Cluster inspection robot task coordination and scheduling method based on big dipper short message communication

Abstract

The present application relates to the technical field of robot cluster control, and particularly relates to a cluster inspection robot task coordination and scheduling method based on Beidou short message communication, comprising the following steps: S1, a scheduling center generates a task list according to an inspection area and task demand, assigns a task number, target coordinates and effective time to each task, forms a task instruction set and issues the task instruction set to each robot through Beidou short message; S2, each robot calibrates a local clock according to a Beidou time signal after receiving the task instruction set, generates a local task queue and executes a corresponding task in an effective time window. In the present application, a multi-node relay system and an adaptive relay selection algorithm are constructed, so that the Beidou short message is cascadedly forwarded by multiple robots under complex terrains such as mountainous areas, gorges and tunnels; even if the direct connection signal between a single robot and a satellite is blocked, the inspection data and task instructions can still be transmitted through a relay link established by adjacent robots.

Description

Technical Field

[0001] This invention relates to the field of robot swarm control technology, and in particular to a method for coordinating and scheduling swarm inspection robot tasks based on BeiDou short message communication. Background Technology

[0002] Robot swarm inspection systems are widely used in power, petrochemical, transportation, and warehousing industries for automated inspection of equipment, pipelines, facilities, and the environment. During the inspection, each robot needs to collect status information or sensor data according to a preset task execution path and transmit the data back to the dispatch center for unified management and analysis. To ensure collaborative work among multiple robots, existing systems typically use wireless communication networks for task command issuance and status feedback, while relying on global satellite navigation systems for positioning and timing services to achieve robot location determination, task scheduling, and time synchronization.

[0003] In complex terrain environments such as mountains, canyons, or tunnels, if the robot is blocked by the terrain, causing the satellite signal to weaken or be interrupted, the robot will be unable to send inspection data or receive scheduling instructions, which may cause the inspection task to be interrupted, delayed, or require human intervention to continue. Summary of the Invention

[0004] To overcome the above shortcomings, this invention provides a cluster inspection robot task coordination and scheduling method based on BeiDou short message communication, which aims to improve the problems of inspection task interruption or delay caused by terrain obstruction, unreliable data transmission, and failure to issue scheduling instructions in a timely manner.

[0005] In a first aspect, the present invention provides the following technical solution: a cluster inspection robot task coordination and scheduling method based on BeiDou short message communication, comprising the following steps:

[0006] S1. The dispatch center generates a task list based on the inspection area and task requirements, assigns a task number, target coordinates and effective time to each task, forms a task instruction set and sends it to each robot via Beidou short message;

[0007] S2. After receiving the task instruction set, each robot calibrates its local clock according to the BeiDou time signal, generates a local task queue, and executes the corresponding task within the effective time window.

[0008] S3. When performing tasks, each robot detects the strength of the Beidou signal. When the signal is below the threshold, it senses the status of neighboring nodes through short-range communication and selects reachable nodes to establish a relay link. At the same time, it periodically sends calibration messages to the satellite to calibrate the local task queue time. When the satellite is unavailable, it performs time alignment through neighboring nodes to maintain local synchronization.

[0009] S4. After completing their tasks, each robot will send the inspection data packets up in parallel via BeiDou short message direct connection and relay link. The dispatch center will select the optimal link based on the reception time and signal quality and update the task list.

[0010] The process of selecting the optimal link and updating the task list includes:

[0011] The inspection data packets received by the input dispatch center from direct links and relay links;

[0012] Perform link quality calculations on received data packets, sort the scores of each link, and generate a link priority list;

[0013] In the case of parallel uploading via direct and relay links, the timestamp, signal quality, and integrity score of data packets for each link are calculated, and a comprehensive score is generated.

[0014] Select the highest-ranked link as the data record source for this task, and associate the corresponding link information with the data packet;

[0015] Update the status and link information of the corresponding tasks in the task list for subsequent task scheduling and link selection optimization;

[0016] During the link selection process, if the highest-scoring link fails, the system automatically switches to the second-highest-scoring link and records the switching event and timestamp.

[0017] S5. When a neighboring node is detected to be out of contact, the robot generates a takeover task data packet based on the local task queue, broadcasts the takeover result via Beidou short message, and the dispatch center updates the task list simultaneously to realize task reallocation.

[0018] By adopting the above technical solution, even if the direct connection signal between a single robot and the Beidou satellite is blocked in complex terrain environments, each robot can still establish a relay link through short-range communication to achieve reliable transmission of task instructions and inspection data; thus effectively avoiding problems such as interruption or delay of inspection tasks, unstable data transmission, and failure to issue scheduling instructions in a timely manner.

