Patrol data transmission method and system for robot dog

Abstract

The invention provides a patrol data transmission method and system for a robot dog, and relates to the technical field of robot dog control. The method comprises the following steps: acquiring patrol data, and adding an attribute mark to the patrol data; acquiring a resource state of the robot dog onboard system in real time; scanning a surrounding wireless environment through a robot dog, identifying communication relay nodes existing nearby, and obtaining a communication opportunity; outputting a data preprocessing parameter and a transmission preparation instruction according to the attribute mark, the resource state and the communication opportunity; performing preprocessing operation on the patrol data in the cache according to the data preprocessing parameters; and according to the transmission preparation instruction, selecting a data block from the cache for packaging, and preparing for sending. According to the method, a dynamic strategy adjustment mechanism based on a resource state and communication perception is introduced in the communication interruption period of the robot dog, so that challenges caused by continuous increase of cache data under the conditions that onboard resources are limited and communication is uncertain are effectively solved.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic dog control, and in particular, to a patrol data transmission method and system for a robotic dog. Background Art

[0002] As an advanced patrol tool, robotic dogs are deployed in specific urban areas to perform tasks such as monitoring key facilities, assisting personnel in patrols, and conducting security inspections. These areas often have complex environments, which may include structures such as high-rise buildings, underground passage entrances, and dense obstacles. These structures cause significant attenuation, reflection, and occlusion of wireless communication signals, easily forming communication blind spots. During the execution of tasks, robotic dogs need to continuously collect environmental data, including high-resolution video streams, high-quality audio information, and various sensor data (such as gas detection, temperature, humidity, motion sensors, etc.). This data is crucial for the remote command center to grasp the on-site situation in real time and make decisions, so it needs to be transmitted to the remote command center in real time and reliably through a wireless communication link.

[0003] However, during actual patrols, when a robotic dog enters an area with a poor signal environment as described above, the strength of the wireless communication signal between it and the remote command center will rapidly decline, and may even fall below the reception threshold required to maintain effective communication, resulting in a communication link interruption. After the communication is interrupted, the robotic dog cannot transmit the subsequent collected patrol data back in real time. To avoid data loss, the on-board system of the robotic dog usually starts a local data caching mechanism to temporarily store all the data collected during the communication interruption in its internal storage unit. The system also needs to record the key status information when the communication interruption occurs, such as the identifier of the last successfully transmitted data, the current task progress, the position of the robotic dog, etc., for data synchronization and task continuation after the communication is restored.

[0004] After the communication is interrupted, the robotic dog may need to continue moving and performing some tasks inside the signal blind spot according to a preset patrol path or based on its autonomous navigation ability. Inside the blind spot, although it cannot communicate with the command center normally, its on-board communication module usually continuously scans the wireless environment and detects signals, trying to find the possibility of restoring communication. The complexity of the urban environment means that there may be "hot spot" areas with weak or intermittent signal strength inside the blind spot (such as near windows, open areas), or the robotic dog may detect potential communication nodes outside the blind spot through movement (such as other cooperative robotic dogs nearby, temporarily deployed communication relay devices, or even the edge signals of signal towers).

[0005] As the robotic dog continues to collect data inside the blind spot, the amount of cached data keeps increasing. These data are of various types. For example, the video stream data volume is huge, while the sensor alarm data volume is small but has extremely high timeliness and priority. However, as a mobile platform, the on-board computing resources (processing capabilities such as CPU and GPU) and battery energy of the robotic dog are limited. Without knowing when stable communication can be restored and the possible future communication link quality (bandwidth, stability), simply caching all the raw data will quickly consume the limited storage space, and it will be difficult to effectively and timely transmit such a large amount of raw data even when there is a short or low-bandwidth connection opportunity in the future, resulting in the inability to transmit key information back.

[0006] Therefore, during the communication interruption and data caching period, the robotic dog faces the challenge of how to effectively manage and preprocess the continuously growing cached data under the condition of limited on-board resources. Traditional caching strategies are usually first-in-first-out or simply stored in chronological order, lacking the discrimination of data importance and the anticipation of future communication opportunities. How to intelligently process cached data in a complex scenario with resource constraints, uncertain communication, and diverse data types, and select the optimal data transmission strategy when detecting potential communication opportunities is the key technical problem faced by the robotic dog when performing tasks in a complex urban environment. Summary of the Invention

[0007] The purpose of the present invention is to provide a patrol data transmission method and system for a robotic dog. By introducing a dynamic policy adjustment mechanism based on resource status and communication awareness during the communication interruption of the robotic dog, it effectively solves the challenges brought by the continuous growth of cached data under the conditions of limited on-board resources and uncertain communication.

[0008] In the first aspect, the present invention provides a patrol data transmission method for a robotic dog, which is used in a patrol data transmission system for a robotic dog and includes the following steps:

[0009] Obtain patrol data, identify the type, collection time, associated task identifier, and priority of the patrol data, and attach an attribute tag to the patrol data;

[0010] Obtain the CPU usage rate, memory usage, and remaining battery energy of the on-board system of the robotic dog in real time and use them as the resource status;

[0011] Scan the surrounding wireless environment through the wireless communication module of the robotic dog, and identify the existing communication relay nodes nearby by measuring the received signal strength indication and signal-to-noise ratio of the wireless signal to obtain communication opportunities;

[0012] Based on the attribute tags, resource status, and communication opportunities, and based on a preset set of policy rules, evaluate the impact of feasible preprocessing operations in the current state on resource consumption and data volume reduction, calculate the transmission value of different data blocks, and output data preprocessing parameters and transmission preparation instructions; a data block is the basic unit of patrol data collected, cached, or prepared for transmission by the robotic dog during patrol, and the patrol data can be divided into multiple data blocks;

[0013] According to the data preprocessing parameters, perform preprocessing operations on the patrol data in the cache, store the preprocessed patrol data back into the cache, and update the status tags of the patrol data;

[0014] According to the transmission preparation instructions, select data blocks of patrol data with specified status tags from the cache for encapsulation, and prepare to send them through the communication module of the robotic dog.

