Railway intelligent robot inspection system and method

Abstract

The present application provides a kind of railway intelligent robot inspection system and method, belong to the technical field of Internet of Things, to improve the inspection efficiency of railway intelligent robot.The method comprises: railway intelligent inspection terminal determines to move to preset position, and preset position is the position that railway intelligent inspection terminal can communicate with the nearest two collection devices;Railway intelligent inspection terminal initiates paging to target collection device, and in the case where collection device is paged, railway intelligent inspection terminal reads collection information from target collection device, and target collection device is any one in the communication of two collection devices;Railway intelligent inspection terminal determines the railway state information in the monitoring range of target collection device according to collection information.

Description

Technical Field

[0001] This invention relates to the field of Internet of Things (IoT) technology, and in particular to a railway intelligent robot inspection system and method. Background Technology

[0002] With the continuous development of technology and the progress of society, railway transportation, as one of the important modes of transportation, has received increasing attention for its safety and efficiency. Traditional railway inspection methods mainly rely on manual inspection and fixed-point monitoring equipment, but these methods suffer from problems such as low efficiency, incomplete coverage, and limited data processing capabilities. Therefore, intelligent railway robot inspection technology has emerged. Intelligent railway robot inspection technology refers to the technology of using robotics to automate the inspection of railway lines. This technology, equipped with various sensors and image recognition systems, can monitor the status of railway lines in real time, including key indicators such as track wear, bridge structure, and tunnel safety. Simultaneously, the intelligent robot can also provide early warnings and reports on abnormal situations through data analysis and processing.

[0003] Railway intelligent robot inspection incorporates the following technologies: Sensor technology: The intelligent robot needs to be equipped with various sensors, such as infrared sensors, lidar, and cameras, to achieve comprehensive monitoring of the railway line. Image recognition and processing: Image recognition technology is used to process and analyze image data collected during the inspection process to identify potential safety hazards. Data fusion and analysis: Data collected from different sensors and image recognition systems is fused and processed to improve the accuracy and reliability of the data. Autonomous navigation and control: The intelligent robot needs to have autonomous navigation capabilities, enabling it to autonomously plan paths and perform precise control in complex environments.

[0004] However, how to improve the inspection efficiency of intelligent railway robots is a current research question. Summary of the Invention

[0005] This invention provides a railway intelligent robot inspection system and method to improve the inspection efficiency of railway intelligent robots.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] Firstly, a railway intelligent robot inspection method is provided. This method is applied to a railway intelligent inspection terminal and includes: the railway intelligent inspection terminal determining and moving to a preset position, where the preset position is a location where the railway intelligent inspection terminal can communicate with the two nearest data acquisition devices; the railway intelligent inspection terminal initiating a page to a target data acquisition device, and if the page is successful, the railway intelligent inspection terminal reading data from the target data acquisition device, where the target data acquisition device is either of the two communicating data acquisition devices; and the railway intelligent inspection terminal determining railway status information within the monitoring range of the target data acquisition device based on the data acquired.

[0008] Optionally, the collected information includes partially encrypted information and partially unencrypted plaintext information. Based on the collected information, the railway intelligent inspection terminal determines the railway status information within the monitoring range of the target collection device, including: the railway intelligent inspection terminal decrypts the partially encrypted information to obtain the decrypted plaintext information; the railway intelligent inspection terminal merges the decrypted plaintext information with the unencrypted plaintext information according to encryption rules to obtain the railway status information.

[0009] Optionally, the railway intelligent inspection terminal initiates a paging process to the target data acquisition device, including: the railway intelligent inspection terminal sending a paging message, the paging message including information for paging the target data acquisition device, and a read command, the read command instructing the reading of all information already collected by the target data acquisition device; correspondingly, the railway intelligent inspection terminal reads the collected information from the target data acquisition device, including: the railway intelligent inspection terminal receiving a response from the target data acquisition device in response to the read command, the response including the collected information, the amount of information of all information already collected by the target data acquisition device, and the template used for encryption by the target data acquisition device.

[0010] Optionally, the railway intelligent inspection terminal merges the decrypted plaintext information with the unencrypted plaintext information according to encryption rules to obtain railway status information, including: the railway intelligent inspection terminal determines encryption rules based on the template used by the target acquisition device for encryption and the amount of information of all information already collected by the target acquisition device; the encryption rules indicate the position of the encrypted information selected by the target acquisition device 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 encrypted information selected by the target acquisition device in the railway status information to obtain railway status information.

