Inspection method of security inspection robot

Abstract

The invention discloses an inspection method of a security inspection robot, which comprises the following steps of: loading an inspection area map for the security inspection robot, and formulating an inspection route according to an inspection requirement; during inspection, the security inspection robot performs image acquisition through a camera, and relates to the technical field of security inspection. When signal interruption and signal interruption are detected, the security inspection robot starts an autonomous path-finding mechanism and can determine an area and a direction with relatively strong signals according to a signal intensity detection result; and a positioning system is combined to quickly find the position of the robot in the map of the inspection area, and a path for an area with strong signals is planned. And once the signal is successfully connected, the inspection route can be regenerated according to the current position, and the inspection task is continuously executed, so that the disconnection time is effectively shortened, the inspection continuity is guaranteed to the greatest extent, and the problem that the inspection efficiency is reduced due to signal interruption is greatly reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of security patrol, and particularly to a patrol method for a security patrol robot. Background Art

[0002] With the increasing demand for security, the traditional manual patrol method is inefficient, costly, and difficult to achieve all-weather and all-round monitoring. Therefore, security patrol robots have emerged.

[0003] Publication No. CN117724494B provides a patrol method for an intelligent patrol robot, which can more accurately control the patrol equipment to reach the designated target position, and determine the opening method of the access control through the patrol attributes and security equipment, improving the efficiency of the entire patrol process and effectively preventing unauthorized personnel from entering, thus enhancing security.

[0004] Publication No. CN109571468B provides a security patrol robot and a security patrol method, which have functions of various information collection, intelligent analysis, and independent decision-making.

[0005] However, the above applications still have the following problems: When a signal interruption occurs, the connection between the patrol robot and the control center is cut off, and it cannot receive new instructions and data in a timely manner, nor can it transmit the collected patrol information back to the control center for analysis and processing in real time. More critically, due to the loss of communication with the control center, in this situation, it is difficult for the robot to re-plan the patrol route. Re-establishing the communication connection often takes a long time. During this period, the patrol robot is in a "disconnected" state and cannot normally execute the patrol task, resulting in a significant reduction in the patrol efficiency. Summary of the Invention

[0006] To solve the technical problems in the background art, the present invention proposes a patrol method for a security patrol robot.

[0007] The patrol method for a security patrol robot proposed by the present invention includes the following steps:

[0008] Load a patrol area map for the security patrol robot and formulate a patrol route according to the patrol requirements;

[0009] During the patrol, the security patrol robot collects images through a camera and collects environmental data and equipment data through sensors;

[0010] During the patrol, the security patrol robot is equipped with multiple signal receiving sensors to detect the wireless signal strength in different directions around in real time and feedback it to the control system in numerical form to determine the signal strength detection result at the current position;

[0011] When a signal interruption is detected, the security patrol robot activates the autonomous pathfinding mechanism. Based on the signal strength detection results, it determines the area and direction with relatively stronger signals. According to the positioning system, it locates the position of the security patrol robot within the patrol area map, plans a path to the area with stronger signals, and after the signal is successfully connected, regenerates the patrol route based on the current position of the security patrol robot;

[0012] Then, a patrol report is generated based on the patrol data.

[0013] Preferably, when a signal interruption is detected, the positioning system is activated. The positioning system includes a lidar that continuously scans the surrounding environment, creates a three-dimensional point cloud map, identifies surrounding objects and terrain features, and obtains the positioning result of the positioning system through the lidar to determine the position of the security patrol robot within the patrol area map.

[0014] Preferably, the position of the security patrol robot within the patrol area map is obtained through the lidar as follows:

[0015] Let the coordinates of a known reference point in the patrol area map be (X0, Y0, Z0), and the translation vector be T, T = (T x , T y , T z ), representing the translation amounts in the x, y, and z directions respectively. Then the position of the security patrol robot in the patrol area map is expressed as (X0 + T x , Y0 + T y , Z0 + T z );

[0016] The lidar scans the surrounding environment to obtain a set of characteristic point coordinates p;

[0017] P = {p1(x1, y1, z1), p2(x2, y2, z2), …, p n (x n , y n , z n )};