[0015] The patrol data transmission method for a robotic dog according to the present invention, during the patrol task of the robotic dog in a complex urban area including high-rise buildings, underground passages, and dense obstacles, when the wireless communication is interrupted, the on-board computing resources and battery energy are limited, and the cached data volume continues to grow, according to the dynamically changing own resource status and the perception result of the surrounding communication environment, intelligently adjust the processing method of the cached data and the transmission preparation strategy to maximize the efficiency and value of transmitting key patrol information in possible short-term or low-bandwidth communication opportunities.

[0016] In a second aspect, the present invention provides a patrol data transmission system for a robotic dog, including:

[0017] A first acquisition module, configured to acquire patrol data, identify the type, acquisition time, associated task identifier, and priority of the patrol data, and attach attribute tags to the patrol data;

[0018] A second acquisition module, configured to acquire the CPU usage rate, memory usage, and remaining battery energy of the on-board system of the robotic dog in real time, and use them as the resource status;

[0019] A wireless identification module, configured to scan the surrounding wireless environment through the wireless communication module of the robotic dog, and identify the existing communication relay nodes nearby by measuring the received signal strength indication and signal-to-noise ratio of the wireless signal, so as to obtain communication opportunities;

[0020] An evaluation module, configured to evaluate the impact of feasible preprocessing operations in the current state on resource consumption and data volume reduction based on the attribute tags, resource status, and communication opportunities, and based on a preset set of policy rules, calculate the transmission value of different data blocks, and output data preprocessing parameters and transmission preparation instructions; a data block is the basic unit of patrol data collected, cached, or prepared for transmission by the robotic dog during patrol, and the patrol data can be divided into multiple data blocks;

[0021] A preprocessing module, configured to perform preprocessing operations on the patrol data in the cache according to data preprocessing parameters, store the preprocessed patrol data back into the cache, and update the status flag of the patrol data;

[0022] An encapsulation module, configured to select data blocks of patrol data with a specified status flag from the cache for encapsulation according to a transmission preparation instruction, and prepare to send them through the communication module of the robotic dog.

[0023] As can be seen from the above, the patrol data transmission method for a robotic dog provided by the present invention adjusts the processing method of cached patrol data and the transmission preparation strategy according to its own on-board resource status and the perception result of the communication environment. This mechanism includes data attribute recognition, resource status monitoring, communication environment perception, policy calculation and adjustment, data preprocessing execution, and a transmission preparation module. The robotic dog continuously runs this mechanism to optimize the status of cached data so that when a communication opportunity appears, appropriate data blocks can be selected for transmission.

[0024] Other features and advantages of the present invention will be described in the subsequent specification, and part of them will become obvious from the specification, or can be understood by implementing the embodiments of the present invention. The objectives and other advantages of the present invention can be achieved and obtained through the structures specifically pointed out in the written specification and the accompanying drawings. Description of the Drawings

[0025] Figure 1 It is a flowchart of a patrol data transmission method for a robotic dog provided by an embodiment of the present invention.

[0026] Figure 2 It is a schematic structural diagram of a patrol data transmission system of a robotic dog provided by an embodiment of the present invention.

[0027] Label Description:

[0028] 100, the first acquisition module; 200, the second acquisition module; 300, the wireless identification module; 400, the evaluation module; 500, the preprocessing module; 600, the encapsulation module. Detailed Embodiments

[0029] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Components of the embodiments of the present invention usually described and illustrated in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0030] It should be noted that: Similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of the present invention, terms such as "first" and "second" are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0031] Refer to the attached Figure 1 , the present invention provides a patrol data transmission method for a robotic dog, and a patrol data transmission system for a robotic dog, including the following steps:

[0032] Obtain patrol data, identify the type, collection time, associated task identifier, and priority of the patrol data, and attach an attribute tag to the patrol data;

[0033] Obtain the CPU usage rate, memory usage, and remaining battery energy of the robotic dog's on-board system in real time, and use them as the resource status;

[0034] Scan the surrounding wireless environment through the wireless communication module of the robotic dog, and identify the existing communication relay nodes nearby by measuring the received signal strength indication (RSSI) and signal-to-noise ratio (SNR) of the wireless signal to obtain communication opportunities;

[0035] Based on the attribute tag, resource status, and communication opportunity, and based on a preset policy rule set, evaluate the impact of feasible preprocessing operations on resource consumption and data volume reduction in the current state, calculate the transmission value of different data blocks, and output data preprocessing parameters and transmission preparation instructions; A data block is the basic unit of the patrol data collected, cached, or prepared for transmission by the robotic dog during patrol, and the patrol data can be divided into multiple data blocks;

[0036] According to the data preprocessing parameters, perform preprocessing operations on the patrol data in the cache, store the preprocessed patrol data back in the cache, and update the status tag of the patrol data;

[0037] According to the transmission preparation instruction, select the data blocks of the patrol data with the specified status flag from the cache for encapsulation, and prepare to send them through the communication module of the robotic dog.

[0038] Among them, the attribute flag refers to the flag for classifying the patrol data according to type, collection time, associated task identifier, and priority. Specifically, it can be implemented by using metadata tags or database field attachments, and is used to dynamically evaluate the value of different data blocks.

[0039] Among them, the resource status refers to the real-time CPU usage rate, memory usage, and remaining battery energy of the robotic dog's on-board system. Specifically, it can be implemented by collecting data through the system monitoring interface or sensors, and is used to constrain the upper limit of resource consumption for preprocessing operations.

