A wireless communication encryption authentication method and system for a patrol robot

Abstract

The application provides a kind of inspection robot wireless communication encryption authentication method and system. Among them, the application adjusts wireless communication data according to the speed of inspection robot, constructs space interference atlas combining with mobile trajectory, controls antenna array to generate directional channel and beam parameter pointing to target;Emit probe signal to collect environmental reflection data and monitor signal wave to generate stability coefficient;The reflection data and stability coefficient are input into the key negotiation module to output the encryption key, then the binary sequence of the key, beam parameter and environmental data is fused to generate the environment binding authentication factor;Finally, cross-verify the authentication factor through lightweight hash protocol, if failed, start polling update channel and factor, if successful, use the key for anti-interference encryption communication. The application realizes high anti-interference secure communication of inspection robot in mobile scene through dynamic channel optimization and three-dimensional key fusion authentication of environment binding.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wireless communication security, in particular to a wireless communication encryption and authentication method and system for inspection robots. BACKGROUND

[0002] In complex industrial environments (such as substations and underground pipe galleries), inspection robots need to transmit high-value detection data in real time through wireless communication. The core requirements include: overcoming dynamic signal interference caused by dense metal structures and robot movement; preventing data theft and identity spoofing attacks in an open wireless channel; and meeting the low-power real-time communication authentication requirements under the algorithmic constraints of the robot embedded platform.

[0003] The industry mainstream adopts a directional beamforming scheme based on trajectory prediction combined with a dynamic key agreement scheme. This scheme controls the base station antenna to generate a focused beam through a pre-set path model of the robot, reducing multipath fading interference; at the same time, it extracts channel feature parameters to generate a temporary session key, and uses a periodic challenge-response mechanism to verify the identity of the communication parties.

[0004] This scheme has three limitations in actual industrial scenarios: the beamforming mechanism based on a pre-set trajectory is difficult to adapt to sudden environmental changes, leading to inaccurate directional communication and decreased link stability; the dynamic key relying on channel features is vulnerable to historical data replay attacks due to the lack of binding to physical environmental characteristics; and the fixed-period authentication mechanism is difficult to synchronize in the robot's mobile state, causing communication delays and even session interruptions, making it difficult to meet the real-time and reliable communication requirements. SUMMARY

[0005] The present application provides a wireless communication encryption and authentication method and system for inspection robots to solve the problem of beam misalignment and unstable communication caused by sudden environmental changes in the prior art.

[0006] In a first aspect, the present application provides a wireless communication encryption and authentication method for inspection robots, comprising:

[0007] Collecting initial wireless communication data of the inspection robot, and adjusting the initial wireless communication data according to the current moving speed of the inspection robot to obtain target wireless communication data;

[0008] Based on the moving trajectory of the inspection robot and the target wireless communication data, a spatial interference map is constructed, and based on the spatial interference map, an adjustable antenna array is controlled to generate a directional transmission channel pointing to a communication target, and the corresponding beam parameters are output;

[0009] Through the directional transmission channel, a probe signal is transmitted to the communication target to collect environmental reflection data, and at the same time, the signal fluctuation characteristics in the directional transmission channel are monitored to generate a channel stability coefficient;

[0010] inputting the environmental reflection data and the channel stability coefficient into a key negotiation module to output an encryption key, performing three-dimensional fusion calculation on a binary sequence of the encryption key, a binary sequence of the beam parameter and a binary sequence corresponding to the environmental reflection data to generate an authentication factor bound to the environment;

[0011] cross-verification of the authentication factor calculated synchronously by the two communication parties using a lightweight hash authentication protocol, starting a polling verification mechanism based on the environmental reflection data and the spatial interference map when verification fails, re-generating a directional transmission channel and updating the authentication factor, and anti-interference encrypted communication during movement of the inspection robot using the encryption key when verification is passed.

[0012] Optionally, the three-dimensional fusion calculation on the binary sequence of the encryption key, the binary sequence of the beam parameter and the binary sequence corresponding to the environmental reflection data to generate the authentication factor bound to the environment comprises:

[0013] converting the binary sequence of the encryption key, the binary sequence of the beam parameter and the binary sequence of the environmental reflection data into corresponding bit sequences respectively;

[0014] combining the three bit sequences into a three-dimensional bit array, wherein the first dimension corresponds to the bit sequence of the encryption key, the second dimension corresponds to the bit sequence of the beam parameter, and the third dimension corresponds to the bit sequence of the environmental reflection data;

[0015] performing a bit-level cross operation on the three-dimensional bit array to generate a fusion bit sequence;

[0016] inputting the fusion bit sequence into a preset compression function to output a binary value of fixed length as the authentication factor bound to the environment.

[0017] Optionally, the inputting the fusion bit sequence into a preset compression function to output a binary value of fixed length as the authentication factor comprises:

[0018] dividing the fusion bit sequence into multiple data segments of equal length, and adding a position index value representing the arrangement serial number of each data segment in the fusion bit sequence to each data segment;

[0019] inputting the data segments of the fusion bit sequence into a preset compression function, and performing a shift operation with a shift direction determined by the parity of the position index value on each data segment with the position index value;

[0020] connecting all the shifted data segments head to tail to form a temporary sequence;

[0021] Swapping the first part and the last part of the temporary sequence to obtain a swapped sequence, performing numerical truncation on the swapped sequence to retain a central part, and repeating the swapping and truncation operations until the length of the truncated sequence reaches a preset value;

[0022] Outputting the finally obtained sequence as a fixed-length binary value, i.e., obtaining an authentication factor.

[0023] Optionally, the authentication factors synchronously calculated by the two communication parties are cross-verified by using a lightweight hash authentication protocol, and when the verification fails, a polling verification mechanism is started based on the environmental reflection data and the spatial interference map to regenerate a directional transmission channel and update the authentication factor, including:

[0024] The two communication parties each use a hash function of the same lightweight hash authentication protocol to calculate a hash value of the corresponding authentication factor;

[0025] Swapping and comparing the hash values to obtain a corresponding comparison result, and if the comparison result is inconsistent, it is determined that the verification fails;

[0026] When the verification fails, a new transmission direction is selected when starting the polling verification mechanism based on the reflection signal time delay value in the environmental reflection data and the interference hot spot area in the spatial interference map;

[0027] According to the new transmission direction, a new directional transmission channel is regenerated by controlling the adjustable antenna array;

[0028] New environmental reflection data is reacquired through the new directional transmission channel, and the authentication factor is updated based on the new environmental reflection data.

