Composite robot multi-modal data encryption transmission method, system and terminal

Abstract

The invention relates to a multi-modal data encryption transmission method and system for a composite robot and a terminal, and relates to data transmission, and the method comprises the steps: obtaining the collection information of the composite robot; performing classified encryption through a preset encryption algorithm according to the collected information to obtain encrypted information; acquiring data calling information of the composite robot; determining whether the data calling information is consistent with preset reference calling information or not; if the data calling information is inconsistent with the reference calling information, continuing to obtain the data calling information; if the data calling information is consistent with the reference calling information, performing encryption through a preset encryption algorithm according to the data calling information to obtain encrypted calling information; and decrypting the encrypted information according to the encrypted calling information to obtain target collection information, and outputting the target collection information to a preset calling platform. The method has the effect of improving the data transmission safety of the composite robot.

Description

Technical Field

[0001] The present invention relates to the technical field of data transmission, and more particularly to a multi-modal data encryption transmission method, system and terminal for a composite robot. Background Art

[0002] Data transmission is a complex process involving multiple technologies and protocols and is used to transfer information between various devices and systems.

[0003] When a composite robot performs data transmission, it will collect various modalities of data, such as visual sensor data, tactile sensor data, position data, and attitude data. During the data transmission process of the composite robot, when the data transmitted by the composite robot is tampered with or intercepted, the composite robot receives or feeds back incorrect instructions and information, and the operator receives incorrect instructions and information or observes the composite robot making incorrect actions, and relevant personnel need to be notified to check and repair the composite robot.

[0004] When the data transmitted by the composite robot is tampered with or intercepted, it causes the composite robot to receive or feed back incorrect instructions and information, thereby affecting the normal operation of the composite robot and the completion of work tasks, and improvement is needed. Summary of the Invention

[0005] In order to improve the security of data transmission of a composite robot, the present invention provides a multi-modal data encryption transmission method, system and terminal for a composite robot.

[0006] In a first aspect, the present invention provides a multi-modal data encryption transmission method for a composite robot, adopting the following technical solution:

[0007] A multi-modal data encryption transmission method for a composite robot includes:

[0008] Obtain the collection information of the composite robot;

[0009] Classify and encrypt according to the collection information through a preset encryption algorithm to obtain encrypted information;

[0010] Obtain the data retrieval information of the composite robot;

[0011] Determine whether the data retrieval information is consistent with the preset reference retrieval information;

[0012] If the data retrieval information is inconsistent with the reference retrieval information, continue to obtain the data retrieval information;

[0013] If the data retrieval information is consistent with the reference retrieval information, encrypt according to the data retrieval information through a preset encryption algorithm to obtain encrypted retrieval information;

[0014] Decrypt the encrypted information according to the encrypted retrieval information to obtain the target collection information and output it to a preset retrieval platform.

[0015] By adopting the above technical solution, encrypt the collected information, and control the decryption of the encrypted information according to the consistency between the data retrieval information and the reference retrieval information, so as to reduce the situation that the data transmitted by the composite robot is tampered with or intercepted, thereby improving the security of data transmission by the composite robot.

[0016] Optionally, the method before continuing to obtain the data retrieval information includes:

[0017] Determine the abnormal retrieval information and the abnormal retrieval position according to the data retrieval information and the reference retrieval information;

[0018] Determine the information integrity according to the data retrieval information and the abnormal retrieval information;

[0019] When the information integrity exceeds the preset reference integrity, obtain the byte length of the data retrieval information;

[0020] Determine whether the byte length exceeds the preset reference byte length;

[0021] If the byte length exceeds the reference byte length, obtain the input time point corresponding to the abnormal retrieval information and the retrieval time point of the data retrieval information;

[0022] Determine the retrieval time length value according to the input time point and the retrieval time point;

[0023] If the byte length does not exceed the reference byte length, or the input time value does not exceed the preset reference time length value, obtain the input times of the data retrieval information;

[0024] When the input times exceed the preset reference times, output a preset warning message.

[0025] By adopting the above technical solution, understand the data retrieval information and the reference retrieval information to obtain the byte length and the retrieval time length value, and obtain the input times through the comparison of the byte length and the reference byte length, the input time value and the reference time length value, and when the input times exceed the reference times, output a preset warning message to better distinguish whether it is a situation of accidental touch when the receiving party inputs the data retrieval information or a situation where the data retrieval information is not input by the receiving party, further improving the security of data transmission by the composite robot.

[0026] Optionally, the method before obtaining the encrypted information includes:

[0027] Determine the abnormal marking information according to the collected information and the preset reference collected information;

[0028] Determine the abnormal parameters and the corresponding abnormal parameter types according to the abnormal marking information;

[0029] Retrieve the visual parameter types according to the collected information;

[0030] When the abnormal parameter type is the visual parameter type, determine the visual abnormal position according to the abnormal parameters and the abnormal marking information;

[0031] Remove according to the abnormal parameters and the visual abnormal position through a preset occlusion removal method, and update the collected information according to the abnormal parameters;

[0032] Classify and encrypt the updated collected information through a preset encryption algorithm to obtain the encrypted information.

[0033] By adopting the above technical solution, analyze the collected information and the reference collected information to obtain the abnormal marking information and the visual abnormal position, remove them through the occlusion removal method, update the collected information through the abnormal parameters, and re-encrypt, so as to be able to process the abnormal information in a timely manner and ensure the accuracy of subsequent information collection.

[0034] Optionally, the method for updating the collected information according to the abnormal parameters includes:

[0035] Obtain the visual parameters, laser scanning parameters and sound detection information according to the visual abnormal position;

[0036] Input the laser scanning parameters into a preset simulation system to form a scanning model and the model generation position;

[0037] Retrieve the sound source position according to the sound detection information;

[0038] Determine whether the sound source position coincides with the model generation position;

[0039] If the sound source position coincides with the model generation position, retrieve the sound corresponding to the model generation position as the target sound information according to the sound detection information;

[0040] Determine the repaired visual parameters according to the target sound information and the scanning model, and update the collected information according to the laser scanning parameters and the sound detection information;

[0041] If the sound source position does not coincide with the model generation position, determine the repaired visual parameters according to the scanning model and the abnormal parameters, and update the collected information according to the laser scanning parameters.

[0042] By adopting the above technical solution, by understanding whether the sound source position coincides with the model generation position, sound detection information and laser scanning parameters are obtained and visual parameters are patched, so as to improve the output of other parameters to ensure the integrity and accuracy of the collected information.

[0043] Optionally, the preset occlusion removal method includes:

[0044] Retrieve visual parameters according to the collected information;

[0045] Determine the parameter deviation value according to the abnormal parameter and the visual parameter;

[0046] Determine the parameter deviation range according to the visual parameter and the parameter deviation value;

[0047] Input the parameter deviation range into the preset occlusion database to match the occlusion type;

[0048] When the occlusion type is dust, determine the estimated center position and the maximum wiping range according to the parameter deviation range;

[0049] Determine the airbag inflation volume according to the maximum wiping range;

[0050] Determine the number of cyclic inflation and deflation times according to the parameter deviation value and the parameter deviation range;

[0051] Control the preset airbag wiping device to operate at the estimated center position, airbag inflation volume and number of cyclic inflation and deflation times, and obtain the current inflation and deflation times of the airbag wiping device;

[0052] When the current inflation and deflation times are consistent with the number of cyclic inflation and deflation times, retrieve the visual parameters again, and determine the maximum wiping contour according to the maximum wiping range;

[0053] When there is an abnormal parameter on the maximum wiping contour corresponding to the visually re-acquired parameter, determine the rotation speed according to the abnormal parameter, and control the airbag wiping device to operate at the rotation speed.