[0019] Preferably, the generated task list includes:

[0020] Input the inspection area map data, inspection task requirements, and available robot resources;

[0021] The inspection area is divided into several grid units, and the coordinates of the inspection points in each grid unit are determined.

[0022] Based on the task requirements and the coordinates of the inspection points, a task record entry is generated for each inspection point, including the task number, target coordinates, task type, task priority, and scheduled effective time.

[0023] Sort all task record entries by task number and effective time to form a task list, and record task dependency information.

[0024] Preferably, the formation of the task instruction set includes:

[0025] For each task record entry in the task list, a corresponding BeiDou short message command format is generated based on the task number, target coordinates, task type, task priority, and effective time.

[0026] The generated task instructions are encoded, including message compression, checksum generation, encapsulation field definition, and sequence numbering.

[0027] The encoded task instructions are sorted according to the task number and the effective time of the task to form a task instruction set, and task priority and urgency indicators are added to the instruction set.

[0028] Preferably, the calibration of the local clock includes:

[0029] It receives BeiDou timing signals, including week counts, seconds, and microsecond offsets provided by the satellite, and reads the timing data through the robot communication interface;

[0030] Compare the BeiDou time signal with the robot's local timer to calculate the time deviation between the local clock and the BeiDou standard time.

[0031] The calculated deviation is smoothed by using an incremental adjustment algorithm to gradually adjust the local timer or directly correct the local time to ensure continuity and avoid jump errors.

[0032] Preferably, the generation of the local task queue includes:

[0033] Parse the task instruction set and extract the task number, target coordinates, task type, task priority, and effective time of each task into local task entries;

[0034] All task entries are sorted according to the task activation time and the calibrated local clock to form a preliminary task queue arranged in chronological order.

[0035] Based on the robot's current status information, including its location, remaining battery power, completed task records, and task dependencies, the initial task queue is filtered and adjusted to generate the final local task queue.

[0036] The generated local task queue is used to execute the corresponding tasks within the task effective time window, and task execution dependencies and conflict constraint information are recorded.

[0037] Preferably, the sensing of neighbor node states includes:

[0038] Receive status information broadcast by surrounding robots via short-range communication, including node identifier, current location, task status, and link reachability;

[0039] Combining terrain model and obstacle information, a weighted algorithm is used to calculate the reachability score between each neighboring node and the satellite's visible area. The score comprehensively considers task priority, signal strength, node location, link availability, and remaining energy.

[0040] Based on the scoring results, the optimal set of neighbor nodes is selected, and candidate nodes for relay are output. The availability and priority information of the candidate nodes are recorded.

[0041] Preferably, establishing the relay link includes:

[0042] Calculate link priority based on node location, signal strength, distance from satellite line of sight, and mission priority;

[0043] Select the node with the highest priority as the relay node and generate link information;

[0044] Link initialization is completed by sending a link establishment request message and receiving an acknowledgment message through short-range communication.

[0045] The link status is updated periodically during task execution. If the link fails, the backup relay path is automatically recalculated and established.

[0046] Multiple robots negotiate the link order via short message broadcast, employ a conflict avoidance algorithm to ensure that the link establishment does not conflict, and dynamically adjust according to the link priority.

[0047] Preferably, the calibration of the local task queue time includes:

[0048] Each robot periodically generates a verification message during the inspection process, which includes a local task queue timestamp.

[0049] The robot sends a verification message to the satellite via BeiDou short message service and receives the time information transmitted back by the satellite.

[0050] The robot calculates the discrepancy between the satellite transmission time and the local task queue time, and then corrects the local task queue time accordingly.

[0051] When satellites are unavailable, each robot broadcasts its local task queue timestamp to neighboring nodes via short-range communication;

[0052] After receiving the time information from neighboring nodes, the robot calculates the correction value according to the preset distributed time alignment algorithm;

[0053] The robot updates the local task queue time based on the calculated correction value to achieve local synchronization.

[0054] Preferably, the generation of the takeover task data packet includes:

[0055] Filter out incomplete or pending task items, and calculate takeover priority based on the takeover robot's current position, remaining energy, and task priority;

[0056] Generate a data structure for each takeover task entry, including task number, takeover robot identifier, execution time window, and related task parameters;

[0057] The generated data structure is encoded, including message encapsulation, checksum generation and compression, to form a takeover task data packet that can be sent via BeiDou short message service.

[0058] The generated takeover task data packet is output to the broadcast interface for transmission to nearby robots and the dispatch center via BeiDou short message service.