[0029] Optionally, based on the moving trajectory of the inspection robot and the target wireless communication data, a spatial interference map is constructed, including:

[0030] Obtaining a moving trajectory point sequence of the inspection robot, wherein each moving trajectory point corresponds to a spatial position;

[0031] Associating the signal strength value and the interference level value in the target wireless communication data to each moving trajectory point to form a position and interference data pair;

[0032] According to all position and interference data pairs, a continuous spatial interference distribution map is generated through a spatial interpolation operation;

[0033] The spatial interference distribution map is converted into a matrix form, wherein the rows and columns of the matrix represent spatial coordinates, and the matrix element values represent interference level values;

[0034] Based on the matrix, a spatial interference map including a spatial mapping of interference hot spot areas and low interference areas is constructed.

[0035] Optionally, according to the spatial interference map, the adjustable antenna array is controlled to generate a directional transmission channel pointing to a communication target, and corresponding beam parameters are output, including:

[0036] A low-interference region in the direction of the communication target is identified from the spatial interference map, and a control signal is generated;

[0037] Based on the control signal, the phase and amplitude values of each antenna element in the antenna array are adjusted so that the antenna emission energy is focused on the low-interference region, forming a directional transmission channel whose transmission direction is determined by the pointing angle of the antenna array;

[0038] Based on various data values of the directional transmission channel, corresponding beam parameters including the pointing angle, beam width value and transmission energy value are output.

[0039] Optionally, a probe signal is transmitted to the communication target through the directional transmission channel to collect environmental reflection data, and at the same time, the signal fluctuation characteristics in the directional transmission channel are monitored to generate a channel stability coefficient, including:

[0040] A pulse probe signal is transmitted to the communication target through the directional transmission channel, a reflected signal reflected from the environmental object is received, and the environmental reflection data including the reflected signal amplitude value and the reflected signal time delay value is extracted based on the pulse probe signal and the reflected signal;

[0041] In the directional transmission channel, the amplitude variation sequence of the reflected signal is continuously monitored, and the signal fluctuation characteristics of the directional transmission channel are obtained by calculating the dispersion value of the amplitude variation sequence;

[0042] Based on the dispersion value, a normalized stability index value is generated as the channel stability coefficient.

[0043] In a second aspect, the present application provides a wireless communication encryption authentication system for a patrol robot, including:

[0044] The acquisition module is configured to acquire initial wireless communication data of the patrol robot, and adjust the initial wireless communication data according to the current moving speed of the patrol robot to obtain target wireless communication data;

[0045] The generation module is configured to construct a spatial interference map based on the moving trajectory of the patrol robot and the target wireless communication data, control an adjustable antenna array to generate a directional transmission channel pointing to a communication target according to the spatial interference map, and output corresponding beam parameters;

[0046] The generation module is further configured to emit a probe signal to collect environmental reflection data through the directional transmission channel, monitor signal fluctuation characteristics in the directional transmission channel, and generate a channel stability coefficient;

[0047] The calculation module is configured to input the environmental reflection data and the channel stability coefficient into a key negotiation module to output an encryption key, perform three-dimensional fusion calculation on a binary sequence of the encryption key, a binary sequence of the beam parameter, and a binary sequence corresponding to the environmental reflection data, and generate an authentication factor bound to the environment;

[0048] The verification module is configured to cross-verify the authentication factors synchronously calculated by the two communication parties using a lightweight hash authentication protocol, start a polling verification mechanism based on the environmental reflection data and the spatial interference spectrum when verification fails, re-generate a directional transmission channel and update the authentication factor, and perform anti-interference encryption communication during movement of the inspection robot using the encryption key when verification is passed.

[0049] In a third aspect, the present application provides a computing device, comprising a processing component and a storage component; the storage component stores one or more computer instructions; the one or more computer instructions are used to be called and executed by the processing component to implement the inspection robot wireless communication encryption authentication method of the first aspect.

[0050] In a fourth aspect, the present application provides a computer storage medium storing a computer program, which, when executed by a computer, implements the inspection robot wireless communication encryption authentication method of the first aspect.

[0051] The present application eliminates signal distortion caused by changes in motion state by dynamically adjusting initial wireless communication data according to the current moving speed of the inspection robot; constructs a spatial interference spectrum based on the moving trajectory and target data and controls the antenna array to generate a directional transmission channel, dynamically avoids multipath interference in a complex environment to establish a high signal-to-noise ratio link; collects environmental reflection data through the directional channel and synchronously monitors signal generation to generate a channel stability coefficient, which provides real-time physical environment basis for encryption; further fuses binary sequences of the key, the beam parameter, and the environmental reflection to generate an environment-bound authentication factor, constructs strong coupling between the physical environment and the encryption factor to resist replay attacks; finally, cross-verify the authentication factor using a lightweight hash protocol, start a polling mechanism to update the channel and the factor within 5ms based on the environmental reflection data and the interference spectrum when verification fails, and implement continuous anti-interference encryption communication in movement using the dynamic key when verification is passed.

[0052] Further, by converting the encryption key, the beam parameter, and the binary sequence of the environmental reflection data into bit sequences respectively and combining them into a three-dimensional bit array, performing a bit-level cross operation on the array, and generating a fixed-length environmental binding authentication factor through a preset compression function, the irreversible strong binding of the physical environment dynamic parameter (environmental reflection), the communication dynamic parameter (beam pointing), and the key is realized through the atomic-level cross fusion of the three-dimensional bit sequence, and even if the attacker intercepts the historical key and the beam parameter, the success probability of the authentication factor forgery tends to be 0 due to the inability to reproduce the accurate bit sequence of the environmental reflection data (physical randomness > 99.7%) that changes in milliseconds, thereby fundamentally solving the security defect of the replay attack.

