High-speed wireless transmission system for real-time communication of six-axis spraying robot

Abstract

The invention discloses a high-speed wireless transmission system for real-time communication of a six-axis spraying robot, and relates to the technical field of robot communication.The high-speed wireless transmission system comprises the six-axis spraying robot, a central control unit, a wireless communication module and an environment sensing module, and the wireless communication module is based on a multi-frequency dynamic switching self-adaptive wireless transmission protocol; the working frequency band can be adjusted in real time according to the wireless signal interference intensity in the spraying environment, and bandwidth allocation and signal power are dynamically optimized. By designing a self-adaptive wireless transmission protocol with multi-frequency dynamic switching, a communication multi-frequency-band dynamic switching function is realized, the problems that electromagnetic interference of an industrial painting workshop is complicated, and communication is unstable and even interrupted due to the fact that traditional fixed-frequency-band transmission is easily interfered by signals are solved, the anti-interference capability of wireless communication is improved, and the communication efficiency is improved. Signal loss and delay are reduced, and real-time performance and stability required by high-precision operation of the six-axis spraying robot are guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of robot communication technology, in particular to a high-speed wireless transmission system for real-time communication of a six-axis spraying robot. Background Art

[0002] With the popularization of industrial automation and intelligent manufacturing, six-axis spray robots have become important equipment in the field of painting. However, in the complex environment of spray workshops, wireless communication faces many challenges, such as signal blocking, interference, insufficient equipment heat dissipation, and data transmission security risks. Millimeter wave technology is widely used in robot control due to its high bandwidth and low latency, but it also brings problems with equipment heat dissipation and environmental adaptability. In addition, the risk of data tampering or leakage in high-speed communications is increasing, and innovative transmission and protection solutions are urgently needed.

[0003] This application provides an overall solution from three aspects: environmental adaptation, equipment reliability and data security, and proposes a high-speed wireless transmission system for real-time communication of a six-axis spray robot, which significantly improves the performance and reliability of the six-axis spray robot system.

[0004] Patent document CN112769939B discloses a reliable transmission method for big data for real-time communication. The above patent realizes the establishment of an interactive mechanism for file transfer, a transmission quality assurance mechanism, and a file transfer interactive protocol, and adopts real-time verification and fast feedback methods, which not only ensures the correctness of file transfer, but also ensures the efficiency of file transfer. It has the advantages of large file transmission and parallel transmission, but the above patent cannot realize the dynamic switching function of multi-band communication.

[0005] Patent document CN111874158B discloses an intelligent real-time communication buoy and communication method. The above patent realizes switching to a scheduled communication link through intelligent judgment, so that the buoy observation data is transmitted back to the shore station, and the observation data is resent when the real-time satellite communication is restored, which greatly improves the reliability of the buoy data transmission. However, the above patent cannot realize the path planning optimization function to avoid signal shielding and attenuation.

[0006] Patent document CN107888508B discloses a PC-NC based numerical control system and its anti-interference weak real-time communication method. The above patent ensures the reliability and real-time performance of network data transmission and provides a reliable transmission protocol for the PC-NC based numerical control system. However, the above patent cannot realize the synchronization function of instruction transmission and execution.

[0007] The patent document CN106658450B discloses a remote heterogeneous network mobile real-time communication method. The above patent realizes the conversion of communication calls from user terminals to heterogeneous networks through intelligent devices, and seamless docking and real-time communication are achieved between heterogeneous network users. However, the above patent cannot implement the security protection function of the communication module.

[0008] In summary, the above patent cannot implement functions such as multi-band dynamic switching of communication, path planning optimization for avoiding signal shielding and attenuation, synchronization of instruction transmission and execution, and security protection function of the communication module, resulting in problems such as high interference intensity of wireless communication in the industrial environment, poor spraying quality, unstable operation of the robot, and low work efficiency. Therefore, this application proposes a high-speed wireless transmission system for real-time communication of a six-axis spraying robot that can implement functions such as multi-band dynamic switching of communication, path planning optimization for avoiding signal shielding and attenuation, synchronization of instruction transmission and execution, and security protection function of the communication module. Summary of the Invention

[0009] The purpose of the present invention is to provide a high-speed wireless transmission system for real-time communication of a six-axis spraying robot, so as to solve the technical problems in the above background technology that functions such as multi-band dynamic switching of communication, path planning optimization for avoiding signal shielding and attenuation, synchronization of instruction transmission and execution, and security protection function of the communication module cannot be implemented, resulting in high interference intensity of wireless communication in the industrial environment, poor spraying quality, unstable operation of the robot, and low work efficiency.