[0018] Each point has corresponding coordinate values. p i represents the i-th point, i = 1, 2, …, n, and (x i , y i , z i ) represent the abscissa, ordinate, and vertical coordinate of the point in three-dimensional space respectively;

[0019] The set of known characteristic points in the pre-stored patrol area map is Q;

[0020] Q = {q1(X1, Y1, Z1), q2(X2, Y2, Z2),..., q m (Xm , Y m , Z m )}, q j represents the j-th point, where j = 1, 2,..., m;

[0021] Match P and Q using the Iterative Closest Point (ICP) algorithm to obtain the translation vector T;

[0022] The goal of the ICP algorithm is to minimize the distance between two point sets, and the objective function E is defined as:

[0023]

[0024] n is the total number of points obtained by lidar scanning, that is, the number of elements in the point set P;

[0025] m is the total number of known feature points in the inspection area map, that is, the number of elements in the point set Q;

[0026] i = 1 represents the starting index for traversing the point set P obtained by lidar scanning. i is a variable that starts from 1 and gradually increases to n. i = 1 means that by letting i change from 1, each point in the point set P is taken in turn;

[0027] j = 1 represents the starting index for traversing the known feature point set Q in the inspection area map. j is a variable that starts from 1 and gradually increases to m. j = 1 means that by letting j change from 1, each point in the point set Q is taken in turn;

[0028] || p i - R qj - T|| represents the distance between point p i after rotation and translation and point q j which is calculated using the Euclidean distance formula, that is

[0029]

[0030] The objective function E represents the square of the sum of the distances between the lidar scanning points and the map feature points, and is used to measure the quality of the match in the Iterative Closest Point (ICP) algorithm.

[0031] Among them, R is the rotation matrix used to describe the rotation relationship between the lidar coordinate system and the inspection area map coordinate system, and T is the translation vector used to describe the translation relationship between the lidar coordinate system and the inspection area map coordinate system. By continuously iteratively adjusting R and T, the objective function E is minimized. When the objective function reaches the minimum value, the translation vector T at this time is the position offset of the lidar relative to the inspection area map.

[0032] Through the above algorithm, the position of the security patrol robot within the patrol area map is determined.

[0033] Preferably, the patrol area map includes terrain information, obstacle information, passage information, signal strength distribution information, and the location information of facilities and equipment.

[0034] Preferably, the security patrol robot uses wireless signal detection software to feedback the wireless signal strength in numerical form, and the wireless signal detection software is InSSIDer or NetSpot.

[0035] Preferably, the security patrol robot adopts a communication method combining Wi-Fi, Bluetooth, and 4G / 5G. When a signal interruption occurs in one communication method, it automatically switches to other methods (for example, when a signal interruption occurs in the Wi-Fi communication method, it automatically switches to the Bluetooth or 4G / 5G communication method). When signal interruptions occur in all of the Wi-Fi, Bluetooth, and 4G / 5G communication methods, the autonomous pathfinding mechanism is activated.

[0036] Preferably, when signal interruptions occur in all of the Wi-Fi, Bluetooth, and 4G / 5G communication methods, the security patrol robot first cooperates with other nearby security patrol robots, requests other security patrol robots to forward data to restore communication. If there is no response from other security patrol robots, the autonomous pathfinding mechanism is activated.

[0037] Preferably, a signal amplifier is installed on the security patrol robot.

[0038] Preferably, the patrol data is subjected to data compression processing to reduce the amount of data and reduce the transmission time delay.

[0039] Preferably, when a signal interruption occurs, the security patrol robot stores the collected patrol data in the local cache and performs data transmission after the signal is successfully connected.

[0040] A patrol system for a security patrol robot includes an information collection end and a control system;

[0041] The information collection end includes:

[0042] A data collection module: used for data collection. The security patrol robot performs image collection through a camera and collects environmental data and equipment data through sensors;

[0043] A signal receiving module: includes multiple signal receiving sensors, used for real-time detection of the wireless signal strength in different directions around the security patrol robot, and feedbacks the detected signal strength to the control system in the form of digital signals.

[0044] Positioning system: It includes a lidar. The lidar continuously scans the surrounding environment, creates a three-dimensional point cloud map, identifies surrounding objects and terrain features, and determines the position of the security patrol robot within the patrol area map based on the positioning result of the lidar.

