Railway intelligent robot inspection system and method

Abstract

The invention provides a railway intelligent robot inspection system and method, belongs to the technical field of Internet of Things, and is used for improving the inspection efficiency of a railway intelligent robot. The method comprises the following steps: a railway intelligent inspection terminal determines to move to a preset position, wherein the preset position is a position where the railway intelligent inspection terminal can communicate with two nearest acquisition devices; the intelligent railway inspection terminal initiates paging to a target acquisition device, and reads acquisition information from the target acquisition device under the condition that the acquisition device is paged, and the target acquisition device is any one of communication of the two acquisition devices; and the intelligent railway inspection terminal determines railway state information in the monitoring range of the target acquisition equipment according to the acquisition information.

Description

Technical Field

[0001] The present invention relates to the technical field of the Internet of Things, and particularly to a railway intelligent robot inspection system and method. Background Art

[0002] With the continuous development of technology and the progress of society, railway transportation, as one of the important transportation modes, its safety and efficiency have been increasingly emphasized. Traditional railway inspection methods mainly rely on manual inspections and fixed-point monitoring devices, but these methods have problems such as low efficiency, incomplete coverage, and limited data processing capabilities. Therefore, railway intelligent robot inspection technology has emerged. Railway intelligent robot inspection technology refers to the technology of using robot technology to automatically inspect railway lines. This technology can, by carrying various sensors and image recognition systems, monitor the status of railway lines in real time, including key indicators such as track wear, bridge structure, and tunnel safety. At the same time, intelligent robots can also, through data analysis and processing, give early warnings and reports on abnormal situations.

[0003] Railway intelligent robot inspection includes the following technologies: sensor technology: intelligent robots need to carry a variety of sensors, such as infrared sensors, lidar, cameras, etc., to achieve comprehensive monitoring of railway lines. Image recognition and processing: process and analyze the image data collected during the inspection process through image recognition technology to identify potential safety hazards. Data fusion and analysis: fuse and process the data collected by different sensors and image recognition systems to improve the accuracy and reliability of the data. Autonomous navigation and control: intelligent robots need to have autonomous navigation capabilities and be able to autonomously plan paths and perform precise control in complex environments.

[0004] However, how to improve the inspection efficiency of railway intelligent robots is a problem being studied currently. Summary of the Invention

[0005] Embodiments of the present invention provide a railway intelligent robot inspection system and method to improve the inspection efficiency of railway intelligent robots.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] In a first aspect, a method for inspecting railways by an intelligent robot is provided. This method is applied to an intelligent railway inspection terminal, and it includes: the intelligent railway inspection terminal determines that it has moved to a preset position, where the preset position is a position where the intelligent railway inspection terminal can communicate with the two nearest acquisition devices; the intelligent railway inspection terminal initiates a paging to a target acquisition device, and in the case of paging the acquisition device, the intelligent railway inspection terminal reads acquisition information from the target acquisition device, where the target acquisition device is any one of the two acquisition devices during communication; the intelligent railway inspection terminal determines the railway status information within the monitoring range of the target acquisition device according to the acquisition information.

[0008] Optionally, the acquisition information includes partially encrypted information and partially unencrypted plaintext information. The intelligent railway inspection terminal determines the railway status information within the monitoring range of the target acquisition device according to the acquisition information, including: the intelligent railway inspection terminal decrypts the partially encrypted information to obtain the decrypted plaintext information; the intelligent railway inspection terminal combines the decrypted plaintext information and the unencrypted plaintext information according to the encryption rule to obtain the railway status information.

[0009] Optionally, the intelligent railway inspection terminal initiates a paging to the target acquisition device, including: the intelligent railway inspection terminal sends a paging message, where the paging message includes information for paging the target acquisition device and a read command, and the read command instructs to read all the information acquired by the target acquisition device; correspondingly, the intelligent railway inspection terminal reads the acquisition information from the target acquisition device, including: the intelligent railway inspection terminal receives a response from the target acquisition device in response to the read command, and the response includes the acquisition information, the amount of all the information acquired by the target acquisition device, and the template used by the target acquisition device for encryption.

[0010] Optionally, the intelligent railway inspection terminal combines the decrypted plaintext information and the unencrypted plaintext information according to the encryption rule to obtain the railway status information, including: the intelligent railway inspection terminal determines the encryption rule according to the template used by the target acquisition device for encryption and the amount of all the information acquired by the target acquisition device, where the encryption rule indicates the position of the information selected by the target acquisition device for encryption in the railway status information; the intelligent railway inspection terminal inserts the decrypted plaintext information into the unencrypted plaintext information according to the position of the information selected by the target acquisition device for encryption in the railway status information to obtain the railway status information.

[0011] Optionally, the amount of the preset information is M information bits, where M is an integer greater than or equal to 12, the amount of all the information acquired by the target acquisition device is less than the amount of the preset information, and the template used by the target acquisition device for encryption is used to indicate the information bit number of the information that needs to be encrypted among the M information bits.