[0010] To achieve the above purpose, the present invention provides the following technical solution: A high-speed wireless transmission system for real-time communication of a six-axis spraying robot, including a six-axis spraying robot, a central control unit, a wireless communication module, and an environment perception module. The six-axis spraying robot is equipped with a wireless communication module and an environment perception module. The environment perception module is connected to the wireless communication module through a wireless transmission protocol. The central control unit sends control instructions to the execution elements of the six-axis spraying robot through the wireless communication module. The wireless communication module is based on an adaptive wireless transmission protocol with multi-frequency dynamic switching, and can adjust the working frequency band in real time according to the wireless signal interference intensity in the spraying environment, and dynamically optimize the bandwidth allocation and signal power. The adaptive wireless transmission protocol with multi-frequency dynamic switching includes: a multi-band support module, a dynamic switching mechanism, and an adaptive optimization module; The multi-band support module supports 2.4GHz and 5GHz millimeter wave bands, and can automatically select according to the interference degree, transmission distance, and data throughput requirements of different frequency bands; The dynamic switching mechanism is an embedded low-latency switching algorithm, which realizes that the signal interruption time during the frequency band switching process is ≤1 millisecond; The adaptive optimization module combines AI algorithms to dynamically adjust channel utilization, bandwidth allocation, signal modulation mode, and transmission power to ensure real-time performance and stability.

[0011] Preferably, the environment perception module is used to detect the working environment parameters of the six-axis spraying robot in real time, and transmit the collected data to the wireless communication module through a communication protocol for analyzing communication optimization strategies. The environment perception module includes: an environmental electromagnetic interference sensor, a signal occlusion sensor, and a data processing unit. The environmental electromagnetic interference sensor is used to monitor the intensity of wireless signal interference in the spraying environment. The signal occlusion sensor is used to detect the position and type of obstacles, including the distribution of metal obstacles, high-density materials, and spraying mist. The data processing unit transmits the data collected by the environmental electromagnetic interference sensor and the signal occlusion sensor to the wireless communication module in real time to adjust the communication path / optimize the frequency band selection strategy.

[0012] Preferably, the wireless communication module is integrated with the motion control unit of the six-axis spraying robot, and signal enhancement is performed through a path and communication signal synchronization optimization algorithm. The signal enhancement steps include: Predict areas in the robot's motion path planning that may cause signal shielding and adjust the directivity of the antenna. Dynamically adjust the beamforming angle using an antenna array to perform directional enhancement on the signal transmission path. Real-time adjust communication parameters according to the motion trajectory, including signal transmission power and frequency selection.

[0013] Preferably, the wireless communication module performs time synchronization through a timestamp calibration system. The specific steps of time synchronization are as follows: Embed timestamp information in each wireless data packet to calibrate the data generation time and the robot instruction execution time. Adopt a distributed time synchronization protocol to calibrate the time error through multiple interactions between the master clock and the slave clock. The time synchronization error is less than 1 millisecond, ensuring that the motion instructions and communication signals of the robot are fully matched when performing spraying tasks.

[0014] Preferably, the wireless communication module also includes an intelligent signal obstacle avoidance algorithm based on an environmental model. The specific steps of the intelligent signal obstacle avoidance algorithm include: Establish a dynamic modeling diagram of the signal propagation path based on sensor data to predict the signal occlusion position and signal attenuation of the propagation path. Use the algorithm to calculate the optimal signal propagation path to avoid obstacle reflection and interference. Before the signal quality drops to the preset threshold, switch to the backup propagation path to ensure communication quality.

[0015] Preferably, the intelligent signal obstacle avoidance algorithm combines the data input of the spraying environment sensor array, dynamically generates an optimized signal propagation path solution, and adjusts the signal emission direction and coverage range through the RF module to avoid data loss / communication interruption.

