the unmanned warehouse, the specific process for constructing the single AGV controller automaton model for each AGV under sensor attack is as follows:

[0121] Based on the single automated guided vehicle (AGV) controller automaton model constructed for each AGV in the unmanned warehouse, the initial automaton of the AGV controller under sensor attack is constructed, namely:

[0122]

[0123] in, The number indicating the sensor attack is The initial automaton of the automated guided vehicle controller, The number indicating the sensor attack is The initial automatic mechanism of the automated guided vehicle controller. The set of states, and initially equal to the numbered... The initial controller of the automated guided vehicle's controlled system is the Automated Machine. state set , The number indicating the sensor attack is The initial automatic mechanism of the automated guided vehicle controller. The event set, and initially numbered according to the sensor attack. The initial automatic mechanism of the controlled system of the automated guided vehicle No. 1 event collection equal, The number indicating the sensor attack is The initial automatic mechanism of the automated guided vehicle controller. The transition function, and initially with the number . The initial controller of the automated guided vehicle's controlled system is the Automated Machine. transfer function equal, The number indicating the sensor attack is The initial automatic mechanism of the automated guided vehicle controller. The initial state, and initially the same as the number. The initial controller of the automated guided vehicle's controlled system is the Automated Machine. initial state same.

[0124] For events that can be enabled by sensor insertion attacks, when such an event occurs, a transition of the insertion behavior event parallel to that event is added to the initial automaton of the automated guided vehicle controller under the sensor attack.

[0125] For events that can be enabled by sensor erase attacks, a self-looping transition of the erase behavior event is added to each state of the initial automaton of the automated guided vehicle controller under sensor attack.

[0126] In this embodiment, by considering the impact of sensor attacks on the control behavior of the system controller, and based on the shortcomings of existing controllers, a controller capable of achieving collision avoidance for automated guided vehicles is designed.

[0127] Specifically, the process of performing parallel computation between the single automated guided vehicle (AGV) automaton model of each AGV in the unmanned warehouse under sensor attack and the single AGV controller automaton model of each AGV in the unmanned warehouse under sensor attack is as follows:

[0128] The single-autonomous vehicle automaton model of each automated guided vehicle (AGV) in the unmanned warehouse under sensor attack is performed in parallel with the single-autonomous vehicle controller automaton model of each AGV in the unmanned warehouse under sensor attack, to obtain the full sensor attack automaton model of the AGV system under sensor attack, i.e.:

[0129]

[0130] in, The number indicating the sensor attack is The fully sensor-attack automaton model of the automated guided vehicle system. Represents the parallel operator. This represents the initial state in the single automated guided vehicle (AVR) automaton model and the single automated guided vehicle (AGV) controller automaton model. Connected parts, The number indicating the sensor attack is The initial automatic mechanism of the controlled system of the automated guided vehicle No. 1 The initial state, The number indicating the sensor attack is The initial automatic mechanism of the automated guided vehicle controller. The initial state, The number indicating the sensor attack is The initial automatic mechanism of the controlled system of the automated guided vehicle No. 1 The state set, The number indicating the sensor attack is The initial automatic mechanism of the automated guided vehicle controller. The state set, The symbol for the Cartesian product is given, and , The number indicating the sensor attack is Full sensor attack automaton model of the automated guided vehicle system The state set, The number indicating the sensor attack is Full sensor attack automaton model of the automated guided vehicle system The set of events, The number indicating the sensor attack is Full sensor attack automaton model of the automated guided vehicle system The transition function, The number indicating the sensor attack is Full sensor attack automaton model of the automated guided vehicle system The initial state, and the initial state The number is included under the sensor attack. The initial automatic mechanism of the controlled system of the automated guided vehicle No. 1 The number under sensor attack is The initial automatic mechanism of the automated guided vehicle controller. The initial state of the binary tuple, i.e. .

[0131] In this embodiment, the sensor attack is numbered as follows: Full sensor attack automaton model of the automated guided vehicle system transfer function The value depends on the number under the sensor attack. The initial automatic mechanism of the controlled system of the automated guided vehicle No. 1 The number under sensor attack is The initial automatic mechanism of the automated guided vehicle controller. Can events be enabled simultaneously? This includes three cases:

[0132] In the first scenario, if the sensor attack is numbered... The initial automatic mechanism of the controlled system of the automated guided vehicle No. 1 The number under sensor attack is The initial automatic mechanism of the automated guided vehicle controller. Enable events simultaneously ,but:

[0133]

[0134] In the second scenario, if the sensor attack is numbered... The initial automatic mechanism of the controlled system of the automated guided vehicle No. 1 Enable events The sensor attack was numbered as The initial automatic mechanism of the automated guided vehicle controller. Unable to enable events ,but:

[0135]

[0136] In the third scenario, if the sensor attack results in the number being... The initial automatic mechanism of the automated guided vehicle controller. Enable events The sensor attack was numbered as The initial automatic mechanism of the controlled system of the automated guided vehicle No. 1 Unable to enable events ,but:

[0137]

[0138] In this embodiment, by considering all potential behaviors of the controlled system under sensor attacks, the shortcomings of existing controllers are analyzed, and a controller capable of achieving collision avoidance for automated guided vehicles is designed.