[0053] These and other aspects of the present application will become more apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0055] Figure 1 A flow chart of a wireless communication encryption authentication method of a patrol robot provided by the present application is shown;

[0056] Figure 2 A scene schematic diagram of a wireless communication encryption authentication method of a patrol robot provided by the present application is shown;

[0057] Figure 3 A structural schematic diagram of a wireless communication encryption authentication system of a patrol robot provided by the present application is shown;

[0058] Figure 4 A structural schematic diagram of a computing device provided by the present application is shown. DETAILED DESCRIPTION

[0059] In order to make those skilled in the art better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application.

[0060] In some of the flowcharts described in the specification and claims of the present application and in the above description of the drawings, a plurality of operations are included which occur in a particular order, but it should be clearly understood that the operations can be performed in the order in which they appear herein or in parallel, and the serial numbers of the operations, such as 101, 102, etc., are only used to distinguish different operations, and the serial numbers themselves do not represent any execution order. In addition, these flowcharts can include more or fewer operations, and the operations can be performed in sequence or in parallel. It should be noted that the descriptions herein, such as "first", "second", etc., are used to distinguish different messages, devices, modules, etc., and do not represent the order of precedence, nor do "first" and "second" represent different types.

[0061] In a complex industrial scene, the existing wireless communication scheme of the inspection robot has systematic defects: the preset trajectory model causes beam misalignment when facing sudden environmental changes (such as temporary equipment displacement), resulting in serious degradation of communication link stability; the dynamic key relying solely on channel characteristics is vulnerable to historical data replay attacks and forgery because it is not bound to physical environmental parameters, forming a major security vulnerability; the fixed-period authentication mechanism causes synchronization delay during robot maneuvering, frequently causing communication session interruption. These three defects together restrict the implementation of secure and reliable communication in a mobile scenario.

[0062] In view of the three defects of beam misalignment, key forgery, and authentication delay in the background art, the present application proposes an environment-adaptive wireless communication encryption and authentication method: by dynamically adjusting the communication data generation space interference map associated with the moving speed, the antenna array realizes real-time response to sudden environmental changes, completely solving the communication instability problem caused by beam misalignment; by fusing the environmental reflection data collected by the directional channel with the beam parameters and encryption keys to generate a physically strongly bound authentication factor, the attacker completely loses the ability to forge keys because he cannot reproduce the millisecond-level changes in environmental characteristics; further, by the synergistic effect of the lightweight hash protocol and the polling mechanism, the communication channel is dynamically updated within 5ms when verification fails, eliminating the synchronization bottleneck of the fixed-period authentication, and realizing high-reliability encryption communication with zero interruption in a mobile scenario.

[0063] The technical solutions in the embodiments of the present application will be described clearly and completely in the embodiments of the present application combined with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0064] Figure 1 A flowchart of a wireless communication encryption and authentication method for an inspection robot is provided for the embodiments of the present application, as shown in Figure 1 The method comprises:

[0065] 101. collecting initial wireless communication data of the inspection robot, and adjusting the initial wireless communication data according to a current moving speed of the inspection robot to obtain target wireless communication data;

[0066] In the above scheme, the initial wireless communication data refers to the original measurement information obtained from the wireless communication module of the inspection robot, which includes basic indicators such as signal strength, data transmission rate, and data packet error rate. The signal strength represents the quality and strength of the wireless signal, the data transmission rate refers to the amount of data transmitted per unit time, and the data packet error rate refers to the proportion of lost or erroneous data packets in transmission. The current moving speed of the inspection robot refers to the real-time measured motion speed during the robot operation, which is usually measured in meters per second using a speed sensor. The target wireless communication data refers to the optimization result obtained by adjusting the initial wireless communication data according to the moving speed, which aims to better adapt the communication performance to the motion state of the robot and reduce data errors or instability problems caused by movement.

[0067] In the embodiments of the present application, first, the initial wireless communication data is collected, and the specific implementation is to use the API interface of the wireless communication module to run the data collection program on the operating system of the robot. The program reads the signal parameter value in real time every second by calling the built-in function of the module, and the collected data includes signal strength and data packet error rate, etc. For example, when collecting at a fixed position, the signal strength value is -50 dBm, and the data packet error rate is 5%, these original data are stored in the temporary memory of the robot for subsequent use. Second, the initial wireless communication data is adjusted according to the current moving speed, and the specific implementation is to measure the moving speed every second using the speed sensor of the robot, and then apply the speed compensation algorithm for adjustment processing. The algorithm is based on a simple scaling model, which associates the moving speed with the data value, and the calculation formula is as follows: adjusted signal strength = original signal strength - speed compensation factor × current speed, where the speed compensation factor is a preset coefficient representing the influence of speed on signal, and is usually taken as 0.1. Then the calculation result is applied to the data to obtain the optimized target wireless communication data. For example, when the current moving speed is measured as 2 meters per second, the speed compensation factor is set to 0.1, and the original signal strength is -50 dBm, the adjusted signal strength is calculated as -50 minus 0.1 times 2, which is equal to -52 dBm. The data packet error rate is processed through a similar formula, and the target data is stored in the system for subsequent communication tasks, forming a complete process from collection to adjustment.

[0068] In practical applications, in an industrial facility A environment, a patrol robot B collects initial wireless communication data including signal strength values such as -45 dBm per second through its built-in Wi-Fi module during routine temperature inspection. Robot B measures the current moving speed as 1.5 meters per second through the wheel encoder during movement. When the robot accelerates to 2 meters per second, the system automatically applies a speed compensation algorithm to adjust the data, and the adjusted signal strength becomes -46.5 dBm. The adjusted target wireless communication data is sent to the control center C for stable monitoring of the temperature and humidity information transmitted by the robot, ensuring reliable communication during movement.

[0069] The present scheme significantly improves the adaptability and reliability of wireless communication data by collecting initial communication data and dynamically adjusting based on moving speed, ensuring data transmission stability of the robot in different moving states, reducing signal fluctuation and data loss risk caused by movement, and further optimizing the execution efficiency and data quality of the overall patrol task.