[0059] The present invention has the following beneficial effects:

[0060] 1. In this invention, by constructing a multi-node relay system and an adaptive relay selection algorithm, the multi-robot cascade forwarding of BeiDou short messages is realized in complex terrains such as mountains, canyons, and tunnels. Even if the direct connection signal between a single robot and the satellite is blocked, it can still establish a relay link with a neighboring robot to transmit inspection data and task instructions, thereby ensuring the continuity and reliability of the inspection task and improving the efficiency and stability of inspection data transmission.

[0061] 2. In this invention, a multi-robot coordinated scheduling is achieved in the high-latency and fluctuating network environment of BeiDou short message by using a task effective timestamp mechanism, time-segmented task execution windows, and link delay prediction and feedback correction. Each robot can execute tasks within a predetermined time window based on a unified time reference, avoiding task conflicts and repeated execution, ensuring orderly coverage of the inspection area, and improving scheduling accuracy and the stability of cluster task execution.

[0062] 3. In this invention, rapid local task takeover is achieved in the event of a single robot losing connection or malfunctioning, through BeiDou time synchronization across the entire network, distributed disconnection detection, and autonomous task takeover algorithms. Takeover information is broadcast across the entire network via short messages to other robots and the scheduling center, ensuring consistent task status updates. This mechanism effectively improves cluster autonomy and task continuity, reduces reliance on central scheduling, and enhances reliability in remote or long-distance operating environments. Attached Figure Description

[0063] Figure 1 This is a flowchart of the method for coordinating and scheduling tasks of clustered inspection robots based on BeiDou short message communication proposed in this invention. Detailed Implementation

[0064] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0065] In the first embodiment of the present invention, the present invention provides a method for coordinating and scheduling tasks of clustered inspection robots based on BeiDou short message communication, such as... Figure 1 As shown, it includes the following steps:

[0066] S1. The dispatch center generates a task list based on the inspection area and task requirements, assigns a task number, target coordinates and effective time to each task, forms a task instruction set and sends it to each robot via Beidou short message;

[0067] Furthermore, the generated task list includes:

[0068] Input the inspection area map data, inspection task requirements, and available robot resources;

[0069] The inspection area is divided into several grid units, and the coordinates of the inspection points in each grid unit are determined.

[0070] Based on the task requirements and the coordinates of the inspection points, a task record entry is generated for each inspection point, including the task number, target coordinates, task type, task priority, and scheduled effective time.

[0071] Sort all task record entries by task number and effective time to form a task list, and record task dependency information.

[0072] Furthermore, forming the task instruction set includes:

[0073] For each task record entry in the task list, a corresponding BeiDou short message command format is generated based on the task number, target coordinates, task type, task priority, and effective time.

[0074] The generated task instructions are encoded, including message compression, checksum generation, encapsulation field definition, and sequence numbering.

[0075] The encoded task instructions are sorted according to the task number and the effective time of the task to form a task instruction set, and task priority and urgency indicators are added to the instruction set.

[0076] Specifically, the dispatch center first receives and integrates the inspection area map data, inspection task requirements information, and robot available resource information; the dispatch center then determines the robot's location based on the map boundaries and predetermined grid size. The inspection area is divided into several grid cells, and the map boundary coordinates are defined as follows: The grid index is calculated using the following formula: The coordinates of the grid center are calculated using the following formula and used as the coordinates of the inspection points: ,in: Represents planar coordinates, Indicates rounding down;

[0077] For each inspection point, the dispatch center generates task record entries based on task type, priority, and target coordinates, including task number, task type, task priority, and scheduled effective time, and records the dependencies between tasks to ensure task order and resource coordination during execution. All task record entries are sorted according to task number and effective time to form a complete task list for use in subsequent instruction generation.

[0078] The scheduling center converts each task record in the task list into a BeiDou short message instruction format. Each instruction includes the task number, target coordinates, task type, task priority, and task effective time information, facilitating the robot's parsing and execution according to a unified format. To ensure the reliability of message transmission and bandwidth utilization, the scheduling center encodes the generated task instructions, including message compression, checksum generation, and encapsulation field definition. Simultaneously, the messages are sequentially numbered to ensure verifiable receiving order. The encoded task instructions are sorted according to task number and task effective time, forming a complete task instruction set. Task priority and urgency indicators are also added to the instruction set, facilitating priority determination and scheduling strategy selection by the robot during task execution.

