Substation cable trench inspection robot adaptive networking system and method

Abstract

The invention provides a substation cable trench inspection robot adaptive networking system and method. The system comprises a channel quality monitoring module, a multi-band communication module, a dynamic topology reconstruction module, an electromagnetic compatibility optimization module, a novel antenna array module, a data storage and management module and a man-machine interaction module which are in communication connection with one another. The channel quality monitoring module is used for providing real-time communication environment perception for the system; the multi-band communication module is used for carrying out adaptive cooperative communication through multiple bands; the dynamic topology reconstruction module is used for optimizing a routing table in real time; the electromagnetic compatibility optimization module is used for optimizing the strong electromagnetic interference resistance of the system; the novel antenna array module is used for monitoring geometrical characteristics and material attributes of the metal wall of the cable trench and dynamically adjusting the transmitting angle and polarization mode of an antenna; the data storage and management module is used for recording a running log through a distributed database; the man-machine interaction module is used for providing an operation interface and an interaction interface.

Description

Technical Field

[0001] The present invention relates to the field of underground communication technology, and in particular to an adaptive networking system and method for a substation cable trench inspection robot. Background Art

[0002] Substation cable trenches are primarily used for laying and protecting control cables, optical fibers, network cables, and other components. They are a crucial component of substation power transmission and control systems. To ensure the safe and stable operation of the power system, regular cable trench inspections are necessary to eliminate potential hazards. In recent years, the development of artificial intelligence and robotics has provided new technical means for cable trench inspections. However, robotic communication in confined spaces such as substation cable trenches still faces the following three major technical bottlenecks: 1. Severe signal attenuation: Metal trench walls cause conventional wireless signals (such as 2.4GHz Wi-Fi) to attenuate by up to 60dB / 10m. The deployment cost of traditional leaky cables exceeds ¥3,500 / meter, while low-frequency communication (such as 10kHz) rates are less than 300bps, which cannot meet the high-definition video backhaul requirements of inspection robots. 2. Strong electromagnetic interference: There are interferences such as power frequency harmonics (50Hz and its multiples) and switching operation surges in the substation environment. The existing static filtering solution still has a bit error rate of 0.001 when the circuit breaker is in operation. , which is far below the 99.9% availability requirement of the Industrial Internet of Things; 3. Difficulty in maintaining dynamic topology: Robot movement (≥3m / s) causes routing update delays of >500ms in the traditional OLSR protocol, resulting in a topology failure rate of 32%. Existing solutions do not utilize the waveguide properties of metal walls, nor do they consider resource competition issues when multiple robots collaborate.

[0003] Current solutions such as mine LCX and tunnel ZigBee cannot take into account the transmission distance, real-time performance and anti-interference ability. There is an urgent need for a new networking method that integrates multi-band adaptive communication, dynamic topology reconstruction and electromagnetic compatibility optimization. Summary of the Invention

[0004] The purpose of the present invention is to provide a substation cable trench inspection robot adaptive networking system and method, aiming to solve the above-mentioned problems in the prior art.

[0005] An embodiment of the present invention provides an adaptive networking system for a substation cable trench inspection robot, comprising a channel quality monitoring module, a multi-band communication module, a dynamic topology reconstruction module, an electromagnetic compatibility optimization module, a novel antenna array module, a data storage and management module, and a human-computer interaction module, which are communicatively connected to each other. The channel quality monitoring module is used to provide the system with real-time communication environment perception and obtain channel quality monitoring data; The multi-band communication module is provided in each inspection robot node and is used to perform adaptive collaborative communication through multiple frequency bands according to channel quality monitoring data; The dynamic topology reconstruction module is used to optimize the routing table in real time according to the channel quality monitoring data; The electromagnetic compatibility optimization module is used to optimize the system's ability to resist strong electromagnetic interference by adopting dual-channel redundancy design and dynamic filtering technology based on channel quality monitoring data; The novel antenna array module is used to monitor the geometric characteristics and material properties of the metal wall of the cable trench in real time, and dynamically adjust the antenna's transmission angle and polarization mode according to the geometric characteristics and material properties; The data storage and management module is used to record operation logs through a distributed database and build a digital archive of system operations; The human-computer interaction module is used to provide users with a friendly operation interface and interactive interface.

