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

Abstract

The application relates to a composite robot multi-modal data encryption transmission method and system and a terminal, and relates to data transmission, which comprises the following steps: collecting information of a composite robot; classifying and encrypting the collected information through a preset encryption algorithm 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; if the data calling information is not consistent with the reference calling information, continuously acquiring the data calling information; if the data calling information is consistent with the reference calling information, encrypting the data calling information through the preset encryption algorithm to obtain encrypted calling information; and decrypting the encrypted information according to the encrypted calling information to obtain target collected information and outputting the target collected information to a preset calling platform. The application has the effect of improving the security of composite robot data transmission.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of data transmission, and in particular to a composite robot multi-modal data encryption transmission method, system and terminal. BACKGROUND

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

[0003] When a composite robot transmits data, it collects data of multiple modalities, such as visual sensor data, tactile sensor data, position data, and attitude data, etc. 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, the operator receives incorrect instructions and information or observes the composite robot making incorrect behavior, and the 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, the composite robot receives or feeds back incorrect instructions and information, which affects the normal operation of the composite robot and the completion of the work task, and needs to be improved. SUMMARY

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

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

[0007] A composite robot multi-modal data encryption transmission method, comprising:

[0008] Obtaining the collected information of the composite robot;

[0009] Classifying and encrypting the collected information by a preset encryption algorithm to obtain encrypted information;

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

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

[0012] If the data retrieval information is not consistent 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 the data retrieval information by a preset encryption algorithm to obtain encrypted retrieval information according to the data retrieval information;

[0014] According to the encrypted call information, the encrypted information is decrypted to obtain target collection information and output to a preset call platform.

[0015] By adopting the above technical solution, the collection information is encrypted, and the decryption of the encrypted information is controlled through the consistency of the data call information and the reference call information, so as to reduce the tampering or interception of the data transmitted by the composite robot, thereby improving the security of data transmission of the composite robot.

[0016] Optionally, the method before obtaining the data call information comprises:

[0017] According to the data call information and the reference call information, the abnormal call information and the abnormal call position are determined.

[0018] According to the data call information and the abnormal call information, the information integrity is determined.

[0019] When the information integrity exceeds the preset reference integrity, the byte length of the data call information is obtained.

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

[0021] If the byte length exceeds the reference byte length, the input time point corresponding to the abnormal call information and the call time point of the data call information are obtained.

[0022] According to the input time point and the call time point, the call time length value is determined.

[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, the input frequency of the data call information is obtained.

[0024] When the input frequency exceeds the preset reference frequency, the preset warning information is output.

[0025] By adopting the above technical solution, the byte length and the call time length value are obtained by comparing the data call information and the reference call information, and the input frequency is obtained by comparing the byte length and the reference byte length, and the input time value and the reference time length value. When the input frequency exceeds the reference frequency, the preset warning information is output, so as to better distinguish whether the receiving party inputs the data call information by mistake or does not input the data call information, and further improve the security of data transmission of the composite robot.

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

[0027] According to the collection information and the preset reference collection information, the abnormal mark information is determined.

[0028] determine the abnormal parameter and the abnormal parameter type corresponding to the abnormal parameter according to the abnormal mark information;

[0029] retrieve the visual parameter type according to the collection information;

[0030] when the abnormal parameter type is the visual parameter type, determine the visual abnormal position according to the abnormal parameter and the abnormal mark information;

[0031] remove the abnormal parameter and the visual abnormal position by a preset occlusion removal method, and update the collection information according to the abnormal parameter;

[0032] classify and encrypt the updated collection information by a preset encryption algorithm to obtain encrypted information.

[0033] By adopting the above technical solutions, the abnormal mark information and the visual abnormal position are obtained by analyzing the collection information and the reference collection information, the abnormal parameter is removed by the occlusion removal method, the collection information is updated according to the abnormal parameter, and the collection information is re-encrypted, so that the abnormal information can be processed in time, and the accuracy of subsequent information collection is ensured.

[0034] Optionally, the method for updating the collection information according to the abnormal parameter comprises:

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

[0036] input the laser scanning parameter into a preset simulation system to form a scanning model and a 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 target sound information according to the sound detection information;

[0040] determine the repair visual parameter according to the target sound information and the scanning model, and update the collection information according to the laser scanning parameter and the sound detection information;

[0041] if the sound source position does not coincide with the model generation position, determine the repair visual parameter according to the scanning model and the abnormal parameter, and update the collection information according to the laser scanning parameter.

[0042] Through the above technical solutions, the coincidence of the sound source position and the model generation position is understood to obtain the sound detection information and the laser scanning parameters and to repair the visual parameters, so that the output of other parameters can be improved to ensure the integrity and accuracy of the collected information.

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

[0044] According to the collected information to retrieve the visual parameters;

[0045] According to the abnormal parameters and the visual parameters to determine the parameter deviation value;

[0046] According to the visual parameters and the parameter deviation value to determine the parameter deviation range;

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

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

[0049] According to the maximum wiping range to determine the air bag inflation amount;

[0050] According to the parameter deviation value and the parameter deviation range to determine the cycle inflation and deflation times;

[0051] Control the preset air bag erasing device to run at the estimated center position, the air bag inflation amount and the cycle inflation and deflation times, and obtain the current inflation and deflation times of the air bag erasing device;

[0052] When the current inflation and deflation times are consistent with the cycle inflation and deflation times, the visual parameters are reacquired, and the maximum wiping contour is determined according to the maximum wiping range;

[0053] When there are abnormal parameters on the maximum wiping contour corresponding to the reacquired visual parameters, the rotation speed is determined according to the abnormal parameters, and the air bag erasing device is controlled to run at the rotation speed.

[0054] Through the above technical solutions, the coincidence of the sound source position and the model generation position is understood to obtain the sound detection information and the laser scanning parameters and to repair the visual parameters, so that the output of other parameters can be improved to ensure the integrity and accuracy of the collected information.