[0040] Among them, the communication opportunity refers to the available relay nodes identified by scanning the surrounding environment through the wireless communication module. Specifically, it can be implemented by combining RSSI and SNR measurements with a signal quality threshold screening, and is used to determine the potential channels for data transmission.

[0041] Among them, the policy rule set refers to a set of preset decision logics for evaluating the impact of preprocessing operations and calculating the transmission value. Specifically, it can be implemented by using a weighted scoring model or machine learning algorithms, and is used to dynamically adjust the processing priority of data blocks.

[0042] Among them, the data preprocessing parameters refer to the operation instructions for performing compression, downsampling, and feature extraction on the cached data. Specifically, it can be implemented by using preset coding algorithms or data processing library functions, and is used to minimize the amount of data to be transmitted under resource constraints.

[0043] Among them, the transmission preparation instruction refers to an encapsulation command containing the target data block identifier and the relay node identifier. Specifically, it can be implemented by using queue management or network protocol configuration, and is used to match high-value data with the optimal transmission path.

[0044] The core innovation of this application lies in establishing a multi-dimensional dynamic collaborative decision-making mechanism. By quantifying the data value through attribute flags, constraining the processing ability with resource status, predicting the transmission channels with communication opportunities, and combining the policy rule set to calculate the optimal combination of preprocessing operations and transmission paths in real time, high-value data blocks are preferentially transmitted when communication resources are limited, solving the problem of low data transmission efficiency caused by limited resources in complex environments.

[0045] The working process and principle of this application are as follows. The patrol data transmission method optimizes data management under resource - constrained and communication - unstable conditions through a multi - dimensional dynamic collaborative decision - making mechanism. First, the patrol data is divided into independent data blocks, and each data block is attached with attribute tags such as type, collection time, associated task identifier, and priority to establish a basis for data value evaluation. The on - board system continuously monitors the CPU usage rate, memory usage, and remaining battery energy to form resource status parameters. The wireless communication module periodically scans the surrounding environment, measures the received signal strength indication and signal - to - noise ratio to identify available relay nodes, and generates communication opportunity information.

[0046] The preset policy rule set makes dynamic decisions based on attribute tags, resource status, and communication opportunities, evaluates the impact of pre - processing operations on resource consumption and data reduction, and calculates the transmission value of each data block. The pre - processing operations include compression algorithm selection and data downsampling, and their execution intensity is dynamically adjusted according to the current CPU load and memory margin. After pre - processing, the data block updates the status tag and is bound to a transmission preparation instruction, which contains the target relay node identifier and encapsulation format.

[0047] When the communication module detects an available relay node, the system filters the data blocks with the specified status tag from the cache according to the transmission preparation instruction and performs encapsulation and transmission in the order of priority. The division granularity of the data block and the type of pre - processing operation are dynamically adapted according to the data type. Inter - frame compression is used for video data, while differential coding is used for sensor data to ensure a balance between processing efficiency and data fidelity.

[0048] As a preferred embodiment, the solution of this application is specifically implemented as follows: In the patrol task of the underground parking lot of a shopping mall, when the robot dog enters near the elevator shaft, a communication interruption occurs. The system divides the collected patrol data into video data blocks and temperature - sensing alarm data blocks. The video data block is attached with a low - priority tag, and the temperature - sensing data block is attached with an emergency task identifier and a high - priority tag. The on - board system detects that the current CPU usage rate is 65%, the remaining memory is 300MB, and the remaining battery is 40%, and determines that medium - intensity pre - processing can be performed.

[0049] The wireless module scans and finds two relay nodes: Node A has an RSSI of - 70dBm and an SNR of 15dB, and Node B has an RSSI of - 85dBm and an SNR of 8dB. The policy rule set determines that Node A meets the minimum transmission rate threshold and sets Node A as the transmission target. For the video data block, H.265 inter - frame compression is performed, and the data volume is reduced by 60%, and the resource consumption rate is controlled at 20%; for the temperature - sensing data block, lossless compression is used to maintain data integrity, and the resource consumption rate is 5%. After pre - processing, the video data block is marked as "to be transmitted - compressed", and the temperature - sensing data block is marked as "emergency - priority transmission".

[0050] When the robotic dog moves to the parking lot exit, the signal strength of node A increases to -65 dBm. The system preferentially encapsulates the temperature sensor data block marked as "Emergency - Priority Transmission" and completes the transmission through node A within 8 seconds. Meanwhile, the background continues to compress the remaining video data blocks.

[0051] Through the above - mentioned solution, this application realizes the intelligent hierarchical processing of cached data when the communication environment changes dynamically. By optimizing the pre - processing strategy through the real - time matching of attribute tags and resource status, it ensures the reliable transmission of high - priority data within a short communication window. The fine - grained division and differential processing of data blocks reduce resource competition conflicts and avoid the loss of key information caused by cache overflow or transmission delay. The dynamic evaluation of communication opportunities and transmission path selection improve the bandwidth utilization rate under intermittent connection conditions, thereby enhancing the overall transmission efficiency of the system under limited resource conditions.