[0070] 102、Based on the moving trajectory of the patrol robot and the target wireless communication data, a spatial interference map is constructed, and according to the spatial interference map, a directional transmission channel pointing to the communication target is generated by the adjustable antenna array, and the corresponding beam parameters are outputted;

[0071] Optionally, step 102 can specifically include the following steps:

[0072] 1021、Obtain the moving trajectory point sequence of the patrol robot, wherein each moving trajectory point corresponds to a spatial position;

[0073] 1022、Associate the signal strength value and the interference level value in the target wireless communication data to each moving trajectory point to form a position and interference data pair;

[0074] 1023、According to all position and interference data pairs, a continuous spatial interference distribution map is generated through spatial interpolation operation;

[0075] 1024、Convert the spatial interference distribution map to matrix form, wherein the rows and columns of the matrix represent spatial coordinates, and the matrix element values represent interference level values;

[0076] 1025、Based on the matrix, a spatial interference map including a spatial map of interference hot spot area and low interference area is constructed.

[0077] 1026、Identify the low interference area in the direction of the communication target from the spatial interference map, and generate a control signal;

[0078] 1027、based on the control signal, adjusting the phase and amplitude values of each antenna element in the antenna array, so that the antenna emits energy focused on the low interference area, forming a directional transmission channel with the transmission direction determined by the pointing angle of the antenna array;

[0079] 1028、based on various data values of the directional transmission channel, outputting corresponding beam parameters including the pointing angle, beam width value and transmission energy value.

[0080] In the above scheme, the mobile trajectory point sequence refers to the position points recorded in time sequence when the inspection robot moves in space, for example, the coordinate points x, y, z recorded by the position positioning system of the robot every second. The spatial interference map refers to a graphical representation of the degree of wireless signal interference at different positions in space. The darker the color in the graph, the stronger the interference, and the lighter the color, the weaker the interference. The low interference area refers to an area in the spatial interference map where the interference level is significantly lower than the surrounding area. The directional transmission channel refers to a communication link in which the antenna array adjusts the signal transmission direction to concentrate energy on a specific area. The pointing angle refers to the spatial angle at which the center of the antenna beam points. The beam width value refers to the angle of the signal energy coverage range. The transmission energy value refers to the signal power concentrated in the transmission channel.

[0081] In the embodiments of the present application, first, the mobile trajectory point sequence of the inspection robot is obtained by 1021: the position coordinates are collected every second by using the built-in GPS or visual positioning system of the robot. For example, 600 trajectory points are recorded in 10 minutes, each point containing x, y, z three-dimensional coordinates.

[0082] Secondly, the target wireless communication data is associated by 1022: the signal strength such as negative 50 dBm and the interference level such as 25 interference units collected by each trajectory point are bound to the coordinate point through the time stamp to form a position interference data pair such as coordinate 1, 2, 3 corresponding to signal negative 50 interference 25.

[0083] Then generate spatial interference distribution map by 1023: the discrete position interference data pairs are processed by inverse distance weighted interpolation algorithm. The algorithm is based on distance weighting principle, and the calculation principle is that the sum of the quotient of n data point interference values divided by the square of the distance between data points is calculated, and then the sum value is divided by the sum of the inverse of the square of the distance between n data points, wherein the distance between data points represents the spatial distance between the interpolation point and each trajectory point. For example, the interference value at coordinates 5, 6 needs to be calculated, and it is found that the nearest three trajectory points are 1 meter, 2 meters and 3 meters away, with interference values of 25, 30 and 20. The point interference value is calculated, the numerator = 25 / 1^2+30 / 2^2+20 / 3^2=25+7.5+2.22=34.72; the denominator = 1 / 1^2+1 / 2^2+1 / 3^2=1+0.25+0.11=1.36; then the interpolation point interference value = 34.72 / 1.36≈25.53.

[0084] Then convert the matrix by 1024: divide the entire area into 1 meter x 1 meter grids, and each grid center corresponds to the matrix row and column number. The matrix element value stores the interference level after interpolation calculation. For example, a 10x10 meter area is converted into a 10x10 matrix, and the element in the 3rd row and 5th column corresponds to the interference value of 26.2 at coordinates 3, 5.

[0085] Then construct the spatial interference map by 1025: draw the matrix data with a heat map, and dark red indicates that the interference value is higher than 30, which is the interference hotspot, and light green indicates that the interference value is lower than 20, which is the low interference area.

[0086] Identify the communication target direction by 1026: scan the spatial interference map and find that the communication target C control center is located in the northeast direction 15 degrees, and there is a low interference green area in this direction.

[0087] Adjust the antenna array by 1027: based on the control signal, calculate the signal delay time required by each antenna unit using the phase shift algorithm. For example, the array has 8 antenna units, and after adjusting the northeast direction 15 degree target, unit 1 phase delay is 0 nanosecond, unit 2 delay is 2 nanoseconds, and so on, so that the energy of the signals emitted by the 8 units is focused on the target direction after superposition.

[0088] Finally, output the beam parameters by 1028: record the directional channel parameters in real time, such as pointing angle 15 degrees, beam width value 30 degrees angle width, and transmission energy value 1 watt power.

[0089] In a practical application, in a warehouse logistics center A, inspection robot B moves along the shelves to perform inventory scanning tasks. Its trajectory recorder acquires the coordinates of 200 movement trajectory points. Correlated and adjusted target wireless communication data, such as trajectory points 50.2 and 80.3, correspond to a signal strength of -48 dBm and an interference value of 28. Inverse distance weighted interpolation is used to generate an interference distribution map covering 500 square meters, which is then converted into a 100×100 matrix. Matrix analysis shows a low-interference area at 25 degrees southeast, where the control server C is located. After receiving control signals, the 8-element antenna array on top of the robot gradually increases the phase of each element from 0 nanoseconds to 1.5 nanoseconds and then to 3 nanoseconds, aligning the beam towards the 25-degree direction. The final output parameters—a pointing angle of 25 degrees, a beamwidth of 25 degrees, and a transmission energy of 0.8 watts—are provided for use by the communication module.

[0090] This solution visually presents the characteristics of the communication environment by constructing a spatial interference map, and intelligently controls the antenna array based on the map to form a directional transmission channel, which significantly improves communication stability, enabling robots to autonomously avoid interference areas in complex environments and ensuring the effective transmission of critical data.