[0054] By adopting the above technical solution, by understanding the abnormal parameter and the visual parameter to obtain the parameter deviation value, parameter deviation range and estimated center position, and when the occlusion type is dust, obtaining the airbag inflation volume and the number of cyclic inflation and deflation times through the parameter deviation range, controlling the airbag wiping device to operate at the estimated center position, airbag inflation volume and number of cyclic inflation and deflation times, and controlling the airbag wiping device to operate at the rotation speed according to the presence of the abnormal parameter on the maximum wiping contour, the abnormal parameter can be processed to ensure the accuracy of subsequent information collection.

[0055] Optionally, the preset occlusion removal method further includes:

[0056] When the occlusion type is a sticky substance, determine whether the abnormal parameter contains the color parameter preset for the sticky substance;

[0057] If the abnormal parameter contains the color parameter of the sticky substance, determine the type of the sticky substance according to the color parameter;

[0058] Select a removal device according to the type of the sticky substance, and control the removal device to remove the sticky substance at the visually abnormal position;

[0059] If the abnormal parameter does not contain the color parameter of the sticky substance, retrieve the abnormal pixel contrast according to the abnormal parameter;

[0060] Determine the abnormal image, abnormal contour and abnormal area according to the abnormal pixel contrast and the visually abnormal position;

[0061] When the abnormal image contains the preset pasting abnormal feature, determine the pasting abnormal position according to the abnormal image and the pasting abnormal feature;

[0062] When the pasting abnormal position is on the abnormal contour, determine the penetration time and the dripping oil amount according to the abnormal area;

[0063] Determine the dripping oil blowing power and the dripping oil blowing temperature according to the dripping oil amount;

[0064] Update the penetration time according to the dripping oil blowing power and the dripping oil blowing temperature;

[0065] Control the preset dripping oil device to drip oil at the pasting abnormal position and the dripping oil amount, control the blowing device to operate at the dripping oil blowing power, the dripping oil blowing temperature and the pasting abnormal position, and obtain the dripping oil time;

[0066] When the dripping oil time is consistent with the updated penetration time, control the preset clamping device to clamp and remove at the pasting abnormal position.

[0067] By adopting the above technical solution, obtain the pasting abnormal position according to the inclusion situation of the abnormal image and the pasting abnormal feature, and when the pasting abnormal position is on the abnormal contour, obtain the penetration time, the dripping oil amount, the dripping oil blowing power and the dripping oil blowing temperature according to the abnormal area, and control the corresponding device to operate, so as to be able to remove the sticky substance and ensure the accuracy of subsequent information collection.

[0068] Optionally, the method after forming the scanning model includes:

[0069] When a preset blocking feature appears in the scanning model, determine whether there is an unblocked position in the scanning model according to the scanning model and the blocking feature;

[0070] If there are unblocked positions in the scanned model, determine the removal path based on the unblocked positions, control the composite robot to run along the removal path, and re-acquire the scan information;

[0071] When the unblocked position coincides with the preset top position of the composite robot, retrieve the tactile pressure value according to the scan information;

[0072] Retrieve the tactile pressure value corresponding to exceeding the preset reference pressure value as the dropping pressure value according to the tactile pressure value;

[0073] Determine the dropping height according to the dropping pressure value;

[0074] When the dropping height does not exceed the preset reference lifting height, control the preset visual collection device to lift by the dropping height and re-acquire the scan information;

[0075] Determine the dropping position according to the updated scan information, and output the preset dropping warning information according to the dropping position.

[0076] By adopting the above technical solution, when the composite robot drops, the dropping position is obtained through the dropping pressure value and the dropping height, and the dropping warning information is output, so that the situation where the visual parameters are covered due to the dropping of the composite robot can be reduced, and the reason for the abnormality of the visual parameters can be accurately obtained.

[0077] Optionally, when there are no unblocked positions in the scanned model, it further includes:

[0078] Obtain the maximum lifting height of the composite robot;

[0079] Retrieve the top distance of the composite robot according to the collected information;

[0080] Calculate the lifting offset distance according to the maximum lifting height, the top distance, and the preset reference height value;

[0081] When the lifting offset distance does not exceed the preset reference height value, determine the surrounding shape and the surrounding center point according to the collected information;

[0082] Determine the lifting contact position according to the surrounding shape;

[0083] Determine the offset distance according to the lifting contact position and the surrounding center point;

[0084] Determine the offset change angle, the offset change distance, and the total offset lifting distance according to the offset distance and the reference height value;

[0085] Control the composite robot to run at the lifting contact position, the offset change angle, and the offset change distance, and obtain the current lifting distance of the composite robot;

[0086] When the current jacking distance is consistent with the total offset jacking distance, re-obtain the scanning information.

[0087] By adopting the above technical solution, by understanding the maximum jacking height, the top distance, and the collected information to obtain the offset change angle, the offset change distance, and the total offset jacking distance, and controlling the composite robot to operate at the jacking contact position, the offset change angle, and the offset change distance, it is possible to further understand and process the abnormal conditions of the visual parameters of the composite robot to ensure the accuracy of subsequent information collection.

[0088] In a second aspect, the present application provides a multi-modal data encryption transmission system for a composite robot, adopting the following technical solution:

[0089] A multi-modal data encryption transmission system for a composite robot, comprising:

[0090] An acquisition module, configured to acquire collected information, data retrieval information, byte length, input time point, retrieval time point, input times, visual parameters, laser scanning parameters, sound detection information, current charging and discharging times, dripping oil time, maximum jacking height, and current jacking distance;

[0091] A memory, configured to store a program of a multi-modal data encryption transmission method for a composite robot;

[0092] A processor, configured to load and execute the program stored in the memory.

[0093] In a third aspect, the present application provides an intelligent terminal, adopting the following technical solution:

[0094] An intelligent terminal, comprising a memory and a processor, and a computer program capable of being loaded and executed by the processor is stored on the memory for a multi-modal data encryption transmission method for a composite robot.

[0095] In summary, the present application includes at least one of the following beneficial technical effects:

[0096] 1. By encrypting the collected information and controlling the decryption of the encrypted information, the situation of data being tampered with or intercepted is reduced, thereby improving the security of data transmission by the composite robot;

[0097] 2. By understanding whether the sound source position coincides with the model generation position, sound detection information and laser scanning parameters are obtained and the visual parameters are repaired, thereby improving the output of other parameters to ensure the integrity and accuracy of the collected information.

[0098] 3. When the composite robot drops, the dropping position is obtained based on the dropping pressure value and the dropping height, and a dropping warning message is output, so as to reduce the situation where visual parameters are covered due to the dropping of the composite robot, and accurately obtain the reason for the abnormality of the visual parameters. BRIEF DESCRIPTION OF THE DRAWINGS

[0099] Figure 1 is a flowchart of a method for encrypting and transmitting multi-modal data of a composite robot according to an embodiment of the present invention;

[0100] Figure 2 is a flowchart of a method for updating collected information based on abnormal parameters according to an embodiment of the present invention;

[0101] Figure 3 is a flowchart of a preset occlusion removal method according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0102] The present invention will be further described in detail below with reference to the drawings and embodiments.