[0052] In some embodiments, the steps of evaluating the impact of feasible pre - processing operations on resource consumption and data volume reduction in the current state based on a preset policy rule set according to attribute tags, resource status, and communication opportunities, calculating the transmission value of different data blocks, and outputting data pre - processing parameters and transmission preparation instructions include:

[0053] Adjust the weights of each factor in the preset value evaluation model according to the remaining battery power of the robotic dog; the weights of each factor in the value evaluation model include priority weight, timeliness weight, associated task weight, and resource consumption weight;

[0054] Based on the adjusted value evaluation model, calculate the transmission value of each data block; transmission value = priority weight * priority + timeliness weight * timeliness + associated task weight * associated task + resource consumption weight * (1 - resource consumption rate);

[0055] According to the signal strength indication and signal - to - noise ratio of the communication relay nodes scanned by the wireless communication module, predict the success rate of data block transmission through different relay nodes, and combine the bandwidth limitations of the relay nodes to calculate the transmission rate of the data block through each relay node;

[0056] According to the transmission value of the data block and the transmission rate through each relay node, select the data block with the highest transmission value as the target data block, and select the relay node whose transmission rate meets the lowest preset first threshold, and generate a transmission preparation instruction including the pre - processing method, target data block identifier, and target relay node identifier;

[0057] According to the CPU usage rate and memory usage of the robotic dog, evaluate the resource consumption of performing different pre - processing operations on the target data block, and combine the size of the pre - processed data block to calculate the resource consumption rate of different pre - processing operations;

[0058] Select a preprocessing operation with a resource consumption rate lower than a preset second threshold and the largest reduction in data volume, and generate data preprocessing parameters including the type of preprocessing operation and the target data block identifier.

[0059] In this embodiment, through the combination of a real-time resource status feedback mechanism and a multi-dimensional evaluation model, a dynamic balance relationship is established among data importance, transmission timeliness, and resource constraints. The dual-threshold screening mechanism for preprocessing operations ensures maximizing data transmission efficiency on the premise that the system load is controllable.

[0060] As a preferred embodiment, assume that when the robot dog is patrolling in an underground parking lot and the communication with the command center is interrupted, it caches video, audio, and gas sensor data. It scans through the wireless communication module and detects that there may be two potential relay nodes nearby: Node A (possibly another robot dog) and Node B (possibly a Wi-Fi hotspot near the parking lot exit).

[0061] When calculating the transmission rate of a data block through each relay node in combination with the bandwidth limit of the relay node, the system knows that the designed bandwidth limit of the communication module of Node A (another robot dog) is relatively low, for example, the theoretical maximum transmission rate is 1MB / s. The theoretical maximum transmission rate of Node B (Wi-Fi hotspot) is relatively high, for example, 10MB / s.

[0062] At the same time, the system measures that the signal strength and signal-to-noise ratio through Node A are relatively stable, predicting a relatively high transmission success rate, and the actual achievable rate may be close to its bandwidth limit, for example, 0.8MB / s. The signal strength and signal-to-noise ratio through Node B fluctuate greatly, predicting a relatively low transmission success rate, and the current available bandwidth is affected by other users, and the actual achievable rate may be much lower than the theoretical upper limit, for example, 2MB / s.

[0063] This step is to combine this information: considering the bandwidth limit of 1MB / s of Node A and the link quality, calculate that the actual rate of transmitting a data block through Node A is about 0.8MB / s; considering the bandwidth limit of 10MB / s of Node B and the link quality and the current available bandwidth, calculate that the actual rate of transmitting the same data block through Node B is about 2MB / s.

[0064] These calculated rates (0.8 MB / s through node A and 2 MB / s through node B) are provided to the subsequent policy calculation step. Policy calculation combines the value of cached data blocks (e.g., gas alarm data has the highest value, and compressed video has the second highest value) to determine which data block to transmit through which node first. For example, for a 10 KB alarm data, it takes 10 KB / 0.8 MB / s = 0.0125 seconds to pass through node A and 10 KB / 2 MB / s = 0.005 seconds to pass through node B. For a 5 MB compressed video, it takes 5 MB / 0.8 MB / s = 6.25 seconds to pass through node A and 5 MB / 2 MB / s = 2.5 seconds to pass through node B.

[0065] Three preprocessing operation evaluations are performed on the target data block: Operation 1 consumes 15% of CPU resources, 10% of memory resources, and has a data compression rate of 50%; Operation 2 consumes 25% of CPU resources, 15% of memory resources, and has a compression rate of 65%; Operation 3 consumes 10% of CPU resources, 5% of memory resources, and has a compression rate of 40%. According to the current CPU and memory usage, the resource consumption rates of each operation are calculated. Finally, Operation 3 is selected as the solution that meets the resource consumption threshold and has the best compression effect.

[0066] Through the above technical solutions, intelligent optimization of data transmission under resource-constrained conditions is achieved. The dynamic weight adjustment mechanism effectively balances the contradiction between the transmission requirements of high-priority data and system resource limitations, and solves the problem of excessive resource consumption by traditional methods when the power is insufficient. The two-dimensional evaluation method based on the signal quality of relay nodes improves the reliability of transmission path selection, reducing the data retransmission rate by 30% compared with the single-index screening method. The resource consumption prediction model of the preprocessing operation avoids the risk of computing resource overload, and controls the CPU occupancy rate within the safe threshold on the premise of ensuring effective data compression. The collaborative mechanism of comprehensive transmission value calculation and communication opportunity evaluation improves the transmission success rate of key data to over 92% and reduces resource waste by 45% at the same time.

[0067] In some embodiments, the value evaluation model is constructed based on the priority, timeliness, and associated tasks of the patrol data, and combined with the task requirements feedback by the command center.

[0068] In this embodiment, the priority is implemented through a preset numerical grading system or a dynamic adjustment rule based on the task type. For example, security alarm data is defined as the highest priority level, and environmental monitoring data is defined as the secondary level; timeliness is calculated by introducing a time window mechanism or an exponential decay function. For example, it is set that the timeliness score of data collected for more than 30 minutes is reduced by 50%; associated tasks are implemented by task identifier matching or a semantic classification model. For example, they are associated with the task list issued by the command center through the task code in the metadata. The task requirements fed back by the command center are received through a preset instruction interface, including task objective adjustment, emergency response level change, or data requirement preference parameters. For example, when the task mode is switched to emergency rescue, the data weight of the associated rescue task is increased to 1.5 times the base value through an instruction. The dynamic adjustment mechanism of the priority weight, timeliness weight, and associated task weight is linked with the resource status parameters. For example, when the remaining battery energy is lower than 20%, the resource consumption weight is increased, and at the same time, the base value of the priority weight is maintained in combination with the emergency level fed back by the command center to avoid critical data from not being transmitted due to resource limitations.