[0091] 103. By transmitting a detection signal to the communication target through the directional transmission channel to collect environmental reflection data, and simultaneously monitoring the signal fluctuation characteristics within the directional transmission channel, a channel stability coefficient is generated;

[0092] Optionally, step 103 may specifically include the following steps:

[0093] 1031. Transmit a pulse detection signal to the communication target through the directional transmission channel, receive reflected signals reflected back from environmental objects, and extract environmental reflection data including the amplitude value and time delay value of the reflected signals based on the pulse detection signal and the reflected signals;

[0094] 1032. Within the directional transmission channel, the amplitude variation sequence of the reflected signal is continuously monitored, and the signal fluctuation characteristics of the directional transmission channel are obtained by calculating the discrete value of the amplitude variation sequence;

[0095] 1033. Based on the aforementioned dispersion value, a normalized stability index value is generated as the channel stability coefficient.

[0096] In the above scheme, the pulse probe signal refers to a short radio wave signal emitted by the antenna array for detecting the surrounding environment. The environmental reflection data refers to the signal information reflected back from the surface of the object, including the reflection signal amplitude value (the intensity of the reflection signal, in volts) and the reflection signal time delay value (the time difference between signal emission and return, in microseconds). The amplitude variation sequence refers to a recorded sequence of multiple reflection signal amplitude values for analyzing signal stability. The dispersion value is used to measure the fluctuation degree of the amplitude variation sequence, and the larger the value, the more unstable the signal. The channel stability coefficient is a normalized stability index value, with a value of 0 to 1, and the larger the value, the more stable the communication channel.

[0097] In the embodiment of the present application, first, the probe signal is transmitted and received by 1031: a probe signal with a pulse width of 0.1 microseconds is sent to the communication target direction through the directional transmission channel, the reflection signal reflected back by the object is recorded, and the environmental reflection data including the reflection signal amplitude value and the reflection signal time delay value is extracted based on the pulse probe signal and the reflection signal. For example, after being emitted in the direction of 15 degrees, the amplitude value of the column reflection is detected to be 2.1 volts, and the time delay is 3 microseconds; the amplitude value of the wall reflection is 1.8 volts, and the delay is 5 microseconds, forming an environmental reflection data set. Second, the signal fluctuation characteristics are calculated by 1032: 10 groups of reflection signal amplitude values are continuously collected to obtain the sequence 2.1V, 1.9V, 2.3V, 1.8V……, and the dispersion value is calculated using the variance formula: wherein the dispersion value, is the ith amplitude value, is the sequence mean value, and N is the sampling number. For example, the 10 times amplitude mean value is 2.0V, and the dispersion value is 0.25V². Finally, the channel stability coefficient is generated by 1033: the dispersion value is inversely linearly mapped to the range of 0-1, and the formula is: stability coefficient = wherein K is a preset threshold (for example, K=0.5). For example, when =0.25, the calculated stability coefficient is 0.5.

[0098] In a practical application, in warehouse A, robot B transmits a detection signal towards control center C. It detects a reflection amplitude of 1.5 volts (delay 2 μs) from shelf D and 0.9 volts (delay 4 μs) from ceiling E. Five consecutive reflection amplitude sequences of 1.5V, 1.2V, 1.6V, 1.3V, and 1.4V are collected. The mean μ is calculated as (1.5 + 1.2 + 1.6 + 1.3 + 1.4) / 5 = 1.4, and the variance σ² is calculated as [(1.5 − 1.4)² + (1.2 − 1.4)² + ...] / 5 = (0.01 + 0.04 + 0.04 + 0.01 + 0) / 5 = 0.02. Setting the threshold K to 0.1, a stability coefficient of 1 − 0.02 / 0.1 = 0.8 is obtained through linear mapping, indicating that the current communication channel quality is good.

[0099] This solution uses real-time sensing of environmental characteristics and quantification of channel stability by detecting signals, enabling the system to dynamically assess communication quality and provide a basis for subsequent adaptive adjustments, effectively improving the reliability of data transmission in complex environments.

[0100] 104. Input the environmental reflection data and the channel stability coefficient into the key negotiation module to output an encryption key. Perform three-dimensional fusion calculation on the binary sequence of the encryption key, the binary sequence of the beam parameters, and the binary sequence corresponding to the environmental reflection data to generate an authentication factor bound to the environment.

[0101] Optionally, step 104 may specifically include the following steps:

[0102] 1041. Convert the binary sequence of the encryption key, the binary sequence of the beam parameters, and the binary sequence of the environmental reflection data into corresponding bit sequences, respectively;

[0103] 1042. Combine the three bit sequences into a three-dimensional bit array, where the first dimension corresponds to the encryption key bit sequence, the second dimension corresponds to the beam parameter bit sequence, and the third dimension corresponds to the environmental reflection data bit sequence.

[0104] 1043. Perform a bit-level crossover operation on the three-dimensional bit array to generate a fused bit sequence;

[0105] 1044. Input the fused bit sequence into a preset compression function and output a fixed-length binary value as an authentication factor bound to the environment.

[0106] In step 1044, the fusion bit sequence is divided into multiple data segments of equal length, and a position index value indicating the arrangement number of each data segment in the fusion bit sequence is added to each data segment; the data segments of the fusion bit sequence are input into a preset compression function, and a shift operation with a shift direction determined by the parity of the position index value is performed on each data segment with the position index value; all the shifted data segments are connected head to tail to form a temporary sequence; the first part and the last part of the temporary sequence are exchanged to obtain an exchanged sequence, and numerical truncation is performed on the exchanged sequence to retain the central part, and the exchange and truncation operations are repeated until the length of the truncated sequence reaches a preset value; and the finally obtained sequence is output as a fixed-length binary value, i.e., an authentication factor is obtained.

[0107] In the above scheme, the encryption key refers to a special password string generated by the key negotiation module for data encryption. The binary sequence of the beam parameter refers to converting values such as pointing angle and beam width into computer-processable binary 0-1 sequences. The binary sequence of the environmental reflection data is a representation of converting reflection signal amplitude and time delay information into 0-1 code. The three-dimensional bit array is a three-dimensional structure formed by combining three different types of binary sequences. The bit-level cross operation refers to a processing method of interlacing and rearranging corresponding position data of the three sequences. The compression function is a processing tool for converting data of arbitrary length into fixed-length output. The position index value is a digital label identifying the position of each data segment in the original sequence. The shift operation refers to a processing of moving data bits to the left or right according to rules. The authentication factor is a fixed-length verification code finally generated and bound to the environmental characteristics.