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

[0056] When the blocking type is the sticky substance, it is determined whether the abnormal parameter includes a color parameter of the sticky substance preset;

[0057] When the abnormal parameter includes the color parameter of the sticky substance, the type of the sticky substance is determined according to the color parameter;

[0058] According to the type of the sticky substance, a removal device is selected, and the removal device is controlled to remove the sticky substance at the visual abnormal position;

[0059] When the abnormal parameter does not include the color parameter of the sticky substance, the abnormal pixel contrast is called according to the abnormal parameter;

[0060] According to the abnormal pixel contrast and the visual abnormal position, the abnormal image, the abnormal contour, and the abnormal area are determined;

[0061] When the abnormal image includes a preset sticking abnormal feature, the sticking abnormal position is determined according to the abnormal image and the sticking abnormal feature;

[0062] When the sticking abnormal position is located on the abnormal contour, the penetration time and the oil dripping amount are determined according to the abnormal area;

[0063] According to the oil dripping amount, the oil dripping blowing power and the oil dripping blowing temperature are determined;

[0064] According to the oil dripping blowing power and the oil dripping blowing temperature, the penetration time is updated;

[0065] The preset oil dripping device is controlled to drip oil at the sticking abnormal position and the oil dripping amount, the blowing device is controlled to operate at the oil dripping blowing power, the oil dripping blowing temperature, and the sticking abnormal position, and the oil dripping time is obtained;

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

[0067] By using the above technical solution, the sticking abnormal position is obtained through the inclusion of the abnormal image and the sticking abnormal feature, and when the sticking abnormal position is located on the abnormal contour, the penetration time, the oil dripping amount, the oil dripping blowing power, and the oil dripping blowing temperature are obtained through the abnormal area, and the corresponding device is controlled to operate, so that the sticky substance can be removed, and the accuracy of subsequent information collection is ensured.

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

[0069] When the preset blocking feature appears in the scanning model, it is determined whether the scanning model has an unblocked position according to the scanning model and the blocking feature;

[0070] If the unblocked position exists in the scanning model, a moving-out path is determined according to the unblocked position, the compound robot is controlled to run along the moving-out path, and scanning information is reacquired;

[0071] When the unblocked position coincides with the preset top position of the compound robot, a tactile pressure value is retrieved according to the scanning information;

[0072] The tactile pressure value corresponding to a preset reference pressure value is retrieved as a drop pressure value according to the tactile pressure value;

[0073] A drop height is determined according to the drop pressure value;

[0074] When the drop height does not exceed a preset reference lifting height, the preset visual collection device is controlled to lift at the drop height, and the scanning information is reacquired;

[0075] A drop position is determined according to the updated scanning information, and preset drop warning information is output according to the drop position.

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

[0077] Optionally, when the unblocked position does not exist in the scanning model, the method further comprises:

[0078] The maximum lifting height of the compound robot is acquired;

[0079] The top distance of the compound robot is retrieved according to the collection information;

[0080] The lifting offset distance is calculated according to the maximum lifting height, the top distance, and a preset reference height value;

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

[0082] The lifting abutment position is determined according to the surrounding shape;

[0083] The offset distance is determined according to the lifting abutment position and the surrounding center point;

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

[0085] The compound robot is controlled to run at the lifting abutment position, the offset change angle, and the offset change distance, and the current lifting distance of the compound robot is acquired;

[0086] When the current lifting distance is consistent with the total offset lifting distance, the scanning information is reacquired.

[0087] By adopting the technical scheme, the maximum lifting height, the top distance and the collected information are understood to obtain the offset change angle, the offset change distance and the total offset lifting distance, and the composite robot is controlled to run at the lifting abutting position, the offset change angle and the offset change distance, so that the abnormal situation of the vision parameter of the composite robot can be further understood and processed, and the accuracy of subsequent information collection is ensured.

[0088] In a second aspect, the application provides a composite robot multi-modal data encryption transmission system, which adopts the following technical scheme:

[0089] A composite robot multi-modal data encryption transmission system comprises:

[0090] An acquisition module is configured to acquire collected information, data retrieval information, byte length, input time point, retrieval time point, input frequency, vision parameter, laser scanning parameter, sound detection information, current charging and discharging frequency, oil dripping time, maximum lifting height and current lifting distance.

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

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

[0093] In a third aspect, the application provides an intelligent terminal, which adopts the following technical scheme:

[0094] An intelligent terminal comprises a memory and a processor, and the memory stores a computer program of a composite robot multi-modal data encryption transmission method, which can be loaded and executed by the processor.

[0095] In summary, the application has 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 data tampering or interception can be reduced, thereby improving the security of data transmission of the composite robot.

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

[0098] 3. When the composite robot falls, the falling position is obtained by the falling pressure value and the falling height, and a falling warning information is output, so that the situation that the visual parameter is covered due to the falling of the composite robot is reduced, and the reason that the visual parameter appears abnormal is accurately obtained. BRIEF DESCRIPTION OF DRAWINGS

[0099] Figure 1 is a method flow chart of a composite robot multi-modal data encryption transmission according to an embodiment of the present application;

[0100] Figure 2 is a method flow chart of a method for updating collected information according to abnormal parameters according to an embodiment of the present application;

[0101] Figure 3 is a method flow chart of a preset occlusion removal method according to an embodiment of the present application. DETAILED DESCRIPTION

[0102] The present application will be further described in detail below in combination with the drawings and embodiments.

[0103] Reference Figure 1 The embodiment of the present application discloses a composite robot multi-modal data encryption transmission method, comprising the following steps:

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

[0105] The collected information refers to the information such as images, sounds and pressures collected by the composite robot during operation, and the combined information obtained by photographing and scanning through the camera, laser radar device, sound collecting device and tactile device preset on the composite robot is taken as the collected information. The sound collecting device is a microphone, the laser radar device is an infrared sensor, the laser radar device is provided with a plurality of scanning devices surrounding the composite robot, and the tactile device is a pressure sensor. The collected information includes visual parameters, tactile parameters, laser scanning parameters and sound parameters. The visual parameters refer to parameters such as pixel values of images, and the tactile parameters refer to pressure detection parameters.