[0079] The task instruction set is sent to each robot via BeiDou short message service. After receiving the instruction, the robot can parse the task number, target coordinates, task type, and effective time, and establish a preliminary task queue locally based on task priority and urgency information. At the same time, the robot can dynamically adjust the task queue based on its available resources and the records of executed tasks to ensure that the task order is reasonable and meets dependency constraints. During the inspection process, the robot synchronizes with the local time and BeiDou time, executes the inspection tasks one by one according to the task effective time, and can report the task execution status and data to the scheduling center after completing the task so as to update the task list and scheduling strategy.

[0080] By adopting the above scheme, the dispatch center can generate a complete, reasonably sorted task list and task instruction set with priority identifiers according to the inspection area and task requirements; ensure that task instructions can be reliably sent to each robot via Beidou short message; and enable the robot to parse task instructions and generate a local task queue to execute inspection tasks according to the predetermined effective time.

[0081] S2. After receiving the task instruction set, each robot calibrates its local clock according to the BeiDou time signal, generates a local task queue, and executes the corresponding task within the effective time window.

[0082] Furthermore, calibrating the local clock includes:

[0083] It receives BeiDou timing signals, including week counts, seconds, and microsecond offsets provided by the satellite, and reads the timing data through the robot communication interface;

[0084] Compare the BeiDou time signal with the robot's local timer to calculate the time deviation between the local clock and the BeiDou standard time.

[0085] The calculated deviation is smoothed by using an incremental adjustment algorithm to gradually adjust the local timer or directly correct the local time to ensure continuity and avoid jump errors.

[0086] Furthermore, generating a local task queue includes:

[0087] Parse the task instruction set and extract the task number, target coordinates, task type, task priority, and effective time of each task into local task entries;

[0088] All task entries are sorted according to the task activation time and the calibrated local clock to form a preliminary task queue arranged in chronological order.

[0089] Based on the robot's current status information, including its location, remaining battery power, completed task records, and task dependencies, the initial task queue is filtered and adjusted to generate the final local task queue.

[0090] The generated local task queue is used to execute the corresponding tasks within the task effective time window, and task execution dependencies and conflict constraint information are recorded.

[0091] Specifically, after receiving the task instruction set from the dispatch center, the robot first obtains the BeiDou time signal through its built-in communication interface, including the week count, second count, and microsecond offset provided by the satellite, which is used to calibrate the local timer. The robot then compares the received BeiDou time signal with the local timer to calculate the time deviation between the local clock and the BeiDou standard time. The formula is as follows:

[0092] ;

[0093] in, Indicates the robot's local timer time. This indicates the time of the BeiDou satellite time synchronization signal. The calculated time deviation has been smoothed, for example, by using a weighted moving average or a low-pass filter to eliminate instantaneous fluctuations. Simultaneously, an incremental adjustment algorithm is used to gradually adjust the local timer. Specifically, within each adjustment cycle, the local time increment is updated according to the following rules. ,in To adjust the gain, where the superscript The unit of time is seconds. That is to say, in the first Within each adjustment cycle, the time deviation between the BeiDou timing signal and the robot's local timer, calculated in seconds, is then... To ensure smooth progress; to handle extreme deviations, a direct correction threshold can be set. ,when A single step correction is triggered to restore the time baseline. Alternatively, the local time can be directly corrected when necessary to ensure a continuous and smooth calibration process and avoid task execution abnormalities caused by time jumps. When satellite signals are temporarily unavailable or blocked, the robot can exchange time information with neighboring robots through short-range communication to achieve local time alignment and maintain cluster time consistency.

[0094] The robot parses the received task instruction set, extracting the task number, target coordinates, task type, task priority, and task effective time for each task, generating preliminary local task entries. Based on the task effective time and the calibrated local clock, all task entries are sorted to form a preliminary task queue arranged in chronological order. Combining the robot's current status information, including current position, remaining battery power, completed task records, and task dependencies, the preliminary task queue is dynamically filtered and adjusted, removing unexecutable or conflicting task entries, reordering, and generating a final local task queue. During task execution, the robot can execute each task sequentially within the task effective time window according to the local task queue, and record task execution dependencies and conflict constraint information in real time, providing reference data for subsequent scheduling and task takeover.

[0095] The robot executes inspection tasks according to the final local task queue. Each task is started within the effective time window, and the task execution results and status are fed back to the scheduling center through internal logs or uplink communication modules to update the task list and task status. If insufficient local resources or priority conflicts are detected during task execution, the task order can be temporarily adjusted or the task execution can be delayed. The adjustment information is updated in the local task queue and status record to ensure the continuity and rationality of task execution. Throughout the process, the robot maintains time synchronization with short-range communication through Beidou time synchronization signals to achieve multi-robot collaborative task scheduling.