[0139] Specifically, the process of designing a real-time collision avoidance method for each automated guided vehicle (AGV) using the obtained full-sensor attack automaton model of the AGV system under sensor attacks is as follows:

[0140] If the first element of the full sensor attack automaton model of the automated guided vehicle system under sensor attack can reach the abnormal state of the full sensor attack automaton model through a controllable event or through an uncontrollable event sequence, then remove the transitions of all identical events in the single automated guided vehicle controller automaton model.

[0141] In this embodiment, by constructing the above-mentioned automaton model, the necessary and sufficient conditions for collisions to occur in the automated guided vehicle are examined, and a collision avoidance strategy is designed to break the necessary and sufficient conditions in order to achieve collision avoidance of the automated guided vehicle.

[0142] Specific embodiments have been used to illustrate the principles and implementation methods of this invention. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of this invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this invention. Therefore, the content of this specification should not be construed as a limitation of this invention.

[0143] Those skilled in the art will recognize that the embodiments described herein are intended to help the reader understand the principles of the invention, and should be understood that the scope of protection of the invention is not limited to such specific statements and embodiments. Those skilled in the art can make various other specific modifications and combinations based on the technical teachings disclosed in this invention without departing from the spirit of the invention, and these modifications and combinations are still within the scope of protection of this invention.