[0045] Communication module: It includes a Wi-Fi communication unit, a Bluetooth communication unit, and a 4G / 5G communication unit. When a signal interruption occurs in one of the communication units, it automatically switches to other communication units. The communication module is used to transmit the information from the information acquisition end to the control system;

[0046] Cooperative communication module: When signal interruptions occur in all communication methods of the Wi-Fi unit, Bluetooth unit, and 4G / 5G communication unit, this module is activated;

[0047] The security patrol robot will actively send a cooperation request signal to other nearby security patrol robots;

[0048] If other security patrol robots receive the request and respond, the two parties will establish a temporary data transmission channel to forward and transmit the interrupted data and resume communication with the control system;

[0049] If other security patrol robots do not respond, the security patrol robot will activate the autonomous pathfinding mechanism to search for an area with a stronger signal to ensure that the patrol task can continue;

[0050] Autonomous pathfinding mechanism module: When the signal is interrupted and other patrol robots do not respond, this module is activated; it is used to determine the area and direction with a relatively stronger signal based on the signal strength detection result of the signal receiving module, find the position of the security patrol robot within the patrol area map according to the positioning system, and plan a path to the area with a stronger signal;

[0051] Data storage module: When the signal is interrupted and other patrol robots do not respond, it stores the patrol data collected by the data acquisition module in the local cache to ensure that the data is not lost; when the signal is successfully connected, it then transmits the data in the local cache to the control system to provide a complete data source for generating subsequent patrol reports;

[0052] Control system: It is used to receive and store the data transmitted by the communication module;

[0053] It is used to receive the loaded patrol area map and formulate a patrol route according to the patrol requirements;

[0054] It is used to receive the wireless signal strength value feedback by the signal receiving sensor of the signal receiving module in real time;

[0055] When the signal is successfully connected, the control system will regenerate a new patrol route according to the current position of the robot to ensure that the robot can continue to complete the patrol task completely.

[0056] A terminal, comprising a processor and a storage medium; the storage medium is used for storing instructions;

[0057] The processor is configured to operate according to the instructions to execute the steps of the inspection method of the above-mentioned security inspection robot.

[0058] A computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps of the inspection method of the above-mentioned security inspection robot are implemented.

[0059] In the present invention, the proposed inspection method of the security inspection robot has the following beneficial technical effects:

[0060] 1. When the signal of the security inspection robot of the present application is interrupted, when the signal interruption is detected, the robot starts an autonomous pathfinding mechanism, can determine the area and direction with relatively strong signals according to the signal strength detection result, and quickly find its own position in the inspection area map in combination with the positioning system, and plan a path to the area with stronger signals. Once the signal is successfully connected, the inspection route can be regenerated according to the current position, and the inspection task can be continued, effectively shortening the "lost connection" time, ensuring the continuity of the inspection to the greatest extent, and greatly reducing the problem of reduced inspection efficiency caused by signal interruption.

[0061] 2. When the signal is interrupted, the security inspection robot stores the collected inspection data in the local cache and performs data transmission after the signal is successfully connected. This can ensure that the collected data will not be lost even in the case of communication interruption, and ensure the security and integrity of the inspection data.

[0062] 3. The security inspection robot of the present application adopts a communication method combining Wi-Fi, Bluetooth, and 4G / 5G. When a signal interruption occurs in one communication method, it can automatically switch to other methods. The combination of such multiple communication methods greatly enhances the stability and adaptability of communication, and reduces the risk of long-term communication interruption caused by a single communication method failure. Moreover, when signal interruptions occur in all communication methods, it can also cooperate with other nearby security inspection robots to request data forwarding, further increasing the possibility of restoring communication in a complex environment.

[0063] The additional aspects and advantages of the present invention will be partly given in the following description, partly will become obvious from the following description, or will be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Figure 1 is a flowchart of the method of the present invention;

[0065] Figure 2 is a schematic block diagram of the system of the present invention. Detailed implementation manners

[0066] The embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar symbols represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation to the present invention.