[0096] By adopting the above scheme, the robot can use the Beidou time signal to calibrate the local clock, forming a local task queue that is time-synchronized and sorted by task priority; ensuring that tasks are executed in an orderly manner within the specified effective time window; and dynamically adjusting the task queue based on the robot's status and task dependency information to achieve continuity, coordination and reliability of task execution.

[0097] S3. When performing tasks, each robot detects the strength of the Beidou signal. When the signal is below the threshold, it senses the status of neighboring nodes through short-range communication and selects reachable nodes to establish a relay link. At the same time, it periodically sends calibration messages to the satellite to calibrate the local task queue time. When the satellite is unavailable, it performs time alignment through neighboring nodes to maintain local synchronization.

[0098] Furthermore, sensing the state of neighboring nodes includes:

[0099] Receive status information broadcast by surrounding robots via short-range communication, including node identifier, current location, task status, and link reachability;

[0100] Combining terrain model and obstacle information, a weighted algorithm is used to calculate the reachability score between each neighboring node and the satellite's visible area. The score comprehensively considers task priority, signal strength, node location, link availability, and remaining energy.

[0101] Based on the scoring results, the optimal set of neighbor nodes is selected, and candidate nodes for relay are output. The availability and priority information of the candidate nodes are recorded.

[0102] Furthermore, establishing a relay link includes:

[0103] Calculate link priority based on node location, signal strength, distance from satellite line of sight, and mission priority;

[0104] Select the node with the highest priority as the relay node and generate link information;

[0105] Link initialization is completed by sending a link establishment request message and receiving an acknowledgment message through short-range communication.

[0106] The link status is updated periodically during task execution. If the link fails, the backup relay path is automatically recalculated and established.

[0107] Multiple robots negotiate the link order via short message broadcast, employ a conflict avoidance algorithm to ensure that the link establishment does not conflict, and dynamically adjust according to the link priority.

[0108] Furthermore, calibrating the local task queue time includes:

[0109] Each robot periodically generates a verification message during the inspection process, which includes a local task queue timestamp.

[0110] The robot sends a verification message to the satellite via BeiDou short message service and receives the time information transmitted back by the satellite.

[0111] The robot calculates the discrepancy between the satellite transmission time and the local task queue time, and then corrects the local task queue time accordingly.

[0112] When satellites are unavailable, each robot broadcasts its local task queue timestamp to neighboring nodes via short-range communication;

[0113] After receiving the time information from neighboring nodes, the robot calculates the correction value according to the preset distributed time alignment algorithm;

[0114] The robot updates the local task queue time based on the calculated correction value to achieve local synchronization.

[0115] Specifically, when performing inspection tasks, the robot continuously monitors the BeiDou signal strength to determine the communication quality with the satellite. When the signal strength is detected to be below a preset threshold, the robot automatically activates its short-range communication module to receive status information from neighboring robots via wireless broadcast. This information includes node identification, current location, current task status, and link reachability. Combining this with pre-stored terrain models and obstacle distribution information, a weighted algorithm is used to calculate the reachability score between each neighboring node and the satellite's visible area. This score can be expressed as:

[0116] ;

[0117] in, For nodes Accessibility score As a task priority, For node signal strength, The distance from the node to the satellite's visible area. For the remaining energy, To avoid dividing by zero, small constants The above are all dimensionless normalized data, which are weighted coefficients, taking into account the urgency of the task, signal quality, spatial location and energy status. The optimal set of neighbor nodes is selected based on the scoring results, a list of relay candidate nodes is generated, and the availability and priority information of each candidate node are recorded for use in link establishment.

[0118] When establishing a relay link, the robot calculates the link priority for candidate nodes based on node location, signal strength, distance from the satellite's line of sight, and task priority, and selects the node with the highest priority as the relay node, while simultaneously generating link information. The robot sends a link establishment request message via short-range communication and waits to receive an acknowledgment message to complete link initialization. During task execution, the robot periodically checks the link status; if a link fails, it automatically recalculates the score and establishes an alternative relay path. To prevent multiple robots from simultaneously selecting the same node and causing conflicts, each robot employs a distributed conflict avoidance algorithm, specifically including: calculating a competition factor. :

[0119]

[0120] in, Prioritize candidate links. As a unique identifier for the robot, The robot with the highest ID and the lowest competition factor in the cluster is given priority in establishing a link, while the remaining robots establish links in random time slots. Then attempt to establish the link again; at the same time, maintain the temporary state table of neighboring nodes to record the applied links and conflict markers, ensure that the link establishment does not conflict, and dynamically adjust the link order according to the link priority.