[0006] An embodiment of the present invention provides an adaptive networking method for a substation cable trench inspection robot, comprising: The channel quality monitoring module provides the system with real-time communication environment perception and obtains channel quality monitoring data; Adaptive collaborative communication is performed through multiple frequency bands based on channel quality monitoring data through a multi-band communication module; The dynamic topology reconstruction module optimizes the routing table in real time based on channel quality monitoring data; The electromagnetic compatibility optimization module uses dual-channel redundancy design and dynamic filtering technology based on channel quality monitoring data to optimize the system's ability to resist strong electromagnetic interference; The new antenna array module monitors the geometric characteristics and material properties of the cable trench metal wall in real time, and dynamically adjusts the antenna's transmission angle and polarization mode based on the geometric characteristics and material properties; The data storage and management module uses a distributed database to record operation logs and build a digital archive of system operations; Provide users with a friendly operation interface and interactive interface through the human-computer interaction module.

[0007] An embodiment of the present invention also provides an electronic device, comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor. When the computer program is executed by the processor, the steps of the above-mentioned adaptive networking method for the substation cable trench inspection robot are implemented.

[0008] An embodiment of the present invention further provides a computer-readable storage medium, on which a program for implementing information transmission is stored. When the program is executed by a processor, the steps of the above-mentioned method for adaptive networking of substation cable trench inspection robots are implemented.

[0009] The use of the embodiments of the present invention can include the following beneficial effects: The embodiments of the present invention propose a cable trench robot networking solution that integrates multi-band adaptive communication and dynamic topology reconstruction technology, which achieves reliable communication in a closed environment with strong electromagnetic interference through three-band collaborative transmission, utilization of metal wall waveguide effects and scheduling of mobile relay nodes. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate one or more embodiments of this specification or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0011] Figure 1 2. This is a schematic diagram of an adaptive networking system for a substation cable trench inspection robot according to an embodiment of the present invention; Figure 2 This is a flow chart of the adaptive networking method of a substation cable trench inspection robot according to an embodiment of the present invention. DETAILED DESCRIPTION

[0012] In order to enable those skilled in the art to better understand the technical solutions in one or more embodiments of this specification, the technical solutions in one or more embodiments of this specification will be clearly and completely described below in conjunction with the drawings in one or more embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on one or more embodiments of this specification, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this document.

[0013] System Example According to an embodiment of the present invention, a substation cable trench inspection robot adaptive networking system is provided. Figure 1 Schematic diagram of the adaptive networking system of the substation cable trench inspection robot according to an embodiment of the present invention. Figure 1 As shown, the adaptive networking system of the substation cable trench inspection robot according to an embodiment of the present invention specifically includes: It includes a channel quality monitoring module, a multi-band communication module, a dynamic topology reconstruction module, an electromagnetic compatibility optimization module, a new antenna array module, a data storage and management module, and a human-computer interaction module. The channel quality monitoring module 10 is used to provide the system with real-time communication environment perception and obtain channel quality monitoring data, specifically for: Real-time monitoring of the channel quality of the substation cable channel communication environment to obtain real-time channel quality monitoring data; The channel quality monitoring data includes signal strength RSSI, signal-to-noise ratio SNR, bit error rate BER, packet loss rate PER, delay, jitter and channel occupancy; The multi-band communication module 11 is provided in each inspection robot node and is used to perform adaptive collaborative communication through multiple bands according to channel quality monitoring data. Specifically, it is used to: Based on channel quality monitoring data, emergency communications, multi-level data scheduling, and adaptive energy consumption management are carried out across multiple frequency bands, including: When the main communication link is interrupted, the system will automatically activate the emergency communication mechanism; When a faulty node detects a failure in its primary link, it independently initiates an emergency process. Primary link failure includes a primary link signal-to-noise ratio that remains below a preset threshold or a preset number of consecutive transmission failures. The emergency process includes immediately switching to an emergency frequency band, broadcasting an SOS alarm signal with its ID, last known coordinates, and fault type, and entering a low-power listening mode. The neighboring nodes listen to and verify the SOS alarm signal. The faulty node selects the corresponding neighboring node as a relay node based on signal strength, path optimization, and load balancing strategies, and forwards the emergency data to the target node through the relay node. When the faulty node detects that its main link has been restored, it notifies the relay node through the emergency frequency band to complete the switch.

[0014] Among them, safety-critical data is given the highest priority and transmitted through preemptive channels; Core business data is given medium priority and a three-retransmission mechanism is used for data transmission; Regular sensor data is prioritized and selectively discarded when the channel is congested.

[0015] The communication distance between nodes is detected in real time, and the communication power is dynamically adjusted based on the communication distance.