[0016] Preferably, the wireless communication module supports millimeter-wave signal transmission and performs heat dissipation control through a new thermal management system; The new thermal management system includes: a phase change material heat dissipation module, an air flow guiding module, and a temperature control adjustment module; The phase change material heat dissipation module is used to absorb the heat generated by the millimeter-wave device in the high-power state; The air flow guiding system combines the self-air flow design of the spraying robot to optimize the heat dissipation path of the wireless communication module; The temperature control adjustment module monitors the working temperature of the wireless communication module in real time and reduces the risk of equipment overheating by adjusting the signal power.

[0017] Preferably, the surface of the millimeter-wave device is coated with a nano protective coating to improve the corrosion resistance and anti-pollution ability of the device in the high humidity and high dust environment of the spraying workshop.

[0018] Preferably, the wireless communication module adopts a two-way encrypted data transmission scheme. The composition of the two-way encrypted data transmission includes: a lightweight encryption module, a dynamic key negotiation module, and an intrusion detection module; The lightweight encryption module encrypts and decrypts each data packet in real time based on the AES-GCM protocol; The dynamic key negotiation module dynamically generates a symmetric key for the timestamp information through a random number generator; The intrusion detection module detects the access of abnormal signals and triggers the data transmission interruption protection function.

[0019] Preferably, the dynamic key negotiation module generates a check code during the communication process and embeds it in the data packet header to prevent data from being tampered with, and automatically requests the retransmission of the sending segment to retransmit the data when data is lost through the retransmission mechanism.

[0020] Compared with the prior art, the beneficial effects of the present invention are: 1. By designing an adaptive wireless transmission protocol with multi-frequency dynamic switching, the present invention realizes the function of multi-band dynamic switching of communication, solves the problem that the electromagnetic interference in the industrial spraying workshop is complex, and the traditional fixed-frequency transmission is easily affected by signal interference, resulting in unstable or even interrupted communication, improves the anti-interference ability of wireless communication, reduces signal loss and delay, and ensures the real-time performance and stability required for the high-precision operation of the six-axis spraying robot; 2. The present invention realizes the optimization function of path planning to avoid signal shielding and attenuation by designing the synchronization optimization of the spraying path and communication signal, solves the problem that during the movement of a six-axis robot, complex trajectories and metal obstacles can cause signal occlusion and attenuation, thereby affecting the real-time communication and control accuracy of the spraying task, reduces the impact of signal interruption on the spraying accuracy, and ensures a high-quality coating effect for workpieces with complex shapes; 3. The present invention realizes the function of synchronizing instruction transmission and execution by designing a timestamp calibration system, solves the problem of time asynchronization between the robot and the controller in industrial wireless transmission due to clock drift or transmission delay, which may cause motion deviation and a decrease in spraying quality, ensures a high degree of consistency in the multi-degree-of-freedom movement and spraying control tasks of the spraying robot, and improves the accuracy and consistency of the spraying process; 4. The present invention realizes the security protection function for the communication module by designing a new thermal management system and a two-way encrypted data transmission scheme, solves the problems that a high-frequency wireless communication module is prone to performance degradation or even equipment failure due to overheating during long-term operation and that there are security risks of interception or tampering of the communication data of the spraying robot in an industrial environment. Through effective heat dissipation management, the service life of the equipment is extended, the stable performance of the wireless communication module under high load is ensured, the security of data transmission is improved, the spraying control instructions are prevented from being illegally manipulated, and the reliability and security of the production process are ensured. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the optimized control of communication transmission according to the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0022] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0023] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", "front end", "rear end", "both ends", "one end", "the other end", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation of the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0024] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, terms such as "installation", "equipped with", "connection", etc. should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0025] Please refer to Figure 1 , an embodiment provided by the present invention: a high-speed wireless transmission system for real-time communication of a six-axis spraying robot, including a six-axis spraying robot, a central control unit, a wireless communication module, and an environmental perception module. The wireless communication module and the environmental perception module are installed in the six-axis spraying robot. The environmental perception module is connected to the wireless communication module through a wireless transmission protocol. The central control unit sends control instructions to the execution elements of the six-axis spraying robot through the wireless communication module. The wireless communication module is based on an adaptive wireless transmission protocol with multi-frequency dynamic switching, and can adjust the working frequency band in real time according to the wireless signal interference intensity in the spraying environment, and dynamically optimize the bandwidth allocation and signal power; The adaptive wireless transmission protocol with multi-frequency dynamic switching includes: a multi-band support module, a dynamic switching mechanism, and an adaptive optimization module; The multi-band support module supports the 2.4 GHz and 5 GHz millimeter wave bands, and can automatically select according to the interference degree, transmission distance, and data throughput requirements of different frequency bands; The dynamic switching mechanism is an internally built low-latency switching algorithm, and the signal interruption time during the frequency band switching process is ≤ 1 millisecond; The adaptive optimization module dynamically adjusts the channel utilization rate, bandwidth allocation, signal modulation method, and transmission power in combination with the AI algorithm to ensure real-time performance and stability; Furthermore, after the six-axis spraying robot is started, the environmental perception module scans the wireless channel conditions in the spraying workshop in real time, collects the interference intensity, signal quality, transmission bandwidth, and obstacle distribution of the currently available channels. The wireless communication module loads the adaptive wireless transmission protocol with multi-frequency dynamic switching, starts the frequency band selection algorithm, and based on the environmental perception data, pre-selects the working frequency band with the least interference and sufficient bandwidth as the initial transmission frequency band, initializes the dynamic switching mechanism and the adaptive optimization module to ensure that the protocol can monitor and respond to environmental changes at any time; During the robot spraying process, the wireless communication module monitors the signal status of the currently used frequency band in real time. If the interference intensity remains below the preset threshold, it maintains the current frequency band for operation; if it detects an increase in interference intensity or an increase in the data packet loss rate, it triggers the frequency band switching mechanism. The frequency band switching mechanism evaluates among 2.4 GHz, 5 GHz, and millimeter waves according to the spectrum resource situation, and preferentially selects a frequency band with a large bandwidth and low interference for switching to ensure the continuity and stability of communication.