[0121] Regarding local task queue time calibration, the robot periodically generates calibration messages during inspections, including local task queue timestamps. These messages are sent to the satellite via BeiDou short messages, and the robot receives the time information returned by the satellite. The robot calculates the time deviation based on the returned time and the local task queue time and makes corrections to maintain synchronization between the task queue time and the BeiDou standard time. When the satellite is unavailable, the robot broadcasts the local task queue timestamps to neighboring nodes via short-range communication and receives time information from neighboring nodes. It then calculates the correction value using a distributed time alignment algorithm, expressed by the following formula:

[0122]

[0123] in, The current task queue time for the robot. Neighboring nodes timestamp, The number of neighboring nodes. The corrected local time; the robot according to The task queue is updated to achieve local time synchronization, ensuring that the cluster robots can still perform inspection operations in the predetermined task order even when the satellite is unavailable or the signal is blocked.

[0124] By employing the above methods, the swarm robot can adaptively select relay nodes, avoid link conflicts, and maintain task queue time synchronization in complex terrain, thereby ensuring the continuity and reliability of inspection tasks and improving the stability and efficiency of inspection data transmission.

[0125] S4. After completing their tasks, each robot will send the inspection data packets up in parallel via BeiDou short message direct connection and relay link. The dispatch center will select the optimal link based on the reception time and signal quality and update the task list.

[0126] Furthermore, selecting the optimal link and updating the task list includes:

[0127] The inspection data packets received by the input dispatch center from direct links and relay links;

[0128] Perform link quality calculations on received data packets, sort the scores of each link, and generate a link priority list;

[0129] In the case of parallel uploading via direct and relay links, the timestamp, signal quality, and integrity score of data packets for each link are calculated, and a comprehensive score is generated.

[0130] Select the highest-ranked link as the data record source for this task, and associate the corresponding link information with the data packet;

[0131] Update the status and link information of the corresponding tasks in the task list for subsequent task scheduling and link selection optimization;

[0132] During the link selection process, if the highest-scoring link fails, the system will automatically switch to the second-highest-scoring link and record the switching event and timestamp.

[0133] Specifically, after completing the inspection task, the robot simultaneously transmits the generated inspection data packets in parallel via the BeiDou short message direct link and the established relay link to ensure reliable data transmission in complex terrain. The data packets contain the task number, task execution timestamp, inspection results, and link status information. After receiving data from the direct link and relay link, the dispatch center performs unified parsing and processing of the input data, calculating link quality indicators, including signal strength, for each link's data packets. Data integrity and reception delay A comprehensive score is generated based on the weighting coefficients, expressed by the formula:

[0134] ;

[0135] in, For the overall link score, These are the weighting coefficients for signal strength, data integrity, and reception delay, which can be dynamically adjusted according to the importance of the task. The scheduling center sorts the scores of each link to form a link priority list, and marks the link with the highest score as the main link source for this task's data. At the same time, it associates data packets with the corresponding link information to facilitate subsequent task scheduling and link selection optimization.

[0136] During parallel upload, the scheduling center parses the timestamps and signal quality of data packets for both direct and relay links, and performs integrity checks, including message length, checksum verification, and data field consistency checks. Based on these metrics, a comprehensive score for each link's data packets is generated, and the optimal link is selected according to the score. If the highest-scoring link is detected to be abnormal or fails during data reception, the scheduling center automatically switches to the second-highest-scoring link, while recording the timestamp of the switch event and the link status to ensure the continuity of data transmission and the accuracy of task status updates.

[0137] During the task list update phase, the scheduling center synchronizes the data packet information associated with the optimal link to the task list, updating the completion status, data packet reception time, link type, and link score of the corresponding task. This information is used in subsequent task scheduling to evaluate link availability and priority, providing a basis for robots to select the optimal data upload path. At the same time, through the statistics and analysis of historical link data, the link allocation strategy for future tasks is optimized to ensure reliable and efficient data transmission in multi-robot collaborative inspections.

[0138] The above methods enable multi-path parallel uploading and dynamic link selection of robot inspection data in complex environments, allowing the scheduling center to acquire high-quality data in real time while ensuring accurate updates of task status and rapid response to link switching. This improves the data transmission stability and task scheduling reliability of cluster inspection tasks.

[0139] S5. When a neighboring node is detected to be out of contact, the robot generates a takeover task data packet based on the local task queue, broadcasts the takeover result via Beidou short message, and the dispatch center updates the task list simultaneously to realize task reallocation.