[0103] Refer to Figure 1 , an embodiment of the present application discloses a method for encrypting and transmitting multi-modal data of a composite robot, including the following steps:

[0104] Step S100: Obtain the collected information of the composite robot.

[0105] The collected information refers to information such as images, sounds, and pressures collected during the operation of the composite robot. The combined information obtained by shooting and scanning through a camera, a lidar device, a sound collection device, and a tactile device preset on the composite robot is used as the collected information. The sound collection device is a microphone, the lidar device is an infrared sensor, and multiple lidar devices are arranged to scan around the composite robot. The tactile device is a pressure sensor. The collected information includes visual parameters, tactile parameters, lidar scan parameters, and sound parameters. The visual parameters refer to parameters such as the pixel values of the images, and the tactile parameters are pressure detection parameters.

[0106] Step S101: Classify and encrypt the collected information through a preset encryption algorithm to obtain encrypted information.

[0107] The encryption algorithm refers to an algorithm used to encrypt the collected information. The encrypted information refers to the information obtained by encrypting the collected information through the encryption algorithm. The collected information is classified and encrypted through the encryption algorithm to obtain encrypted information. In this embodiment, other algorithms can be used to replace the encryption algorithm for encrypting the collected information, which will not be elaborated here.

[0108] The encryption algorithm classifies the image, each coordinate information scanned by the lidar device, the sound parameters, and the pressure parameters. In this embodiment, an example of an encryption algorithm is given: the visual parameter is set to V, the tactile parameter is T, the laser scanning parameter is L, and the sound parameter is S, and the AES algorithm set by the technician is used for encryption to obtain the encrypted visual parameter CV = AES-Encrypt(V, KAES), the encrypted tactile parameter CT = AES-Encrypt(T, KAES), the encrypted sound parameter CS = AES-Encrypt(S, KAES), and the encrypted laser scanning parameter CL = AES-Encrypt(L, KAES). Here, KAES is the key preset by the recipient, and KAES is encrypted by the RSA algorithm set by the technician. The key for the recipient is set to (d, n), and the encrypted key is CKAES = (KAES)^d - mod - n. Here, d and n in (d, n) can be numbers of different lengths, which are preset by those skilled in the art and will not be elaborated here.

[0109] Through the weight algorithm set by the technician, the weighted visual parameter is wV, the weighted tactile parameter is wT, the weighted laser scanning parameter is wL, and the weighted sound parameter is wS, and wV + wT + wL + wS = 1.

[0110] If the visual parameter is blocked or cannot be output, the weights are recalculated so that the recalculated wT 1 + wL 1 + wS 1 = 1, wT 1 is the weighted tactile parameter recalculated once, wL 1 is the weighted laser scanning parameter recalculated once, wS 1 is the weighted sound parameter recalculated once.

[0111] Therefore, the recalculated parameters are concatenated correspondingly to obtain Cnew = (wT 1 CT + wS 1 CS + wL 1 CL). Cnew is the encrypted information. wT 1 CT is the information obtained by concatenating the weighted tactile parameter recalculated once with the encrypted tactile parameter. wS 1 CS is the information obtained by concatenating the weighted sound parameter recalculated once with the encrypted sound parameter. wL 1 CL is the information obtained by concatenating the laser scanning parameter recalculated once with the encrypted laser scanning parameter.

[0112] If the tactile parameter cannot be output, the weights are recalculated, wV 2+ wL2 +wS 2 = 1, wV 2 is the visual parameter of weights recalculated twice, wL 2 is the laser scanning parameter of weights recalculated twice, wS 2 is the sound parameter of weights recalculated twice. Therefore, the encrypted information recalculated for each time is concatenated to obtain Cnew = (wV 2 CV + wS 2 CS + wL 2 CL). wV 2 CV is the information obtained by concatenating the visual parameter of weights recalculated twice and the encrypted visual parameter. wS 2 CS is the information obtained by concatenating the sound parameter of weights recalculated twice and the encrypted sound parameter. wL 2 CL is the information obtained by concatenating the laser scanning parameter of weights recalculated twice and the encrypted laser scanning parameter

[0113] When decrypting the encrypted information, CKAES is decrypted by inputting the key (d, n) of the receiving party to obtain KAES = CKAES^d - mod - n, and then KAES is used to perform AES decryption on the encrypted information to obtain Dnew = (wVDV + wTDT + wSDS + wLDL), where Dnew is the decrypted information, wVDV is the decrypted visual parameter, wTDT is the decrypted tactile parameter, wLDL is the decrypted laser scanning parameter, and wSDS is the decrypted sound parameter.

[0114] If there is a situation where the visual parameter is blocked or cannot be output, then Dnew = (wT 1 DT + wS 1 DS + wL 1 DL).

[0115] Step S102: Obtain the data retrieval information of the composite robot.

[0116] The data retrieval information refers to the key information input into the system of the composite robot to obtain the collected information, and the key information retrieved from the system of the composite robot is used as the data retrieval information.

[0117] Step S103: Determine whether the data retrieval information is consistent with the preset reference retrieval information.

[0118] The reference retrieval information is the key information set by the technical staff as the reference of the receiving party, and the reference retrieval information is (d, n). By determining whether the data retrieval information is consistent with the reference retrieval information, it is determined whether the composite robot needs to output the encrypted information.

[0119] Step S1031: If the data retrieval information is inconsistent with the reference retrieval information, continue to obtain the data retrieval information.

[0120] When the data retrieval information is inconsistent with the reference retrieval information, it indicates that information retrieval is not performed for the recipient or the key input is incorrect. Therefore, continue to execute step S102.

[0121] Step S1032: If the data retrieval information is consistent with the reference retrieval information, encrypt it through a preset encryption algorithm according to the data retrieval information to obtain the encrypted retrieval information.

[0122] The encrypted retrieval information refers to the information obtained after encrypting with the recipient's key. When the data retrieval information is consistent with the reference retrieval information, it indicates that the recipient needs to retrieve information for the composite robot. Therefore, refer to step S101 to encrypt (d, n) as CKAES = (KAES)^d - mod - n as the encrypted retrieval information.

[0123] Step S104: Decrypt the encrypted information according to the encrypted retrieval information to obtain the target collection information and output it to a preset retrieval platform.

[0124] The retrieval platform is an operation platform set by technicians that stores the system for operating the composite robot and retrieves the collection information. The target collection information refers to the collection information obtained by the recipient after decrypting the encrypted information. Refer to step S101, decrypt CKAES with the recipient's key (d, n) to obtain KAES = CKAES^d - mod - n, and then use KAES to perform AES decryption on the encrypted information to obtain Dnew = (wVDV + wTDT + wSDS + wLDL) as the target collection information.

[0125] The methods before continuing to obtain the data retrieval information include:

[0126] Step S200: Determine the abnormal retrieval information and the abnormal retrieval position according to the data retrieval information and the reference retrieval information.

[0127] The abnormal retrieval information refers to the information parameter in which the key input to the retrieval platform is abnormal. The abnormal retrieval position refers to the position where the abnormal retrieval information appears in the data retrieval information. By comparing the numbers at the corresponding positions in the data retrieval information and the reference retrieval information, the numbers in the data retrieval information that are inconsistent with the reference retrieval information are used as the abnormal retrieval information, and the position of this number in the data retrieval information is used as the abnormal retrieval position. In this embodiment, if the number of numbers in the data retrieval information exceeds the number of numbers in the reference retrieval information, the extra numbers are also used as the abnormal retrieval information.