[0016] The dynamic topology reconstruction module 12 is used to optimize the routing table in real time according to the channel quality monitoring data, specifically for: Generate an initial routing table based on channel quality monitoring data using hop priority, capability matching, and location weight strategies; Based on the motion trajectory and signal attenuation trend of each inspection robot node, the link breakage probability model is used to predict the link breakage risk and obtain the estimated value of the breakage probability; When the estimated value of the fracture probability is greater than a preset threshold, switching to a backup path and optimizing the routing table in real time; The electromagnetic compatibility optimization module 13 is used to optimize the system's ability to resist strong electromagnetic interference by using dual-channel redundancy design and dynamic filtering technology based on channel quality monitoring data; The novel antenna array module 14 is used to monitor the geometric characteristics and material properties of the metal wall of the cable trench in real time, and dynamically adjust the antenna's transmission angle and polarization mode according to the geometric characteristics and material properties; The data storage and management module 15 is used to record operation logs through a distributed database and build a digital archive of system operation; The human-computer interaction module 16 is used to provide a user-friendly operation interface and interactive interface.

[0017] The above technical solution of the embodiment of the present invention is described in detail below in conjunction with the specific situation of the adaptive networking system of the substation cable trench inspection robot according to the embodiment of the present invention.

[0018] The present invention proposes a substation cable trench robot adaptive networking system based on dynamic topology reconstruction. This solution integrates multi-band adaptive communication, topology self-repair, and electromagnetic compatibility technologies. Specifically, it includes: 1. Tri-band adaptive switching mechanism: High frequency band: used for high-definition video transmission; Medium and low frequency bands: used for long-distance beacon transmission and conventional data communications that penetrate metal shielding layers; Millimeter wave (60GHz): used for near-field high-speed data transmission when robots meet; The optimal frequency band is selected in real time through electromagnetic environment perception.

[0019] 2. Metal environment electromagnetic coupling enhancement technology: A special leaky-wave antenna is designed using the metal wall of the cable trench as a waveguide medium. A surface wave propagation model based on the trench structure is designed. An algorithm for dynamically adjusting the distance between communication nodes is also designed (automatically optimized based on signal attenuation).

[0020] 3. Dynamic topology self-healing network architecture: Hybrid Mesh / bus topology; mobile robots as mobile relay nodes; broken link prediction model (based on motion trajectory prediction); distributed store-and-forward mechanism (improved version of the DTN network protocol).

[0021] 4. Anti-electromagnetic interference system: Power frequency harmonic notch filter design, frequency hopping synchronization technology (synchronized with the working cycle of substation equipment), and impulse noise elimination algorithm (based on deep learning).

[0022] Therefore, based on the above design concept, the embodiment of the present invention proposes a dynamic networking system for substation cable trench inspection robots based on multimodal fusion. The system includes the following modules: 1. Core Module 1. Multi-band communication module A. Hardware layer: Adopts SDR (Software Defined Radio) architecture and uses RF chips such as AD9361 to support three-band programmable configuration.

[0023] High frequency band (2.4GHz): Deploys H.265-based video encoding chips and supports MIMO 2x2 antennas; Mid- and low-frequency bands (900MHz / 433MHz): Uses LoRa modulation technology to improve penetration capabilities.

[0024] B. Protocol stack design High frequency band: customized UDP protocol (sacrificing some reliability in exchange for low latency); Mid-frequency band: MQTT-based command transmission protocol (guaranteed command priority); Low frequency band: simplified TDMA protocol (automatically switches in emergency mode).

[0025] C. Anti-interference strategy: Dynamic frequency hopping: Switch sub-bands every 5ms based on spectrum scanning results (similar to military frequency hopping radios). This technology scans the spectrum environment in real time every 5ms and dynamically selects the optimal sub-band for communication switching to avoid interference and improve spectrum utilization. The system uses a software-defined radio (SDR) architecture combined with fast Fourier transform (FFT) for spectrum sensing. When it detects that the signal-to-noise ratio (SNR) of the current sub-band is lower than the threshold, it immediately switches to the best idle band based on a preset strategy (such as greedy algorithm or Q learning). At the hardware level, microsecond-level fast switching is achieved through FPGA pre-compiled RF configuration (for example, Xilinx RFSoC reconfiguration only takes 10 ), and the protocol stack uses a time slot segmentation design (e.g. a 5ms frame contains four 1.25ms time slots) to reserve a switching protection interval.

[0026] 2. Dynamic topology reconstruction module A. Prediction algorithm implementation: Input data: historical movement trajectory (coordinates + timestamp), RSSI value, channel bit error rate; Use the LSTM network to predict the node location in the next 5 seconds and output the optimal routing path.