[0011] Optionally, the preset information has M information bits, where M is an integer greater than or equal to 12. The information amount of all information already collected by the target acquisition device is less than the information amount of the preset information. The template used by the target acquisition device for encryption is used to indicate the information bit number of the information to be encrypted in 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 number of the information to be encrypted in the M information bits. The information bit numbers of the information to be encrypted in the M information bits 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 to: determine which information among all the information already acquired by the target acquisition device needs to be encrypted based on the i-th template and the amount of information in all the information already acquired by the target acquisition device. The target acquisition device calculates the correlation between the information to be encrypted and the information that does not need to be encrypted, given that i is an integer from 1 to N. This yields N correlation values. The target acquisition device then determines the template corresponding to the lowest correlation among these N values, which becomes the template used for encryption. Specifically, the target acquisition device calculates the correlation between the information to be encrypted and the information that does not need to be encrypted by mapping the information to be encrypted to a first sequence and the information that does not need to be encrypted to a second sequence, and determines the inner product of the first and second sequences.

[0013] Optionally, the railway intelligent inspection terminal determines whether to move to the preset position based on the respective positions of the two data acquisition devices; if the railway intelligent inspection terminal moves to the middle position of the two data acquisition devices, then the railway intelligent inspection terminal is determined to have moved to the preset position.

[0014] Optionally, the railway intelligent inspection terminal is equipped with an antenna panel, which includes two antennas. The railway intelligent inspection terminal adjusts the angle of the plane on which the antenna panel is located to be perpendicular to the line connecting the positions of the two data acquisition devices.

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

[0016] Secondly, a railway intelligent robot inspection system is provided. This system includes a railway intelligent inspection terminal, configured to: determine and move to a preset location, where the railway intelligent inspection terminal can communicate with the two nearest data acquisition devices; initiate paging of a target data acquisition device, and, if the paging is successful, read data from the target data acquisition device, where the target data acquisition device is either of the two communicating devices; and determine the railway status information within the monitoring range of the target data acquisition device based on the data collected.

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

[0018] Optionally, the railway intelligent inspection terminal initiates a paging process to the target data acquisition device, including: the railway intelligent inspection terminal sending a paging message, the paging message including information for paging the target data acquisition device, and a read command, the read command instructing the reading of all information already collected by the target data acquisition device; correspondingly, the railway intelligent inspection terminal reads the collected information from the target data acquisition device, including: the railway intelligent inspection terminal receiving a response from the target data acquisition device in response to the read command, the response including the collected information, the amount of information of all information already collected by the target data acquisition device, and the template used for encryption by the target data acquisition device.

[0019] Optionally, the railway intelligent inspection terminal merges the decrypted plaintext information with the unencrypted plaintext information according to encryption rules to obtain railway status information, including: the railway intelligent inspection terminal determines encryption rules based on the template used by the target acquisition device for encryption and the amount of information of all information already collected by the target acquisition device; the encryption rules indicate the position of the encrypted information selected by the target acquisition device 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 encrypted information selected by the target acquisition device in the railway status information to obtain railway status information.

[0020] Optionally, the preset information has M information bits, where M is an integer greater than or equal to 12. The information amount of all information already collected by the target acquisition device is less than the information amount of the preset information. The template used by the target acquisition device for encryption is used to indicate the information bit number of the information to be encrypted in 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 number of the information to be encrypted in the M information bits. The information bit numbers of the information to be encrypted in the M information bits 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 to: determine which information among all the information already acquired by the target acquisition device needs to be encrypted based on the i-th template and the amount of information in all the information already acquired by the target acquisition device. The target acquisition device calculates the correlation between the information to be encrypted and the information that does not need to be encrypted, given that i is an integer from 1 to N. This yields N correlation values. The target acquisition device then determines the template corresponding to the lowest correlation among these N values, which becomes the template used for encryption. Specifically, the target acquisition device calculates the correlation between the information to be encrypted and the information that does not need to be encrypted by mapping the information to be encrypted to a first sequence and the information that does not need to be encrypted to a second sequence, and determines the inner product of the first and second sequences.

[0022] Optionally, the railway intelligent inspection terminal determines whether to move to the preset position based on the respective positions of the two data acquisition devices; if the railway intelligent inspection terminal moves to the middle position of the two data acquisition devices, then the railway intelligent inspection terminal is determined to have moved to the preset position.

[0023] Optionally, the railway intelligent inspection terminal is equipped with an antenna panel, which includes two antennas. The railway intelligent inspection terminal adjusts the angle of the plane on which the antenna panel is located to be perpendicular to the line connecting the positions of the two data acquisition devices.