[0128] Step S201: Determine the information integrity based on the data retrieval information and the abnormal retrieval information.

[0129] The information integrity refers to the proportion of the abnormal retrieval information in the data retrieval information. By retrieving the abnormal retrieval information from the data retrieval information and calculating the quotient of the remaining numbers and the number of numbers in the abnormal retrieval information as the information integrity.

[0130] Step S202: When the information integrity exceeds the preset benchmark integrity, obtain the byte length of the data retrieval information.

[0131] The benchmark integrity is the maximum proportion allowed for the abnormal retrieval information set by the technical personnel. When the information integrity does not exceed the preset benchmark integrity, it indicates that there is more abnormal retrieval information in the data retrieval information and there is a situation where information retrieval is not performed for the recipient. Therefore, the preset warning information is output. The warning information is the information set by the technical personnel to prompt the recipient of abnormal data retrieval.

[0132] The byte length refers to the length of the numbers in the data retrieval information. When the information integrity exceeds the preset benchmark integrity, it indicates that there is a small error or accidental touch in the input of the recipient's key. Therefore, the byte length corresponding to all the numbers is retrieved from the data retrieval information.

[0133] Step S203: Determine whether the byte length exceeds the preset benchmark byte length.

[0134] The benchmark byte length is the digital length corresponding to the small error in the input of the recipient's key base set by the technical personnel. By determining whether the byte length exceeds the benchmark byte length, it is possible to determine whether there is a small error in the input of the recipient's key or an accidental touch when the recipient inputs the key.

[0135] Step S2031: If the byte length exceeds the benchmark byte length, obtain the input time point corresponding to the abnormal retrieval information and the retrieval time point of the data retrieval information.

[0136] The input time point refers to the time point when the abnormal retrieval information is input into the retrieval platform, and the retrieval time point refers to the time point when the retrieval platform queries and compares the data retrieval information. When the byte length exceeds the reference byte length, it indicates that there is a mis-touch when the receiving party inputs the key. Therefore, the retrieval platform marks the input of each digit in the data retrieval information, and retrieves the time point corresponding to the abnormal retrieval information from the marked time points as the input time point, and takes the time point when the data retrieval information is completely input and the retrieval platform is controlled to perform query comparison as the retrieval time point. For example, the time point when the text is input into the chat box and sent when the text input is completed is used as the retrieval time point. When there is a mis-touch when the receiving party inputs the key, it means that there is a mis-touch of other digits when the receiving party sends, resulting in the appearance of abnormal retrieval information in the data retrieval information.

[0137] Step S204: Determine the retrieval time length value according to the input time point and the retrieval time point.

[0138] The retrieval time length value refers to the interval time when abnormal retrieval information appears in the data retrieval information and the data retrieval information output is completed. By calculating the difference between the input time point and the retrieval time point, and taking the difference as the retrieval time length value.

[0139] Step S2032: If the byte length does not exceed the reference byte length, or the input time value does not exceed the preset reference time length value, obtain the input times of the data retrieval information.

[0140] The input times refer to the number of times the retrieval platform queries and compares the data retrieval information. The reference time length value is the minimum time set by the technical personnel for the receiving party to complete the data retrieval information and output it. When the byte length does not exceed the reference byte length, or the input time value does not exceed the preset reference time length value, it indicates that there is an input error when the receiving party inputs the key. Therefore, the number of times the data retrieval information is input into the retrieval platform for query in the retrieval platform is used as the input times.

[0141] Step S205: When the input times exceed the preset reference times, output the preset warning information.

[0142] The reference times are the maximum number of times set by the technical personnel for the retrieval platform to query and compare the data retrieval information. The warning information is the information set by the technical personnel to warn the receiving party that there is abnormal retrieval of the data of the composite robot.

[0143] When the input times do not exceed the reference times, it indicates that there is an input error of the key by the receiving party, so continue to obtain the data retrieval information. When the input times exceed the reference times, it means that the person who needs to retrieve the data of the composite robot is not the receiving party, so output the warning information to warn the receiving party.

[0144] The methods before obtaining the encrypted information include:

[0145] Step S300: Determine the abnormal marking information according to the collected information and the preset reference collected information.

[0146] The reference collected information is the information formed by technicians setting the compound robot to collect visual parameters, tactile parameters, laser scanning parameters, and sound parameters. The abnormal marking information refers to information such as parameters that are not easily collected or not output in the compound robot, the type of parameter collection device, and the position where the parameter appears on the device.

[0147] Referring to step S101, the reference collected information is Dnew = (wVDV + wTDT + wSDS + wLDL), and when the collected information is Dnew = (wT 1 DT + wS 1 DS + wL 1 DL), compare the collected information with the reference collected information to know that the abnormal marking information is the visual parameter.

[0148] Step S301: Determine the abnormal parameter and the corresponding abnormal parameter type according to the abnormal marking information.

[0149] The abnormal parameter refers to a parameter that is not easily collected or not output in the compound robot. The abnormal parameter type refers to the type of device corresponding to the abnormal parameter for collection. The abnormal parameter and the abnormal parameter type are retrieved from the abnormal marking information.

[0150] Step S302: Retrieve the visual parameter type according to the collected information.

[0151] The visual parameter type refers to the type of device used by the compound robot to collect visual parameters. The visual parameter type is retrieved from the collected information.

[0152] When the abnormal parameter type is the visual parameter type, determine the visual abnormal position according to the abnormal parameter and the abnormal marking information.

[0153] The visual abnormal position refers to the position where the camera on the compound robot is blocked. When the abnormal parameter type is the visual parameter type, it means that the abnormal parameter is the visual parameter, and there is a situation where the visual parameter is blocked or not output. Therefore, the position where the abnormal parameter appears on the camera is retrieved from the abnormal marking information as the visual abnormal position. When the camera on the compound robot is damaged, the visual abnormal position can be the installation position of the entire camera.

[0154] Step S304: Remove it through the preset occlusion removal method according to the abnormal parameter and the visual abnormal position, and update the collected information according to the abnormal parameter.

[0155] The occlusion removal method refers to the method used to remove dust and sticky substances on the camera. The specific operation steps refer to steps S500 to S608, and the abnormal parameters are analyzed to re-obtain the collected information. The specific analysis method refers to steps S400 to S4032.

[0156] Step S305: Classify and encrypt the updated collected information through a preset encryption algorithm to obtain encrypted information.

[0157] Re-execute step S101 with the updated collected information to facilitate the recipient to retrieve the data.

[0158] Refer to Figure 2 , the method for updating the collected information according to the abnormal parameters includes:

[0159] Step S400: Obtain visual parameters, lidar scanning parameters, and sound detection information according to the visual abnormal position.

[0160] The lidar scanning parameters refer to the parameters corresponding to the lidar device scanning the visual abnormal position. The sound detection information refers to information such as the sound timbre and the position of the sound source for re-collecting the visual abnormal position. The parameters obtained by controlling the camera, lidar device, and microphone to re-detect the visual abnormal position are used as visual parameters, lidar scanning parameters, and sound detection information.

[0161] Step S401: Input the lidar scanning parameters into a preset simulation system to form a scanning model and the model generation position.

[0162] The simulation system is a system set by technicians for establishing a three-dimensional model. The scanning model refers to the three-dimensional model corresponding to the lidar scanning parameters, and the scanning model is formed by inputting the lidar scanning parameters into the simulation system. The model generation position refers to the position where the scanning model is generated around the composite robot. The distance where the scanning model is generated is retrieved from the parameters detected by the lidar device, and the model generation position is calculated through the distance and the current position of the composite robot.