[0067] As Figure 1 shown, a patrol method for a security patrol robot includes the following steps:

[0068] Load a patrol area map and a positioning system for the security patrol robot, and formulate a patrol route according to the patrol requirements;

[0069] The patrol area map includes terrain information, obstacle information, passage information, signal strength distribution information, and the location information of facilities and equipment;

[0070] During the patrol, the patrol robot collects images through a camera, and can use existing artificial intelligence algorithms to detect and identify targets in the images to discover suspicious persons, illegal intrusions or other security hazards;

[0071] Use various sensors to detect abnormal situations, including temperature changes, smoke, and water leakage;

[0072] During the patrol, the security patrol robot adopts signal enhancement means, such as adjusting the antenna direction to align it with the signal source, or using a portable small signal amplifier in areas with weak signals; effectively improving the signal reception quality and enhancing the flexibility and reliability of the patrol. Even in areas with poor signals, it can maintain the communication connection with the control center as much as possible to ensure the smooth progress of the patrol task.

[0073] When the security patrol robot transmits data, it compresses the patrol data to reduce the amount of data and reduce the transmission time delay.

[0074] During the patrol, the robot is equipped with multiple signal receiving sensors to detect the wireless signal strength in different directions around in real time and feedback it to the control system in numerical form to determine the signal strength situation at the current position;

[0075] Use wireless signal detection software to feedback the wireless signal strength in numerical form. The wireless signal detection software is InSSIDer and NetSpot. InSSIDer is a software for searching and analyzing WiFi networks, and NetSpot is a professional WiFi signal analysis software that can visualize the WiFi coverage and map the channel load;

[0076] When the signal is interrupted, the security inspection robot temporarily stores the collected data in the local cache and performs batch transmission when the communication condition is good; this can ensure that the collected data will not be lost even in the case of communication interruption, guaranteeing the security and integrity of the inspection data. At the same time, the complete storage of the data also provides a reliable basis for generating accurate and detailed inspection reports later.

[0077] The wireless communication of the security inspection robot adopts a communication method that combines Wi-Fi, Bluetooth, and 4G / 5G, and automatically switches to other methods when a signal interruption occurs in one communication method;

[0078] For example, when a signal interruption occurs in the Wi-Fi communication method, it automatically switches to the Bluetooth or 4G / 5G communication method;

[0079] When signal interruptions occur in all of the Wi-Fi, Bluetooth, and 4G / 5G communication methods, first cooperate with other nearby security inspection robots, request other security inspection robots to forward data, and restore communication.

[0080] If multiple other security inspection robots respond simultaneously, request multiple other security inspection robots to forward data and restore communication at the same time. At this time, the collected security data can be divided into several parts and transmitted to multiple other security inspection robots through wireless communication.

[0081] If other security inspection robots do not respond, start the autonomous pathfinding mechanism;

[0082] The security inspection robot of this application adopts a communication method that combines Wi-Fi, Bluetooth, and 4G / 5G. When a signal interruption occurs in one communication method, it can automatically switch to other methods. The combination of these multiple communication methods greatly enhances the stability and adaptability of communication, reducing the risk of long-term communication interruption caused by the failure of a single communication method. Moreover, when signal interruptions occur in all communication methods, it can also cooperate with other nearby security inspection robots to request data forwarding, further increasing the possibility of restoring communication in a complex environment.

[0083] The autonomous pathfinding mechanism is as follows: determine the direction with relatively stronger signal according to the signal strength detection result;

[0084] Use the lidar to continuously scan the surrounding environment, create a three-dimensional point cloud map, identify the surrounding objects and terrain features, and combine with the map features in the loaded inspection area map information to determine the position of the security inspection robot in the inspection area map;

[0085] The position of the security inspection robot in the inspection area map obtained through the lidar is as follows:

[0086] Let the coordinates of a known reference point in the inspection area map be (X0, Y0, Z0), and the translation vector be T, T = (T x , T y , T z ), which represent the translation amounts in the x, y, and z directions respectively. Then the position of the security inspection robot in the inspection area map is expressed as (X0 + T x , Y0 + T y , Z0 + T z );

[0087] The lidar scans the surrounding environment to obtain a set of characteristic point coordinates p;

[0088] P = {p1(x1, y1, z1), p2(x2, y2, z2), …, p n (x n , y n , z n )};