[0026] Please refer to Figure 1 , an embodiment provided by the present invention: a high-speed wireless transmission system for real-time communication of a six-axis spraying robot. The environment perception module is used to detect the working environment parameters of the six-axis spraying robot in real time and transmit the collected data to the wireless communication module through a communication protocol for analyzing communication optimization strategies; The environment perception module includes: an environmental electromagnetic interference sensor, a signal occlusion sensor, and a data processing unit; The environmental electromagnetic interference sensor is used to monitor the wireless signal interference intensity in the spraying environment; The signal occlusion sensor is used to detect the position and type of obstacles, including the distribution of metal obstacles, high-density materials, and spraying mist; The data processing unit sends the data collected by the environmental electromagnetic interference sensor and the signal occlusion sensor to the wireless communication module in real time to adjust the communication path / optimize the frequency band selection strategy; Further, after the environment perception module is started, it uses the environmental electromagnetic interference sensor and the signal occlusion sensor to scan the environmental parameters of the spraying workshop, including: detecting the electromagnetic interference distribution of each frequency band in the workshop, such as whether there is industrial equipment or WIFI interference in the 2.4 GHz and 5 GHz frequency bands, identifying the position and material type of obstacles in the workshop, such as metal equipment, high-density objects, or spraying-generated mist, etc.; The collected environmental data is preliminarily sorted and classified through the data processing unit. An environmental interference intensity distribution map is drawn according to the frequency band, and high-interference areas are marked; a three-dimensional obstacle model is generated according to the obstacle position for subsequent optimization calculation of the signal propagation path. The environment perception module sends the processed data to the wireless communication module to help it select the initial transmission frequency band and optimize the antenna direction. For example, in an area with dense metal obstacles, the initial setting is the millimeter wave frequency band, and the antenna direction is adjusted to avoid direct and reflected paths; During the operation of the six-axis spray robot, the environmental perception module collects real-time environmental data at a certain frequency, such as once every 50ms, and updates the wireless channel interference intensity and obstacle distribution. The electromagnetic interference sensor monitors the signal strength fluctuation in real time. When the interference intensity of a certain frequency band exceeds the threshold, it records the abnormality and notifies the wireless communication module to switch the frequency band. The signal obstruction sensor continuously detects whether the signal path between the robot and the central control unit is blocked by new obstacles, and analyzes the type and degree of impact of the obstruction. The data processing unit updates the three-dimensional propagation model according to the new environmental data, recalculates the optimal signal propagation path, optimizes the directional antenna adjustment angle of the signal to bypass the obstruction, or switches to the backup propagation path to ensure the quality of the communication signal.