Claims

1. A multi-AGV supervisory control system for unmanned warehouse under sensor attack, characterized in that, The warehouse is unmanned, and the physical space is provided for the placement of warehouse equipment and the movement of automated guided vehicles. The automated guided vehicle is used to carry goods in the unmanned warehouse. The automated guided vehicle control center is used to control the movement behavior of each automated guided vehicle in the unmanned warehouse, and to generate an expected travel route for the automated guided vehicle to normally advance by setting a multi-automated guided vehicle collision avoidance method. The specific process of generating an expected travel route for the automated guided vehicle to normally advance by setting a multi-automated guided vehicle collision avoidance method is as follows: An automated guided vehicle system automaton model of each automated guided vehicle in the unmanned warehouse is constructed. An automated guided vehicle controller automaton model of each automated guided vehicle in the unmanned warehouse is constructed. According to the constructed automated guided vehicle system automaton model of each automated guided vehicle in the unmanned warehouse, an automated guided vehicle automaton model of each automated guided vehicle in the unmanned warehouse under sensor attack is constructed. According to the constructed automated guided vehicle controller automaton model of each automated guided vehicle in the unmanned warehouse, an automated guided vehicle controller automaton model of each automated guided vehicle in the unmanned warehouse under sensor attack is constructed. The constructed automated guided vehicle automaton model of each automated guided vehicle in the unmanned warehouse under sensor attack and the constructed automated guided vehicle controller automaton model of each automated guided vehicle in the unmanned warehouse under sensor attack are operated in parallel to obtain a full-sensor attack automaton model of the automated guided vehicle system under sensor attack. The real-time collision avoidance method of each automated guided vehicle is designed using the obtained full-sensor attack automaton model of the automated guided vehicle system under sensor attack. The specific process of constructing an automated guided vehicle system automaton model of each automated guided vehicle in the unmanned warehouse is as follows: The unmanned warehouse is divided into grids, and obstacle grids and boundary grids are set according to the grid division results. The controllability, observability, insertion behavior that can be attacked by an enabled sensor, and erasure behavior that can be attacked by an enabled sensor of each automated guided vehicle traveling event in different directions are set. According to the divided obstacle grids, boundary grids, and controllability, observability of each automated guided vehicle traveling event in different directions, an automated guided vehicle system automaton model of each automated guided vehicle in the unmanned warehouse is constructed, specifically as follows: An initial automaton of the automated guided vehicle controlled system is constructed, i.e. An abnormal state is constructed, which is triggered when the automated guided vehicle enters a grid in its obstacle grid or boundary grid, and the abnormal state is added to the state set of the constructed initial automaton of the automated guided vehicle controlled system. wherein, represents the initial automaton of the automated guided vehicle controlled system numbered represents the initial automaton of the automated guided vehicle controlled system numbered represents the set of states of the initial automaton of the automated guided vehicle controlled system numbered represents the set of events of the initial automaton of the automated guided vehicle controlled system numbered , represents the behavior of the automated guided vehicle numbered represents the behavior of the automated guided vehicle numbered represents the behavior of the automated guided vehicle numbered represents the behavior of the automated guided vehicle numbered represents the transition function of the initial automaton of the automated guided vehicle controlled system numbered represents the initial state of the initial automaton of the automated guided vehicle controlled system numbered represents the initial state of the initial automaton of the automated guided vehicle controlled system numbered​​​​​​​​​​​ The corresponding normal state of the grid not in the obstacle grid or boundary grid is constructed in the state set of the constructed initial automaton of the automated guided vehicle controlled system. The state of the starting grid is listed as the initial state of the initial automaton of the automated guided vehicle controlled system according to the expected travel route generated by the automated guided vehicle control center for the automated guided vehicle. ​ According to the position relationship between the grids represented by the states in the initial automaton of the automatic guided vehicle controlled system, the corresponding transition relationship is constructed, and the transition relationship is added to the transition function of the initial automaton of the automatic guided vehicle controlled system. 2.The multi-AGV supervisory control system of the unmanned warehouse under sensor attack according to claim 1, wherein, The specific process of setting the obstacle grid and the boundary grid according to the grid division result is as follows: The unmanned warehouse is divided into a rectangular region with a length of m grids and a width of n grids, and a two-dimensional rectangular coordinate system is constructed with the top point of the first grid as the origin, the length as the horizontal coordinate, and the width as the vertical coordinate; The positions of the automatic guided vehicle parking / charging area, the goods storage area, the picking table area, and the automatic guided vehicle free passage area in the unmanned warehouse are set; The number of the automated guided vehicles in the unmanned warehouse and the parking / charging position of each automated guided vehicle are set, and each automated guided vehicle is numbered in the form of serial number . The grids where the goods storage area and the picking table area are located are listed as the obstacle grids of all automatic guided vehicles; After removing the grid where the automated guided vehicle numbered is located in the parking / charging area, the grid where the charging area in the parking / charging area of the automated guided vehicle is located is included in the obstacle grid of the automated guided vehicle numbered . The charging area in the automated guided vehicle parking / charging area is included in the obstacle grid of the automated guided vehicle numbered , and the grid where the parking / charging position of the automated guided vehicle numbered is located; The remaining automated guided vehicles are listed in the obstacle grid of the automated guided vehicle numbered No. The grids with a horizontal coordinate of 1 or m in the unmanned warehouse are listed as the boundary grids of all automatic guided vehicles; The grids with a vertical coordinate of 1 or n in the unmanned warehouse are listed as the boundary grids of all automatic guided vehicles. 3.The multi-AGV supervisory control system of unmanned warehouse under sensor attack according to claim 1, wherein, The specific process of constructing the single automatic guided vehicle controller automaton model of each automatic guided vehicle in the unmanned warehouse is as follows: The initial controller automaton of the automatic guided vehicle controlled system is constructed, that is, wherein, represents an initial controller automaton of an automated guided vehicle controlled system numbered represents an initial controller automaton of an automated guided vehicle controlled system numbered a state set of the initial controller automaton of the automated guided vehicle controlled system numbered represents an event set of the initial controller automaton of the automated guided vehicle controlled system numbered , represents an action of the automated guided vehicle control center to control the automated guided vehicle numbered to travel one grid east, represents an action of the automated guided vehicle control center to control the automated guided vehicle numbered to travel one grid west, represents an action of the automated guided vehicle control center to control the automated guided vehicle numbered to travel one grid north, represents an action of the automated guided vehicle control center to control the automated guided vehicle numbered to travel one grid south, represents a transition function of the initial controller automaton of the automated guided vehicle controlled system numbered represents an initial state of the initial controller automaton of the automated guided vehicle controlled system numbered ​​​​​​​​ According to the expected travel route generated by the automatic guided vehicle control center for the automatic guided vehicle, the state of the starting grid is listed as the initial state of the initial controller automaton of the automatic guided vehicle controlled system; According to the expected travel route generated by the automatic guided vehicle control center for the automatic guided vehicle, the corresponding states are added to the state set of the initial controller automaton of the automatic guided vehicle controlled system, and the corresponding transition relationship is constructed according to the position relationship between the grids represented by the states, and the transition relationship is added to the transition function of the initial controller automaton of the automatic guided vehicle controlled system. 4.The multi-AGV supervisory control system of the unmanned warehouse under sensor attack according to claim 1, wherein, The specific process of constructing the single automatic guided vehicle automaton model of each automatic guided vehicle in the unmanned warehouse under sensor attack according to the constructed single automatic guided vehicle system automaton model of each automatic guided vehicle in the unmanned warehouse is as follows: The initial automaton of the automatic guided vehicle controlled system under sensor attack is constructed according to the constructed single automatic guided vehicle system automaton model of each automatic guided vehicle in the unmanned warehouse, that is, wherein, represents an initial automaton of the automated guided vehicle controlled system under sensor attack with the number represents an initial automaton of the automated guided vehicle controlled system under sensor attack with the number represents a state set of the initial automaton of the automated guided vehicle controlled system under sensor attack with the number represents an event set of the initial automaton of the automated guided vehicle controlled system under sensor attack with the number represents a transition function of the initial automaton of the automated guided vehicle controlled system under sensor attack with the number represents an initial state of the initial automaton of the automated guided vehicle controlled system under sensor attack with the number represents an initial state of the initial automaton of the automated guided vehicle controlled system under sensor attack with the number​​​​​​​ For events that can be enabled by sensor insertion attacks, a self-loop transition of the insertion behavior event is added in each state of the initial automaton of the automatic guided vehicle controlled system under sensor attack; For events that can be enabled by sensor erasure attacks, a transition of the erasure behavior event parallel to the event is added in the initial automaton of the automatic guided vehicle controlled system under sensor attack when the event occurs.