[0140] Furthermore, generating the takeover task data packet includes:

[0141] Filter out incomplete or pending task items, and calculate takeover priority based on the takeover robot's current position, remaining energy, and task priority;

[0142] Generate a data structure for each takeover task entry, including task number, takeover robot identifier, execution time window, and related task parameters;

[0143] The generated data structure is encoded, including message encapsulation, checksum generation and compression, to form a takeover task data packet that can be sent via BeiDou short message service.

[0144] The generated takeover task data packet is output to the broadcast interface for transmission to nearby robots and the dispatch center via BeiDou short message service.

[0145] Specifically, when a robot detects a neighboring node losing connection during its inspection, it first filters out incomplete or pending tasks from its local task queue. Then, based on the takeover robot's current location, remaining energy, and task priority, it calculates the takeover priority to determine the order and urgency of the takeover tasks. The takeover priority is as follows:

[0146]

[0147] in Indicates priority of takeover. To take control of the distance from the robot's current position to the mission objective, The percentage of remaining energy. This is the task priority value. The weighting coefficients can be dynamically adjusted based on task type and urgency. The execution order of takeover tasks is determined according to priority, and a data structure for each takeover task is generated, including task number, takeover robot identifier, execution time window, and related task parameters.

[0148] The generated data structure is then encoded, including message encapsulation, checksum generation, and compression, to form a takeover task data packet suitable for transmission via BeiDou short messages. After being formatted and encoded, the data packet is sent to nearby robots and the dispatch center through a broadcast interface to achieve rapid sharing of takeover information. Upon receiving the data packet, the broadcast receiver parses the task number and takeover robot identifier and updates the task allocation status in the local task queue or the task list of the dispatch center.

[0149] During the takeover task execution, the robot initiates the corresponding task execution actions based on the time window and task parameters of the takeover task data packet, and updates the task completion status and execution results to the local task record. The scheduling center updates the task list synchronously based on the broadcast takeover results, including task status, takeover robot information, and task execution time, so as to realize dynamic task reallocation and overall scheduling optimization. In the case of multiple robots taking over at the same time, the task allocation algorithm ensures that the same task will not be executed repeatedly, and conflicts are avoided through broadcast confirmation mechanism and the uniqueness of task number.

[0150] The above method enables robots to quickly respond and take over unfinished tasks when neighboring nodes lose contact. By broadcasting BeiDou short messages synchronously, the dispatch center can update the task list and reassign tasks in a timely manner, thereby ensuring the continuity and reliability of cluster inspection tasks and the efficiency of multi-robot collaboration.

[0151] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for coordinating and scheduling clustered inspection robot tasks based on BeiDou short message communication, characterized in that, Includes the following steps: S1. The dispatch center generates a task list based on the inspection area and task requirements, assigns a task number, target coordinates and effective time to each task, forms a task instruction set and sends it to each robot via Beidou short message; S2. After receiving the task instruction set, each robot calibrates its local clock according to the BeiDou time signal, generates a local task queue, and executes the corresponding task within the effective time window. S3. When performing tasks, each robot detects the strength of the Beidou signal. When the signal is below the threshold, it senses the status of neighboring nodes through short-range communication and selects reachable nodes to establish a relay link. At the same time, it periodically sends calibration messages to the satellite to calibrate the local task queue time. When the satellite is unavailable, it performs time alignment through neighboring nodes to maintain local synchronization. S4. After completing their tasks, each robot will send the inspection data packets up in parallel via BeiDou short message direct connection and relay link. The dispatch center will select the optimal link based on the reception time and signal quality and update the task list. The process of selecting the optimal link and updating the task list includes: The inspection data packets received by the input dispatch center from direct links and relay links; Perform link quality calculations on received data packets, sort the scores of each link, and generate a link priority list; In the case of parallel uploading via direct and relay links, the timestamp, signal quality, and integrity score of data packets for each link are calculated, and a comprehensive score is generated. Select the highest-ranked link as the data record source for this task, and associate the corresponding link information with the data packet; Update the status and link information of the corresponding tasks in the task list for subsequent task scheduling and link selection optimization; During the link selection process, if the highest-scoring link fails, the system automatically switches to the second-highest-scoring link and records the switching event and timestamp. S5. When a neighboring node is detected to be out of contact, the robot generates a takeover task data packet based on the local task queue, broadcasts the takeover result via Beidou short message, and the dispatch center updates the task list simultaneously to realize task reallocation.