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

[0025] Thirdly, an electronic device is provided, comprising: a processor and a memory; the memory is used to store a computer program, which, when executed by the processor, causes the electronic device to perform the method described in the first aspect.

[0026] In one possible design, the electronic device described in the third aspect may further include a transceiver. This transceiver may be a transceiver circuit or an interface circuit. The transceiver can be used for communication between the electronic device described in the third aspect and other electronic devices.

[0027] In the embodiments 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 disposed in the terminal, or a system containing the terminal.

[0028] Fourthly, a computer-readable storage medium is provided, comprising: a computer program or instructions; when the computer program or instructions are executed on a computer, the computer causes the computer to perform the method described in the first aspect.

[0029] In summary, the railway intelligent inspection terminal can locate itself, such as by moving to a position where it can communicate with the two nearest data acquisition devices. In this way, the railway intelligent inspection terminal can collect information from both devices at once. For example, the railway intelligent inspection terminal can page either of the target data acquisition devices, and if the page is successful, it can read the collected information from the target data acquisition device. Based on the collected information, it can determine the railway status information within the monitoring range of the target data acquisition device, thus improving the inspection efficiency of the railway intelligent robot. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the architecture of an Internet of Things (IoT) system provided in an embodiment of the present invention;

[0031] Figure 2 A flowchart illustrating the railway intelligent robot inspection method provided in an embodiment of the present invention;

[0032] Figure 3 A schematic diagram illustrating an application scenario of the railway intelligent robot inspection method provided in an embodiment of the present invention;

[0033] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0034] The technical solution of the present invention will now be described with reference to the accompanying drawings.

[0035] In this embodiment of the invention, "instruction" can include direct and indirect instructions, as well as explicit and implicit instructions. The information indicated by a certain piece of information is called the information to be instructed. In specific implementation, there are many ways to instruct the information to be instructed, such as, but not limited to, directly instructing the information to be instructed, such as the information to be instructed itself or its index. It can also indirectly instruct the information to be instructed by instructing other information, where there is a correlation between the other information and the information to be instructed. It can also instruct only a part of the information to be instructed, while the other parts are known or pre-agreed upon. For example, the instruction of specific information can be achieved by using a pre-agreed (e.g., protocol-defined) arrangement of various pieces of information, thereby reducing instruction overhead to some extent. Simultaneously, common parts of various pieces of information can be identified and uniformly indicated to reduce the instruction overhead caused by individually indicating the same information.

[0036] Furthermore, the specific indication method can also be any existing indication method, such as, but not limited to, the above-mentioned indication methods and their various combinations. Specific details of various indication methods can be found in existing technologies, and will not be elaborated upon here. As described above, for example, when multiple pieces of information of the same type need to be indicated, the indication methods for different pieces of information may differ. In specific implementation, the required indication method can be selected according to specific needs. This embodiment of the invention does not limit the selected indication method; therefore, the indication methods involved in this embodiment of the invention should be understood to cover various methods that 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 messages sent separately, and the sending period and / or timing of these sub-information messages can be the same or different. The specific sending method is not limited in this embodiment of the invention. The sending period and / or timing of these sub-information messages can be predefined, for example, according to a protocol, or configured by the sending device by sending configuration information to the receiving device.

[0038] "Predefined" or "pre-configured" can be achieved by pre-saving corresponding codes, tables, or other means that can be used to indicate relevant information in the device. This embodiment of the invention does not limit the specific implementation method. "Saving" can refer to saving in one or more memories. These memories can be separate installations or integrated into the encoder, decoder, processor, or electronic device. Alternatively, some memories can be separately installed, while others are integrated into the decoder, processor, or electronic device. The type of memory can be any form of storage medium, and this embodiment of the invention does not limit this.

[0039] In the embodiments of this invention, "protocol" may refer to a protocol family in the field of communication, a standard protocol with a similar protocol family frame structure, or a related protocol to be applied in future systems. The embodiments of this invention do not specifically limit this.

[0040] In this embodiment of the invention, descriptions such as "when," "under the circumstances," "if," and "if" all refer to the device making corresponding processing under certain objective circumstances, and are not limited to a specific time. They do not require the device to make a judgment action during implementation, nor do they imply any other limitations.