[0027] Routing table update policy: When the system detects that the packet loss rate of the current communication link exceeds the 15% threshold, it will perform the following operations: (1) Immediately start the alternative path switching process; (2) Send a specially formatted routing update packet to the adjacent node. The packet contains two key parameters: Hop count: indicates the number of nodes the data packet passes through; Channel quality weight: A score (0-100) that comprehensively calculates signal strength, bit error rate, and latency.

[0028] B. Real-time guarantee: A lightweight OSPF protocol variant is used to control the convergence time within 50ms.

[0029] 3. Electromagnetic compatibility optimization module A. Dual-channel redundant design: Main channel: conventional PCB microstrip antenna; Backup channel: Anti-interference cavity antenna (shielding effectiveness ≥ 60dB).

[0030] Switching logic: The system continuously monitors the signal-to-noise ratio (SNR) of the channel and makes decisions based on the following rules: When the SNR is lower than 10dB: Immediately activate the backup electromagnetic shielding cavity antenna with stronger shielding effectiveness and increase the RF transmit power by 10% (make sure it does not exceed the legal power limit); When the SNR remains above 10dB: the original main channel PCB microstrip antenna maintains normal operation.

[0031] B. Dynamic filter solution: FIR filter is implemented based on FPGA, and the coefficients are updated in real time (LMS adaptive algorithm).

[0032] That is, the FPGA-based dynamic FIR filter proposed in the embodiment of the present invention uses the LMS adaptive algorithm to optimize signal processing performance by updating the filter coefficients (such as 16th-order fixed-point Q15 format coefficients) in real time. Its core steps include: a. Error calculation: e(n)=d(n)-y(n), d(n) is the desired signal, y(n) is the actual output of the filter; b. Coefficient iterative update: ; in, is the updated i-th coefficient, used for the next iteration; is the i-th filter coefficient at the current moment (n-th iteration), which determines the response characteristics of the filter to the input signal; is the step size factor, which controls the convergence speed and stability; is the historical input signal, which represents the input value at the i-th moment before the current moment n and is used to calculate the correlation of the gradient.

[0033] c. Real-time filtering output: ; Where N is the filter order.

[0034] FPGA accelerates operations through parallel DSP slicing and pipeline structure, and supports dual-port BRAM to achieve synchronous update of data and coefficients.

[0035] 2. Auxiliary Modules 1. Real-time channel quality monitoring module A. Probe signal design: Transmission period: Dynamically adjusted (1-100ms). The worse the channel quality, the shorter the period. The data packet structure is shown in Table 1: Table 1 Data packet structure

[0036] B. Quality assessment algorithm: Comprehensive score = 0.6*RSSI + 0.3*(1-bit error rate) + 0.1*channel occupancy.

[0037] 2. New antenna array module Utilization of the waveguide effect: Antenna layout plan: Deploy a 4-unit phased array longitudinally along the cable trench, with a spacing of λ / 2 (433MHz corresponds to 34cm).

[0038] 3. Data storage and management module Operation logs are recorded in a distributed database to support fault backtracking and system optimization.

[0039] Database selection: Time series data: InfluxDB (optimized for high-frequency writes); Log data: ElasticSearch (supports fast retrieval); Compression algorithm: Zstandard (compression ratio 3:1, latency <1ms), compresses communication logs.

[0040] 3. Human-computer interaction module Provides a graphical operation interface to achieve remote monitoring and parameter configuration.

[0041] All remote operations are recorded in audit logs, including: operation timestamp (accurate to milliseconds), operation user identity (through JWT parsing), specific actions performed (such as parameter modification, system restart, etc.), log retention period (such as 180 days), etc.

[0042] Preferably, the embodiment of the present invention further proposes an API interface module: supporting third-party system integration through a standardized interface, building a connection bridge between the system and the external ecosystem, and enhancing scalability.

[0043] That is, the embodiment of the present invention constructs an adaptive, anti-interference, multi-robot collaborative communication network system through the collaborative work of multiple modules. The following is the specific implementation process: 1. Network initialization phase 1. Hardware self-test and frequency band activation After each robot is powered on, the multi-band communication module automatically detects the hardware status of the three bands (2.4GHz / 900MHz / 433MHz). The new antenna array module uses the metal wall of the cable trench to perform waveguide calibration and optimize the initial antenna parameters (such as phase and polarization direction).