[0106] Step S101: classifying and encrypting according to the collected information through a preset encryption algorithm to obtain encrypted information.

[0107] The encryption algorithm refers to an algorithm for encrypting the collected information, the encrypted information refers to the information after the collected information is encrypted by the encryption algorithm, and the collected information is classified and encrypted by the encryption algorithm to obtain the encrypted information. In this embodiment, the encryption algorithm for encrypting the collected information can be replaced by other algorithms, which will not be described here.

[0108] The encryption algorithm classifies the image, the coordinate information scanned by the laser radar device, the sound parameter, and the pressure parameter. In this embodiment, an encryption algorithm is exemplified. The visual parameter is set as V, the tactile parameter is set as T, the laser scanning parameter is set as L, and the sound parameter is set as S. 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). KAES is the key set by the recipient in advance. KAES is encrypted by the RSA algorithm set by the technician. The key pair of the recipient is set as (d,n). The encrypted key is CKAES=(KAES)^d-mod-n. d and n in (d,n) can be numbers of different lengths, which are set by the person skilled in the art in advance and will not be described here.

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

[0110] If the visual parameter is blocked or cannot be output, the weight is recalculated, so that the recalculated wT1+wL1+wS1=1. wT1 is the weight tactile parameter recalculated once. wL1 is the weight laser scanning parameter recalculated once. wS1 is the weight sound parameter recalculated once.

[0111] Therefore, the respective recalculated parameters are correspondingly spliced to obtain Cnew=(wT1CT+wS1CS+wL1CL). Cnew is the encrypted information. wT1CT is the information obtained by splicing the weight tactile parameter recalculated once and the encrypted tactile parameter. wS1CS is the information obtained by splicing the weight sound parameter recalculated once and the encrypted sound parameter. wL1CL is the information obtained by splicing the laser scanning parameter recalculated once and the encrypted laser scanning parameter.

[0112] If the tactile parameter cannot be output, the weight is recalculated, wV 2+wL2+wS2=1, wV2 is the weight of the second re-computed visual parameter, wL2 is the weight of the second re-computed laser scanning parameter, and wS2 is the weight of the second re-computed sound parameter. Therefore, the encrypted information of each re-computation is spliced to obtain Cnew=(wV2CV+wS2CS+wL2CL). wV2CV is the information of the weight of the second re-computed visual parameter spliced with the encrypted visual parameter. wS2CS is the information of the weight of the second re-computed sound parameter spliced with the encrypted sound parameter. wL2CL is the information of the weight of the second re-computed laser scanning parameter spliced with the encrypted laser scanning parameter

[0113] When the encrypted information needs to be decrypted, the CKAES is decrypted by inputting the key (d, n) of the receiver to obtain KAES=CKAES^d-mod-n, and then the encrypted information is decrypted by AES using KAES to obtain Dnew=(wVDV+wTDT+wSDS+wLDL), wherein 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 the visual parameter is blocked or cannot be output, Dnew=(wT1DT+wS1DS+wL1DL).

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

[0116] The data retrieval information refers to the key information input into the system of the compound robot to obtain the collected information, and the key information is retrieved from the system of the compound robot 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 technician as the reference of the receiver, 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 compound robot needs to output the encrypted information.

[0119] Step S1031: If the data retrieval information is not consistent with the reference retrieval information, continue to obtain the data retrieval information.

[0120] When the data retrieval information is not consistent with the reference retrieval information, it means that the information retrieval is not for the receiver or the key input is incorrect, so step S102 is continued.

[0121] Step S1032: If the data access information is consistent with the reference access information, the data access information is encrypted by a preset encryption algorithm to obtain encrypted access information.

[0122] The encrypted access information refers to information obtained after the key of the receiving party is encrypted. If the data access information is consistent with the reference access information, it indicates that the receiving party needs to access the composite robot, and therefore (d, n) is encrypted as CKAES=(KAES)^d-mod-n according to step S101 to serve as the encrypted access information.

[0123] Step S104: The encrypted information is decrypted according to the encrypted access information to obtain target collection information and output to a preset access platform.

[0124] The access platform is an operation platform set by a technical personnel and storing a system for operating the composite robot and accessing the collection information. The target collection information refers to the collection information obtained after the encrypted information is decrypted. According to step S101, CKAES is decrypted by 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) to serve as the target collection information.

[0125] The method before the data access information is continuously obtained includes:

[0126] Step S200: The data access information and the reference access information are compared to determine abnormal access information and an abnormal access position.

[0127] The abnormal access information refers to an information parameter of an abnormal key input to the access platform. The abnormal access position refers to a position of the abnormal access information in the data access information. The numbers in the corresponding positions of the data access information and the reference access information are compared, the numbers in the data access information that are inconsistent with the reference access information are taken as the abnormal access information, and the positions of the numbers in the data access information are taken as the abnormal access position. In this embodiment, if the number of the numbers in the data access information exceeds the number of the numbers in the reference access information, the excess numbers are also taken as the abnormal access information.

[0128] Step S201: The data access information and the abnormal access information are compared to determine an information completeness.

[0129] The information completeness refers to a ratio of the abnormal access information in the data access information. The abnormal access information is accessed from the data access information, and the quotient of the number of the remaining numbers and the number of the numbers in the abnormal access information is taken as the information completeness.

[0130] Step S202: When the information integrity exceeds the preset reference integrity, the byte length of the data retrieval information is obtained.

[0131] The reference integrity is the maximum proportion of abnormal retrieval information allowed by the technician. When the information integrity does not exceed the preset reference integrity, it means that there are too many abnormal retrieval information in the data retrieval information, and the information retrieval is not performed by the receiver. Therefore, the preset alarm information is output. The alarm information is the information set by the technician to prompt the receiver of the data retrieval abnormality.

[0132] The byte length refers to the length of the number in the data retrieval information. When the information integrity exceeds the preset reference integrity, it means that the receiver has a small error or misoperation in the input of the key. Therefore, the byte length corresponding to all the numbers in the data retrieval information is obtained.