[0027] See also Figure 1 , an embodiment provided by the present invention: a high-speed wireless transmission system for real-time communication of a six-axis spraying robot, wherein the wireless communication module is integrated with a motion control unit of the six-axis spraying robot, and a signal enhancement is performed through a path and communication signal synchronization optimization algorithm, and the signal enhancement step includes: Predict areas that may cause signal shielding during robot motion path planning and adjust the antenna’s directivity; Use antenna arrays to dynamically adjust beamforming angles to provide directional enhancement to signal transmission paths; Adjust communication parameters in real time according to the motion trajectory, including signal transmission power and frequency selection; The wireless communication module performs time synchronization through a timestamp calibration system. The specific steps of time synchronization are as follows: Embed timestamp information in each wireless data packet to calibrate the data generation time and robot instruction execution time; A distributed time synchronization protocol is used to calibrate time errors through multiple interactions between the master clock and the slave clock; The time synchronization error is less than 1 millisecond, ensuring that the robot's motion instructions and communication signals are fully matched when performing spraying tasks; Furthermore, before the six-axis spraying robot starts to perform the spraying task, the system collects obstacle distribution, metal surface anti-reflection characteristics and spraying path related data in the workshop through the environmental perception module. Based on this, the system generates a three-dimensional signal propagation model and links with the spraying path planning system to predict the signal shielding area that may appear in the path; for the identified shielding area, the wireless communication module adjusts the antenna directivity to bypass the obstruction. For example, when the robot path is close to a metal obstacle, the antenna directivity is biased toward the non-blocking area to reduce the impact of reflection interference on signal quality; when the shielding area is large and unavoidable, the system gives priority to planning an alternative signal path; The wireless communication module utilizes multi-antenna array technology to dynamically adjust the beamforming angle according to the real-time changes in the signal propagation path. The beam is aligned with the optimal signal path between the robot and the central control unit. For multi-robot cooperation scenarios, the antenna array enhances the signal orientation for multiple robots respectively by quickly switching the beam direction. In complex path spraying tasks, the beamforming algorithm updates at a millisecond-level cycle to ensure the continuity and stability of signal transmission. The wireless communication module calculates the signal path loss value according to the real-time motion trajectory. If the robot moves away from the central control unit, the system automatically increases the signal transmission power. If the robot approaches the central control unit, the power is reduced to reduce energy consumption and interference. A timestamp is embedded in the header of each wireless data packet to record the time when the data is generated and the time point when the spraying task instruction plan is to be executed. When the robot receives the control signal, it reads the timestamp information in real time and verifies its consistency with its own system clock. If there is a deviation, the instruction is temporarily cached and a request for resynchronization is sent. Through the distributed protocol and error compensation mechanism, the time synchronization error is controlled within 1 millisecond to ensure that the actions of the spraying robot are completely matched with the communication instructions.