[0163] Step S402: Retrieve the sound source position according to the sound detection information.

[0164] The sound source position refers to the position of the sound source corresponding to the generated sound, and the sound source position is retrieved from the sound detection information.

[0165] Step S403: Determine whether the sound source position coincides with the model generation position.

[0166] By determining whether the sound source position coincides with the model generation position, it is determined whether the scanned model makes a sound when the composite robot re-acquires the collected information, so as to further improve the accuracy of identifying the object corresponding to the scanned model.

[0167] Step S4031: If the sound source position coincides with the model generation position, the sound corresponding to the model generation position is retrieved as the target sound information according to the sound detection information.

[0168] The target sound information refers to the sound detection information corresponding to the model generation position. When the sound source position coincides with the model generation position, it means that the object corresponding to the scanned model makes a sound when the composite robot re-acquires the collected information. Therefore, the sound corresponding to the model generation position is retrieved from the sound detection information as the target sound information.

[0169] Step S404: Determine the patched visual parameters according to the target sound information and the scanned model, and update the collected information according to the laser scanning parameters and the sound detection information.

[0170] The patched visual parameters refer to the visual parameters used to repair the occluded parts of the camera. The corresponding image and the parameters such as the pixels corresponding to the image are matched from the preset image database through the target sound information and the scanned model, and the parameters such as the pixels corresponding to the image are used as the patched visual parameters, and the collected information is updated according to the laser scanning parameters and the sound detection information. The image database stores different target sound information and / or the images corresponding to the scanned model and the parameters such as the pixels corresponding to the image. The image database is a database set by humans and will not be elaborated here.

[0171] Since the re-acquired laser scanning parameters and sound detection information can also describe the visual parameters, and there are error information or uncertainties in the visual parameters lacking occlusion, so there is no description of the visual parameters in Dnew=(wT 1 DT+wS 1 DS+wL 1 DL).

[0172] Step S4032: If the sound source position does not coincide with the model generation position, determine the patched visual parameters according to the scanned model and the abnormal parameters, and update the collected information according to the laser scanning parameters.

[0173] When the sound source position does not coincide with the model generation position, it means that the object corresponding to the scanned model does not make a sound when the composite robot re-acquires the collected information. Therefore, the corresponding image and the parameters such as the pixels corresponding to the image are matched from the image database through the scanned model, and the parameters such as the pixels corresponding to the image are used as the patched visual parameters, and the collected information is updated according to the laser scanning parameters. Then Dnew=(wT 1 DT+wS1 DS + wL 1 wL in DL 1 has a higher weight ratio than other parameters.

[0174] Refer to Figure 3 , the preset occlusion removal method includes:

[0175] Step S500: Retrieve visual parameters based on the collected information.

[0176] Retrieving visual parameters from the collected information facilitates subsequent analysis.

[0177] Step S501: Determine the parameter deviation value based on the abnormal parameter and the visual parameter.

[0178] The parameter deviation value refers to the deviation value between the abnormal parameter and the visual parameter. The difference between the abnormal parameter and the visual parameter at each corresponding position on the camera is calculated as the parameter deviation value. When the camera is damaged or completely occluded, the parameter deviation value is 0.

[0179] Step S502: Determine the parameter deviation range based on the visual parameter and the parameter deviation value.

[0180] The parameter deviation range refers to the distribution range of the parameter deviation value on the camera. The range where the parameter deviation value exists is selected from the visual parameters as the parameter deviation range.

[0181] Step S503: Input the parameter deviation range into the preset occlusion database to match the occlusion type.

[0182] The occlusion type refers to the type of the object that occludes the camera. The occlusion type includes dust, mud, sticky substances such as tape, etc. The parameter deviation range is input into the preset occlusion database to match the occlusion type. Different occlusion types corresponding to different parameter deviation ranges are stored in the occlusion database. The occlusion database is a database set by humans and will not be elaborated here. When there is dust on the camera, the image captured by the camera is not completely occluded, but the pixel values of the image change.

[0183] Step S504: When the occlusion type is dust, determine the estimated center position and the maximum wiping range based on the parameter deviation range.

[0184] The estimated center position refers to the center position estimated corresponding to the parameter deviation range. The smallest circle is selected to cover the parameter deviation range, and the center position corresponding to the selected circle is used as the estimated center position.

[0185] The maximum wiping range refers to the maximum range within which the airbag erasing device can erase the dust on the camera. By selecting the smallest shape containing the parameter deviation range from the preset inflated changing shapes, the range corresponding to the selected smallest shape is taken as the maximum wiping range. The inflated changing shape is the shape that changes when the technical personnel set the airbag erasing device to inflate. When the airbag is circular, the circle changes proportionally with the amount of air inflated in the airbag. The airbag erasing device is a device that uses the tension of the airbag to erase the dust on the camera. A plurality of erasing points are provided on the side of the airbag for erasing dust. When the airbag inflates, the plurality of erasing points move and stretch due to the tension of the airbag to erase the dust.

[0186] Step S505: Determine the airbag inflation amount according to the maximum wiping range.

[0187] The airbag inflation amount refers to the inflation amount of the airbag erasing device, and the airbag inflation amount is matched from the preset inflation database according to the maximum wiping range. Different airbag inflation amounts corresponding to different wiping ranges are stored in the inflation database, which is a database set by humans and will not be elaborated here.

[0188] Step S506: Determine the number of cyclic inflation and deflation times according to the parameter deviation value and the parameter deviation range.

[0189] The number of cyclic inflation and deflation times refers to the number of times of cyclic inflation and deflation required for the airbag erasing device to erase the dust on the camera. The number of cyclic inflation and deflation times is matched from the inflation database according to the parameter deviation value and the parameter deviation range. Different numbers of cyclic inflation and deflation times corresponding to different parameter deviation values and parameter deviation ranges are also stored in the inflation database and will not be elaborated here.

[0190] Step S507: Control the preset airbag erasing device to operate with the estimated center position, airbag inflation amount, and number of cyclic inflation and deflation times, and obtain the current number of inflation and deflation times of the airbag erasing device.

[0191] The current number of inflation and deflation times refers to the current number of inflation and deflation times of the airbag erasing device. By controlling the airbag erasing device to operate with the estimated center position, airbag inflation amount, and number of cyclic inflation and deflation times, and counting one inflation and deflation operation of the airbag erasing device in real time, the counted quantity is taken as the current number of inflation and deflation times.

[0192] Step S508: When the current number of inflation and deflation times is consistent with the number of cyclic inflation and deflation times, re-acquire the visual parameters and determine the maximum wiping contour according to the maximum wiping range.

[0193] The maximum wiping contour refers to the largest wiping contour of the airbag erasing device. By taking the boundary line corresponding to the maximum wiping range as the maximum wiping contour, when the current number of inflation and deflation times is consistent with the number of cyclic inflation and deflation times, it means that the airbag erasing device has completed the erasing operation. Therefore, re-acquire the collected information and retrieve the visual parameters.

[0194] Step S509: When there is an abnormal parameter on the maximum wiping contour corresponding to the visually re-acquired parameters, determine the rotation speed according to the abnormal parameter, and control the airbag erasing device to operate at the rotation speed.