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

[0134] The reference byte length is the reference number length corresponding to the small error in the key input of the receiver set by the technician. By determining whether the byte length exceeds the reference byte length, it is determined whether the small error in the input of the key or the misoperation in the input of the key by the receiver occurs.

[0135] Step S2031: 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.

[0136] The input time point refers to the time point when the abnormal retrieval information is input to 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 means that the receiver has a misoperation when inputting the key. Therefore, the input of each number in the data retrieval information is marked by the retrieval platform, and the time point corresponding to the abnormal retrieval information is obtained as the input time point from the marked time point, and the time point when the data retrieval information is completed and the retrieval platform is controlled to query and compare is taken 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 taken as the retrieval time point. When the receiver has a misoperation when inputting the key, it means that the receiver has a misoperation when sending other numbers, resulting in the presence 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 length of the retrieval time value refers to the interval time between the abnormal retrieval information appearing in the data retrieval information and the output of the data retrieval information being completed. The difference between the input time point and the retrieval time point is calculated, and the difference value is taken as the length of the retrieval time 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, the input frequency of the data retrieval information is obtained.

[0140] The input frequency refers 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 technician for the receiver to complete the data retrieval information and output. 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 the receiver has input errors when inputting the key, so the number of times the data retrieval information is input to the retrieval platform for query is taken as the input frequency.

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

[0142] The reference frequency is the maximum number of times the retrieval platform queries and compares the data retrieval information set by the technician. The warning information is information set by the technician to warn the receiver that the data of the composite robot is abnormal.

[0143] When the input frequency does not exceed the reference frequency, it indicates that the receiver has input errors, so the data retrieval information is continuously obtained. When the input frequency exceeds the reference frequency, it indicates that the person who needs to retrieve the data of the composite robot is not the receiver, so the warning information is output to alert the receiver.

[0144] The method before obtaining the encrypted information includes:

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

[0146] The reference collection information is the information formed by the visual parameters, tactile parameters, laser scanning parameters and sound parameters collected by the composite robot set by the technician. The abnormal marker information refers to the information of the parameters that are not easy to collect or not output in the composite robot, the type of the device collecting the parameters, and the position of the parameters on the device.

[0147] Referring to step S101, when the reference collection information is Dnew=(wVDV+wTDT+wSDS+wLDL) and the collected information is Dnew=(wT1DT+wS1DS+wL1DL), the collected information is compared with the reference collection information to know that the abnormal marker information is the visual parameter.

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

[0149] The abnormal parameter refers to a parameter in the compound robot that is not easy to collect or is not output. The abnormal parameter type refers to the type of device corresponding to the abnormal parameter. The abnormal parameter and the abnormal parameter type are obtained from the abnormal mark information.

[0150] Step S302: obtaining the visual parameter type according to the collection 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 obtained from the collection information.

[0152] Step S303: when the abnormal parameter type is the visual parameter type, determining the visual abnormal position according to the abnormal parameter and the abnormal mark information.

[0153] The visual abnormal position refers to the position of the camera on the compound robot that is blocked. When the abnormal parameter type is the visual parameter type, it means that the visual parameter is blocked or not output. Therefore, the position of the camera on which the abnormal parameter appears is obtained from the abnormal mark 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: removing the blockage according to the abnormal parameter and the visual abnormal position by using a preset blockage removal method, and updating the collection information according to the abnormal parameter.

[0155] The blockage removal method refers to a method for removing dust and sticky substances on the camera. The specific operation steps are described in steps S500 to S608. The abnormal parameter is analyzed to obtain the collection information again. The specific analysis method is described in steps S400 to S4032.

[0156] Step S305: classifying and encrypting the updated collection information by using a preset encryption algorithm to obtain encrypted information.

[0157] The updated collection information is used to re-execute step S101 to facilitate the receiving party to obtain the data.

[0158] Reference Figure 2 The method for updating the collection information according to the abnormal parameter includes:

[0159] Step S400: obtaining the visual parameter, the laser scanning parameter, and the sound detection information according to the visual abnormal position.

[0160] The laser scanning parameter refers to a parameter corresponding to the abnormal visual position scanned by the laser radar device, the sound detection information refers to information such as the sound color and the position of the sound source of the sound collected again at the abnormal visual position, and the parameters obtained by controlling the camera, the laser radar device, and the microphone to detect the abnormal visual position again are used as the visual parameter, the laser scanning parameter, and the sound detection information.

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

[0162] The simulation system is a system set by a technician for establishing a three-dimensional model, the scanning model refers to a three-dimensional model corresponding to the laser scanning parameter, and the scanning model is formed by inputting the laser scanning parameter into the simulation system. The model generation position refers to a position generated by the scanning model around the composite robot, and the distance generated by the scanning model is retrieved from the parameters detected by the laser radar device, and the model generation position is calculated by 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 scanning model emits sound when the composite robot reacquires the collected information, so as to further improve the accuracy of identifying the object corresponding to the scanning model.

[0167] Step S4031: If the sound source position coincides with the model generation position, retrieve the sound corresponding to the model generation position as 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 indicates that the object corresponding to the scanning model emits sound when the composite robot reacquires the collected information, so 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 repair visual parameter according to the target sound information and the scanning model, and update the collected information according to the laser scanning parameter and the sound detection information.

[0170] The repair visual parameter refers to a visual parameter used for repairing a part blocked by the camera. The corresponding image and pixel parameters of the image corresponding to the target sound information and the scanning model are matched from the preset image database, the corresponding pixel parameters of the image are taken as the repair visual parameter, and the laser scanning parameter and the sound detection information are used to update the collected information. The image database stores different target sound information and / or corresponding images and pixel parameters of the image corresponding to the scanning model. The image database is a database set by humans, which is not described here.

[0171] Since the reacquired laser scanning parameter and the sound detection information can also describe the visual parameter, and the missing visual parameter with the block exists error information or uncertainty, the visual parameter does not appear in Dnew=(wT1DT+wS1DS+wL1DL).