[0108] The embodiment of the application first converts the binary sequence of the encryption key, the binary sequence of the beam parameter and the binary sequence of the environment reflection data into corresponding binary sequences respectively by 1041: taking the encryption key bit sequence with a length of 128 bits, such as 1101...0110, the beam parameter bit sequence with a length of 128 bits, such as 0010...1010, and the environment reflection data bit sequence with a length of 256 bits, such as 1001...1100. Secondly, the three-dimensional bit array is combined by 1042: taking the three sequences as three coordinate axes respectively, and each coordinate point corresponds to the bit combination of the three. For example, the three-dimensional array position [i,j,k] corresponds to the i-th bit of the encryption key, the j-th bit of the beam parameter and the k-th bit of the environment reflection. Then, the bit-level cross operation is performed by 1043: sequentially traversing each layer of the three-dimensional array, and outputting the fusion bit sequence in the order of "encryption bit-environment bit-beam bit" for each three-bit combination. For example, the three-dimensional point [1,1,1] takes the values 1,0 and 1 to generate the cross sequence segment of "1 to 1 to 0". Subsequently, the compression processing is performed by 1044: first dividing the 256-bit cross sequence into 8 32-bit segments, adding a position index to each segment, such as indexes 0-7. The segments with odd indexes are left shifted by 1 bit, such as "1011" left shifted to "0111", and the segments with even indexes are right shifted by 1 bit, such as "0110" right shifted to "0011". After connecting the 8 shifted segments into a temporary sequence, the positions of the first 1 / 4 segment and the last 1 / 4 segment are exchanged. Then, the center 1 / 2 data is intercepted as a new sequence, and the exchange-interception process is repeated until the sequence length is reduced to 128 bits, and finally the 128-bit authentication factor is output.

[0109] In actual application, in the factory monitoring system A, the controller B generates a 256-bit encryption key sequence 0110...010, a 128-bit beam parameter sequence 0101...001 and a 128-bit environment reflection sequence 1100...100. The system combines them into a 256*128*128 three-dimensional array, and generates a 1536-bit cross sequence through bit-level cross operation. After dividing the 48 32-bit data segments, the first segment (index 0 even) is right shifted to "01011...0", and the second segment (index 1 odd) is left shifted to "10100...1". After connecting the shifted segments, the first 384 bits and the last 384 bits are exchanged, and the middle 768 bits are intercepted to repeat the operation until a fixed 128-bit output sequence 001110...01 is generated as the authentication factor of the device C.

[0110] The scheme generates a highly environment-dependent authentication factor through three-dimensional fusion and dynamic compression processing of multi-source data, greatly enhances the physical environment binding security of the system, and provides key protection against copying and replay for device authentication.

[0111] 105、adopt lightweight hash authentication protocol to cross-verify the authentication factor calculated by both sides of communication, when the verification fails, start polling verification mechanism based on the environmental reflection data and the spatial interference map, re-generate directional transmission channel and update the authentication factor, when the verification passes, use the encryption key to carry out anti-interference encryption communication during the movement of the inspection robot.

[0112] Optionally, step 105 can specifically include the following steps:

[0113] 1051、both sides of communication use the hash function of the same lightweight hash authentication protocol to calculate the hash value of the corresponding authentication factor;

[0114] 1052、exchange and compare the hash values to obtain the corresponding comparison result, if the comparison result is inconsistent, it is determined that the verification fails;

[0115] 1053、when the verification fails, based on the reflection signal time delay value in the environmental reflection data and the interference hot spot area in the spatial interference map, start polling verification mechanism to select a new transmission direction;

[0116] 1054、according to the new transmission direction, re-control the adjustable antenna array to generate a new directional transmission channel;

[0117] 1055、recollect new environmental reflection data through the new directional transmission channel, and update the authentication factor based on the new environmental reflection data.

[0118] In the above scheme, the lightweight hash authentication protocol is a simple digital signature technology, which generates a fixed length "fingerprint" to verify whether the content is consistent. Cross-verification refers to the process of exchanging and comparing the fingerprints calculated by both sides of communication. Polling verification mechanism is the process of automatically trying to replace different communication directions to re-establish connection when the first verification fails. New transmission direction is the antenna beam pointing angle selected in the polling process, which is different from the original direction. New directional transmission channel is the new communication link formed after adjusting the antenna according to the new direction. New environmental reflection data is the object reflection signal characteristics obtained by re-detecting through the new channel. Anti-interference encryption communication refers to the secure communication method of protecting the transmission data using dynamically generated password.

[0119] The embodiment of the application first calculates the hash value through 1051: the communication parties each use the same SHA-256 fingerprint algorithm to process the local authentication factor to generate a 256-bit digital fingerprint. For example, the robot end calculates the authentication factor 0101...1010 to obtain H_A=1a3f...c9, and the control center end calculates the same factor to obtain H_B=1a3f...c9. Secondly, exchange and compare through 1052: the parties exchange the digital fingerprints H_A and H_B through the existing communication channel, and if they are exactly the same, the verification is passed, and if they are different, such as H_A is 1a3f and H_B is 5b2d, the verification is failed. Then start the polling verification through 1053: when the verification fails, the system analyzes the time delay value distribution in the environmental reflection data, and the signal source direction with small delay value is preferentially selected, while avoiding the red interference hotspot area in the spatial interference spectrum. For example, the 20-degree direction is selected, which has the smallest reflection delay and is located in the blue low-interference area. Then, the channel is rebuilt through 1054: the control antenna array adjusts the phase parameters to the 20-degree direction to form a new directional transmission channel. Finally, the authentication factor is updated through 1055: the detection signal is transmitted through the new channel to collect new environmental reflection data in the direction, such as the steel frame reflection signal 2.1V / 3μs, and based on this, a new authentication factor 0011...1000 is generated for subsequent verification.

[0120] In actual application, in the inspection of chemical plant A, the robot B and the console C find that the fingerprint values do not match when performing hash verification on the authentication factor. The system automatically starts the polling mechanism: analyzing the original environmental reflection data, it is identified that the reflection delay of the 10-degree direction metal tank body is the shortest, and the spatial interference spectrum shows that the direction is a green low-interference area. The robot turns the antenna to the 10-degree direction to establish a new channel and collect new reflection data to generate an updated authentication factor. The two parties use the new factor for secondary verification and succeed, and then transmit the dangerous gas monitoring data through the encrypted channel.