[0041] In the description of the embodiments of the present invention, unless otherwise stated, " / " indicates that the objects before and after are in an "or" relationship. For example, A / B can represent A or B. "And / or" in the embodiments of the present invention is merely a description of the relationship between the related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone, where A and B can be singular or plural. Furthermore, in the description of the embodiments of the present invention, unless otherwise stated, "multiple" refers to two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple. Additionally, to facilitate a clear description of the technical solutions of the embodiments of the present invention, the terms "first" and "second" are used in the embodiments of the present invention to distinguish identical or similar items with essentially the same function and effect. Those skilled in the art will understand that the terms "first," "second," etc., do not limit the quantity or order of execution, and that "first," "second," etc., are not necessarily different. Furthermore, in the embodiments of this invention, words such as "exemplary" or "for example" are used to indicate that something is being described as an example, illustration, or description. Any embodiment or design scheme described as "exemplary" or "for example" in the embodiments of this invention should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner for ease of understanding.

[0042] The network architecture and business scenarios described in the embodiments of this invention are for the purpose of more clearly illustrating the technical solutions of the embodiments of this invention, and do not constitute a limitation on the technical solutions provided by the embodiments of this invention. As those skilled in the art will know, with the evolution of network architecture and the emergence of new business scenarios, the technical solutions provided by the embodiments of this invention are also applicable to similar technical problems.

[0043] To facilitate understanding of the embodiments of the present invention, firstly, let's take... Figure 1 The IoT system shown in the figure is an example, Figure 1 This is a schematic diagram of the architecture of the Internet of Things system to which the railway intelligent robot inspection method provided in this embodiment of the invention is applicable.

[0044] like Figure 1 As shown, the Internet of Things system may include: railway intelligent inspection terminals and data collection equipment.

[0045] The railway intelligent inspection terminal can also be called a railway intelligent inspection robot, or any other name, without limitation. Functionally, the railway intelligent inspection terminal can serve as a reader in the Ambient IoT (AIoT) system, that is, a terminal that supports reader functions. The reader can perform AIoT-related operations, such as inventory, reading, writing, and deactivation.

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

[0047] AIoT devices can be terminal devices, i.e., terminals. These terminals can be terminals with transceiver capabilities, or chips or chip systems that can be installed on them. Terminals can also be referred to as user equipment (UE), access terminals, subscriber units, user stations, mobile stations (MS), mobile stations, remote stations, remote terminals, mobile devices, user terminals, terminals, wireless communication equipment, user agents, or user devices. The terminals in the embodiments of this application may be mobile phones, cellular phones, smartphones, tablets, wireless data cards, personal digital assistants (PDAs), wireless modems, handsets, laptop computers, machine-type communication (MTC) terminals, computers with wireless transceiver capabilities, virtual reality (VR) terminals, augmented reality (AR) terminals, wireless terminals in industrial control, wireless terminals in self-driving, wireless terminals in remote medical care, wireless terminals in smart grids, wireless terminals in transportation safety, wireless terminals in smart cities, wireless terminals in smart homes, vehicle-mounted terminals, roadside units (RSUs) with terminal functions, etc. The terminal in this application can also be an on-board module, on-board unit, on-board component, on-board chip, or on-board unit built into a vehicle as one or more components or units. Alternatively, the terminal can also be customer-premises equipment (CPE).

[0048] Figure 2 This is a flowchart illustrating the method provided in an embodiment of the present invention. This intelligent railway robot inspection method is applicable to the aforementioned Internet of Things (IoT) system and involves the interaction between devices within the IoT system. The specific process is as follows:

[0049] S201, the railway intelligent inspection terminal has moved to the preset position.

[0050] The preset location is the position where the railway intelligent inspection terminal can communicate with the two nearest data acquisition devices. For example, the railway intelligent inspection terminal has preset locations for each data acquisition device, such as latitude and longitude information. The railway intelligent inspection terminal plans an inspection route that passes between every two adjacent data acquisition devices sequentially. The railway intelligent inspection terminal can locate itself to determine the positional relationship between its own position and the positions of each data acquisition device. Therefore, based on the positions of the two data acquisition devices, the railway intelligent inspection terminal determines whether to move to the midpoint between them; if it does, it is determined that it has moved to the preset location. The midpoint between the two data acquisition devices can be the midpoint of the line connecting their positions (or a location near that point, such as within a preset error range). The railway intelligent inspection terminal is equipped with an antenna panel consisting of two antennas. The railway intelligent inspection terminal can adjust the angle of the plane containing the antenna panel to be perpendicular to the line connecting the positions of the two data acquisition devices, specifically as follows: Figure 3 As shown, beamforming is achieved through two antennas, and the beams formed in space resemble two hemispheres. Based on the orientation of the antenna panel and the location of the railway intelligent inspection terminal, the beams can be directed towards the two acquisition devices respectively, thereby better covering the two acquisition devices and achieving a more stable and reliable communication effect.