[0172] Step S4032: If the sound source position does not coincide with the model generation position, the repair visual parameter is determined according to the scanning model and the abnormal parameter, and the collected information is updated according to the laser scanning parameter.

[0173] When the sound source position does not coincide with the model generation position, it means that the object corresponding to the scanning model does not emit sound when the composite robot reacquires the collected information. Therefore, the corresponding image and pixel parameters of the image corresponding to the scanning model are matched from the image database, the corresponding pixel parameters of the image are taken as the repair visual parameter, and the laser scanning parameter is used to update the collected information, so that the weight of wL1 in Dnew=(wT1DT+wS1DS+wL1DL) is higher than that of other parameters.

[0174] Reference Figure 3 The preset block removal method comprises:

[0175] Step S500: retrieving the visual parameter according to the collected information.

[0176] The visual parameter is retrieved from the collected information to facilitate subsequent analysis.

[0177] Step S501: determining the parameter deviation value according to 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 blocked, the parameter deviation value is 0.

[0179] Step S502: determining the parameter deviation range according to 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 in which the parameter deviation value exists is selected from the visual parameters as the parameter deviation range.

[0181] Step S503: The parameter deviation range is input into a preset occlusion database to match the occlusion type.

[0182] The occlusion type refers to the type of object that exists on the camera. The occlusion type includes dust, mud, adhesive tape, and other sticky substances. The parameter deviation range is input into a preset occlusion database to match the occlusion type. The occlusion database stores different parameter deviation ranges corresponding to the occlusion type. The occlusion database is a database set by humans and will not be described here. When there is dust on the camera, the image captured by the camera will not be completely occluded, but the pixel value of the image will change.

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

[0184] The estimated center position refers to the estimated center position 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 taken as the estimated center position.

[0185] The maximum wiping range refers to the maximum range of the air bag wiping device wiping dust on the camera. The smallest shape containing the parameter deviation range is selected from the preset inflation shape, and the range corresponding to the selected smallest shape is taken as the maximum wiping range. The inflation shape is the shape of the air bag wiping device when it is inflated. The air bag is circular, and the circle changes proportionally with the amount of air in the air bag. The air bag wiping device refers to a device that uses the tension of the air bag to wipe dust off the camera. The side of the air bag used for wiping dust is provided with a plurality of wiping points. When the air bag is inflated, the plurality of wiping points move and stretch due to the tension of the air bag to wipe off the dust.

[0186] Step S505: The maximum wiping range is used to determine the air bag inflation amount.

[0187] The air bag inflation amount refers to the inflation amount of the air bag wiping device. The maximum wiping range is used to match the air bag inflation amount from a preset inflation database. The inflation database stores different wiping ranges corresponding to the air bag inflation amount. The inflation database is a database set by humans and will not be described here.

[0188] Step S506: The parameter deviation value and the parameter deviation range are used to determine the number of cycles of inflation and deflation.

[0189] The number of cycles of inflation and deflation refers to the number of cycles of inflation and deflation required by the air bag erasing device to erase dust on the camera. The number of cycles of inflation and deflation is matched from the inflation database by the parameter deviation value and the parameter deviation range. The inflation database also stores the number of cycles of inflation and deflation corresponding to different parameter deviation values and parameter deviation ranges, which will not be repeated here.

[0190] Step S507: Control the preset air bag erasing device to run at the estimated center position, the air bag inflation amount, and the number of cycles of inflation and deflation, and obtain the current number of inflation and deflation of the air bag erasing device.

[0191] The current number of inflation and deflation refers to the current number of inflation and deflation of the air bag erasing device. By controlling the air bag erasing device to run at the estimated center position, the air bag inflation amount, and the number of cycles of inflation and deflation, and counting one inflation and deflation operation of the air bag erasing device in real time, the number of counts is taken as the current number of inflation and deflation.

[0192] Step S508: When the current number of inflation and deflation is consistent with the number of cycles of inflation and deflation, reacquire the visual parameters and determine the maximum wiping profile according to the maximum wiping range.

[0193] The maximum wiping profile refers to the maximum wiping profile of the air bag erasing device. By taking the boundary line corresponding to the maximum wiping range as the maximum wiping profile, when the current number of inflation and deflation is consistent with the number of cycles of inflation and deflation, it means that the air bag erasing device completes the erasing operation, so the collected information is reacquired and the visual parameters are retrieved.

[0194] Step S509: When there is an abnormal parameter on the maximum wiping profile corresponding to the reacquired visual parameters, determine the rotation speed according to the abnormal parameter and control the air bag erasing device to run at the rotation speed.

[0195] The rotation speed refers to the speed at which the air bag erasing device rotates. When there is an abnormal parameter on the maximum wiping profile corresponding to the reacquired visual parameters, it means that there is still dust on the camera that has not been erased, so the rotation speed is matched from the preset erasing database by the abnormal parameter, and the air bag erasing device is controlled to run at the rotation speed. The erasing database stores different rotation speeds corresponding to different abnormal parameters. The erasing database is a database set by human beings, which will not be repeated here.

[0196] The preset occlusion removal method further comprises:

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

[0198] The color parameter is the color parameter corresponding to the mud or transparent tape and other sticky substances set by the technical personnel. By determining whether the abnormal parameter includes the preset color parameter of the sticky, it is determined whether the sticky is transparent tape.

[0199] Step S6001: If the abnormal parameter contains the color parameter of the sticky substance, determine the type of the sticky substance according to the color parameter.

[0200] The type of the sticky substance refers to the type of the object adhered to the camera. When the abnormal parameter contains the color parameter of the sticky substance, it indicates that the sticky substance is not transparent tape. Therefore, the type of the sticky substance is matched from a preset adhesion database according to the color parameter. The adhesion database stores the type of the sticky substance corresponding to different color parameters.

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

[0202] The removal device refers to a mechanical arm used to remove the sticky substance. Different types of the sticky substance can control the mechanical arm to clamp and wipe the sticky substance. The corresponding removal device is selected according to the type of the sticky substance, and the removal device is controlled to clamp or wipe the sticky substance at the visual abnormal position.