[0044] 2. Neighbor Discovery Protocol A. Beacon broadcast phase After each robot starts, it periodically broadcasts a beacon frame (sent once every second) via the 900MHz mid-frequency band. The beacon contains three core pieces of information: Device identity: unique node ID, used to distinguish different devices; Real-time location: three-dimensional coordinates (x, y, z), using a local coordinate system with centimeter-level accuracy; Function tag: declares the capabilities of the device, for example: video: supports video capture and transmission; emergency_relay: can act as an emergency communication relay.

[0045] Among them, the mid-frequency band (900MHz) can achieve a balance between penetration and transmission distance, and is suitable for control signaling interaction. The beacon frame adopts a minimalist design to reduce network overhead.

[0046] B. Neighbor node response When the robot receives a beacon frame from a neighboring device, it performs the following actions: a. Validity verification: Check the beacon's signal strength (RSSI) and data integrity (CRC check); b. Neighbor table update: record the location and capabilities of the node, for example: If the other party is marked as video, it will be listed as a candidate node for video transmission; if it has emergency_relay, it will be added to the backup routing table; c. Link quality assessment: Estimate communication stability based on the degree of signal attenuation.

[0047] C. Initial routing table generation The dynamic topology reconstruction module collects responses and generates an initial routing table by analyzing the following parameters: Hop priority: give priority to direct paths or paths with the least number of transfers; Capability matching: Video transmission tasks are automatically assigned to nodes with the video tag; Location weight: Reduce routing priority when the distance between adjacent nodes exceeds 50 meters.

[0048] 2. Dynamic Networking Stage 1. Multi-band collaborative communication, as shown in Table 2 Table 2 Multi-band cooperative communication

[0049] Example scenario: When robot A needs to send video to the control center, it queries the routing table on the 900 MHz frequency band to find the optimal path (for example, A→D→F→center), establishes an end-to-end connection on the 2.4 GHz frequency band, and continuously monitors the bit error rate (BER). If the BER of a particular link (for example, DF) exceeds the threshold, the entire network is immediately notified via the 900 MHz frequency band to update the route.

[0050] 2. Topology Adaptive Maintenance A. LSTM-based prediction network: For example, if we input the historical 10-second [coordinate, speed, signal strength] sequence into the link break probability model and output the probability of topology change in the next 3 seconds, the link break probability model expression is: ; in, represents the input time series feature matrix, k represents the time window length, represents the weight matrix of the output gate, σ represents the sigmoid activation function, The model analyzes the displacement, speed, and signal strength characteristics of the last k moments and outputs an estimated probability of link disconnection within the next Δt timeframe. When the probability of disconnection is greater than 70%, the backup path is switched in advance.

[0051] B. Electromagnetic interference response: If the electromagnetic compatibility optimization module detects a sudden drop in the SNR in a certain frequency band: the dynamic filter immediately adjusts the cutoff frequency (for example, from ±10MHz to ±5MHz) and switches to the backup antenna channel within 10ms.

[0052] 3. Survivable Networking Capabilities 1. Multi-level redundancy design A. Band redundancy: The three bands serve as backup for each other (e.g., if 2.4GHz is interrupted, it will be switched to 900MHz), with a recovery time of <200ms. B. Path redundancy: Each node maintains three candidate paths, with a recovery time of <50ms; C. Power redundancy: Dual power supply for key modules, with a recovery time of 0ms.

[0053] 2. Emergency Communication Process In a robot swarm networking system, if the primary communication link (2.4GHz or 900MHz band) is interrupted due to strong electromagnetic interference, physical obstruction, or equipment failure, the system will automatically activate the emergency communication mechanism to ensure that critical control commands and status information can still be reliably transmitted. Specifically, the following mechanisms are implemented: A. Fault detection and alarm a. Trigger conditions: The primary link signal-to-noise ratio (SNR) remains below the 10dB threshold, and three consecutive data packet transmissions fail or time out without receiving a response. b. Node response: The faulty node immediately switches to the 433MHz low frequency band and broadcasts an SOS alarm signal containing its own ID, last known coordinates, and fault type. The node enters a low-power listening mode and shuts down non-essential functions to extend battery life.

[0054] B. Relay node discovery and establishment a. Neighbor node monitoring: All robots with emergency relay capabilities continuously monitor the 433MHz frequency band. Nodes that receive the SOS signal first verify the signal's validity (including source identity authentication and data integrity). b. Relay selection strategy: Signal strength priority: select the node with the strongest RSSI as the first hop relay; Path optimization: If there is a multi-hop path, automatically calculate the path with the lowest delay or the minimum number of hops; Load balancing: Avoid overloading of a single relay node and dynamically allocate forwarding tasks.