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

[0052] The target acquisition device is either of the two acquisition devices communicating.

[0053] In an AIoT scenario, the railway intelligent inspection terminal can send paging messages. These messages include information for paging the target data acquisition device (such as its identifier) ​​and a read command instructing the reader to read all information already collected by the target device. If the target device receives the paging message, it can identify itself based on the identifier carried in the message. Therefore, the target device can send information for random access, such as a multi-bit random number, to the railway intelligent inspection terminal. If no other device returns the same random number as the target device, the terminal sends an acknowledgment to it, allowing access and thus confirming that the target device has been paged. Upon receiving the acknowledgment, the target device can then execute the read command, reading all previously collected information. All information collected by the target acquisition device can be railway status information, such as environmental information collected by the target acquisition device, such as temperature changes, humidity changes, settlement changes, radiation levels, environmental images, etc. There are no specific limitations. Any information in the field of railway monitoring that can be used for monitoring and collection and indicates the railway status is applicable to this application.

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

[0055] The target acquisition device can select a portion of the information it has already acquired for encryption based on a model. For example, 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 these N templates. Each of the N templates indicates the position of the information bit to be encrypted within M information bits. The position of the information bit to be encrypted within the M information bits indicated by any two of the N templates is different. For example, template 1 indicates that the information bits at positions 1, 6, 12, 6, 12, 22, 23, 36, 41, 42... in the M information bits of the preset information are the information bits to be encrypted. Template 2 indicates that the information bits at positions 3, 4, 5, 12, 13, 22, 27, 31, 32, 40... in the M information bits of the preset information are the information bits to be encrypted. Each template can be randomly generated. For example, based on whether 1 / 2 or 1 / 3 of the information is encrypted, the position (or sequence number) of the information to be encrypted within M information bits can be randomly generated. These templates can be pre-configured. The reason for pre-configuring N templates is that the relevance of the information extracted from the same template varies depending on the information being encrypted. The template with the lowest relevance is selected to improve information security. This will be explained in detail below.

[0056] For example, for the i-th template among N templates, the target acquisition device, based on the i-th template and the information content of all information already acquired by the target acquisition device, determines the information that needs to be encrypted and the information that does not need to be encrypted. 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 (e.g., each information bit is mapped to a vector, resulting in a vector sequence), and maps the information that does not need to be encrypted to a second sequence (e.g., each information bit is mapped to a vector, resulting in a vector sequence), and determines the inner product of the first and second sequences (e.g., the first sequence is used as a column vector and the second sequence as a row vector). With i being an integer from 1 to N, N correlation scores are obtained. The target acquisition device determines the template corresponding to the lowest correlation score among the N correlation scores as the template used for encryption. Minimum relevance 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. Therefore, the target acquisition device can determine the information that needs to be encrypted from all the information it has collected, according to the encryption template used. It then encrypts the information using a key, obtaining encrypted information. The unencrypted portion of all the information collected by the target acquisition device is the partially unencrypted plaintext information. The target acquisition device then sends a response to the railway intelligent inspection terminal. This response includes the collected information, including partially encrypted information and partially unencrypted plaintext information, as well as the amount of information from all the information collected by the target acquisition device, and the encryption template used by the target acquisition device (such as the template's identifier). Correspondingly, the railway intelligent inspection terminal receives the response from the target acquisition device in response to the read command.

[0057] S203, the railway intelligent inspection terminal determines the railway status information within the monitoring range of the target data collection equipment based on the collected information.

[0058] The railway intelligent inspection terminal can decrypt partially encrypted information to obtain the decrypted plaintext information. For example, it can use the same key as the encryption key to decrypt partially encrypted information. The terminal then merges the decrypted plaintext information with the unencrypted plaintext information according to encryption rules to obtain railway status information. For instance, the terminal can determine encryption rules based on the template used by the target acquisition device and the amount of information already collected. These rules instruct the target acquisition device to select the location of encrypted information within the railway status information. For example, if the total amount of information collected by the target acquisition device is K bits, the encryption rules indicate which of those K bits are encrypted. Therefore, the railway intelligent inspection terminal can determine the location of some unencrypted plaintext information and the location of each piece of decrypted plaintext information, that is, the position of the information selected for encryption by the target acquisition device in the railway status information. Then, according to the position of the information selected for encryption by the target acquisition device in the railway status information, the railway intelligent inspection terminal inserts the decrypted plaintext information into the unencrypted plaintext information to obtain the railway status information.