5. The multi-AGV supervisory control system of unmanned warehouse under sensor attack according to claim 1, wherein, The specific process of constructing the single automatic guided vehicle controller automaton model of each automatic guided vehicle in the unmanned warehouse under sensor attack according to the constructed single automatic guided vehicle controller automaton model of each automatic guided vehicle in the unmanned warehouse is as follows: The initial automaton of the automatic guided vehicle controller under sensor attack is constructed according to the constructed single automatic guided vehicle controller automaton model of each automatic guided vehicle in the unmanned warehouse, that is, in, The number indicating the sensor attack is The initial automaton of the automated guided vehicle controller, The number indicating the sensor attack is The initial automatic mechanism of the automated guided vehicle controller. The state set, The number indicating the sensor attack is The initial automatic mechanism of the automated guided vehicle controller. The set of events, The number indicating the sensor attack is The initial automatic mechanism of the automated guided vehicle controller. The transition function, The number indicating the sensor attack is The initial automatic mechanism of the automated guided vehicle controller. The initial state; For the event that can be enabled sensor insertion attack, the transition of the parallel insertion behavior event is added in the initial automaton of the automated guided vehicle controller under the sensor attack when the event occurs; For the event that can be enabled sensor erasure attack, the self-loop transition of the erasure behavior event is added in each state of the initial automaton of the automated guided vehicle controller under the sensor attack. 6.The multi-AGV supervisory control system of unmanned warehouse under sensor attack according to claim 1, wherein, The specific process of parallel operation of the constructed single automated guided vehicle automaton model of each automated guided vehicle in the sensor attack unmanned warehouse and the constructed single automated guided vehicle controller automaton model of each automated guided vehicle in the sensor attack unmanned warehouse is as follows: The specific process of parallel operation of the constructed single automated guided vehicle automaton model of each automated guided vehicle in the sensor attack unmanned warehouse and the constructed single automated guided vehicle controller automaton model of each automated guided vehicle in the sensor attack unmanned warehouse is as follows: in, The number indicating the sensor attack is The fully sensor-attack automaton model of the automated guided vehicle system. Represents the parallel operator. This represents the initial state in the single automated guided vehicle (AVR) automaton model and the single automated guided vehicle (AGV) controller automaton model. Connected parts, The number indicating the sensor attack is The initial automatic mechanism of the controlled system of the automated guided vehicle No. 1 The initial state, The number indicating the sensor attack is The initial automatic mechanism of the automated guided vehicle controller. The initial state, The number indicating the sensor attack is The initial automatic mechanism of the controlled system of the automated guided vehicle No. 1 The state set, The number indicating the sensor attack is The initial automatic mechanism of the automated guided vehicle controller. The state set, Represents the Cartesian product symbol. The number indicating the sensor attack is Full sensor attack automaton model of the automated guided vehicle system The state set, The number indicating the sensor attack is Full sensor attack automaton model of the automated guided vehicle system The set of events, The number indicating the sensor attack is Full sensor attack automaton model of the automated guided vehicle system The transition function, The number indicating the sensor attack is Full sensor attack automaton model of the automated guided vehicle system The initial state.

7. The multi-AGV supervisory control system of unmanned warehouse under sensor attack according to claim 1, wherein, The specific process of parallel operation of the constructed single automated guided vehicle automaton model of each automated guided vehicle in the sensor attack unmanned warehouse and the constructed single automated guided vehicle controller automaton model of each automated guided vehicle in the sensor attack unmanned warehouse is as follows: The specific process of designing real-time collision avoidance method for each automated guided vehicle using the obtained full sensor attack automaton model of the automated guided vehicle system under the sensor attack is as follows: If the first element of the full sensor attack automaton model of the automated guided vehicle system under the sensor attack can reach the abnormal state of the full sensor attack automaton model through a controllable event or can reach the abnormal state through an uncontrollable event sequence, remove all transitions of the same event in the single automated guided vehicle controller automaton model.

Images