[0012] Optionally, the target acquisition device is pre-configured with N templates, where N is an integer greater than 1. The template used for encryption by the target acquisition device belongs to the N templates. Each of the N templates is used to indicate the information bit numbers of the information to be encrypted among M information bits. The information bit numbers of the information to be encrypted indicated by any two of the N templates are different. For the i-th template among the N templates, the target acquisition device is configured as follows: The target acquisition device determines the information to be encrypted and the information not to be encrypted among all the information it has acquired according to the i-th template and the amount of information of all the information it has acquired. The target acquisition device calculates the correlation between the information to be encrypted and the information not to be encrypted. When i traverses from 1 to N, N correlations are obtained. The target acquisition device determines that the template corresponding to the lowest correlation among the N correlations is the template used for encryption by the target acquisition device. Among them, the target acquisition device calculates the correlation between the information to be encrypted and the information not to be encrypted specifically as follows: The target acquisition device maps the information to be encrypted to a first sequence, maps the information not to be encrypted to a second sequence, and determines the inner product of the first sequence and the second sequence.

[0013] Optionally, the railway intelligent inspection terminal determines that it has moved to a preset position, including: The railway intelligent inspection terminal determines whether it has moved to the middle position between the two acquisition devices according to the positions of the two acquisition devices respectively. If the railway intelligent inspection terminal has moved to the middle position between the two acquisition devices, it is determined that the railway intelligent inspection terminal has moved to the preset position.

[0014] Optionally, the railway intelligent inspection terminal is provided with an antenna panel, and the antenna panel includes two antennas. The railway intelligent inspection terminal adjusts the angle of the plane where the antenna panel is located to be perpendicular to the connection line of the positions of the two acquisition devices respectively.

[0015] Optionally, the railway intelligent inspection terminal supports the function of a reader, and both of the two acquisition devices are environmental Internet of Things AIoT devices that can be read by the reader.

[0016] In a second aspect, a railway intelligent robot inspection system is provided. The system includes a railway intelligent inspection terminal, and the railway intelligent inspection terminal is configured as follows: The railway intelligent inspection terminal determines that it has moved to a preset position, and the preset position is a position where the railway intelligent inspection terminal can communicate with the two nearest acquisition devices. The railway intelligent inspection terminal initiates a paging to the target acquisition device, and when the acquisition device is paged, the railway intelligent inspection terminal reads the acquisition information from the target acquisition device, and the target acquisition device is any one of the two acquisition devices during communication. The railway intelligent inspection terminal determines the railway status information within the monitoring range of the target acquisition device according to the acquisition information.

[0017] Optionally, the collected information includes partially encrypted information and partially unencrypted plaintext information. The railway intelligent inspection terminal determines the railway status information within the monitoring range of the target collection device according to the collected information, including: the railway intelligent inspection terminal decrypts the partially encrypted information to obtain the decrypted plaintext information; the railway intelligent inspection terminal combines the decrypted plaintext information and the unencrypted plaintext information according to the encryption rule to obtain the railway status information.

[0018] Optionally, the railway intelligent inspection terminal initiates a paging to the target collection device, including: the railway intelligent inspection terminal sends a paging message, the paging message includes information for paging the target collection device and a read command, and the read command instructs to read all the information collected by the target collection device; correspondingly, the railway intelligent inspection terminal reads the collected information from the target collection device, including: the railway intelligent inspection terminal receives a response returned by the target collection device for the read command, and the response includes the collected information, the amount of all the information collected by the target collection device, and the template used by the target collection device for encryption.

[0019] Optionally, the railway intelligent inspection terminal combines the decrypted plaintext information and the unencrypted plaintext information according to the encryption rule to obtain the railway status information, including: the railway intelligent inspection terminal determines the encryption rule according to the template used by the target collection device for encryption and the amount of all the information collected by the target collection device, and the encryption rule indicates the position of the information selected by the target collection device for encryption in the railway status information; the railway intelligent inspection terminal inserts the decrypted plaintext information into the unencrypted plaintext information according to the position of the information selected by the target collection device for encryption in the railway status information to obtain the railway status information.

[0020] Optionally, the amount of the preset information is M information bits, M is an integer greater than or equal to 12, the amount of all the information collected by the target collection device is less than the amount of the preset information, and the template used by the target collection device for encryption is used to indicate the information bit number of the information that needs to be encrypted among the M information bits.

[0021] Optionally, the target acquisition device is pre-configured with N templates, where N is an integer greater than 1. The template used for encryption by the target acquisition device belongs to the N templates. Each of the N templates is used to indicate the information bit numbers of the information to be encrypted among M information bits. The information bit numbers of the information to be encrypted indicated by any two of the N templates are different. For the i-th template among the N templates, the target acquisition device is configured as follows: The target acquisition device determines the information to be encrypted and the information not to be encrypted among all the information collected by the target acquisition device according to the i-th template and the amount of information of all the information collected by the target acquisition device. The target acquisition device calculates the correlation between the information to be encrypted and the information not to be encrypted. When i traverses integers from 1 to N, N correlations are obtained. The target acquisition device determines that the template corresponding to the lowest correlation among the N correlations is the template used for encryption by the target acquisition device. Wherein, the target acquisition device calculates the correlation between the information to be encrypted and the information not to be encrypted specifically as follows: The target acquisition device maps the information to be encrypted to a first sequence, maps the information not to be encrypted to a second sequence, and determines the inner product of the first sequence and the second sequence.

[0022] Optionally, the railway intelligent inspection terminal determines that it has moved to a preset position, including: The railway intelligent inspection terminal determines whether it has moved to the middle position between the two acquisition devices according to the positions of the two acquisition devices respectively; If the railway intelligent inspection terminal has moved to the middle position between the two acquisition devices, it is determined that the railway intelligent inspection terminal has moved to the preset position.