[0195] The rotation speed refers to the speed at which the airbag erasing device rotates. When there is an abnormal parameter on the maximum wiping contour corresponding to the visually re-acquired parameters, it indicates that there is still dust on the camera that has not been erased. Therefore, match the rotation speed from the preset erasing database according to the abnormal parameter, and control the airbag erasing device to operate at the rotation speed. Different rotation speeds corresponding to different abnormal parameters are stored in the erasing database, which is a database set by humans and will not be elaborated here.

[0196] The preset occlusion removal method further includes:

[0197] Step S600: When the occlusion type is an adhesive, determine whether the abnormal parameter includes the color parameter preset for the adhesive.

[0198] The color parameter is the color parameter corresponding to adhesives such as mud or transparent tape set by technicians. By determining whether the abnormal parameter includes the color parameter preset for the adhesive, it is possible to determine whether the adhesive is transparent tape.

[0199] Step S6001: If the abnormal parameter includes the color parameter of the adhesive, determine the type of the adhesive according to the color parameter.

[0200] The type of the adhesive refers to the type of the object adhered to the camera. When the abnormal parameter includes the color parameter of the adhesive, it indicates that the adhesive is not transparent tape. Therefore, match the type of the adhesive from the preset adhesion database according to the color parameter. Different types of adhesives corresponding to different color parameters are stored in the adhesion database.

[0201] Step S601: Select a removal device according to the type of the adhesive, and control the removal device to remove the adhesive at the visually abnormal position.

[0202] The removal device refers to a robotic arm used to remove the adhesive. Different types of adhesives can control the robotic arm to hold and erase the adhesive. Select the corresponding removal device according to the type of the adhesive, and control the removal device to hold or erase the adhesive at the visually abnormal position.

[0203] Step S6002: If the abnormal parameter does not include the color parameter of the adhesive, retrieve the abnormal pixel contrast according to the abnormal parameter.

[0204] The abnormal pixel contrast refers to the pixel contrast of the image corresponding to the abnormal parameter. When the abnormal parameter includes the color parameter of the sticky substance, it indicates that the sticky substance may be a transparent tape. Therefore, the abnormal pixel contrast is retrieved from the abnormal parameters.

[0205] Step S602: Determine the abnormal image, abnormal contour, and abnormal area based on the abnormal pixel contrast and the visual abnormal position.

[0206] The abnormal image refers to the image captured by the camera corresponding to the abnormal parameter. The abnormal contour refers to the contour corresponding to the abnormal image. The abnormal area refers to the area covered by the abnormal parameter. By marking the image corresponding to each abnormal pixel contrast as the abnormal image based on the visual abnormal position, the contour corresponding to the abnormal image is used as the abnormal contour, and the abnormal contour is split into various preset reference shapes, and the sum of the areas corresponding to each reference shape is calculated as the abnormal area. The reference shapes are shapes such as circles, squares, and triangles set by technicians.

[0207] Step S603: When the abnormal image contains a preset pasting abnormal feature, determine the pasting abnormal position based on the abnormal image and the pasting abnormal feature.

[0208] The pasting abnormal features are abnormal features such as bubbles and warping edges that occur when the transparent tape is pasted, which are set by technicians. The pasting abnormal position refers to the position where the pasting abnormal feature appears in the abnormal image. When the abnormal image contains the pasting abnormal feature, it indicates that there are abnormal features such as bubbles and warping edges in the transparent tape. Therefore, the position corresponding to the pasting abnormal feature is framed out from the abnormal image as the pasting abnormal position.

[0209] Step S604: When the pasting abnormal position is located on the abnormal contour, determine the penetration time and the amount of oil dropped based on the abnormal area.

[0210] The amount of oil dropped refers to the amount of oil used to drop on the transparent tape. The penetration time refers to the time when the oil completely penetrates the transparent tape. When the pasting abnormal position is located on the abnormal contour, it indicates that the transparent tape can be removed without damaging the camera. Therefore, the penetration time and the amount of oil dropped are matched from the preset oil dropping database based on the abnormal area. The oil dropping database stores the penetration time and the amount of oil dropped corresponding to different abnormal areas. The oil dropping database is a database set by humans and will not be elaborated here.

[0211] Step S605: Determine the oil dropping blowing power and the oil dropping blowing temperature based on the amount of oil dropped.

[0212] The power of the oil dripping blower refers to the power of the blowing device to blow air at the position of the oil dripping, and the temperature of the oil dripping blower refers to the temperature of the blowing device to blow air at the position of the oil dripping. The power of the oil dripping blower and the temperature of the oil dripping blower are matched from the preset blowing database according to the amount of oil dripping. Different amounts of oil dripping corresponding to the power of the oil dripping blower and the temperature of the oil dripping blower are stored in the blowing database. The blowing database is a database set by humans and will not be elaborated here. The blowing device refers to a blower used to blow air at the position of the oil dripping.

[0213] Step S606: Update the penetration time according to the power of the oil dripping blower and the temperature of the oil dripping blower.

[0214] Match the correction coefficient from the oil dripping database through the power of the oil dripping blower and the temperature of the oil dripping blower, and calculate the penetration time and the correction coefficient to obtain the new penetration time.

[0215] Step S607: Control the preset oil dripping device to drip oil at the abnormal pasting position and the amount of oil dripping, control the blowing device to operate with the power of the oil dripping blower, the temperature of the oil dripping blower and the abnormal pasting position, and obtain the oil dripping time.

[0216] The oil dripping time refers to the time when the oil is on the transparent tape. By controlling the oil dripping device to drip oil at the abnormal pasting position and the amount of oil dripping, and controlling the blowing device to operate with the power of the oil dripping blower, the temperature of the oil dripping blower and the abnormal pasting position, timing is carried out when the oil dripping device drips oil, and the time length value corresponding to the timing is used as the oil dripping time. The oil dripping device is a syringe used for oil dripping.

[0217] Step S608: When the oil dripping time is consistent with the updated penetration time, control the preset clamping device to clamp and remove at the abnormal pasting position.

[0218] The clamping device refers to a robotic arm used to clamp objects. When the oil dripping time is consistent with the updated penetration time, it means that the transparent tape can be removed, so control the clamping device to clamp and remove at the abnormal pasting position.

[0219] The method after forming the scanning model includes:

[0220] Step S700: When a preset blocking feature appears in the scanning model, determine whether there is an unblocked position in the scanning model according to the scanning model and the blocking feature.

[0221] The blocking feature is a model feature set by the technicians that blocks the movement of the composite robot. The unblocked position refers to the position where the composite robot can move. When the blocking feature appears in the scanned model, it means that the movement of the composite robot is blocked. The blocking feature is identified from the scanned model, and the position where the blocking feature does not appear in the scanned model is regarded as the unblocked position. By determining whether there is an unblocked position in the scanned model, it is determined whether the composite robot falls into a hole or is covered by a shell.

[0222] Step S701: If there is an unblocked position in the scanned model, determine an exit path according to the unblocked position, control the hybrid robot to run along the exit path, and reacquire the scan information.

[0223] The exit path refers to the feature of the environment corresponding to the blocking feature that controls the composite robot to leave. The exit path is obtained by positioning the unblocked position and the current position of the composite robot, and the composite robot is controlled to run along the exit path and the scanning information is reacquired.

[0224] Step S702: When the unblocked position coincides with the preset top position of the composite robot, the tactile pressure value is retrieved according to the scanning information.

[0225] The tactile pressure value is the pressure value of the composite robot's touch feedback, which refers to the top position of the composite robot set by the technician. When the unblocked position coincides with the top position, it means that the composite robot has fallen into a pit, so the tactile pressure value is retrieved from the scanning information.