2. The cluster inspection robot task coordination and scheduling method based on Beidou short message communication according to claim 1, characterized in that, The generated task list includes: Input the inspection area map data, inspection task requirements, and available robot resources; The inspection area is divided into several grid units, and the coordinates of the inspection points in each grid unit are determined. Based on the task requirements and the coordinates of the inspection points, a task record entry is generated for each inspection point, including the task number, target coordinates, task type, task priority, and scheduled effective time. Sort all task record entries by task number and effective time to form a task list, and record task dependency information.

3. The cluster inspection robot task coordination and scheduling method based on BeiDou short message communication according to claim 1, characterized in that, The formation of the task instruction set includes: For each task record entry in the task list, a corresponding BeiDou short message command format is generated based on the task number, target coordinates, task type, task priority, and effective time. The generated task instructions are encoded, including message compression, checksum generation, encapsulation field definition, and sequence numbering. The encoded task instructions are sorted according to the task number and the effective time of the task to form a task instruction set, and task priority and urgency indicators are added to the instruction set.

4. The cluster inspection robot task coordination and scheduling method based on Beidou short message communication according to claim 1, characterized in that, The calibration of the local clock includes: It receives BeiDou timing signals, including week counts, seconds, and microsecond offsets provided by the satellite, and reads the timing data through the robot communication interface; Compare the BeiDou time signal with the robot's local timer to calculate the time deviation between the local clock and the BeiDou standard time. The calculated deviation is smoothed by using an incremental adjustment algorithm to gradually adjust the local timer or directly correct the local time to ensure continuity and avoid jump errors.

5. The cluster inspection robot task coordination and scheduling method based on BeiDou short message communication according to claim 1, characterized in that, The generation of the local task queue includes: Parse the task instruction set and extract the task number, target coordinates, task type, task priority, and effective time of each task into local task entries; All task entries are sorted according to the task activation time and the calibrated local clock to form a preliminary task queue arranged in chronological order. Based on the robot's current status information, including its location, remaining battery power, completed task records, and task dependencies, the initial task queue is filtered and adjusted to generate the final local task queue. The generated local task queue is used to execute the corresponding tasks within the task effective time window, and task execution dependencies and conflict constraint information are recorded.

6. The method for task coordination and scheduling of clustered inspection robots based on BeiDou short message communication according to claim 1, characterized in that, The sensed neighbor node status includes: Receive status information broadcast by surrounding robots via short-range communication, including node identifier, current location, task status, and link reachability; Combining terrain model and obstacle information, a weighted algorithm is used to calculate the reachability score between each neighboring node and the satellite's visible area. The score comprehensively considers task priority, signal strength, node location, link availability, and remaining energy. Based on the scoring results, the optimal set of neighbor nodes is selected, and candidate nodes for relay are output. The availability and priority information of the candidate nodes are recorded.

7. The method for task coordination and scheduling of cluster inspection robots based on BeiDou short message communication according to claim 1, characterized in that, The establishment of the relay link includes: Calculate link priority based on node location, signal strength, distance from satellite line of sight, and mission priority; Select the node with the highest priority as the relay node and generate link information; Link initialization is completed by sending a link establishment request message and receiving an acknowledgment message through short-range communication. The link status is updated periodically during task execution. If the link fails, the backup relay path is automatically recalculated and established. Multiple robots negotiate the link order via short message broadcast, employ a conflict avoidance algorithm to ensure that the link establishment does not conflict, and dynamically adjust according to the link priority.

8. The method for task coordination and scheduling of cluster inspection robots based on BeiDou short message communication according to claim 1, characterized in that, The calibration local task queue time includes: Each robot periodically generates a verification message during the inspection process, which includes a local task queue timestamp. The robot sends a verification message to the satellite via BeiDou short message service and receives the time information transmitted back by the satellite. The robot calculates the discrepancy between the satellite transmission time and the local task queue time, and then corrects the local task queue time accordingly. When satellites are unavailable, each robot broadcasts its local task queue timestamp to neighboring nodes via short-range communication; After receiving the time information from neighboring nodes, the robot calculates the correction value according to the preset distributed time alignment algorithm; The robot updates the local task queue time based on the calculated correction value to achieve local synchronization.

9. The method for task coordination and scheduling of clustered inspection robots based on BeiDou short message communication according to claim 1, characterized in that, The generated takeover task data packet includes: Filter out incomplete or pending task items, and calculate takeover priority based on the takeover robot's current position, remaining energy, and task priority; Generate a data structure for each takeover task entry, including task number, takeover robot identifier, execution time window, and related task parameters; The generated data structure is encoded, including message encapsulation, checksum generation and compression, to form a takeover task data packet that can be sent via BeiDou short message service. The generated takeover task data packet is output to the broadcast interface for transmission to nearby robots and the dispatch center via BeiDou short message service.

Images