[0023] Optionally, the railway intelligent inspection terminal is provided with an antenna panel, the antenna panel includes two antennas, and the railway intelligent inspection terminal adjusts the angle of the plane where the antenna panel is located to be perpendicular to the connection line of the positions of the two acquisition devices respectively.

[0024] Optionally, the railway intelligent inspection terminal supports the function of a reader, and both of the two acquisition devices are environmental Internet of Things AIoT devices that can be read by the reader.

[0025] In a third aspect, an electronic device is provided, including: a processor and a memory; The memory is used to store a computer program, and when the processor executes the computer program, the electronic device is enabled to execute the method described in the first aspect.

[0026] In a possible design, the electronic device described in the third aspect may further include a transceiver. The transceiver may be a transceiver circuit or an interface circuit. The transceiver may be used for the electronic device described in the third aspect to communicate with other electronic devices.

[0027] In an embodiment of the present invention, the electronic device described in the third aspect may be a terminal, or a chip (system) or other component or assembly that can be disposed in the terminal, or a system including the terminal.

[0028] In a fourth aspect, a computer-readable storage medium is provided, including: a computer program or instruction; when the computer program or instruction runs on a computer, the computer is caused to execute the method described in the first aspect.

[0029] In summary, the railway intelligent inspection terminal can perform positioning by itself, such as determining the position where it moves to a position where the railway intelligent inspection terminal can communicate with the two nearest acquisition devices, so that the railway intelligent inspection terminal can collect the information of the two acquisition devices at one time. For example, the railway intelligent inspection terminal initiates a paging to any one of the target acquisition devices, and when the acquisition device is paged, reads the acquisition information from the target acquisition device, and then determines the railway status information within the monitoring range of the target acquisition device according to the acquisition information, so as to improve the inspection efficiency of the railway intelligent robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the architecture of the Internet of Things system provided by the embodiment of the present invention;

[0031] Figure 2 It is a schematic flowchart of the railway intelligent robot inspection method provided by the embodiment of the present invention;

[0032] Figure 3 It is a schematic diagram of the application scenario of the railway intelligent robot inspection method provided by the embodiment of the present invention;

[0033] Figure 4 It is a schematic diagram of the structure of the electronic device provided by the embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0034] Next, the technical solutions in the present invention will be described with reference to the accompanying drawings.

[0035] In the embodiments of the present invention, "indication" may include direct indication and indirect indication, and may also include explicit indication and implicit indication. If the information indicated by a certain piece of information is called the information to be indicated, then in the specific implementation process, there are many ways to indicate the information to be indicated. For example, but not limited to, the information to be indicated can be directly indicated, such as the information to be indicated itself or the index of the information to be indicated, etc. It is also possible to indirectly indicate the information to be indicated by indicating other information, where there is an association relationship between the other information and the information to be indicated. It is also possible to only indicate a part of the information to be indicated, while the other parts of the information to be indicated are known or pre-agreed. For example, it is also possible to use the arrangement order of each piece of information pre-agreed (such as stipulated by a protocol) to implement the indication of specific information, thereby reducing the indication overhead to a certain extent. At the same time, it is also possible to identify the common parts of each piece of information and uniformly indicate them to reduce the indication overhead caused by separately indicating the same information.

[0036] In addition, the specific indication method can also be various existing indication methods, such as, but not limited to, the above-mentioned indication methods and their various combinations, etc. The specific details of various indication methods can refer to the prior art and will not be elaborated herein. As can be seen from the above, for example, when it is necessary to indicate multiple pieces of information of the same type, it may occur that the indication methods of different pieces of information are different. In the specific implementation process, the required indication method can be selected according to specific needs. The embodiments of the present invention do not limit the selected indication method. In this way, the indication methods involved in the embodiments of the present invention should be understood to cover various methods that can enable the party to be indicated to obtain the information to be indicated.

[0037] It should be understood that the information to be indicated can be sent as a whole or divided into multiple sub-information and sent separately, and the sending periods and / or sending times of these sub-information can be the same or different. The embodiments of the present invention do not limit the specific sending method. Among them, the sending periods and / or sending times of these sub-information can be pre-defined, such as pre-defined according to a protocol, or can be configured by the sending device by sending configuration information to the receiving device.

[0038] "Pre-defined" or "pre-configured" can be implemented by pre-saving the corresponding codes, tables or other ways that can be used to indicate relevant information in the device. The embodiments of the present invention do not limit its specific implementation method. Among them, "saving" can mean saving in one or more memories. The one or more memories can be separately provided, or can be integrated in an encoder or decoder, a processor, or an electronic device. The one or more memories can also be partially separately provided and partially integrated in a decoder, a processor, or an electronic device. The type of the memory can be any form of storage medium, and the embodiments of the present invention do not limit this.

[0039] The "protocol" involved in the embodiments of the present invention may refer to a protocol family in the communication field, a standard protocol with a frame structure similar to that of a protocol family, or a related protocol applied to future systems. The embodiments of the present invention do not make specific limitations on this.

[0040] In the embodiments of the present invention, descriptions such as "when...", "in the case of...", "if", and "when" all refer to the device making corresponding processing under a certain objective situation, rather than limiting time, and it is not required that the device must have a judgment action when implemented, nor does it mean that there are other limitations.