[0226] Step S703: according to the tactile pressure value, a tactile pressure value corresponding to a preset reference pressure value is retrieved as the drop pressure value.

[0227] The baseline pressure value is the pressure value set by the technician when the composite robot is operating normally. The drop pressure value refers to the tactile pressure value corresponding to when the composite robot falls into a pit. The tactile pressure value corresponding to the baseline pressure value is retrieved from different tactile pressure values ​​as the drop pressure value.

[0228] Step S704: Determine the drop height according to the drop pressure value.

[0229] The drop height refers to the height from which the composite robot falls. The drop height is matched from a preset height database through the drop pressure value. The height database stores drop heights corresponding to different drop pressure values. The height database is a manually set database and will not be described in detail here.

[0230] Step S705: When the drop height does not exceed the preset reference lifting height, control the preset visual collection device to be lifted at the drop height, and reacquire the scanning information.

[0231] The reference lifting height is the height that a technician sets for the camera on the composite robot to extend. When the dropping height does not exceed the reference lifting height, it indicates that the composite robot can perform observation extension. Therefore, the vision collection device is controlled to lift to the dropping height and rescan information is obtained. The vision collection device is a camera.

[0232] Step S706: Determine the dropping position based on the updated scan information, and output a preset dropping warning message according to the dropping position.

[0233] The dropping position refers to the positioning position where the composite robot drops. By retrieving visual parameters from the updated scan information and inputting the retrieved visual parameters into a preset image database to match the image and the environmental position expressed by the image. The image database also stores the environmental positions expressed by images corresponding to different visual parameters, which will not be elaborated here. The dropping warning message is the information set by the technician to prompt the recipient of the dropping position of the composite robot.

[0234] When there is no unobstructed position in the scan model, it further includes:

[0235] Step S800: Obtain the maximum lifting height of the composite robot.

[0236] When there is no unobstructed position in the scan model, it indicates that the composite robot is covered by a shell. The maximum lifting height refers to the maximum height that the composite robot can reach when performing lifting, which is obtained by pre-input from the recipient.

[0237] Step S801: Retrieve the top distance of the composite robot according to the collected information.

[0238] The top distance refers to the distance between the top of the composite robot and the shell. By retrieving the laser scan parameters from the collected information and then retrieving the distance between the top of the composite robot and the shell from the laser scan parameters as the top distance.

[0239] Step S802: Calculate the lifting offset distance based on the maximum lifting height, the top distance, and a preset reference height value.

[0240] The reference height value is the maximum height of the composite robot when it is not lifted, set by the technician. The lifting offset distance refers to the maximum distance value that the composite robot can lift the shell. By calculating the sum of the top distance and the reference height value, and calculating the difference between the maximum lifting height and the sum value as the lifting offset distance.

[0241] Step S803: When the lifting offset distance does not exceed the preset reference height value, determine the surrounding shape and the surrounding center point according to the collected information.

[0242] The surrounding shape refers to the shape of the shell enclosing the composite robot, and the surrounding center point refers to the center point of the shell enclosing the composite robot. When the jacking offset distance does not exceed the preset reference height value, it indicates that it is not easy for the composite robot to directly perform linear jacking to break away from the shell. Therefore, information is collected to retrieve the laser scanning parameters, and the retrieved laser scanning parameters are input into the simulation model to form a three-dimensional model. The shape corresponding to the three-dimensional model is used as the surrounding shape, and the center point obtained through the analysis of the surrounding shape is used as the surrounding center point. For example, when a cylinder is placed on the composite robot, the center of the circle of the cylinder is the surrounding center point.

[0243] Step S804: Determine the jacking contact position according to the surrounding shape.

[0244] The jacking contact position refers to the position where the composite robot can make contact during jacking. The jacking contact position is obtained by analyzing the surrounding shape. For example, when a cylinder is placed on the composite robot, the intersection position of the circular side and the side in the height direction of the cylinder on the cylinder is used as the jacking contact position.

[0245] Step S805: Determine the offset distance according to the jacking contact position and the surrounding center point.

[0246] The offset distance refers to the distance that the composite robot needs to offset during jacking. The straight-line distance between the jacking contact position and the surrounding center point is calculated as the offset distance. When the composite robot jacks to break away from the shell, it lifts a certain distance and moves along an arc path with the lifted height, similar to a person lifting their hand in an arc to take off clothes when the clothes are too long.

[0247] Step S806: Determine the offset change angle, offset change distance, and total offset jacking distance according to the offset distance and the reference height value.

[0248] The offset change angle refers to the angle changed when the composite robot jacks at the jacking contact position. The offset change distance refers to the distance jacked by the composite robot when running at the offset change angle. The total offset jacking distance refers to the maximum distance for the composite robot to break away from the shell when jacking at the jacking contact position. The offset change angle, offset change distance, and total offset jacking distance are matched from the preset jacking database according to the offset distance and the reference height value. The jacking database stores the corresponding relationships between the offset distance, reference height value, offset change angle, offset change distance, and total offset jacking distance. The jacking database is a database set by humans and will not be elaborated here.

[0249] Step S807: Control the composite robot to run at the jacking contact position, offset change angle, and offset change distance, and obtain the current jacking distance of the composite robot.

[0250] The current jacking distance refers to the distance value at which the composite robot currently jacks up the shell. By controlling the composite robot to jack up at the jacking contact position and operating the jacking with the offset change angle and offset change distance, the distance value at which the composite robot extends is obtained in real time from the retrieval platform as the current jacking distance.

[0251] Step S808: When the current jacking distance is consistent with the total offset jacking distance, obtain the scanning information again.

[0252] When the current jacking distance is consistent with the total offset jacking distance, it indicates that the composite robot has separated from the shell, so the scanning information is obtained again.

[0253] Based on the same inventive concept, an embodiment of the present invention provides a multi-modal data encryption transmission system for a composite robot, including:

[0254] An acquisition module for acquiring collection information, data retrieval information, byte length, input time point, retrieval time point, input times, visual parameters, laser scanning parameters, sound detection information, current charging and discharging times, oil dripping time, maximum jacking height, and current jacking distance.

[0255] A memory for storing a program of a multi-modal data encryption transmission method for a composite robot.

[0256] A processor for loading and executing the program stored in the memory.

[0257] Based on the same inventive concept, an embodiment of the present invention provides an intelligent terminal, including a memory and a processor, and a computer program capable of being loaded and executed by the processor is stored on the memory, which is a multi-modal data encryption transmission method for a composite robot.

[0258] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the above division of each functional module is used as an example. In actual applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments and will not be repeated here.

[0259] The above is only the preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions falling within the idea of the present invention belong to the protection scope of the present invention. It should be noted that for those of ordinary skill in the art in the technical field, several improvements and refinements made without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A composite robot multimodal data encryption transmission method, characterized in that: include: Get the collection information of the composite robot; Classify and encrypt the collected information using a preset encryption algorithm to obtain encrypted information; Obtain data retrieval information of the composite robot; Determine whether the data retrieval information is consistent with the preset benchmark retrieval information; If the data retrieval information is inconsistent with the reference retrieval information, continue to obtain the data retrieval information; If the data retrieval information is consistent with the reference retrieval information, the data retrieval information is encrypted using a preset encryption algorithm to obtain encrypted retrieval information; The encrypted information is decrypted according to the encrypted retrieval information to obtain the target collection information and output it to the preset retrieval platform.