[0055] C. Emergency Data Transmission a. Communication characteristics: Data priority: only transmit key instructions (such as emergency stop, position status) and compressed text information; Transmission mode: adopts simplified TDMA time slot allocation, with each 200ms as a communication window; Error correction mechanism: Add forward error correction (FEC) coding to improve reliability at the expense of bandwidth.

[0056] b. Performance guarantee: End-to-end latency is controlled within 500ms, and the data transmission success rate is no less than 99.9%.

[0057] D. Main link recovery and switching a. Recovery detection: The faulty node continuously scans the signal quality of the main frequency band. When the SNR rises above 15dB and remains above 15dB for 3 seconds, a recovery test is triggered. b. Smooth handover: The relay node is notified of the handover preparation via the 433MHz frequency band. After completing the queue synchronization of untransmitted data, the main link communication is gradually restored. The service interruption time during the handover process does not exceed 100ms.

[0058] 4. Performance Optimization 1. Waveguide effect enhancement technology In confined metal environments such as cable trenches, the system uses an intelligent antenna array to actively match the electromagnetic reflection characteristics of the metal wall, leveraging the natural waveguide effect formed by the metal structure to significantly increase signal transmission distance. Field measurements have verified that this technology significantly increases the effective communication distance from 50 meters in conventional environments to 120 meters, while reducing signal attenuation by approximately 40%. The antenna control system monitors the geometric characteristics and material properties of the metal wall in real time, dynamically adjusting the transmission angle (the physical pointing direction of the antenna (azimuth / elevation angle) or the beamforming direction (for phased array antennas)) and polarization mode to ensure that the electromagnetic waves form a stable standing wave pattern within the trench.

[0059] 2. Multi-level data scheduling strategy The system establishes a three-level data transmission priority mechanism: Highest priority: Safety-critical data such as emergency stop commands use a preemptive transmission channel that interrupts other data transmission to ensure that the command is delivered within 100ms; Medium priority: Core business data such as video key frames, equipped with an automatic retransmission mechanism (up to 3 times) to ensure picture continuity; Basic priority: Common sensor data such as temperature and humidity can be selectively discarded when the channel is congested. The maximum discard rate is set to 30%.

[0060] 3. Adaptive energy consumption management An intelligent power regulation system based on real-time communication distance detection automatically reduces transmit power to 10dBm (approximately 10mW) for short-range communications within 20 meters; uses a medium power of 15dBm (approximately 32mW) for medium-range communications between 20-50 meters; and increases to 20dBm (approximately 100mW) for long-range communications exceeding 50 meters, within the legal limit. This strategy, combined with dynamic signal quality monitoring, extends device battery life by over 35% while ensuring communication reliability. Power switching is smooth and seamless, with switching latency under 5ms.

[0061] 5. Network Scenario Examples A cable trench inspection robot cluster deploys one robot every 50 meters to form a chain network. New robots automatically join the network via 900MHz signaling, triggering a network-wide routing update. When R3 is damaged by falling rocks, adjacent nodes R2 and R4 detect the fault within 100ms and reconstruct a detour (R1→R2→R5→R4) using the 433MHz frequency band. The front-end robot transmits 4K video back to the control center via multiple hops, with an overall latency of less than 300ms.

[0062] In summary, in complex industrial environments, such as underground cable trenches, tunnels, or large factory buildings, mobile robot swarms require a stable and reliable communication network to collaborate. The multi-band adaptive networking system proposed in this embodiment of the present invention, through the coordinated cooperation of three core modules and auxiliary modules, builds a dynamic communication network with anti-interference, self-healing, and low-latency characteristics. The core of the system lies in multi-band collaborative communication and dynamic topology management. Each robot is equipped with a three-band RF module: the 2.4GHz high-band acts as a "highway" for 4K video streaming; the 900MHz mid-band acts as a "command nerve," responsible for routing signaling and interacting with control commands; and the 433MHz low-band acts as a "lifeline," automatically activating in strong interference environments to ensure uninterrupted communication. Upon startup, the robots broadcast a beacon in the 900MHz band, like fireflies recognizing each other in the night sky, quickly building an initial routing table. A novel antenna array cleverly utilizes the reflective properties of the metal trench walls to increase signal propagation distance by 2.4 times that of conventional environments, significantly reducing deployment costs.