[0041] In the description of the embodiments of the present invention, unless otherwise specified, " / " means that the objects associated before and after are in an "or" relationship. For example, A / B may represent A or B; "and / or" in the embodiments of the present invention is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. Here, A and B can be singular or plural. Also, in the description of the embodiments of the present invention, unless otherwise specified, "a plurality of" means two or more than two. "At least one (item)" or its similar expression refers to any combination of these items, including any combination of single item (item) or plural items (items). For example, at least one (item) of a, b, or c can represent: a, b, c, a - b, a - c, b - c, or a - b - c, where a, b, c can be single or multiple. In addition, in order to clearly describe the technical solutions of the embodiments of the present invention, in the embodiments of the present invention, words such as "first" and "second" are used to distinguish the same items or similar items with basically the same functions and roles. Those skilled in the art can understand that words such as "first" and "second" do not limit the quantity and execution order, and "first" and "second" do not necessarily mean different. At the same time, in the embodiments of the present invention, words such as "exemplary" or "for example" are used to represent examples, illustrations, or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the embodiments of the present invention should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Exactly speaking, using words such as "exemplary" or "for example" is intended to present relevant concepts in a specific way for easy understanding.

[0042] The network architecture and service scenarios described in the embodiments of the present invention are for more clearly explaining the technical solutions of the embodiments of the present invention, and do not constitute a limitation on the technical solutions provided by the embodiments of the present invention. Those of ordinary skill in the art know that with the evolution of the network architecture and the emergence of new service scenarios, the technical solutions provided by the embodiments of the present invention are equally applicable to similar technical problems.

[0043] To facilitate the understanding of the embodiments of the present invention, first, taking the Figure 1 Internet of Things (IoT) system shown in Figure 1 as an example, exemplary,

[0044] as shown in Figure 1 the architecture schematic diagram of the IoT system applicable to the railway intelligent robot inspection method provided by the embodiments of the present invention.

[0045] The railway intelligent inspection terminal can also be referred to as a railway intelligent inspection robot, or other names, without limitation. Functionally, the railway intelligent inspection terminal can be a reader in the Ambient Internet of Things (AIoT), that is, a terminal supporting the functions of a reader. The reader can perform AIoT-related operations, such as inventory, read, write, inactivation, etc.

[0046] The acquisition device can also be a terminal. Functionally, the acquisition device can be an AIoT device (device).

[0047] The AIoT device can be a device in the form of a terminal, i.e., a terminal. This terminal can be a terminal with transceiver functions, or a chip or chip system that can be set in this terminal. This terminal can also be referred to as a user equipment (UE), access terminal, subscriber unit, user station, mobile station (MS), mobile phone, remote station, remote terminal, mobile device, user terminal, terminal, wireless communication device, user agent, or user device. The terminal in the embodiments of the present application can be a mobile phone, cellular phone, smart phone, tablet (Pad), wireless data card, personal digital assistant (PDA), wireless modem, handset, laptop computer, machine type communication (MTC) terminal, computer with wireless transceiver functions, virtual reality (VR) terminal, augmented reality (AR) terminal, wireless terminal in industrial control, wireless terminal in self-driving, wireless terminal in remote medical, wireless terminal in smart grid, wireless terminal in transportation safety, wireless terminal in smart city, wireless terminal in smart home, in-vehicle terminal, roadside unit (RSU) with terminal functions, etc. The terminal in the present application can also be an in-vehicle module, in-vehicle module group, in-vehicle component, in-vehicle chip, or in-vehicle unit built into a vehicle as one or more components or units. Alternatively, the terminal can also be a customer-premises equipment (CPE).

[0048] Figure 2 It is a schematic flowchart of the method provided by the embodiments of the present invention. This railway intelligent robot inspection method is applicable to the above-mentioned Internet of Things system and involves the interaction between devices in the above-mentioned Internet of Things system. The specific process is as follows:

[0049] S201, the railway intelligent inspection terminal determines to move to a preset position.

[0050] The preset position is the position where the railway intelligent inspection terminal can communicate with the two nearest acquisition devices. For example, the railway intelligent inspection terminal presets the positions of each acquisition device, such as longitude and latitude information. The railway intelligent inspection terminal plans an inspection route that will pass through the positions between every two adjacent acquisition devices in sequence. The railway intelligent inspection terminal can locate itself to determine the positional relationship between its own position and the positions of each acquisition device. Thus, the railway intelligent inspection terminal determines whether it has moved to the middle position between the two acquisition devices based on the positions of the two acquisition devices; if the railway intelligent inspection terminal has moved to the middle position between the two acquisition devices, it is determined that the railway intelligent inspection terminal has moved to the preset position. The middle position between the two acquisition devices can be the position where the midpoint of the line connecting the positions of the two acquisition devices is located (or near this position, such as within a preset error range of the position). The railway intelligent inspection terminal is provided with an antenna panel, and the antenna panel includes two antennas. The railway intelligent inspection terminal can adjust the angle of the plane where the antenna panel is located to be perpendicular to the line connecting the positions of the two acquisition devices. Specifically, as Figure 3 shown, beamforming is performed through the two antennas, and the formed beams are similar to two hemispheres in space. At this time, based on the attitude of the antenna panel and the position of the railway intelligent inspection terminal, the formed beams in space can respectively point to the two acquisition devices, so as to better cover the two acquisition devices and achieve a more stable and reliable communication effect.