2. A composite robot multimodal data encryption transmission method according to claim 1, characterized in that: The methods to continue to obtain data retrieval information include: Determine abnormal retrieval information and abnormal retrieval location based on data retrieval information and benchmark retrieval information; Determine the completeness of information based on data retrieval information and exception retrieval information; When the information integrity exceeds a preset benchmark integrity, obtaining the byte length of the data retrieval information; Determining whether the byte length exceeds a preset reference byte length; If the byte length exceeds the reference byte length, the input time point corresponding to the abnormal retrieval information and the retrieval time point of the data retrieval information are obtained; Determine the retrieval time length value according to the input time point and the retrieval time point; If the byte length does not exceed the reference byte length, or the input time value does not exceed the preset reference time length value, the number of input times of the data retrieval information is obtained; When the input times exceed the preset benchmark times, a preset warning message is output.

3. A composite robot multimodal data encryption transmission method according to claim 1, characterized in that: Methods before obtaining encrypted information include: Determine abnormal flag information based on the collected information and the preset benchmark collected information; Determine the abnormal parameter and the abnormal parameter type corresponding to the abnormal parameter according to the abnormal marking information; Retrieve visual parameter types based on collected information; When the abnormal parameter type is a visual parameter type, determining the visual abnormality position according to the abnormal parameter and the abnormal marking information; According to the abnormal parameters and the visual abnormal position, the abnormality is removed by a preset occlusion removal method, and the collected information is updated according to the abnormal parameters; According to the updated collected information, classified encryption is performed using a preset encryption algorithm to obtain encrypted information.

4. A composite robot multimodal data encryption transmission method according to claim 3, characterized in that: Methods for updating collected information based on abnormal parameters include: Obtain visual parameters, laser scanning parameters and sound detection information based on the location of visual abnormalities; Inputting the laser scanning parameters into a preset simulation system to form a scanning model and a model generation position; Retrieving the location of the sound source according to the sound detection information; Determine whether the sound source position coincides with the model generation position; If the sound source position coincides with the model generation position, the sound corresponding to the model generation position is retrieved as the target sound information according to the sound detection information; Determine the patching visual parameters based on the target sound information and the scanning model, and update the collection information based on the laser scanning parameters and the sound detection information; If the sound source position does not coincide with the model generation position, the repair visual parameters are determined based on the scanned model and the abnormal parameters, and the collected information is updated based on the laser scanning parameters.

5. The method for encrypting and transmitting multimodal data of a composite robot according to claim 3, characterized in that: The preset occlusion removal methods include: Retrieving visual parameters based on the collected information; Determine parameter deviation value according to abnormal parameters and visual parameters; Determine the parameter deviation range according to the visual parameter and the parameter deviation value; Input the parameter deviation range into the preset occlusion database to match the occlusion type; When the occlusion type is dust, the estimated center position and the maximum wiping range are determined according to the parameter deviation range; Determine the airbag inflation amount based on the maximum wiping range; Determine the number of cycles of inflation and deflation according to the parameter deviation value and parameter deviation range; Control the preset airbag erasing device to operate with the estimated center position, airbag inflation volume and number of cyclic inflation and deflation times, and obtain the current inflation and deflation times of the airbag erasing device; When the current number of inflation and deflation times is consistent with the number of cyclic inflation and deflation times, the visual parameters are reacquired, and the maximum wiping contour is determined according to the maximum wiping range; When abnormal parameters exist on the maximum wiping profile corresponding to the re-acquired visual parameters, the rotation speed is determined according to the abnormal parameters, and the airbag wiping device is controlled to operate at the rotation speed.

6. A composite robot multimodal data encryption transmission method according to claim 5, characterized in that: Preset occlusion removal methods also include: When the occlusion type is a sticky object, determining whether the abnormal parameter includes a preset color parameter of the sticky object; If the abnormal parameters include the color parameters of the adhesive, the type of the adhesive is determined according to the color parameters; Selecting a removal device according to the type of sticky matter, and controlling the removal device to remove the sticky matter at a visually abnormal position; If the abnormal parameters do not include the color parameters of the sticky substance, the abnormal pixel contrast is retrieved according to the abnormal parameters; Determine the abnormal image, abnormal outline and abnormal area based on the abnormal pixel contrast and visual abnormal position; The abnormal image contains a preset pasting abnormal feature, and the pasting abnormal position is determined according to the abnormal image and the pasting abnormal feature; When the abnormal pasting position is located on the abnormal contour, the penetration time and oil dripping amount are determined according to the abnormal area; Determine the oil dripping blowing power and oil dripping blowing temperature according to the oil dripping amount; Update the penetration time according to the oil dripping blowing power and oil dripping blowing temperature; Control the preset oil dripping device to drip oil according to the abnormal pasting position and the oil dripping amount, and control the blowing device to operate according to the oil dripping blowing power, oil dripping blowing temperature and the abnormal pasting position, and obtain the oil dripping time; When the oil dripping time is consistent with the updated penetration time, the preset clamping device is controlled to clamp and remove the abnormal position.

7. A composite robot multimodal data encryption transmission method according to claim 4, characterized in that: Methods after forming the scanned model include: When a preset blocking feature appears in the scanned model, determining whether there is an unblocked position in the scanned model according to the scanned model and the blocking feature; If there is an unblocked position in the scanned model, an exit path is determined according to the unblocked position, and the composite robot is controlled to run along the exit path, and the scan information is reacquired; When the unblocked position coincides with the preset top position of the composite robot, the tactile pressure value is retrieved according to the scanning information; According to the tactile pressure value, a tactile pressure value corresponding to a preset reference pressure value is retrieved as a drop pressure value; Determine the drop height based on the drop pressure value; When the drop height does not exceed the preset reference lifting height, the preset visual collection device is controlled to be lifted at the drop height, and the scanning information is reacquired; The drop location is determined according to the updated scanning information, and the preset drop warning information is output according to the drop location.

8. A composite robot multimodal data encryption transmission method according to claim 7, characterized in that: When there are no unobstructed locations within the scanned model, this also includes: Get the maximum lifting height of the composite robot; Retrieving the top distance of the composite robot according to the collected information; The lifting offset distance is calculated based on the maximum lifting height, top distance and preset reference height value; When the lifting offset distance does not exceed the preset reference height value, the enclosing shape and the enclosing center point are determined according to the collected information; Determine the lifting and abutment position according to the enclosing shape; Determine the offset distance based on the jacking abutment position and the encirclement center point; Determine the offset change angle, offset change distance and total offset lifting distance according to the offset distance and the reference height value; Control the composite robot to operate at a lifting and abutting position, an offset change angle, and an offset change distance, and obtain a current lifting distance of the composite robot; When the current lifting distance is consistent with the total offset lifting distance, reacquire the scanning information.

9. A composite robot multimodal data encryption transmission system, characterized in that: include: The acquisition module is used to obtain the collection information, data retrieval information, byte length, input time point, retrieval time point, input times, visual parameters, laser scanning parameters, sound detection information, current inflation and deflation times, oil dripping time, maximum lifting height and current lifting distance; A memory for storing a program of a composite robot multimodal data encryption transmission method according to any one of claims 1 to 8; The processor is used to load, execute and implement the program stored in the memory.

10. An intelligent terminal, characterized in that: The invention comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and executes a composite robot multimodal data encryption transmission method as claimed in any one of claims 1 to 8.

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