[0063] While traditional networks are like fixed bridges, the system proposed in this embodiment is more like "self-healing living tissue." Its prediction module, based on the LSTM algorithm, can predict the risk of link disruption three seconds in advance by analyzing the robot's motion trajectory and signal attenuation trends. When the probability exceeds 70%, the system, like an experienced guide, proactively switches to a backup path. In scenarios with strong electromagnetic interference (such as near high-voltage cables), the system demonstrates exceptional resilience: it first dynamically adjusts filter parameters to block noise in specific frequency bands, similar to noise-canceling headphones. If the signal-to-noise ratio of the main channel remains below the threshold, it switches to a backup antenna with enhanced shielding effectiveness within 10 milliseconds, simultaneously increasing the transmit power by 10%. Furthermore, if the main frequency band is completely interrupted, the 433MHz band is immediately activated, establishing an emergency communication chain through relay robots. This process is like a beacon fire, allowing information to be delivered even if some nodes fail.

[0064] In practical applications of tunnel inspection, the system demonstrates three breakthrough advantages: 1. Millisecond-level recovery When a node is damaged by falling objects, adjacent robots rebuild the route within 100 milliseconds, which is 6 times faster than traditional protocols.

[0065] 2. Intelligent resource scheduling Emergency stop commands have the highest priority and can interrupt other data transmissions; video key frames use a "three-retransmission" mechanism, while ordinary temperature and humidity data can be discarded moderately.

[0066] 3. Energy efficiency optimization The communication power is dynamically adjusted with distance, just like smart car lights. It automatically dims at close range and runs at full power 50 meters away, extending the battery life by 35%.

[0067] Method Example According to an embodiment of the present invention, a method for adaptive networking of a substation cable trench inspection robot is provided. Figure 2 FIG. 1 is a flow chart of a method for adaptively networking a substation cable trench inspection robot according to an embodiment of the present invention. Figure 2 As shown, the adaptive networking method of the substation cable trench inspection robot according to an embodiment of the present invention specifically includes: Step S201: Provide the system with real-time communication environment perception through the channel quality monitoring module to obtain channel quality monitoring data; Step S202, performing adaptive cooperative communication through multiple frequency bands according to the channel quality monitoring data through the multi-band communication module; Step S203, optimizing the routing table in real time according to the channel quality monitoring data through the dynamic topology reconstruction module; Step S204: The electromagnetic compatibility optimization module optimizes the system's ability to resist strong electromagnetic interference by using dual-channel redundancy design and dynamic filtering technology based on channel quality monitoring data. Step S205: monitoring the geometric features and material properties of the metal wall of the cable trench in real time through the novel antenna array module, and dynamically adjusting the antenna's transmission angle and polarization mode according to the geometric features and material properties; Step S206, using the distributed database to record the operation logs through the data storage and management module to build a digital archive of the system operation; Step S207: providing a user-friendly operation interface and interactive interface through the human-computer interaction module.

[0068] The embodiment of the present invention is a method embodiment corresponding to the above-mentioned system embodiment. The specific operation of each step can be understood by referring to the description of the system embodiment, and will not be repeated here.

[0069] Experiments have shown that in a typical 110kV substation cable trench, the system communication availability of this embodiment of the present invention reached 99.97%. The essence of this embodiment of the present invention lies in mimicking the intelligence of biological systems—through environmental perception, dynamic adaptation, and multi-level redundancy, it builds a "thinking" communication network. This not only solves the networking challenges in complex industrial scenarios but also redefines the reliability standards for mobile robot collaboration, demonstrating its promising application prospects.

[0070] Device Example 1 An embodiment of the present invention provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program implements the steps described in the method embodiment when executed by the processor.

[0071] Device Example 2 An embodiment of the present invention provides a computer-readable storage medium, on which a program for implementing information transmission is stored. When the program is executed by a processor, the steps described in the method embodiment are implemented.

[0072] The computer-readable storage medium in this embodiment includes, but is not limited to, ROM, RAM, magnetic disk, or optical disk.