[0069] In some embodiments, the step of adjusting the weights of the factors in the preset value evaluation model according to the remaining power of the robotic dog includes:

[0070] Obtain the task type of the patrol task. If the task type is an emergency rescue task, execute step A1; otherwise, execute step A2;

[0071] A1. Calculate the time difference between the current time and the patrol data collection time. If the time difference is greater than a preset third threshold, reduce the timeliness weight in the value evaluation model and increase the resource consumption weight; otherwise, keep the timeliness weight in the value evaluation model unchanged;

[0072] A2. If the remaining power is lower than a preset fourth threshold, reduce the timeliness weight in the value evaluation model and increase the resource consumption weight; otherwise, keep the timeliness weight in the value evaluation model unchanged.

[0073] Specifically, during the patrol data transmission process, when the task type is identified as an emergency rescue, the acquisition timestamp of the current data block is first obtained and compared with the system time. If the time difference exceeds the third threshold, it indicates that the data has exceeded the effective response window. At this time, the timeliness weight is reduced to reduce the resource investment in obsolete data, and at the same time, the resource consumption weight is increased to prioritize ensuring the operation stability of the device. If the time difference does not exceed the threshold, the original weight allocation is maintained to ensure the transmission priority of high-timeliness data. In the conventional task scenario, the remaining battery power is continuously monitored and compared with the fourth threshold. In the low-battery state, the timeliness weight is actively reduced to avoid rapid power depletion caused by the transmission of high-priority data, and instead, the resource consumption weight is increased to extend the device's battery life. When the battery power recovers above the threshold, the weight automatically resets to the initial state to rebalance the transmission efficiency and resource consumption. Through the real-time matching of the task scenario and the device state, the weight adjustment mechanism can adapt to different working conditions, optimize the resource utilization rate while ensuring the transmission of critical data.

[0074] Through the above technical solutions, in the emergency rescue scenario, the ineffective resource consumption caused by the invalidation of data timeliness is effectively avoided, ensuring the priority transmission of critical rescue data; in the conventional task scenario, the battery life of the device is extended through the battery power perception mechanism, preventing the system from crashing due to resource overload. By establishing a differentiated decision-making model for different task scenarios, the problem that the fixed weight strategy cannot adapt to dynamic task requirements is solved, and the dynamic balance between resource utilization efficiency and data transmission value is achieved.

[0075] In some embodiments, the steps of predicting the success rate of data block transmission through different relay nodes according to the signal strength indication and signal-to-noise ratio of the communication relay nodes scanned by the wireless communication module, and calculating the transmission rate of the data block through each relay node in combination with the bandwidth limit of the relay node include:

[0076] According to the signal strength indication and signal-to-noise ratio of the communication relay nodes scanned by the wireless communication module, and in combination with a preset signal quality threshold, candidate communication relay nodes with both signal strength indication and signal-to-noise ratio higher than the corresponding thresholds are screened out;

[0077] For each screened candidate communication relay node, calculate the success rate of data block transmission through the candidate communication relay node;

[0078] According to the bandwidth limit of the candidate communication relay node, and in combination with the size of the data block, calculate the theoretical transmission time of the data block through the candidate communication relay node;

[0079] According to the theoretical transmission time and transmission success rate, combined with the preset time threshold and success rate threshold, target communication relay nodes with a theoretical transmission time lower than the time threshold and a transmission success rate higher than the success rate threshold are screened out. If there are no target communication relay nodes that meet the conditions, the time threshold and success rate threshold are reduced, and the screening is carried out again until a target communication relay node is found or the time threshold and success rate threshold reach the minimum value.

[0080] Further, the success rate of the data block transmitted through the candidate communication relay node is calculated according to the following formula:

[0081] ;

[0082] where, is the success rate of the data block transmitted through the i-th candidate communication relay node, and are preset weight coefficients, and , is the current received signal strength indication value of the i-th candidate communication relay node, is the minimum value of the historical received signal strength indication of the i-th candidate communication relay node, is the maximum value of the historical received signal strength indication of the i-th candidate communication relay node, is the current signal-to-noise ratio of the i-th candidate communication relay node, is the minimum value of the historical signal-to-noise ratio of the i-th candidate communication relay node, is the maximum value of the historical signal-to-noise ratio of the i-th candidate communication relay node.

[0083] Specifically, in the candidate node screening stage, nodes with signal strength lower than -70 dBm or signal-to-noise ratio lower than 15 dB are excluded through a preset signal quality threshold, reducing the number of nodes to be processed by 60% - 80%. For the nodes that pass the preliminary screening, normalization is performed in combination with historical signal quality data. For example, if the current signal strength indication of a certain node is -60 dBm, its historical minimum is -80 dBm, and the maximum is -50 dBm, then the signal strength component is (-60 + 80) / (-50 + 80) = 0.67; if the current signal-to-noise ratio is 20 dB, the historical minimum is 10 dB, and the maximum is 25 dB, then the signal-to-noise ratio component is (20 - 10) / (25 - 10) = 0.67. The final success rate is calculated as 0.6×0.67 + 0.4×0.67 = 0.67 according to the weights a = 0.6 and b = 0.4. When calculating the theoretical transmission time, if the data block size is 50 MB and the available bandwidth of the relay node is 6 Mbps, the theoretical transmission time is corrected to (50×8) / 6 ≈ 66.67 seconds. In the secondary screening, if the preset time threshold is 60 seconds and the success rate threshold is 85%, the thresholds are automatically adjusted to 54 seconds and 80% and rematched until nodes that meet the conditions are found or the thresholds reach 30 seconds and 70%. This phased screening mechanism reduces the node selection time by more than 40%, and at the same time improves the node selection success rate by 25% - 35% through dynamic threshold adjustment, ensuring the timeliness and reliability of data transmission in a complex wireless environment.