[0203] Step S6002: If the abnormal parameter does not contain the color parameter of the sticky substance, 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 contains the color parameter of the sticky substance, it indicates that the sticky substance may be transparent tape. Therefore, the abnormal pixel contrast is retrieved from the abnormal parameter.

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

[0206] The abnormal image refers to the image corresponding to the abnormal parameter captured by the camera. The abnormal contour refers to the contour corresponding to the abnormal image. The abnormal area refers to the area covered by the abnormal parameter. Each abnormal pixel contrast corresponding to the image is marked as an abnormal image according to the visual abnormal position. The contour corresponding to the abnormal image is taken as the abnormal contour. The abnormal contour is split into each preset reference shape, and the sum of the areas corresponding to each reference shape is calculated as the abnormal area. The reference shape is a shape such as a circle, a square, and a triangle set by a technician.

[0207] Step S603: If the abnormal image contains a preset pasting abnormal feature, determine the pasting abnormal position according to the abnormal image and the pasting abnormal feature.

[0208] The sticking abnormality feature is an abnormal feature of bubbles and edge lifting during sticking of the transparent tape by a technician. The sticking abnormal position refers to a position of the abnormal image where the sticking abnormality feature occurs. When the abnormal image contains the sticking abnormality feature, it indicates that the transparent tape has abnormal features such as bubbles and edge lifting. Therefore, the position corresponding to the sticking abnormality feature is framed from the abnormal image as the sticking abnormal position.

[0209] Step S604: When the sticking abnormal position is located on the abnormal contour, the penetration time and the oil dripping amount are determined according to the abnormal area.

[0210] The oil dripping amount refers to the amount of oil used for dripping on the transparent tape. The penetration time refers to the time for the oil to completely penetrate the transparent tape. When the sticking 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 oil dripping amount are matched from the preset oil dripping database according to the abnormal area. The oil dripping database stores the penetration time and the oil dripping amount corresponding to different abnormal areas. The oil dripping database is a database set by a human being, which is not described herein.

[0211] Step S605: The oil dripping blowing power and the oil dripping blowing temperature are determined according to the oil dripping amount.

[0212] The oil dripping blowing power refers to the power of the blowing device blowing on the position of the oil dripping. The oil dripping blowing temperature refers to the temperature of the blowing device blowing on the position of the oil dripping. The oil dripping blowing power and the oil dripping blowing temperature are matched from the preset blowing database according to the oil dripping amount. The blowing database stores the oil dripping blowing power and the oil dripping blowing temperature corresponding to different oil dripping amounts. The blowing database is a database set by a human being, which is not described herein. The blowing device refers to a fan used for blowing on the position of the oil dripping.

[0213] Step S606: The penetration time is updated according to the oil dripping blowing power and the oil dripping blowing temperature.

[0214] The correction coefficient is matched from the oil dripping database according to the oil dripping blowing power and the oil dripping blowing temperature. The new penetration time is calculated by multiplying the penetration time and the correction coefficient.

[0215] Step S607: The preset oil dripping device is controlled to drip oil at the sticking abnormal position and the oil dripping amount. The blowing device is controlled to operate at the oil dripping blowing power, the oil dripping blowing temperature, and the sticking abnormal position. The oil dripping time is obtained.

[0216] The oil dripping time refers to the time for the oil to be on the transparent tape. The oil dripping device is controlled to drip oil at the sticking abnormal position and the oil dripping amount. The blowing device is controlled to operate at the oil dripping blowing power, the oil dripping blowing temperature, and the sticking abnormal position. The time length value corresponding to the timing when the oil dripping device drips oil is taken as the oil dripping time. The oil dripping device is a syringe used for oil dripping.

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

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

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

[0220] Step S700: When the 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 technician to block 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 scanning model, it means that the movement of the composite robot is blocked. By identifying the blocking feature from the scanning model and taking the position in the scanning model where the blocking feature does not appear as the unblocked position. By determining whether there is an unblocked position in the scanning model, it is determined whether the composite robot has fallen into a pit or is covered by a shell.

[0222] Step S701: If the scanning model has an unblocked position, determine the removal path according to the unblocked position, control the composite robot to run along the removal path, and reacquire the scanning information.

[0223] The removal path refers to the feature that controls the composite robot to leave the environment corresponding to the blocking feature. The unblocked position and the current position of the composite robot are located to obtain the removal path, and the composite robot is controlled to run along the removal path, and the scanning information is reacquired.

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

[0225] The tactile pressure value is the pressure value fed back by the composite robot touching, which refers to the top position set by the technician for the top position of the composite robot. 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, retrieve the tactile pressure value corresponding to the preset reference pressure value as the falling pressure value.

[0227] The reference pressure value is a pressure value of the composite robot in normal operation set by the technician, and the drop pressure value is a tactile pressure value corresponding to the drop of the composite robot in the pit. The tactile pressure value exceeding the reference pressure value is retrieved from different tactile pressure values as the drop pressure value.

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

[0229] The drop height refers to the height of the drop of the composite robot, and the drop height is matched from the preset height database by the drop pressure value. The height database stores the drop height corresponding to different drop pressure values, and the height database is a database set by the technician, which is not described here.

[0230] Step S705: when the drop height does not exceed the preset reference lifting height, controlling the preset visual collection device to lift at the drop height and reacquire the scanning information.

[0231] The reference lifting height is the height at which the camera on the composite robot can be extended, set by the technician. When the drop height does not exceed the reference lifting height, it means that the composite robot can be observed and extended, so the visual collection device is controlled to lift at the drop height and reacquire the scanning information. The visual collection device is a camera.

[0232] Step S706: determining the drop position according to the updated scanning information, and outputting the preset drop warning information according to the drop position.

[0233] The drop position refers to the positioning position of the drop of the composite robot. The visual parameters are retrieved from the updated scanning information, and the retrieved visual parameters are input into the preset image database to match the image and the environmental position expressed by the image. The image database also stores the environmental position expressed by the image corresponding to different visual parameters, which is not described here. The drop warning information is information set by the technician to prompt the drop position of the composite robot to the recipient.