[0059] In summary, the railway intelligent inspection terminal can locate itself, such as by moving to a position where it can communicate with the two nearest data acquisition devices. In this way, the railway intelligent inspection terminal can collect information from both devices at once. For example, the railway intelligent inspection terminal can page either of the target data acquisition devices, and if the page is successful, it can read the collected information from the target data acquisition device. Based on the collected information, it can determine the railway status information within the monitoring range of the target data acquisition device, thus improving the inspection efficiency of the railway intelligent robot.

[0060] The above combination Figure 2 The method provided by the embodiments of the present invention is described in detail below. The following describes in detail a railway intelligent robot inspection system for implementing the method provided by the embodiments of the present invention. The system includes a railway intelligent inspection terminal, which is configured to: determine and move to a preset position, the preset position being a location where the railway intelligent inspection terminal can communicate with the two nearest data acquisition devices; initiate paging to a target data acquisition device, and if the paging is successful, read data acquisition information from the target data acquisition device, the target data acquisition device being either of the two communicating data acquisition devices; and determine the railway status information within the monitoring range of the target data acquisition device based on the data acquisition information.

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

[0062] Optionally, the railway intelligent inspection terminal initiates a paging process to the target data acquisition device, including: the railway intelligent inspection terminal sending a paging message, the paging message including information for paging the target data acquisition device, and a read command, the read command instructing the reading of all information already collected by the target data acquisition device; correspondingly, the railway intelligent inspection terminal reads the collected information from the target data acquisition device, including: the railway intelligent inspection terminal receiving a response from the target data acquisition device in response to the read command, the response including the collected information, the amount of information of all information already collected by the target data acquisition device, and the template used for encryption by the target data acquisition device.

[0063] Optionally, the railway intelligent inspection terminal merges the decrypted plaintext information with the unencrypted plaintext information according to encryption rules to obtain railway status information, including: the railway intelligent inspection terminal determines encryption rules based on the template used by the target acquisition device for encryption and the amount of information of all information already collected by the target acquisition device; the encryption rules indicate the position of the encrypted information selected by the target acquisition device 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 encrypted information selected by the target acquisition device in the railway status information to obtain railway status information.

[0064] Optionally, the preset information has M information bits, where M is an integer greater than or equal to 12. The information amount of all information already collected by the target acquisition device is less than the information amount of the preset information. The template used by the target acquisition device for encryption is used to indicate the information bit number of the information to be encrypted in 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 number of the information to be encrypted in the M information bits. The information bit numbers of the information to be encrypted in the M information bits 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 to: determine which information among all the information already acquired by the target acquisition device needs to be encrypted based on the i-th template and the amount of information in all the information already acquired by the target acquisition device. The target acquisition device calculates the correlation between the information to be encrypted and the information that does not need to be encrypted, given that i is an integer from 1 to N. This yields N correlation values. The target acquisition device then determines the template corresponding to the lowest correlation among these N values, which becomes the template used for encryption. Specifically, the target acquisition device calculates the correlation between the information to be encrypted and the information that does not need to be encrypted by mapping the information to be encrypted to a first sequence and the information that does not need to be encrypted to a second sequence, and determines the inner product of the first and second sequences.

[0066] Optionally, the railway intelligent inspection terminal determines whether to move to the preset position based on the respective positions of the two data acquisition devices; if the railway intelligent inspection terminal moves to the middle position of the two data acquisition devices, then the railway intelligent inspection terminal is determined to have moved to the preset position.

[0067] Optionally, the railway intelligent inspection terminal is equipped with an antenna panel, which includes two antennas. The railway intelligent inspection terminal adjusts the angle of the plane on which the antenna panel is located to be perpendicular to the line connecting the positions of the two data acquisition devices.

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

[0069] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Exemplarily, the electronic device may be a network device, or a chip (system) or other component or assembly that can be disposed in a network device. Figure 4 As shown, the electronic device 400 may include a processor 401. Optionally, the electronic device 400 may also include a memory 402 and / or a transceiver 403. The processor 401 is coupled to the memory 402 and the transceiver 403, for example, via a communication bus.