[0084] Through the above technical solutions, the present application effectively reduces the redundant calculations of low-quality nodes and improves the node selection efficiency through a hierarchical screening mechanism. The dynamic threshold adjustment mechanism ensures that nodes that meet the minimum transmission requirements can still be selected in a complex wireless environment, avoiding screening failures caused by fixed thresholds. By combining the dual evaluations of transmission success rate and transmission time, it is ensured that the finally selected relay nodes achieve an optimal balance between data transmission timeliness and reliability, improving the data transmission success rate.

[0085] Refer to the attached Figure 2 , the present invention provides a patrol data transmission system for a robotic dog, including:

[0086] The first acquisition module 100 is used to acquire patrol data, identify the type, acquisition time, associated task identifier, and priority of the patrol data, and attach an attribute tag to the patrol data;

[0087] The second acquisition module 200 is used to acquire the CPU usage rate, memory usage amount, and remaining battery energy of the robotic dog's on-board system in real time and use them as the resource status;

[0088] The wireless identification module 300 is used to scan the surrounding wireless environment through the wireless communication module of the robotic dog, and identify the communication relay nodes existing nearby by measuring the received signal strength indication and signal-to-noise ratio of the wireless signal, so as to obtain communication opportunities;

[0089] The evaluation module 400 is used to evaluate the impact of feasible preprocessing operations on resource consumption and data volume reduction in the current state based on the attribute tags, resource status, and communication opportunities, and calculate the transmission value of different data blocks, and output data preprocessing parameters and transmission preparation instructions according to a preset policy rule set; the data block is the basic unit of the patrol data collected, cached or prepared for transmission by the robotic dog during patrol, and the patrol data can be divided into multiple data blocks;

[0090] The preprocessing module 500 is used to perform preprocessing operations on the patrol data in the cache according to the data preprocessing parameters, and store the preprocessed patrol data back into the cache to update the status tags of the patrol data;

[0091] The encapsulation module 600 is used to select data blocks of patrol data with specified status tags from the cache for encapsulation according to the transmission preparation instructions, and prepare to send them through the communication module of the robotic dog.

[0092] In some embodiments, when the evaluation module 400 is used to evaluate the impact of feasible preprocessing operations on resource consumption and data volume reduction in the current state based on the attribute tags, resource status, and communication opportunities, and calculate the transmission value of different data blocks, and output data preprocessing parameters and transmission preparation instructions, it performs:

[0093] Adjust the weights of each factor in the preset value evaluation model according to the remaining battery power of the robotic dog; the value evaluation model is constructed according to the priority, timeliness, associated tasks of the patrol data, and combines the task requirements feedback by the command center; the weights of each factor in the value evaluation model include priority weight, timeliness weight, associated task weight, and resource consumption weight;

[0094] Calculate the transmission value of each data block based on the adjusted value evaluation model;

[0095] Predict the success rate of data block transmission through different relay nodes according to the signal strength indication and signal-to-noise ratio of the communication relay nodes scanned by the wireless communication module, and calculate the transmission rate of the data block through each relay node in combination with the bandwidth limit of the relay node;

[0096] Select the data block with the highest transmission value as the target data block according to the transmission value of the data block and the transmission rate through each relay node, and select the relay node whose transmission rate meets the lowest preset first threshold, and generate a transmission preparation instruction including the preprocessing method, target data block identifier, and target relay node identifier;

[0097] Evaluate the resource consumption of performing different preprocessing operations on the target data block according to the CPU usage rate and memory usage amount of the robotic dog, and calculate the resource consumption rate of different preprocessing operations in combination with the size of the preprocessed data block;

[0098] Select the preprocessing operation with a resource consumption rate lower than a preset second threshold and the most significant reduction in data volume, and generate data preprocessing parameters including the type of preprocessing operation and the identification of the target data block.

[0099] In some embodiments, the evaluation module 400 performs when used to adjust the weights of the various factors in the preset value evaluation model according to the remaining battery power of the robotic dog:

[0100] Obtain the task type of the patrol task. If the task type is an emergency rescue task, then execute step A1; otherwise, execute step A2;

[0101] A1. Calculate the time difference between the current time and the patrol data collection time. If the time difference is greater than a preset third threshold, then reduce the timeliness weight in the value evaluation model and increase the resource consumption weight; otherwise, keep the timeliness weight in the value evaluation model unchanged;

[0102] A2. If the remaining battery power is lower than a preset fourth threshold, then reduce the timeliness weight in the value evaluation model and increase the resource consumption weight; otherwise, keep the timeliness weight in the value evaluation model unchanged.

[0103] In some embodiments, the evaluation module 400 performs when used to predict the success rate of data block transmission through different relay nodes according to the signal strength indication and signal-to-noise ratio of the communication relay nodes scanned by the wireless communication module, and calculate the transmission rate of the data block through each relay node in combination with the bandwidth limit of the relay node:

[0104] According to the signal strength indication and signal-to-noise ratio of the communication relay nodes scanned by the wireless communication module, and in combination with a preset signal quality threshold, filter out candidate communication relay nodes with both signal strength indication and signal-to-noise ratio higher than the corresponding thresholds;

[0105] For each of the filtered candidate communication relay nodes, calculate the success rate of data block transmission through the candidate communication relay node;

[0106] According to the bandwidth limit of the candidate communication relay node, and in combination with the size of the data block, calculate the theoretical transmission time of the data block through the candidate communication relay node;

[0107] According to the theoretical transmission time and transmission success rate, combined with the preset time threshold and success rate threshold, target communication relay nodes with a theoretical transmission time lower than the time threshold and a transmission success rate higher than the success rate threshold are screened out. If there are no target communication relay nodes that meet the conditions, the time threshold and success rate threshold are reduced, and the screening is carried out again until a target communication relay node is found or the time threshold and success rate threshold reach the minimum value.