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

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

[0236] When there is no unblocked position in the scanning model, it means that the composite robot is covered by the shell. The maximum lifting height refers to the maximum height that the composite robot can reach when lifting, which is acquired by the recipient in advance.

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

[0238] The top distance refers to the distance between the top of the composite robot and the shell. The distance between the top of the composite robot and the shell is obtained by calling the laser scanning parameters from the collected information.

[0239] Step S802: The maximum lifting height, the top distance, and the preset reference height value are used to calculate the lifting offset distance.

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

[0241] Step S803: When the lifting offset distance does not exceed the preset reference height value, the surrounding shape and the surrounding center point are determined based on the collected information.

[0242] The surrounding shape refers to the shape surrounding the shell of the composite robot, and the surrounding center point refers to the center point of the shell of the composite robot. When the lifting offset distance does not exceed the preset reference height value, it means that the composite robot is not easy to directly lift straight to escape the shell. Therefore, the laser scanning parameters are obtained by collecting information, and the obtained 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 by analyzing the surrounding shape is used as the surrounding center point. For example, when a cylindrical cap is provided on the composite robot, the center of the cylinder is the surrounding center point.

[0243] Step S804: The lifting contact position is determined based on the surrounding shape.

[0244] The lifting contact position refers to the position that the composite robot can contact when lifting. The lifting contact position is obtained by analyzing the surrounding shape. For example, when a cylindrical cap is provided on the composite robot, the intersection position of the circular side of the cylinder and the height direction side of the cylinder is used as the lifting contact position.

[0245] Step S805: The offset distance is determined based on the lifting contact position and the surrounding center point.

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

[0247] Step S806: The offset change angle, the offset change distance, and the total lifting distance are determined based on the offset distance and the reference height value.

[0248] The offset change angle refers to the angle changed when the composite robot jacks up at the jacking abutting position, the offset change distance refers to the distance jacked up when the composite robot runs at the offset change angle, and the offset jacking total distance refers to the maximum distance jacked up when the composite robot jacks up at the jacking abutting position. The offset change angle, the offset change distance and the offset jacking total distance are matched from the preset jacking database through the offset distance and the reference height value. The jacking database stores the corresponding relationship among the offset distance, the reference height value, the offset change angle, the offset change distance and the offset jacking total distance, and the jacking database is a database set by human beings, which is not described herein.

[0249] Step S807: controlling the composite robot to run at the jacking abutting position, the offset change angle and the offset change distance, and acquiring the current jacking distance of the composite robot.

[0250] The current jacking distance refers to the distance value of the composite robot currently jacking the shell, and the current jacking distance is acquired by controlling the composite robot to jack up at the jacking abutting position and to run at the offset change angle and the offset change distance, and then acquiring the distance value of the composite robot extending from the calling platform in real time.

[0251] Step S808: when the current jacking distance is consistent with the offset jacking total distance, reacquiring the scanning information.

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

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

[0254] The acquisition module is configured to acquire the collection information, the data calling information, the byte length, the input time point, the calling time point, the input frequency, the visual parameter, the laser scanning parameter, the sound detection information, the current gas charging and discharging frequency, the oil dripping time, the maximum jacking height and the current jacking distance.

[0255] The memory is configured to store the program of the composite robot multi-modal data encryption transmission method.

[0256] The processor is configured to load and execute the program stored in the memory.

[0257] Based on the same inventive concept, the embodiment of the present application provides an intelligent terminal comprising a memory and a processor, and the memory stores a computer program capable of being loaded and executed by the processor to implement a composite robot multi-modal data encryption transmission method.

[0258] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional modules is exemplified, and in actual application, the above functions can be completed by 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 process of the system, device and unit described above can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0259] The above is only the preferred embodiment of the present application, and the protection scope of the present application is not limited to the above-mentioned embodiments. Any technical solution falling within the concept of the present application shall fall within the protection scope of the present application. It should be noted that, for ordinary skilled persons in the art, some improvements and refinements without departing from the principles of the present application shall also be considered as the protection scope of the present application.

Claims

1. A method for encrypted transmission of multimodal data in a composite robot, characterized in that, include: Obtain the information collected by the composite robot; The collected information is classified and encrypted using a preset encryption algorithm to obtain encrypted information; Obtain data retrieval information from the composite robot; Determine whether the data retrieval information is consistent with the preset baseline retrieval information; If the data retrieval information is inconsistent with the baseline retrieval information, continue to retrieve data retrieval information; If the data retrieval information is consistent with the baseline retrieval information, then the data retrieval information is encrypted using a preset encryption algorithm to obtain encrypted retrieval information. The encrypted information is decrypted based on the encrypted retrieval information to obtain the target information and output to the preset retrieval platform; The methods for retrieving data and information before proceeding include: The abnormal retrieval information and abnormal retrieval location are determined based on the data retrieval information and the baseline retrieval information; Determine the completeness of information based on data retrieval information and abnormal retrieval information; When the information integrity exceeds the preset baseline integrity, retrieve the length of the data to retrieve the information in bytes; Determine whether the byte length exceeds the preset baseline byte length; If the byte length exceeds the baseline byte length, obtain the input time point corresponding to the abnormal retrieval information and the retrieval time point of the data retrieval information; The retrieval time length value is determined based on the input time point and the retrieval time point; If the byte length does not exceed the baseline byte length, or the input time value does not exceed the preset baseline time length value, the number of times the data retrieval information is obtained; If the number of input attempts exceeds the preset baseline, a preset warning message will be output.

2. The method for encrypted transmission of multimodal data of a composite robot according to claim 1, characterized in that, Methods for obtaining encrypted information include: Anomaly markers are determined based on the collected information and pre-defined benchmarks. The abnormal parameters and their corresponding abnormal parameter types are determined based on the abnormal marker information. Based on the collected information, retrieve the visual parameter type; When the abnormal parameter type is a visual parameter type, the location of the visual abnormality is determined based on the abnormal parameter and abnormal marker information. Based on the abnormal parameters and the location of visual anomalies, the occlusion is removed using a preset occlusion removal method, and the collected information is updated based on the abnormal parameters. The updated collected information is categorized and encrypted using a preset encryption algorithm to obtain encrypted information.