[0073] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An adaptive networking system for substation cable trench inspection robots, characterized in that: It includes a channel quality monitoring module, a multi-band communication module, a dynamic topology reconstruction module, an electromagnetic compatibility optimization module, a new antenna array module, a data storage and management module, and a human-computer interaction module. The channel quality monitoring module is used to provide the system with real-time communication environment perception and obtain channel quality monitoring data; The multi-band communication module is provided in each inspection robot node and is used to perform adaptive collaborative communication through multiple frequency bands according to channel quality monitoring data; The dynamic topology reconstruction module is used to optimize the routing table in real time according to the channel quality monitoring data; The electromagnetic compatibility optimization module is used to optimize the system's ability to resist strong electromagnetic interference by adopting dual-channel redundancy design and dynamic filtering technology based on channel quality monitoring data; The novel antenna array module is used to monitor the geometric characteristics and material properties of the metal wall of the cable trench in real time, and dynamically adjust the antenna's transmission angle and polarization mode according to the geometric characteristics and material properties; The data storage and management module is used to record operation logs through a distributed database and build a digital archive of system operations; The human-computer interaction module is used to provide users with a friendly operation interface and interactive interface.

2. The system according to claim 1, wherein: The channel quality monitoring module is specifically used for: Real-time monitoring of the channel quality of the substation cable channel communication environment to obtain real-time channel quality monitoring data; The channel quality monitoring data includes signal strength RSSI, signal-to-noise ratio SNR, bit error rate BER, packet loss rate PER, delay, jitter and channel occupancy.

3. The system according to claim 1, wherein: The multi-band communication module is specifically used for: Emergency communications, multi-level data scheduling and adaptive energy consumption management are carried out through multiple frequency bands based on channel quality monitoring data.

4. The system according to claim 3, characterized in that Based on channel quality monitoring data, emergency communications, multi-level data scheduling, and adaptive energy management are carried out across multiple frequency bands. Specifically, the following features are included: When the main communication link is interrupted, the system will automatically activate the emergency communication mechanism; When a faulty node detects a failure in its primary link, it independently initiates an emergency process. Primary link failure includes a primary link signal-to-noise ratio that remains below a preset threshold or a preset number of consecutive transmission failures. The emergency process includes immediately switching to an emergency frequency band, broadcasting an SOS alarm signal with its ID, last known coordinates, and fault type, and entering a low-power listening mode. The neighboring nodes listen to and verify the SOS alarm signal. The faulty node selects the corresponding neighboring node as a relay node based on signal strength, path optimization, and load balancing strategies, and forwards the emergency data to the target node through the relay node. When the faulty node detects that its main link has been restored, it notifies the relay node through the emergency frequency band to complete the switch.

5. The system according to claim 3, wherein: Based on channel quality monitoring data, emergency communications, multi-level data scheduling, and adaptive energy management are carried out across multiple frequency bands. Specifically, the following features are included: Prioritize the transmission of safety-critical data through preemptive channels; Core business data is given medium priority and a three-retransmission mechanism is used for data transmission; Regular sensor data is prioritized and selectively discarded when the channel is congested.

6. The system according to claim 3, wherein: Based on channel quality monitoring data, emergency communications, multi-level data scheduling, and adaptive energy management are carried out across multiple frequency bands. Specifically, the following features are included: The communication distance between nodes is detected in real time, and the communication power is dynamically adjusted based on the communication distance.

7. The system according to claim 1, wherein: The dynamic topology reconstruction module is specifically used to: Generate an initial routing table based on channel quality monitoring data using hop priority, capability matching, and location weight strategies; Based on the motion trajectory and signal attenuation trend of each inspection robot node, the link breakage probability model is used to predict the link breakage risk and obtain the estimated value of the breakage probability; When the estimated value of the fracture probability is greater than a preset threshold, the backup path is switched to and the routing table is optimized in real time.

8. A method for adaptive networking of substation cable trench inspection robots, characterized in that: include: The channel quality monitoring module provides the system with real-time communication environment perception and obtains channel quality monitoring data; Adaptive collaborative communication is performed through multiple frequency bands based on channel quality monitoring data through a multi-band communication module; The dynamic topology reconstruction module optimizes the routing table in real time based on channel quality monitoring data; The electromagnetic compatibility optimization module uses dual-channel redundancy design and dynamic filtering technology based on channel quality monitoring data to optimize the system's ability to resist strong electromagnetic interference; The new antenna array module monitors the geometric characteristics and material properties of the cable trench metal wall in real time, and dynamically adjusts the antenna's transmission angle and polarization mode based on the geometric characteristics and material properties; The data storage and management module uses a distributed database to record operation logs and build a digital archive of system operations; Provide users with a friendly operation interface and interactive interface through the human-computer interaction module.

9. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the computer program is executed by the processor, the steps of the adaptive networking method for a substation cable trench inspection robot are implemented as described in claim 8.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores an information transmission implementation program, and when the program is executed by the processor, the steps of the adaptive networking method of the substation cable trench inspection robot as described in claim 8 are implemented.

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