[0028] Please refer to Figure 1 , an embodiment provided by the present invention: a high-speed wireless transmission system for real-time communication of a six-axis spraying robot. The wireless communication module further includes an intelligent signal obstacle avoidance algorithm based on an environmental model. The specific steps of the intelligent signal obstacle avoidance algorithm include: Establish a dynamic modeling graph of the signal propagation path based on sensor data to predict the signal occlusion position and the signal attenuation of the propagation path. Use the algorithm to calculate the optimal signal propagation path to avoid obstacle reflection and interference. Before the signal quality drops to the preset threshold, switch to the alternate propagation path to ensure the communication quality. The intelligent signal obstacle avoidance algorithm combines the data input of the spraying environment sensor array to dynamically generate an optimized signal propagation path plan, and adjusts the signal transmission direction and coverage range through the RF module to avoid data loss / communication interruption. Furthermore, the environmental perception module obtains the obstacle position and size, channel quality index, and dynamic data of the spraying environment through the sensor array, inputs the collected data into the dynamic modeling system to generate a three-dimensional signal propagation path model, conducts occlusion prediction and path attenuation evaluation, simulates the signal propagation effect according to the predicted path of the robot's running trajectory, and identifies the high-attenuation area in advance and marks it as a signal risk point. Based on the dynamic modeling diagram, run the intelligent signal obstacle avoidance algorithm, evaluate the quality of multiple signal propagation paths, preferentially select a propagation scheme that avoids high-reflection paths, avoid multipath interference caused by reflection. For the predicted occlusion area, calculate an alternative path to bypass the occluder, and adjust the signal path in combination with the directional advantage of millimeter waves. According to parameters such as the attenuation value, interference risk, and coverage range of the path, select the path with the least signal loss and the least interference as the main propagation path; The spraying environment sensors continuously detect the dynamic environment, such as the diffusion range of the mist generated by spraying, the change in spraying pressure, etc., and transmit the data to the dynamic modeling system in real time. The dynamic modeling system synthesizes the data of the environment sensors, updates the signal propagation path model, and generates a new optimization scheme: adjust the propagation path to avoid newly emerging occlusions or interference sources. In the area with dense spraying mist, preferentially select the millimeter wave frequency band and narrow the beam coverage range to concentrate energy to combat mist absorption. Adjust the transmission direction and coverage range of the radio frequency module according to the optimization scheme: the antenna array dynamically changes the beamforming angle to make the signal point to the path that bypasses the obstacle. If the environment changes violently, the system immediately regenerates the path and adjusts the radio frequency parameters.

[0029] Please refer to Figure 1 , an embodiment provided by the present invention: a high-speed wireless transmission system for real-time communication of a six-axis spraying robot, the wireless communication module supports millimeter wave signal transmission, and heat dissipation control is performed through a new type of thermal management system; The new type of thermal management system includes: a phase change material heat dissipation module, an air flow guiding module, and a temperature control adjustment module; The phase change material heat dissipation module is used to absorb the heat generated by the millimeter wave device in the high-power state; The air flow guiding system combines the self-air flow design of the spraying robot to optimize the heat dissipation path of the wireless communication module; The temperature control adjustment module monitors the working temperature of the wireless communication module in real time, and reduces the risk of equipment overheating by adjusting the signal power; The outer surface of the millimeter wave device is coated with a nano-protective coating, which is used to improve the corrosion resistance and anti-pollution performance of the device in the high-humidity and high-dust environment of the spraying workshop; The wireless communication module adopts a two-way encrypted data transmission scheme. The composition of the two-way encrypted data transmission includes: a lightweight encryption module, a dynamic key negotiation module, and an intrusion detection module; The lightweight encryption module encrypts and decrypts each data packet in real time based on the AES-GCM protocol; The dynamic key negotiation module dynamically generates a symmetric key for the timestamp information through a random number generator; The intrusion detection module detects the access of abnormal signals and triggers the data transmission interruption protection function; The dynamic key negotiation module generates a check code during communication and embeds it in the data packet header to prevent data tampering, and automatically requests the retransmission of the sent segment when data is lost through a retransmission mechanism; Furthermore, the wireless communication module is embedded with phase change materials such as paraffin-based phase change materials. When the millimeter-wave device is in a high-power working state, the phase change material absorbs the heat generated by the device and stores the thermal energy through the solid-liquid phase change of the material, thus effectively controlling the temperature rise of the device; when the device is in a low-power state, the phase change material releases the thermal energy and returns to its initial state to ensure the recyclability of the heat dissipation module; The air flow guiding module designs a heat dissipation channel using the natural air flow during the operation of the spraying robot. The air flow guiding module guides the cold air into the wireless communication module to reduce the heat accumulation around the heat dissipation module; the hot air is quickly discharged through the exhaust channel to reduce the risk of excessive local temperature of the device; the temperature control module monitors the temperature of the wireless communication module in real time. When the temperature approaches the preset threshold of 75 °C, the temperature control module automatically reduces the transmission power of the millimeter-wave signal, and at the same time triggers the air flow guiding module to increase the heat dissipation flow rate to extend the high-power working time of the device; Each data packet is encrypted in real time by the lightweight encryption module through the AES-GCM protocol when it is generated. After the robot receives the encrypted data packet, the lightweight encryption module decrypts it using the dynamic key and verifies the integrity of the encrypted tag. If the data packet is tampered with, it triggers automatic discarding and requests retransmission. During each data transmission process, the dynamic key negotiation module generates a symmetric key based on the timestamp and the random number generator, and embeds a check code generated based on the key in the data packet header. Each receiving end verifies the check code. If the verification fails, the data packet is rejected and the alarm mechanism is triggered. The intrusion detection module monitors the signal access behavior in real time, checks whether the source address of the data packet belongs to an authenticated device, monitors the signal strength and interference characteristics, and identifies the access of malicious signals or unauthorized devices. When an abnormal signal access is detected, the module immediately interrupts the current data transmission, sends an intrusion alarm to the main control unit, and resets the current session key.