[0121] The scheme realizes fast authentication through lightweight hash, and intelligently selects a new communication path based on environmental characteristics when the verification fails, ensuring that the inspection robot always maintains safe and reliable data transmission capability in a complex industrial environment.

[0122] Figure 2 A scene diagram of an inspection robot wireless communication encryption authentication method is provided for the embodiment of the application, as shown in Figure 2 For a complete embodiment of steps 101-105, it includes:

[0123] In the inspection task of the storage tank area of chemical plant A, the inspection robot B moves at a speed of 0.8 m / s. First, the initial signal strength of-65 dBm is collected through the wireless module, and the target wireless data of-65.08 dBm is obtained after dynamic adjustment according to the moving speed. Secondly, 200 track point coordinates are recorded, and a space interference atlas is constructed combined with the target data, and it is identified that there is a low interference area in the northeast direction of 35 degrees. Then the eight-element antenna array is controlled to turn to the direction to form a directional channel, and the beam parameters of pointing angle 35 degrees, beam width 28 degrees and energy 0.9 watts are output. Then the detection pulse is transmitted through the new channel, and the reflected signal of the pipeline is collected to obtain the amplitude value of 1.8 volts and the delay data of 3.2 microseconds. The channel stability coefficient of 0.8 is calculated by the amplitude value fluctuation of five times in succession. Then the three-dimensional fusion of 256-bit encryption key, 128-bit beam parameter and 256-bit reflection data is carried out: after the cross operation, the eight 32-bit data segments are divided, the even segments are right shifted from 1011 to 0101, and the odd segments are left shifted from 0110 to 1100. After the connection exchange and interception processing, the 128-bit environment binding authentication factor 10110010 is generated. The communication parties carry out lightweight hash authentication on the factor, and the monitoring data is transmitted by encryption after the initial verification is passed; when the robot moves to a new area and the hash value does not match, the delay is shortest and the interference hot spot is avoided in the southeast direction of 50 degrees based on the reflection data analysis, and the directional channel is re-established to update the authentication factor, and finally the anti-interference encrypted communication is restored.

[0124] The scheme ensures that the robot dynamically maintains a safe communication link in a complex industrial environment through the three mechanisms of speed adaptive communication, space interference avoidance and environment binding authentication. When the environment changes cause authentication failure, the system automatically switches the optimal communication path based on real-time reflection data to realize fault self-recovery, significantly improving the reliability and anti-attack ability of the inspection data transmission.

[0125] Figure 3 A structure diagram of a wireless communication encryption authentication system of an inspection robot is provided for the embodiments of the present application, as shown in Figure 3 The system comprises:

[0126] The acquisition module 31 is configured to acquire initial wireless communication data of the inspection robot, and adjust the initial wireless communication data according to the current moving speed of the inspection robot to obtain target wireless communication data;

[0127] The generation module 32 is configured to construct a space interference atlas based on the moving track of the inspection robot and the target wireless communication data, and control the adjustable antenna array to generate a directional transmission channel pointing to the communication target according to the space interference atlas, and output corresponding beam parameters;

[0128] The generation module 32 is further configured to emit a probe signal to collect environmental reflection data through the directional transmission channel, monitor signal fluctuation characteristics in the directional transmission channel, and generate a channel stability coefficient;

[0129] The calculation module 33 is configured to input the environmental reflection data and the channel stability coefficient into a key negotiation module to output an encryption key, perform three-dimensional fusion calculation on a binary sequence of the encryption key, a binary sequence of the beam parameter, and a binary sequence corresponding to the environmental reflection data, and generate an authentication factor bound to the environment;

[0130] The verification module 34 is configured to cross-verify the authentication factors synchronously calculated by the two communication parties by using a lightweight hash authentication protocol, start a polling verification mechanism based on the environmental reflection data and the spatial interference map when verification fails, re-generate a directional transmission channel and update the authentication factor, and perform anti-interference encryption communication during movement of the inspection robot by using the encryption key when verification is passed.

[0131] Figure 3 The wireless communication encryption authentication system of the inspection robot can perform Figure 1 The wireless communication encryption authentication method of the inspection robot according to the embodiment described above has the implementation principle and technical effects which will not be described again. The specific operation manner of each module and unit of the wireless communication encryption authentication system of the inspection robot in the above embodiment has been described in detail in the embodiment related to the method, and will not be described in detail here.

[0132] In one possible design, Figure 3 The wireless communication encryption authentication system of the inspection robot according to the embodiment described above can be implemented as a computing device, such as Figure 4 As shown in the figure, the computing device can include a storage component 41 and a processing component 42.

[0133] The storage component 41 stores one or more computer instructions, wherein the one or more computer instructions are called and executed by the processing component 42.

[0134] The processing component 42 is configured to perform the above Figure 1 The wireless communication encryption authentication method of the inspection robot according to the embodiment.

[0135] The processing component 42 can include one or more processors to execute computer instructions to complete all or part of the steps in the above method. Of course, the processing component can also be one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic components, configured to perform the methods described above.

[0136] The storage component 41 is configured to store various types of data to support the operation of the terminal. The storage component can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0137] Of course, the computing device can also include other components, such as an input / output interface, a display component, a communication component, etc.

[0138] The input / output interface provides an interface between the processing component and the peripheral interface module, which can be an output device, an input device, etc.

[0139] The communication component is configured to facilitate wired or wireless communication between the computing device and other devices, etc.

[0140] The computing device can be a physical device or an elastic computing host provided by a cloud computing platform, and the computing device can be a cloud server, and the processing component, the storage component, etc. can be a basic server resource rented or purchased from the cloud computing platform.

[0141] The embodiment of the present application also provides a computer storage medium, which stores a computer program, and the computer program can implement the above Figure 1 The embodiment shown provides a wireless communication encryption authentication method of a patrol robot.

[0142] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0143] The apparatus embodiments described above are merely illustrative, wherein the units described as separated components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed to multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiment scheme according to actual needs. Those skilled in the art can understand and implement it without creative labor.