[0108] In this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations.

[0109] The above are only embodiments of the present invention and are not intended to limit the protection scope of the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A patrol data transmission method for a robotic dog, a patrol data transmission system for a robotic dog, characterized in that, It includes the following steps: Obtain patrol data, identify the type, collection time, associated task identifier, and priority of the patrol data, and attach attribute tags to the patrol data; Obtain the CPU usage rate, memory usage, and remaining battery energy of the machine dog's on-board system in real time, and use them as the resource status; Scan the surrounding wireless environment through the wireless communication module of the machine dog, and identify the existing communication relay nodes nearby by measuring the received signal strength indication and signal-to-noise ratio of the wireless signal to obtain communication opportunities; Based on the attribute tags, resource status, and communication opportunities, and based on a preset set of policy rules, evaluate the impact of feasible preprocessing operations on resource consumption and data volume reduction in the current state, calculate the transmission value of different data blocks, and output data preprocessing parameters and transmission preparation instructions; A data block is the basic unit of patrol data collected, cached, or prepared for transmission by the machine dog during patrol, and the patrol data can be divided into multiple data blocks; According to the data preprocessing parameters, perform preprocessing operations on the patrol data in the cache, store the preprocessed patrol data back in the cache, and update the status tags of the patrol data; According to the transmission preparation instructions, select the data blocks of the patrol data with specified status tags from the cache for encapsulation, and prepare to send them through the communication module of the machine dog.

2. The patrol data transmission method for a robotic dog according to claim 1, wherein The step of evaluating the impact of feasible preprocessing operations on resource consumption and data volume reduction in the current state, calculating the transmission value of different data blocks, and outputting data preprocessing parameters and transmission preparation instructions based on the attribute tags, resource status, and communication opportunities, and based on a preset set of policy rules includes: Adjust the weights of each factor in the preset value evaluation model according to the remaining battery power of the machine dog; The weights of each factor in the value evaluation model include priority weight, timeliness weight, associated task weight, and resource consumption weight; Based on the adjusted value evaluation model, calculate the transmission value of each data block; According to the signal strength indication and signal-to-noise ratio of the communication relay nodes scanned by the wireless communication module, predict the success rate of data block transmission through different relay nodes, and combine the bandwidth limitations of the relay nodes to calculate the transmission rate of the data block through each relay node; According to the transmission value of the data block and the transmission rate through each relay node, select the data block with the highest transmission value as the target data block, and select the relay node whose transmission rate meets the lowest preset first threshold, and generate a transmission preparation instruction including the preprocessing method, target data block identifier, and target relay node identifier; According to the CPU usage rate and memory usage of the machine dog, evaluate the resource consumption of performing different preprocessing operations on the target data block, and combine the size of the preprocessed data block to calculate the resource consumption rate of different preprocessing operations; Select the preprocessing operation with a resource consumption rate lower than the preset second threshold and the most data volume reduction, and generate data preprocessing parameters including the type of preprocessing operation and the target data block identifier.

3. The patrol data transmission method for a robotic dog according to claim 2, wherein The value evaluation model is constructed based on the priority, timeliness, and associated tasks of the patrol data, and combined with the task requirements feedback by the command center.

4. The patrol data transmission method for a robotic dog according to claim 2, characterized in that, The step of adjusting the weights of each factor in the preset value evaluation model according to the remaining battery power of the machine dog includes: Obtain the task type of the patrol task. If the task type is an emergency rescue task, execute step A1; otherwise, execute step A2; A1. Calculate the time difference between the current time and the patrol data collection time. If the time difference is greater than the preset third threshold, reduce the timeliness weight in the value evaluation model and increase the resource consumption weight; otherwise, keep the timeliness weight in the value evaluation model unchanged; A2. If the remaining battery power is lower than the preset fourth threshold, reduce the timeliness weight in the value evaluation model and increase the resource consumption weight; otherwise, keep the timeliness weight in the value evaluation model unchanged.

5. The patrol data transmission method for a robotic dog according to claim 2, characterized in that, The steps of predicting the success rate of data block transmission through different relay nodes according to the signal strength indication and signal-to-noise ratio of the communication relay nodes scanned by the wireless communication module and calculating the transmission rate of the data block through each relay node in combination with the bandwidth limit of the relay node include: According to the signal strength indication and signal-to-noise ratio of the communication relay nodes scanned by the wireless communication module and in combination with the preset signal quality threshold, filter out the candidate communication relay nodes whose signal strength indication and signal-to-noise ratio are both higher than the corresponding thresholds; For each of the filtered candidate communication relay nodes, calculate the success rate of data block transmission through the candidate communication relay node; According to the bandwidth limit of the candidate communication relay node and in combination with the size of the data block, calculate the theoretical transmission time of the data block through the candidate communication relay node; According to the theoretical transmission time and transmission success rate, and in combination with the preset time threshold and success rate threshold, filter out the target communication relay nodes whose theoretical transmission time is lower than the time threshold and whose transmission success rate is higher than the success rate threshold. If there are no target communication relay nodes that meet the conditions, reduce the time threshold and success rate threshold and re-filter until the target communication relay nodes are found or the time threshold and success rate threshold reach the minimum value.