[0070] The following is combined with Figure 4A detailed description of each component of the electronic device 400 is provided below:

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

[0072] Optionally, the processor 401 can perform 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, such as performing the aforementioned functions. Figure 2 The railway intelligent robot inspection method is shown.

[0073] In a specific implementation, as one example, processor 401 may include one or more CPUs, for example... Figure 4 CPU0 and CPU1 are shown in the diagram.

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

[0075] The memory 402 is used to store the software program that executes the solution of the present invention, and is controlled by the processor 401 to execute it. The specific implementation method can be referred to the above method embodiment, and will not be repeated here.

[0076] Optionally, the memory 402 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto. The memory 402 may be integrated with the processor 401 or may exist independently and be accessible through the interface circuit of the electronic device 400. Figure 4 (Not shown in the image) is coupled to processor 401, and this embodiment of the invention does not specifically limit this.

[0077] Transceiver 403 is used for communication with other electronic devices. For example, if electronic device 400 is a terminal, transceiver 403 can be used to communicate with a network device or with another terminal device. As another example, if electronic device 400 is a network device, transceiver 403 can be used to communicate with a terminal or with another network device.

[0078] Alternatively, transceiver 403 may include a receiver and a transmitter. Figure 4 (Not shown separately). The receiver is used to implement the receiving function, and the transmitter is used to implement the sending function.

[0079] Alternatively, the transceiver 403 can be integrated with the processor 401, or it can exist independently and be connected via the interface circuit of the electronic device 400. Figure 4 (Not shown in the image) is coupled to processor 401, and this embodiment of the invention does not specifically limit this.

[0080] Understandable Figure 4 The structure of the electronic device 400 shown does not constitute a limitation on the electronic device. Actual electronic devices may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0081] Furthermore, the technical effects of the electronic device 400 can be referred to the technical effects of the methods described in the above method embodiments, and will not be repeated here.

[0082] It should be understood that the processor in the embodiments of the present invention can be a central processing unit (CPU), or it can 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 can be a microprocessor or any conventional processor.

[0083] It should also be understood that the memory in the embodiments of the present invention can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be 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 RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate synchronous DRAM (DDR SDRAM), enhanced synchronous DRAM (ESDRAM), synchronous linked 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 other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, as 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, all or part of the processes or functions described in the embodiments of the present invention are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. 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 via wired (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more sets of available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. A semiconductor medium can be a solid-state drive.

[0085] It should be understood that the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. A and B can be singular or plural. Additionally, the character " / " in this article generally indicates an "or" relationship between the preceding and following related objects, but it can also represent an "and / or" relationship. Please refer to the context for a more accurate understanding.

[0086] In this invention, "at least one" means one or more, and "more than one" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of a single item or a plurality of items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be a single item or multiple items.

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

[0088] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0089] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0090] In the embodiments provided by this invention, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

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

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

[0093] If the aforementioned functions are implemented as 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, or the part that contributes to the prior art, or a part of the 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 to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0094] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A railway intelligent robot inspection method, 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 the position where the railway intelligent inspection terminal can communicate with the two nearest data acquisition devices. The railway intelligent inspection terminal initiates a paging to the target data acquisition device, and if the target data acquisition device is successfully paged, the railway intelligent inspection terminal reads the collected information from the target data acquisition device, wherein the target data acquisition device is either of the two data acquisition devices communicating. The railway intelligent inspection terminal determines the railway status information within the monitoring range of the target acquisition device based on the collected information; The collected information includes partially encrypted information and partially unencrypted plaintext information. Based on the collected information, the railway intelligent inspection terminal determines the railway status information within the monitoring range of the target data collection device, including: The railway intelligent inspection terminal decrypts the encrypted information to obtain the decrypted plaintext information. The railway intelligent inspection terminal merges the decrypted plaintext information with the unencrypted plaintext information according to encryption rules to obtain the railway status information; The railway intelligent inspection terminal initiates a paging process to the target data acquisition device, including: The railway intelligent inspection terminal sends a paging message, which includes information for paging the target data acquisition device and a read command, which instructs the reader to read all the information already collected by the target data acquisition device. Accordingly, the railway intelligent inspection terminal reads the collected information from the target data acquisition device, including: The railway intelligent inspection terminal receives the response returned by the target acquisition device in response to the read command. The response includes the acquired information, the amount of information of all information acquired by the target acquisition device, and the template used by the target acquisition device for encryption. The railway intelligent inspection terminal merges the decrypted plaintext information with the unencrypted plaintext information according to encryption rules to obtain the railway status information, including: The railway intelligent inspection terminal determines the encryption rule based on the template used by the target acquisition device for encryption and the amount of information of all information already collected by the target acquisition device. The encryption rule instructs the target acquisition device to select the location of the encrypted information in the railway status information. The railway intelligent inspection terminal selects the position of the encrypted information in the railway status information according to the target acquisition device, inserts the decrypted plaintext information into the unencrypted plaintext information, and obtains the railway status information.