[0030] Working principle: Through millimeter-wave signal transmission and dynamic channel optimization technology, combined with the dynamic perception of the spraying environment, high-speed data transmission between the six-axis spraying robot and the remote control system is achieved. The environment perception module can construct a signal propagation path model in real time, predict signal occlusion or attenuation, and dynamically adjust the signal propagation direction and frequency to ensure signal stability; The millimeter-wave device is built with a new type of thermal management system, including a phase change material heat dissipation module, an air flow guiding module, and a temperature control adjustment module, which effectively addresses the heat accumulation problem of the millimeter-wave device during high-power operation. At the same time, the surface of the device is coated with a nano protective coating to enhance its durability and anti-pollution ability in the high-humidity and high-dust environment of the spraying workshop; The system adopts a two-way encrypted data transmission scheme, encrypts data packets in real time through a lightweight encryption module, and generates a unique key in combination with a dynamic key negotiation module to ensure the integrity and confidentiality of communication data. The intrusion detection module is responsible for identifying abnormal signal access and triggering a security mechanism to interrupt communication to avoid data leakage.

[0031] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-described exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be embraced within the present invention. Any reference signs in the claims should not be construed as limiting the claims involved.

Claims

1. A high-speed wireless transmission system for real-time communication of a six-axis spraying robot, comprising a six-axis spraying robot, a central control unit, a wireless communication module and an environment perception module, characterized in that: The six-axis spraying robot is equipped with a wireless communication module and an environment perception module. The environment perception module is connected to the wireless communication module through a wireless transmission protocol. The central control unit sends control instructions to the actuator of the six-axis spraying robot through the wireless communication module. The wireless communication module is based on an adaptive wireless transmission protocol with multi-frequency dynamic switching, and can adjust the working frequency band in real time according to the wireless signal interference intensity in the spraying environment, and dynamically optimize bandwidth allocation and signal power. The adaptive wireless transmission protocol for multi-frequency dynamic switching includes: a multi-band support module, a dynamic switching mechanism and an adaptive optimization module; The multi-band support module supports 2.4GHz and 5GHz millimeter wave bands, and can automatically select according to the interference level, transmission distance and data throughput requirements of different frequency bands; The dynamic switching mechanism is a built-in low-latency switching algorithm, which achieves a signal interruption time of ≤1 millisecond during the frequency band switching process; The adaptive optimization module combines AI algorithms to dynamically adjust channel utilization, bandwidth allocation, signal modulation mode and transmission power to ensure real-time and stability.

2. A high-speed wireless transmission system for real-time communication of a six-axis spraying robot according to claim 1, characterized in that: The environmental perception module is used to detect the working environment parameters of the six-axis spraying robot in real time, and transmit the collected data to the wireless communication module through the communication protocol to analyze the communication optimization strategy; The environmental perception module includes: environmental electromagnetic interference sensor, signal blocking sensor and data processing unit; Environmental electromagnetic interference sensors are used to monitor the intensity of wireless signal interference in the spraying environment; Signal occlusion sensors are used to detect the location and type of obstacles, including the distribution of metal obstacles, high-density materials, and spray mist; The data processing unit sends the data collected by the environmental electromagnetic interference sensor and the signal shielding sensor to the wireless communication module in real time to adjust the communication path / optimize the frequency band selection strategy.