[0051] S202. The railway intelligent inspection terminal initiates a paging to the target acquisition device, and when the target acquisition device is paged, the railway intelligent inspection terminal reads the acquisition information from the target acquisition device.

[0052] The target acquisition device is any one of the two acquisition devices during communication.

[0053] In the AIoT scenario, the railway intelligent inspection terminal can send paging messages (Paging). The paging message includes information for paging the target acquisition device (such as the identifier of the target acquisition device), and a read command, which indicates to read all the information collected by the target acquisition device. If the target acquisition device receives the paging message, it can determine that the paging is for this target acquisition device based on the identifier carried in the paging message being the identifier of the target acquisition device. Therefore, the target acquisition device can send information for random access to the railway intelligent inspection terminal, such as a multi-bit random number. The railway intelligent inspection terminal determines that no other device returns the same random number as the target acquisition device, and triggers sending a confirmation indication to the target acquisition device, that is, allowing access to the railway intelligent inspection terminal. In this way, it is considered that the target acquisition device has been paged. The target acquisition device receives the confirmation indication, which can be used to trigger the target acquisition device to execute the read command, that is, to read all the information collected by the target acquisition device. All the information collected by the target acquisition device can be railway status information, such as including environmental information collected by the target acquisition device, such as temperature change, humidity change, settlement change, radiation level, environmental image, etc., without specific limitation. Any information that can be used for monitoring and collection and represents the railway status in the railway monitoring field is applicable to this application.

[0054] Specifically, the amount of information of the preset information is M information bits (each information bit can be a byte), M is an integer greater than or equal to 12. The amount of information of all the information collected by the target acquisition device is less than the amount of information of the preset information. For example, the amount of information of the preset information is 2048 information bits, and the amount of information of all the information collected by the target acquisition device is 2000 information bits.

[0055] The target acquisition device can encrypt some of the information collected by the target acquisition device according to the model. For example, the target acquisition device is pre-configured with N templates, where N is an integer greater than 1, and the template used for encryption by the target acquisition device belongs to the N templates. Each of the N templates is used to indicate the information bit numbers of the information that needs to be encrypted among M information bits. The information bit numbers of the information that needs to be encrypted indicated by any two of the N templates are different. For example, the first template indicates that among the M information bits of the preset information, the information bits at the serial numbers such as 1, 6, 12, 6, 12, 22, 23, 36, 41, 42... are the information bits that need to be encrypted. The second template indicates that among the M information bits of the preset information, the information bits at positions such as 3, 4, 5, 12, 13, 22, 27, 31, 32, 40... are the information bits that need to be encrypted. Each template can be randomly generated, such as randomly generating the positions (or serial numbers) of the information that needs to be encrypted among M information bits according to the information bits encrypted at 1 / 2 or 1 / 3. These templates can be pre-configured. The reason for pre-configuring N templates is that for different information, the relevance of the information extracted by the same template is different, and the one with the lowest relevance is selected to improve information security. The following is a specific introduction.

[0056] For example, for the i-th template among N templates, the target acquisition device determines the information that needs to be encrypted and the information that does not need to be encrypted among all the information collected by the target acquisition device according to the i-th template and the amount of information of all the information collected by the target acquisition device. The target acquisition device calculates the correlation between the information that needs to be encrypted and the information that does not need to be encrypted. Specifically, the target acquisition device maps the information that needs to be encrypted to a first sequence (for example, each bit of data is mapped to a vector, and the first sequence is a vector sequence), maps the information that does not need to be encrypted to a second sequence (for example, each bit of data is mapped to a vector, and the second sequence is a vector sequence), and determines the inner product of the first sequence and the second sequence (for example, taking the first sequence as a column vector and the second sequence as a row vector). When i is an integer ranging from 1 to N, N kinds of correlations are obtained. The target acquisition device determines that the template corresponding to the lowest correlation among the N kinds of correlations is the template used for encryption by the target acquisition device. The lowest correlation means that even if an attacker steals some unencrypted information, they cannot obtain the complete information through forward error correction decoding or information recovery, thus ensuring security. Thus, the target acquisition device can determine the information that needs to be encrypted from all the information collected by the target acquisition device according to the template used for encryption, encrypt the information that needs to be encrypted using a key to obtain encrypted information, and the partially unencrypted information among all the information collected by the target acquisition device is the partially unencrypted plaintext information. Then, the target acquisition device sends a response to the railway intelligent inspection terminal, and the response includes the collected information, including some encrypted information, some unencrypted plaintext information, and also the amount of information of all the information collected by the target acquisition device and the template used for encryption by the target acquisition device (such as the identifier of the template). Correspondingly, the railway intelligent inspection terminal receives the response returned by the target acquisition device for the read command.

[0057] S203. The railway intelligent inspection terminal determines the railway status information within the monitoring range of the target acquisition device according to the collected information.