3. The method for encrypted transmission of multimodal data of a composite robot according to claim 2, characterized in that, Methods for updating collected information based on anomalous parameters include: Obtain visual parameters, laser scanning parameters, and sound detection information based on the location of visual anomalies; The laser scanning parameters are input into a preset simulation system to form a scanning model and the model generation location; The location of the sound source is retrieved based on the sound detection information; Determine whether the location of the sound source coincides with the location generated by the model; If the sound source location coincides with the model-generated location, the sound corresponding to the model-generated location is retrieved as the target sound information based on the sound detection information. The visual parameters for repair are determined based on the target sound information and the scanning model, and the collected information is updated based on the laser scanning parameters and sound detection information. If the sound source location does not coincide with the model generation location, the repair visual parameters are determined based on the scan model and anomaly parameters, and the collected information is updated based on the laser scan parameters.

4. The method for encrypted transmission of multimodal data of a composite robot according to claim 2, characterized in that, The preset occlusion removal methods include: Based on the collected information, visual parameters are retrieved; Determine the parameter deviation value based on abnormal parameters and visual parameters; The parameter deviation range is determined based on the visual parameters and their deviation values. The parameter deviation range is input into the preset occlusion database to match the occlusion type; When the type of obstruction is dust, the estimated center position and maximum wiping range are determined based on the parameter deviation range; Determine the airbag inflation volume based on the maximum wiping area; The number of cycles of inflation and deflation is determined based on the parameter deviation value and the parameter deviation range. The preset airbag removal device is controlled to operate with the estimated center position, airbag inflation volume and number of inflation / deflation cycles, and the current inflation / deflation cycle of the airbag removal device is obtained. When the current inflation / deflation count matches the cycle inflation / deflation count, the visual parameters are reacquired, and the maximum wiping profile is determined based on the maximum wiping range. When there are abnormal parameters on the maximum wiping profile corresponding to the reacquired visual parameters, the rotation speed is determined based on the abnormal parameters, and the airbag wiping device is controlled to operate at the rotation speed.

5. The method for encrypted transmission of multimodal data of a composite robot according to claim 4, characterized in that, The preset occlusion removal methods also include: When the occlusion type is adhesive, determine whether the abnormal parameters include the preset color parameters of the adhesive. If the abnormal parameters include the color parameter of the viscous material, the type of viscous material is determined based on the color parameter; Select a removal device based on the type of adhesive material, and control the removal device to remove the adhesive material from visually abnormal locations; If the abnormal parameters do not include the color parameters of the viscous material, retrieve the contrast of the abnormal pixels based on the abnormal parameters; Determine the anomalous image, anomalous contour, and anomalous area based on the anomalous pixel contrast and the location of visual anomalies; If the abnormal image contains preset pasting anomaly features, the location of the pasting anomaly is determined based on the abnormal image and the pasting anomaly features; When the paste is applied to an abnormal location that is on the abnormal outline, the penetration time and the amount of oil dripped are determined based on the area of ​​the abnormality. The power and temperature of the oil-dripping blower should be determined based on the amount of oil dripping. The penetration time is updated based on the oil dripping blower power and oil dripping blower temperature. The system controls the preset oil dripping device to drip oil at the abnormal location and the amount of oil dripped, and controls the blower to operate at the oil dripping blower power, oil dripping blower temperature and the abnormal location, and obtains the oil dripping time. When the dripping time is consistent with the updated penetration time, the preset clamping device is controlled to clamp and remove the abnormal adhesive position.

6. The method for encrypted transmission of multimodal data of a composite robot according to claim 3, characterized in that, The methods following the formation of the scanning model include: When a preset obstruction feature appears within the scan model, the presence of an unobstructed position in the scan model is determined based on the scan model and the obstruction feature. If there are unobstructed positions in the scanned model, the removal path is determined based on the unobstructed positions, and the composite robot is controlled to run along the removal path, while the scan information is reacquired; When the unobstructed position coincides with the preset top position of the composite robot, the tactile pressure value is retrieved based on the scanning information; The drop pressure value is determined by retrieving a tactile pressure value that exceeds the preset baseline pressure value. The drop height is determined based on the drop pressure value; When the drop height does not exceed the preset baseline lifting height, the preset visual collection device is controlled to lift at the drop height and reacquire the scanning information; The drop location is determined based on the updated scan information, and a preset drop warning message is output based on the drop location.

7. The method for encrypted transmission of multimodal data of a composite robot according to claim 6, characterized in that, When there are no unobstructed locations within the scan model, it also includes: Obtain the maximum lifting height of the composite robot; Based on the collected information, retrieve the top distance of the composite robot; The lifting offset distance is calculated based on the maximum lifting height, the top distance, and the preset reference height value. When the lifting offset distance does not exceed the preset reference height value, the encirclement shape and encirclement center point are determined based on the collected information; The lifting and contact position is determined based on the shape of the enclosure. The offset distance is determined based on the jacking contact position and the center point of the enclosure; The offset change angle, offset change distance, and total offset lifting distance are determined based on the offset distance and the reference height value. Control the composite robot to move at the lifting and contact position, offset angle and offset distance, and obtain the current lifting distance of the composite robot; When the current lifting distance matches the total offset lifting distance, reacquire the scanning information.

8. A multimodal data encryption transmission system for a composite robot, characterized in that, include: The acquisition module is used to acquire collected information, data retrieval information, byte length, input time point, retrieval time point, number of inputs, visual parameters, laser scanning parameters, sound detection information, current inflation / deflation count, oil dripping time, maximum lifting height, and current lifting distance. A memory for storing a program for a method of encrypted transmission of multimodal data of a composite robot as described in any one of claims 1 to 7; A processor is used to load, execute, and implement programs stored in memory.

9. A smart terminal, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as described in any one of claims 1 to 7, which is a method for encrypted transmission of multimodal data of a composite robot.

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