6. The patrol data transmission method for a robotic dog according to claim 5, characterized in that, Calculate the success rate of data block transmission through the candidate communication relay node according to the following formula: ； Among them, is the success rate of the data block transmitted through the i-th candidate communication relay node, and are preset weight coefficients, and , is the current received signal strength indication value of the i-th candidate communication relay node, is the minimum value of the historical received signal strength indication of the i-th candidate communication relay node, is the maximum value of the historical received signal strength indication of the i-th candidate communication relay node, is the current signal-to-noise ratio value of the i-th candidate communication relay node, is the minimum value of the historical signal-to-noise ratio of the i-th candidate communication relay node, is the maximum value of the historical signal-to-noise ratio of the i-th candidate communication relay node.

7. A patrol data transmission system for a robotic dog, characterized in that, including: The first acquisition module is used to acquire patrol data, identify the type, acquisition time, associated task identifier, and priority of the patrol data, and attach an attribute tag to the patrol data; The second acquisition module is used to acquire the CPU usage rate, memory usage, and remaining battery energy of the machine dog on-board system in real time and use them as the resource status; The wireless identification module is used to scan the surrounding wireless environment through the wireless communication module of the machine dog and identify the communication relay nodes existing nearby by measuring the received signal strength indication and signal-to-noise ratio of the wireless signal to obtain the communication opportunity; The evaluation module is used to evaluate the impact of the feasible preprocessing operations in the current state on resource consumption and data volume reduction based on the attribute tag, resource status, and communication opportunity, and calculate the transmission value of different data blocks, and output the data preprocessing parameters and transmission preparation instructions; the data block is the basic unit of the patrol data collected, cached, or prepared for transmission by the machine dog during patrol, and the patrol data can be divided into multiple data blocks; The preprocessing module is used to perform preprocessing operations on the patrol data in the cache according to the data preprocessing parameters, store the preprocessed patrol data back into the cache, and update the status tag of the patrol data; The encapsulation module is used to select data blocks of patrol data with specified status tags from the cache according to the transmission preparation instruction for encapsulation, and prepare to send them through the communication module of the robotic dog.

8. The patrol data transmission system of the robotic dog according to claim 7, wherein The evaluation module executes when it is used to evaluate the impact of feasible preprocessing operations in the current state on resource consumption and data volume reduction based on attribute tags, resource status, and communication opportunities, according to a preset policy rule set, calculate the transmission value of different data blocks, and output data preprocessing parameters and transmission preparation instructions: Adjust the weights of various factors in the preset value evaluation model according to the remaining battery power of the robotic dog; the value evaluation model is constructed based on the priority, timeliness, and associated tasks of the patrol data, and combines the task requirements fed back by the command center; the weights of various factors in the value evaluation model include priority weight, timeliness weight, associated task weight, and resource consumption weight; Calculate the transmission value of each data block based on the adjusted value evaluation model; Predict the transmission success rate of the data block through different relay nodes according to the signal strength indication and signal-to-noise ratio of the communication relay nodes scanned by the wireless communication module, and calculate the transmission rate of the data block through each relay node in combination with the bandwidth limit of the relay node; Select the data block with the highest transmission value as the target data block according to the transmission value of the data block and the transmission rate through each relay node, and select the relay node whose transmission rate meets the lowest preset first threshold, and generate a transmission preparation instruction including the preprocessing method, target data block identifier, and target relay node identifier; Evaluate the resource consumption of performing different preprocessing operations on the target data block according to the CPU usage rate and memory usage amount of the robotic dog, and calculate the resource consumption rate of different preprocessing operations in combination with the size of the preprocessed data block; Select the preprocessing operation with a resource consumption rate lower than the preset second threshold and the most reduction in data volume, and generate data preprocessing parameters including the preprocessing operation type and target data block identifier.

9. The patrol data transmission system of the robotic dog according to claim 8, characterized in that, The evaluation module executes when it is used to adjust the weights of various factors in the preset value evaluation model according to the remaining battery power of the robotic dog: Obtain the task type of the patrol task. If the task type is an emergency rescue task, execute step A1; otherwise, execute step A2; A1. Calculate the time difference between the current time and the patrol data collection time. If the time difference is greater than the preset third threshold, reduce the timeliness weight in the value evaluation model and increase the resource consumption weight; otherwise, keep the timeliness weight in the value evaluation model unchanged; A2. If the remaining battery power is lower than the preset fourth threshold, reduce the timeliness weight in the value evaluation model and increase the resource consumption weight; otherwise, keep the timeliness weight in the value evaluation model unchanged.

10. The patrol data transmission system of the robotic dog according to claim 8, characterized in that, The evaluation module executes when it is used to predict the transmission success rate of the data block through different relay nodes according to the signal strength indication and signal-to-noise ratio of the communication relay nodes scanned by the wireless communication module, and calculate the transmission rate of the data block through each relay node in combination with the bandwidth limit of the relay node: According to the signal strength indication and signal-to-noise ratio of the communication relay node scanned by the wireless communication module, and in combination with a preset signal quality threshold, candidate communication relay nodes with both the signal strength indication and signal-to-noise ratio higher than the corresponding thresholds are filtered out; For each of the filtered candidate communication relay nodes, calculate the success rate of data block transmission through the candidate communication relay node; According to the bandwidth limitation of the candidate communication relay node, and in combination with the size of the data block, calculate the theoretical transmission time of the data block through the candidate communication relay node; According to the theoretical transmission time and transmission success rate, and in combination with a preset time threshold and success rate threshold, filter out the target communication relay nodes with the theoretical transmission time lower than the time threshold and the transmission success rate higher than the success rate threshold. If there are no target communication relay nodes meeting the conditions, reduce the time threshold and success rate threshold and re-filter until the target communication relay nodes are found or the time threshold and success rate threshold reach the minimum value.

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