[0058] The railway intelligent inspection terminal can decrypt some encrypted information to obtain the decrypted plaintext information. For example, it uses the same key as the encryption to decrypt some encrypted information to obtain the decrypted plaintext information. The railway intelligent inspection terminal combines the decrypted plaintext information with the unencrypted plaintext information according to the encryption rule to obtain the railway status information. For example, the railway intelligent inspection terminal decrypts some encrypted information to obtain the decrypted plaintext information; the railway intelligent inspection terminal combines the decrypted plaintext information with the unencrypted plaintext information according to the encryption rule to obtain the railway status information. For example, the railway intelligent inspection terminal can determine the encryption rule based on the template used for encryption by the target acquisition device and the amount of information of all the information collected by the target acquisition device. The encryption rule indicates the position of the information selected for encryption by the target acquisition device in the railway status information. For example, if the amount of information of all the information collected by the target acquisition device is K information bits, the encryption rule indicates which information bits among the K information bits are encrypted. Thus, the railway intelligent inspection terminal can determine the information bits where some of the unencrypted plaintext information is located, and the information bits where the decrypted plaintext information is located respectively, that is, the position of the information selected for encryption by the target acquisition device in the railway status information. Then, the railway intelligent inspection terminal inserts the decrypted plaintext information into the unencrypted plaintext information according to the position of the information selected for encryption by the target acquisition device in the railway status information to obtain the railway status information.

[0059] In summary, the railway intelligent inspection terminal can perform self-positioning. For example, it determines to move to a position where the railway intelligent inspection terminal can communicate with the two nearest acquisition devices. In this way, the railway intelligent inspection terminal can collect the information of the two acquisition devices at one time. For example, the railway intelligent inspection terminal initiates a paging to any one of the target acquisition devices, and when the acquisition device is paged, it reads the acquisition information from the target acquisition device, so as to determine the railway status information within the monitoring range of the target acquisition device according to the acquisition information, thereby improving the inspection efficiency of the railway intelligent robot.

[0060] The above combination Figure 2 The method provided by the embodiment of the present invention is described in detail above. The following details a railway intelligent robot inspection system for executing the method provided by the embodiment of the present invention. The system includes a railway intelligent inspection terminal, and the railway intelligent inspection terminal is configured to: the railway intelligent inspection terminal determines to move to a preset position, and the preset position is a position where the railway intelligent inspection terminal can communicate with the two nearest acquisition devices; the railway intelligent inspection terminal initiates a paging to the target acquisition device, and when the acquisition device is paged, the railway intelligent inspection terminal reads the acquisition information from the target acquisition device, and the target acquisition device is any one of the two acquisition devices in communication; the railway intelligent inspection terminal determines the railway status information within the monitoring range of the target acquisition device according to the acquisition information.

[0061] Optionally, the collected information includes partially encrypted information and partially unencrypted plaintext information. The railway intelligent inspection terminal determines the railway status information within the monitoring range of the target collection device according to the collected information, including: the railway intelligent inspection terminal decrypts the partially encrypted information to obtain the decrypted plaintext information; the railway intelligent inspection terminal combines the decrypted plaintext information and the unencrypted plaintext information according to the encryption rule to obtain the railway status information.

[0062] Optionally, the railway intelligent inspection terminal initiates a paging to the target collection device, including: the railway intelligent inspection terminal sends a paging message, the paging message includes information for paging the target collection device and a read command, and the read command instructs to read all the information collected by the target collection device; correspondingly, the railway intelligent inspection terminal reads the collected information from the target collection device, including: the railway intelligent inspection terminal receives a response returned by the target collection device for the read command, and the response includes the collected information, the amount of all the information collected by the target collection device, and the template used by the target collection device for encryption.

[0063] Optionally, the railway intelligent inspection terminal combines the decrypted plaintext information and the unencrypted plaintext information according to the encryption rule to obtain the railway status information, including: the railway intelligent inspection terminal determines the encryption rule according to the template used by the target collection device for encryption and the amount of all the information collected by the target collection device, and the encryption rule indicates the position of the information selected by the target collection device for encryption in the railway status information; the railway intelligent inspection terminal inserts the decrypted plaintext information into the unencrypted plaintext information according to the position of the information selected by the target collection device for encryption in the railway status information to obtain the railway status information.

[0064] Optionally, the amount of the preset information is M information bits, M is an integer greater than or equal to 12, the amount of all the information collected by the target collection device is less than the amount of the preset information, and the template used by the target collection device for encryption is used to indicate the information bit number of the information to be encrypted among the M information bits.

[0065] Optionally, the target acquisition device is pre-configured with N templates, where N is an integer greater than 1. The template used for encryption by the target acquisition device belongs to the N templates. Each of the N templates is used to indicate the information bit numbers of the information to be encrypted among M information bits, and the information bit numbers of the information to be encrypted indicated by any two of the N templates are different. For the i-th template among the N templates, the target acquisition device is configured as follows: The target acquisition device determines the information to be encrypted and the information not to be encrypted among all the information collected by the target acquisition device according to the i-th template and the amount of information of all the information collected by the target acquisition device. The target acquisition device calculates the correlation between the information to be encrypted and the information not to be encrypted. When i traverses integers from 1 to N, N correlations are obtained. The target acquisition device determines that the template corresponding to the lowest correlation among the N correlations is the template used for encryption by the target acquisition device. Among them, the target acquisition device calculates the correlation between the information to be encrypted and the information not to be encrypted specifically as follows: The target acquisition device maps the information to be encrypted to a first sequence, maps the information not to be encrypted to a second sequence, and determines the inner product of the first sequence and the second sequence.