[0089] Each point has corresponding coordinate values. p i represents the i-th point, i = 1, 2, …, n, and (x i , y i , z i ) represent the abscissa, ordinate, and vertical coordinate of the point in three-dimensional space respectively;

[0090] The set of known characteristic points in the pre-stored inspection area map is Q;

[0091] Q = {q1(X1, Y1, Z1), q2(X2, Y2, Z2), …, q m (X m , Y m , Z m ),}, q j represents the j-th point, j = 1, 2, …, m;

[0092] Match P and Q using the Iterative Closest Point (ICP) algorithm to obtain the translation vector T;

[0093] The goal of the ICP algorithm is to minimize the distance between two point sets. Define the objective function E:

[0094]

[0095] n is the total number of points scanned by the lidar, that is, the number of elements in the point set P;

[0096] m is the total number of known characteristic points in the inspection area map, that is, the number of elements in the point set Q;

[0097] i = 1 represents the starting index for traversing the point set P obtained from lidar scanning. i is a variable that gradually increases from 1 to n. i = 1 means that by varying i starting from 1, each point in the point set P is sequentially obtained;

[0098] j = 1 represents the starting index for traversing the known feature point set Q in the inspection area map. j is a variable that gradually increases from 1 to m. j = 1 means that by varying j starting from 1, each point in the point set Q is sequentially obtained;

[0099] ||p i -R qj -T|| represents the distance between the point p i after rotation and translation and the point q j which is calculated using the Euclidean distance formula, that is

[0100]

[0101] The objective function E represents the square of the sum of the distances between the lidar scanning points and the map feature points, and is used to measure the quality of the match in the Iterative Closest Point (ICP) algorithm.

[0102] Where R is the rotation matrix used to describe the rotation relationship between the lidar coordinate system and the inspection area map coordinate system, and T is the translation vector used to describe the translation relationship between the lidar coordinate system and the inspection area map coordinate system. By continuously iteratively adjusting R and T, the objective function E is minimized. When the objective function reaches the minimum value, the translation vector T at this time is the position offset of the lidar relative to the inspection area map.

[0103] Through the above algorithm, the position of the security inspection robot in the inspection area map is determined.

[0104] Combined with the map information and the positioning system, a path to the area with stronger signal is planned;

[0105] After the security inspection robot completes the inspection, a patrol report is generated according to the inspection data.

[0106] When the signal of the security inspection robot in this application is interrupted, when the signal interruption is detected, the robot starts the autonomous pathfinding mechanism, can determine the area and direction with relatively stronger signal according to the signal strength detection result, and quickly finds its own position in the inspection area map in combination with the positioning system, and plans a path to the area with stronger signal. Once the signal is successfully connected, a new inspection route can be regenerated according to the current position, and the inspection task can be continued, effectively shortening the "lost connection" time, ensuring the continuity of the inspection to the greatest extent, and greatly reducing the problem of reduced inspection efficiency caused by signal interruption.

[0107] Such asFigure 2 An inspection system for a security inspection robot as shown, comprising an information collection end and a control system;

[0108] The information collection end includes:

[0109] Data collection module:

[0110] Used for data collection. The security inspection robot collects images through a camera and collects environmental data and equipment data through sensors;

[0111] Signal receiving module:

[0112] Includes multiple signal receiving sensors, which are used to detect the wireless signal strength in different directions around the security inspection robot in real time and feedback the detected signal strength to the control system in the form of digital signals.

[0113] Positioning system:

[0114] Includes a lidar. The lidar continuously scans the surrounding environment, creates a three-dimensional point cloud map, identifies surrounding objects and terrain features, and determines the position of the security inspection robot in the inspection area map based on the positioning result of the lidar.

[0115] Communication module:

[0116] Includes a Wi-Fi communication unit, a Bluetooth communication unit, and a 4G / 5G communication unit. When a signal interruption occurs in one of the communication units, it automatically switches to other communication units. The communication module is used to transmit the information of the information collection end to the control system;

[0117] Cooperative communication module:

[0118] When signal interruptions occur in the communication methods of the Wi-Fi unit, Bluetooth unit, and 4G / 5G communication unit, this module is started;

[0119] The security inspection robot sends a cooperation request signal to other security inspection robots;

[0120] If other security inspection robots receive the request and respond, a temporary data transmission channel will be established between the two parties to forward and transmit the interrupted data and restore communication with the control system;

[0121] If other security inspection robots do not respond, the security inspection robot will start an autonomous pathfinding mechanism;

[0122] Autonomous pathfinding mechanism module:

[0123] When the signal is interrupted and other patrol robots do not respond, this module is activated; it is used to determine the area and direction with relatively strong signals based on the signal strength detection results of the signal receiving module, find the position of the security patrol robot in the patrol area map according to the positioning system, and plan a path to the area with stronger signals.