2. The method according to claim 1, characterized in that, The preset information has M information bits, where M is an integer greater than or equal to 12. The information content of all information already collected by the target acquisition device is less than the information content of the preset information. The template used by the target acquisition device for encryption is used to indicate the information bit sequence number of the information to be encrypted in the M information bits.

3. The method according to claim 2, characterized in that, The target acquisition device is pre-configured with N templates, where N is an integer greater than 1. The template used by the target acquisition device for encryption belongs to the N templates. Each of the N templates is used to indicate the information bit number of the information to be encrypted in the M information bits. The information bit numbers of the information to be encrypted indicated by any two of the N templates are different in the M information bits. For the i-th template among the N templates, the target acquisition device is configured as follows: 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 it has collected, based on the i-th template and the amount of information in all the information it has collected. 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. When i is an integer 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 by the target acquisition device for encryption. Specifically, 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 by mapping the information that needs to be encrypted to a first sequence and the information that does not need to be encrypted to a second sequence, and determines the inner product of the first sequence and the second sequence.

4. The method according to claim 1, characterized in that, 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 of the two data acquisition devices based on the respective positions of the two data acquisition devices. If the railway intelligent inspection terminal moves to the middle position of the two data acquisition devices, then it is determined that the railway intelligent inspection terminal has moved to the preset position.

5. The method according to claim 4, characterized in that, The railway intelligent inspection terminal is equipped with an antenna panel, which includes two antennas. The railway intelligent inspection terminal adjusts the angle of the plane on which the antenna panel is located to be perpendicular to the line connecting the positions of the two acquisition devices.

6. The method according to any one of claims 1-5, characterized in that, The railway intelligent inspection terminal supports the function of a reader, and both data acquisition devices are environmental Internet of Things (AIoT) devices that can be read by the reader.

7. A railway intelligent robot inspection system, characterized in that, The system includes a railway intelligent inspection terminal, which is configured as follows: The railway intelligent inspection terminal determines that it has moved to a preset position, which is the position where the railway intelligent inspection terminal can communicate with the two nearest data acquisition devices. The railway intelligent inspection terminal initiates a paging to the target data acquisition device, and if the target data acquisition device is successfully paged, the railway intelligent inspection terminal reads the collected information from the target data acquisition device, wherein the target data acquisition device is either of the two data acquisition devices communicating. The railway intelligent inspection terminal determines the railway status information within the monitoring range of the target acquisition device based on the collected information; The railway intelligent inspection terminal determines the railway status information within the monitoring range of the target acquisition device based on the collected information; The collected information includes partially encrypted information and partially unencrypted plaintext information. Based on the collected information, the railway intelligent inspection terminal determines the railway status information within the monitoring range of the target data collection device, including: The railway intelligent inspection terminal decrypts the encrypted information to obtain the decrypted plaintext information. The railway intelligent inspection terminal merges the decrypted plaintext information with the unencrypted plaintext information according to encryption rules to obtain the railway status information; The railway intelligent inspection terminal initiates a paging process to the target data acquisition device, including: The railway intelligent inspection terminal sends a paging message, which includes information for paging the target data acquisition device and a read command, which instructs the reader to read all the information already collected by the target data acquisition device. Accordingly, the railway intelligent inspection terminal reads the collected information from the target data acquisition device, including: The railway intelligent inspection terminal receives the response returned by the target acquisition device in response to the read command. The response includes the acquired information, the amount of information of all information acquired by the target acquisition device, and the template used by the target acquisition device for encryption. The railway intelligent inspection terminal merges the decrypted plaintext information with the unencrypted plaintext information according to encryption rules to obtain the railway status information, including: The railway intelligent inspection terminal determines the encryption rule based on the template used by the target acquisition device for encryption and the amount of information of all information already collected by the target acquisition device. The encryption rule instructs the target acquisition device to select the location of the encrypted information in the railway status information. The railway intelligent inspection terminal selects the position of the encrypted information in the railway status information according to the target acquisition device, inserts the decrypted plaintext information into the unencrypted plaintext information, and obtains the railway status information.

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