[0066] Optionally, the railway intelligent inspection terminal determines that it has moved to a preset position, including: The railway intelligent inspection terminal determines whether it has moved to the middle position between the two acquisition devices according to the positions of the two acquisition devices respectively; if the railway intelligent inspection terminal has moved to the middle position between the two acquisition devices, it is determined that the railway intelligent inspection terminal has moved to the preset position.

[0067] Optionally, the railway intelligent inspection terminal is provided with an antenna panel, and the antenna panel includes two antennas. The railway intelligent inspection terminal adjusts the angle of the plane where the antenna panel is located to be perpendicular to the connection line of the positions of the two acquisition devices respectively.

[0068] Optionally, the railway intelligent inspection terminal supports the function of a reader, and both of the two acquisition devices are environment IoT (AIoT) devices that can be read by the reader.

[0069] Figure 4 The structural schematic diagram of the electronic device provided by the embodiment of the present invention is shown. Exemplarily, the electronic device may be a network device, or a chip (system) or other components or assemblies that can be set in a network device. As Figure 4 shown, the electronic device 400 may include a processor 401. Optionally, the electronic device 400 may further include a memory 402 and / or a transceiver 403. Among them, the processor 401 is coupled to the memory 402 and the transceiver 403, and may be connected through a communication bus, for example.

[0070] The following combines Figure 4A specific introduction to each component of the electronic device 400 is as follows:

[0071] Among them, the processor 401 is the control center of the electronic device 400, which can be a single processor or a collective term for multiple processing elements. For example, the processor 401 is one or more central processing units (CPUs), or can be an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention. For example: one or more digital signal processors (DSPs), or one or more field programmable gate arrays (FPGAs).

[0072] Optionally, the processor 401 can execute various functions of the electronic device 400 by running or executing software programs stored in the memory 402 and calling data stored in the memory 402. For example, it can execute the Figure 2 railway intelligent robot inspection method shown above.

[0073] In a specific implementation, as an embodiment, the processor 401 can include one or more CPUs, such as Figure 4 the CPU0 and CPU1 shown in

[0074] In a specific implementation, as an embodiment, the electronic device 400 can also include multiple processors. Each of these processors can be a single-core processor (single-CPU) or a multi-core processor (multi-CPU). Here, the processor can refer to one or more devices, circuits, and / or processing cores for processing data (such as computer program instructions).

[0075] Among them, the memory 402 is used to store the software program for implementing the solution of the present invention and is controlled by the processor 401 for execution. The specific implementation method can refer to the above method embodiments and will not be elaborated here.

[0076] Optionally, the memory 402 may be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, or may also be an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM), or other optical disc storage, optical disc storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media, or other magnetic storage devices, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 402 may be integrated with the processor 401 or may exist independently and be coupled to the processor 401 through the interface circuit of the electronic device 400 ( Figure 4 not shown in the figure), and the embodiments of the present invention do not make specific limitations thereon.

[0077] The transceiver 403 is used for communication with other electronic devices. For example, if the electronic device 400 is a terminal, the transceiver 403 may be used for communication with a network device or with another terminal device. For another example, if the electronic device 400 is a network device, the transceiver 403 may be used for communication with a terminal or with another network device.

[0078] Optionally, the transceiver 403 may include a receiver and a transmitter ( Figure 4 not separately shown in the figure). Among them, the receiver is used to implement the receiving function, and the transmitter is used to implement the transmitting function.

[0079] Optionally, the transceiver 403 may be integrated with the processor 401 or may exist independently and be coupled to the processor 401 through the interface circuit of the electronic device 400 ( Figure 4 not shown in the figure), and the embodiments of the present invention do not make specific limitations thereon.

[0080] It can be understood that Figure 4 the structure of the electronic device 400 shown in the figure does not constitute a limitation on the electronic device. The actual electronic device may include more or fewer components than shown in the figure, or combine certain components, or have a different component layout.

[0081] In addition, the technical effects of the electronic device 400 may refer to the technical effects of the method described in the above method embodiments, and will not be elaborated herein.

[0082] It should be understood that the processor in the embodiments of the present invention may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0083] It should also be understood that the memory in the embodiments of the present invention may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable ROM (PROM), an erasable programmable ROM (EPROM), an electrically erasable programmable ROM (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of random access memory (RAM) are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchlink DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0084] The above embodiments can be implemented in whole or in part by software, hardware (such as circuits), firmware, or any combination thereof. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the processes or functions described in the embodiments of the present invention are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wired (such as infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that contains one or more collections of available media. The available medium can be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state drive.

[0085] It should be understood that the term "and / or" in this document is merely a description of the association relationship between associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. Here, A and B can be singular or plural. In addition, the character " / " in this document generally represents an "or" relationship between the associated objects before and after, but it may also represent an "and / or" relationship, which can be specifically understood with reference to the context.

[0086] In the present invention, "at least one" means one or more, and "a plurality" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can represent: a, b, c, a - b, a - c, b - c, or a - b - c, where a, b, and c can be single or plural.

[0087] It should be understood that in various embodiments of the present invention, the magnitudes of the sequence numbers of the above processes do not imply the order of execution. The order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

[0088] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or by a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0089] Those skilled in the art can clearly understand that for the convenience and conciseness of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments, and will not be elaborated herein.

[0090] In several embodiments provided by the present invention, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces, and the indirect couplings or communication connections of the devices or units can be in electrical, mechanical, or other forms.

[0091] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they can be located in one place, or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0092] In addition, the functional units in each embodiment of the present invention can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit.