[0124] Data storage module:

[0125] When the signal is interrupted and other patrol robots do not respond, the patrol data collected by the data collection module is stored in the local cache. When the signal is successfully connected, the data in the local cache is then transmitted to the control system through the communication module or the cooperative communication module.

[0126] Control system:

[0127] It is used to receive and store the data transmitted by the communication module or the cooperative communication module.

[0128] It is used to receive the loaded patrol area map and formulate a patrol route according to the patrol requirements.

[0129] It is used to receive in real time the wireless signal strength values fed back by the signal receiving sensors of the signal receiving module.

[0130] When the signal is successfully connected, the control system will regenerate a new patrol route according to the current position of the robot.

[0131] A terminal includes a processor and a storage medium; the storage medium is used to store instructions;

[0132] The processor is used to operate according to the instructions to execute the steps of the patrol method of the above-mentioned security patrol robot.

[0133] A computer-readable storage medium stores a computer program, and when the program is executed by a processor, it implements the steps of the patrol method of the above-mentioned security patrol robot.

[0134] Meanwhile, the content not described in detail in this specification belongs to the prior art well-known to those skilled in the art.

[0135] In the embodiments provided by the present invention, it should be understood that the disclosed system or method can be implemented in other ways. For example, the above-described invention embodiments are merely illustrative. For example, the division of modules is only a logical function division, and there may be other division methods in actual implementation.

[0136] The modules described as separate components may or may not be physically separated. The components shown as modules may or may not be physical modules, and they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0137] In addition, in each embodiment of the present invention, the functional modules can be integrated into one processing module, or each module can exist physically alone, or two or more modules can be integrated into one module. The above integrated modules can be implemented in the form of hardware, or in the form of a combination of hardware and software functional modules.

[0138] For those skilled in the operation and maintenance in this field, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and without departing from the basic features of the present invention, the present invention can be implemented in other specific forms.

[0139] As mentioned above, the above are only the preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the technical field within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. A patrol inspection method for a security patrol inspection robot, characterized in that: The following steps are involved: Load the inspection area map for the security inspection robot and formulate the inspection route according to the inspection requirements; During inspections, the security inspection robot collects images through cameras and collects environmental and equipment data through sensors; During inspection, the security inspection robot is equipped with multiple signal receiving sensors to detect the wireless signal strength in different directions around it in real time, and feed it back to the control system in numerical form to determine the signal strength detection result at the current location; When a signal interruption is detected, the security inspection robot starts the autonomous path-finding mechanism, determines the area and direction where the signal is relatively strong based on the signal strength detection result, finds the position of the security inspection robot in the inspection area map based on the positioning system, and plans a path to the area with stronger signal. After the signal is successfully connected, the inspection route is regenerated based on the current position of the security inspection robot. Then generate an inspection report based on the inspection data.

2. The inspection method of the security inspection robot according to claim 1, characterized in that: When a signal interruption is detected, the positioning system is started. The positioning system includes a lidar. The lidar continuously scans the surrounding environment, creates a three-dimensional point cloud map, identifies surrounding objects and terrain features, obtains positioning results through the lidar, and determines the position of the security inspection robot within the inspection area map.