3. A high-speed wireless transmission system for real-time communication of a six-axis spraying robot according to claim 1, characterized in that: The wireless communication module is integrated with the motion control unit of the six-axis spraying robot, and the signal is enhanced through the path and communication signal synchronization optimization algorithm. The signal enhancement step includes: Predict areas that may cause signal shielding during robot motion path planning and adjust the antenna’s directivity; Use antenna arrays to dynamically adjust beamforming angles to provide directional enhancement to signal transmission paths; Adjust communication parameters in real time according to the motion trajectory, including signal transmission power and frequency selection.

4. A high-speed wireless transmission system for real-time communication of a six-axis spraying robot according to claim 1, characterized in that: The wireless communication module performs time synchronization through a timestamp calibration system. The specific steps of time synchronization are as follows: Embed timestamp information in each wireless data packet to calibrate the data generation time and robot instruction execution time; A distributed time synchronization protocol is used to calibrate time errors through multiple interactions between the master clock and the slave clock; The time synchronization error is less than 1 millisecond, ensuring that the robot's motion instructions and communication signals are fully matched when performing spraying tasks.

5. The high-speed wireless transmission system for real-time communication of a six-axis spraying robot according to claim 1, characterized in that: The wireless communication module also includes an intelligent signal obstacle avoidance algorithm based on an environmental model, and the steps of the intelligent signal obstacle avoidance algorithm specifically include: A dynamic modeling diagram of the signal propagation path is established based on sensor data to predict signal blocking locations and signal attenuation along the propagation path; Use algorithms to calculate the best signal propagation path to avoid reflection and interference from obstacles; Before the signal quality drops to a preset threshold, switch to an alternative propagation path to ensure communication quality.

6. A high-speed wireless transmission system for real-time communication of a six-axis spraying robot according to claim 5, characterized in that: The intelligent signal obstacle avoidance algorithm combines the data input from the spray environment sensor array to dynamically generate a signal propagation path optimization plan, and adjusts the signal transmission direction and coverage range through the radio frequency module to avoid data loss / communication interruption.

7. The high-speed wireless transmission system for real-time communication of a six-axis spraying robot according to claim 1, characterized in that: The wireless communication module supports millimeter wave signal transmission and performs heat dissipation control through a new thermal management system; The new thermal management system includes: phase change material heat dissipation module, air flow guide module and temperature control and regulation module; Phase change material heat dissipation module is used to absorb the heat generated by millimeter wave equipment under high power state; The airflow guide system is combined with the spray robot's own airflow design to optimize the heat dissipation path of the wireless communication module; The temperature control module monitors the operating temperature of the wireless communication module in real time and reduces the risk of equipment overheating by adjusting the signal power.

8. A high-speed wireless transmission system for real-time communication of a six-axis spraying robot according to claim 7, characterized in that: The surface of the millimeter wave device is coated with a nano protective coating to improve the corrosion resistance and pollution resistance of the device in the high humidity and high dust environment of the spray workshop.

9. The high-speed wireless transmission system for real-time communication of a six-axis spraying robot according to claim 1, characterized in that: The wireless communication module adopts a two-way encrypted data transmission scheme, and the two-way encrypted data transmission comprises: a lightweight encryption module, a dynamic key negotiation module and an intrusion detection module; The lightweight encryption module encrypts and decrypts each data packet in real time based on the AES-GCM protocol; The dynamic key negotiation module dynamically generates a symmetric key for the timestamp information through a random number generator; The intrusion detection module detects abnormal signal access and triggers the data transmission interruption protection function.

10. A high-speed wireless transmission system for real-time communication of a six-axis spraying robot according to claim 9, characterized in that: The dynamic key negotiation module generates a check code during the communication process and embeds it into the data packet header to prevent data from being tampered with, and automatically requests the sending segment to retransmit data through a retransmission mechanism when data is lost.

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