[0093] When the above-mentioned functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or a part of this technical solution can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs.

[0094] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A method for intelligent robot inspection of railways, characterized in that, The method is applied to a railway intelligent inspection terminal, and the method includes: The railway intelligent inspection terminal determines that it has moved to a preset position, which is a position where the railway intelligent inspection terminal can communicate with the two nearest acquisition devices; The railway intelligent inspection terminal initiates a paging to a target acquisition device, and when the target acquisition device is paged, the railway intelligent inspection terminal reads acquisition information from the target acquisition device, where the target acquisition device is any one of the two acquisition devices for communication; The railway intelligent inspection terminal determines railway status information within the monitoring range of the target acquisition device according to the acquisition information.

2. The method according to claim 1, characterized in that, The acquisition information includes partially encrypted information and partially unencrypted plaintext information. The railway intelligent inspection terminal determines railway status information within the monitoring range of the target acquisition device according to the acquisition information, including: The railway intelligent inspection terminal decrypts the partially encrypted information to obtain the decrypted plaintext information; The railway intelligent inspection terminal combines the decrypted plaintext information and the unencrypted plaintext information according to an encryption rule to obtain the railway status information.

3. The method according to claim 2, wherein The railway intelligent inspection terminal initiating a paging to a target acquisition device includes: The railway intelligent inspection terminal sends a paging message, which includes information for paging the target acquisition device and a read command, and the read command instructs to read all the information acquired by the target acquisition device; Correspondingly, the railway intelligent inspection terminal reading acquisition information from the target acquisition device includes: The railway intelligent inspection terminal receives a response returned by the target acquisition device for the read command, and the response includes the acquisition information, the amount of all the information acquired by the target acquisition device, and the template used by the target acquisition device for encryption.

4. The method according to claim 3, characterized in that, The railway intelligent inspection terminal combining the decrypted plaintext information and the unencrypted plaintext information according to an encryption rule to obtain the railway status information includes: The railway intelligent inspection terminal determines the encryption rule according to the template used by the target acquisition device for encryption and the amount of all the information acquired by the target acquisition device, and the encryption rule indicates the position of the information selected by the target acquisition device for encryption in the railway status information; The railway intelligent inspection terminal inserts the decrypted plaintext information into the unencrypted plaintext information according to the position of the information selected by the target acquisition device for encryption in the railway status information to obtain the railway status information.

5. The method according to claim 3, wherein The amount of preset information is M information bits, M is an integer greater than or equal to 12, the amount of all the information acquired by the target acquisition device is less than the amount of the preset information, and the template used by the target acquisition device for encryption is used to indicate the information bit number of the information that needs to be encrypted among the M information bits.

6. The method according to claim 5, characterized in that The target acquisition device is pre-configured with N templates, where N is an integer greater than 1. The template used for encryption by the target acquisition device belongs to the N templates. Each template in the N templates is used to indicate the information bit numbers of the information to be encrypted among the M information bits. The information bit numbers of the information to be encrypted indicated by any two templates in the N templates are different; For the i-th template among the N templates, the target acquisition device is configured as follows: The target acquisition device determines the information to be encrypted and the information not to be encrypted among all the information collected by the target acquisition device according to the i-th template and the amount of information of all the information collected by the target acquisition device. The target acquisition device calculates the correlation between the information to be encrypted and the information not to be encrypted. When i traverses from 1 to N as an integer, N correlations are obtained. The target acquisition device determines that the template corresponding to the lowest correlation among the N correlations is the template used for encryption by the target acquisition device; Among them, the target acquisition device calculates the correlation between the information to be encrypted and the information not to be encrypted specifically as follows: The target acquisition device maps the information to be encrypted to a first sequence, maps the information not to be encrypted to a second sequence, and determines the inner product of the first sequence and the second sequence.

7. The method according to claim 1, wherein The railway intelligent inspection terminal determines to move to a preset position, including: The railway intelligent inspection terminal determines whether the railway intelligent inspection terminal moves to the middle position between the two acquisition devices according to the positions of the two acquisition devices respectively; If the railway intelligent inspection terminal moves to the middle position between the two acquisition devices, it is determined that the railway intelligent inspection terminal moves to the preset position.

8. The method according to claim 7, wherein The railway intelligent inspection terminal is provided with an antenna panel, the antenna panel includes two antennas, and the railway intelligent inspection terminal adjusts the angle of the plane where the antenna panel is located to be perpendicular to the connection line of the positions of the two acquisition devices respectively.

9. The method according to any one of claims 1 to 8, characterized in that, The railway intelligent inspection terminal supports the function of a reader, and both of the two acquisition devices are environmental Internet of Things AIoT devices that can be read by the reader.

10. A railway intelligent robot inspection system, characterized in that, The system includes a railway intelligent inspection terminal, and the railway intelligent inspection terminal is configured as follows: The railway intelligent inspection terminal determines to move to a preset position, and the preset position is the position where the railway intelligent inspection terminal can communicate with the two nearest acquisition devices; The railway intelligent inspection terminal initiates a paging to the target acquisition device, and when the target acquisition device is paged, the railway intelligent inspection terminal reads the acquisition information from the target acquisition device, and the target acquisition device is any one of the two acquisition devices in communication; The railway intelligent inspection terminal determines the railway status information within the monitoring range of the target acquisition device according to the acquisition information.

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