3. The inspection method of the security inspection robot according to claim 2, characterized in that: The positioning results of the positioning system are obtained through the laser radar as follows: Assume that the coordinates of a known reference point in the inspection area map are (X0, Y0, Z0), and the translation vector is T, T = (T x , T y , T z ), respectively representing the translation in the x, y, and z directions. Then the position of the security inspection robot in the inspection area map is expressed as (X0+T x , Y0+T y , X0+T z ); The laser radar scans the surrounding environment to obtain a feature point coordinate set p; P={p1(x1,y1,z1),p2(x2,y2,z2),...,p n (x n y n ,z n )}? Each point has a corresponding coordinate value, p i represents the i-th point, i=1,2,...,n, (x i ,y i , z i ) represent the horizontal coordinate, vertical coordinate and vertical coordinate of the point in three-dimensional space respectively; The set of known feature points in the pre-stored inspection area map is Q; Q={q1(X1,Y1,Z1),q2(X2,Y2,Z2),...,q m (X m , Y m , Z m )},q j represents the jth point, j = 1, 2, ..., m; Match P and Q using the ICP algorithm to obtain the translation vector T.

4. The inspection method of the security inspection robot according to claim 1, characterized in that: The inspection area map contains terrain information, obstacle information, channel information, signal strength distribution information, and facility and equipment location information.

5. The inspection method of the security inspection robot according to claim 1, characterized in that: The security inspection robot uses wireless signal detection software to feedback the wireless signal strength in numerical form.

6. The inspection method of the security inspection robot according to claim 1, characterized in that: The security inspection robot uses a communication method that combines Wi-Fi, Bluetooth, and 4G / 5G. When the signal of one communication method is interrupted, it automatically switches to other methods. When the signal of Wi-Fi, Bluetooth, and 4G / 5G communication methods are all interrupted, the autonomous path-finding mechanism is activated.

7. The inspection method of the security inspection robot according to claim 6, characterized in that: When the Wi-Fi, Bluetooth, and 4G / 5G communication methods of the security patrol robot are interrupted, the security patrol robot will first collaborate with other nearby security patrol robots, request other security patrol robots to forward data, and restore communication. If other security patrol robots do not respond, the autonomous path-finding mechanism will be activated.

8. The inspection method of the security inspection robot according to claim 1, characterized in that: When the signal is interrupted, the security inspection robot stores the collected inspection data in the local cache, and then transmits the data after the signal is successfully connected.

9. An inspection system using the security inspection robot according to any one of claims 1 to 8, characterized in that: Including information collection terminal and control system; The information collection terminal includes: Data acquisition module: For data collection, the security inspection robot collects images through cameras and collects environmental data and equipment data through sensors; Signal receiving module: It includes multiple signal receiving sensors, which are used to detect the wireless signal strength in different directions around the security inspection robot in real time, and feed back the detected signal strength to the control system in the form of digital signals. Positioning system: Including laser radar, the laser radar continuously scans the surrounding environment, creates a three-dimensional point cloud map, identifies surrounding objects and terrain features, and determines the position of the security inspection robot within the inspection area map through the positioning results of the laser radar. Communication module: It includes a Wi-Fi communication unit, a Bluetooth communication unit and a 4G / 5G communication unit. When a signal interruption occurs in one of the communication units, it automatically switches to other communication units. The communication module is used to transmit information from the information collection end to the control system; Collaborative communication module: When the communication modes of the Wi-Fi unit, Bluetooth unit, and 4G / 5G communication unit are all interrupted, start this module; The security inspection robot sends a cooperation request signal to other security inspection robots; If other security inspection robots receive the request and respond, the two parties will establish a temporary data transmission channel to forward and transmit the interrupted data and restore communication with the control system; If other security inspection robots do not respond, the security inspection robot will start the autonomous path-finding mechanism; Autonomous pathfinding mechanism module: When the signal is interrupted and other inspection robots do not respond, this module is started; it is used to determine the area and direction where the signal is relatively strong according to the signal strength detection result of the signal receiving module, find the position of the security inspection robot in the inspection area map according to the positioning system, and plan the path to the area with strong signal; Data storage module: When the signal is interrupted and other inspection robots do not respond, the inspection data collected by the data acquisition module is stored in the local cache. When the signal is successfully connected, the data in the local cache is transmitted to the control system through the communication module or the collaborative communication module. Control system: Used to receive and store data transmitted by the communication module or the collaborative communication module; Used to receive the loaded inspection area map and formulate the inspection route according to the inspection requirements; Used to receive the wireless signal strength value fed back by the signal receiving sensor of the signal receiving module in real time; When the signal is successfully connected, the control system will regenerate a new inspection route based on the robot's current position.

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