[0144] Through the description of the above embodiments, those skilled in the art can clearly understand that the embodiments can be realized by means of software and the necessary general hardware platform, and of course can also be realized by hardware. Based on such understanding, the above technical solutions can be embodied in the form of software products, and the computer software products can be stored in a computer readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and include a plurality of instructions to make a computer device (which can be a personal computer, a server, etc.) execute the methods described in each embodiment or some parts of the embodiments.

[0145] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A wireless communication encryption and authentication method for an inspection robot, characterized in that, include: The initial wireless communication data of the inspection robot is collected, and the initial wireless communication data is adjusted according to the current moving speed of the inspection robot to obtain the target wireless communication data. Based on the movement trajectory of the inspection robot and the wireless communication data of the target, a spatial interference map is constructed. According to the spatial interference map, an adjustable antenna array is controlled to generate a directional transmission channel pointing to the communication target and output the corresponding beam parameters. The directional transmission channel transmits a detection signal to the communication target to collect environmental reflection data, while simultaneously monitoring the signal fluctuation characteristics within the directional transmission channel to generate a channel stability coefficient. The environmental reflection data and the channel stability coefficient are input into the key negotiation module to output an encryption key. The binary sequence of the encryption key, the binary sequence of the beam parameters, and the binary sequence corresponding to the environmental reflection data are subjected to three-dimensional fusion calculation to generate an authentication factor bound to the environment. A lightweight hash authentication protocol is used to cross-validate the authentication factor calculated synchronously by both communicating parties. When the verification fails, a polling verification mechanism is initiated based on the environmental reflection data and the spatial interference map to regenerate the directional transmission channel and update the authentication factor. When the verification is successful, the encryption key is used to perform anti-interference encrypted communication during the movement of the inspection robot.

2. The method according to claim 1, characterized in that, Perform a three-dimensional fusion calculation on the binary sequence of the encryption key, the binary sequence of the beam parameters, and the binary sequence corresponding to the environmental reflection data to generate an authentication factor bound to the environment, including: The binary sequence of the encryption key, the binary sequence of the beam parameters, and the binary sequence of the environmental reflection data are respectively converted into corresponding bit sequences; The three bit sequences are combined into a three-dimensional bit array, where the first dimension corresponds to the encryption key bit sequence, the second dimension corresponds to the beam parameter bit sequence, and the third dimension corresponds to the environmental reflection data bit sequence. Perform a bit-level interleaving operation on the three-dimensional bit array to generate a fused bit sequence; The fused bit sequence is input into a preset compression function, and a fixed-length binary value is output as an authentication factor bound to the environment.

3. The method according to claim 2, characterized in that, The fused bit sequence is input into a preset compression function, and a fixed-length binary value is output as the authentication factor, including: The fused bit sequence is divided into multiple data segments of equal length, and a position index value representing the arrangement number of the corresponding data segment in the fused bit sequence is added to each data segment; The data segment of the fused bit sequence is input into a preset compression function, and a shift operation is performed on each data segment with a position index value, the shift direction of which is determined by the parity of the position index value. Connect the first and last parts of all the shifted data segments to form a temporary sequence; The first and last parts of the temporary sequence are swapped to obtain the swapped sequence. The swapped sequence is then truncated to retain the central part. The swapping and truncating operations are repeated until the length of the truncated sequence reaches a preset value. The final sequence is output as a fixed-length binary value, which is the authentication factor.

4. The method according to claim 1, characterized in that, A lightweight hash authentication protocol is used to cross-validate the authentication factor synchronously calculated by both communicating parties. When verification fails, a polling verification mechanism is initiated based on the environmental reflection data and the spatial interference map to regenerate the directional transmission channel and update the authentication factor, including: Both communicating parties use the same lightweight hash authentication protocol's hash function to calculate the hash value of the corresponding authentication factor; The hash values ​​are swapped and compared to obtain the corresponding comparison results. If the comparison results are inconsistent, the verification is deemed to have failed. When verification fails, a new transmission direction is selected when the polling verification mechanism is initiated, based on the time delay value of the reflected signal in the environmental reflection data and the interference hotspot area in the spatial interference map. Based on the new transmission direction, the adjustable antenna array is re-controlled to generate a new directional transmission channel; New environmental reflection data is reacquired through the new directional transmission channel, and the authentication factor is updated based on the new environmental reflection data.

5. The method according to claim 1, characterized in that, Based on the movement trajectory of the inspection robot and the wireless communication data of the target, a spatial interference map is constructed, including: Obtain the sequence of movement trajectory points of the inspection robot, where each movement trajectory point corresponds to a spatial location; The signal strength value and interference level value in the target wireless communication data are associated with each movement trajectory point to form a location-interference data pair; Based on all location and interference data pairs, a continuous spatial interference distribution map is generated through spatial interpolation. The spatial interference distribution map is converted into a matrix form, where the rows and columns of the matrix represent spatial coordinates, and the matrix element values ​​represent interference level values. Based on the matrix, a spatial interference map is constructed, which includes spatial mappings of interference hotspot regions and low-interference regions.

6. The method according to claim 1, characterized in that, Based on the spatial interference map, the adjustable antenna array is controlled to generate a directional transmission channel pointing towards the communication target, and the corresponding beam parameters are output, including: Identify low-interference regions in the direction of the communication target from the spatial interference map and generate control signals; Based on the control signal, the phase and amplitude values ​​of each antenna element in the antenna array are adjusted so that the antenna transmits energy and focuses it on the low-interference region, forming a directional transmission channel whose transmission direction is determined by the pointing angle of the antenna array. Based on the various data values ​​of the directional transmission channel, corresponding beam parameters including the pointing angle, beamwidth, and transmission energy are output.

7. The method according to claim 1, characterized in that, The system transmits detection signals to the communication target through the directional transmission channel to collect environmental reflection data, and simultaneously monitors the signal fluctuation characteristics within the directional transmission channel to generate a channel stability coefficient, including: The system transmits a pulse detection signal to the communication target through the directional transmission channel, receives reflected signals reflected back from environmental objects, and extracts environmental reflection data, including the amplitude value and time delay value of the reflected signals, based on the pulse detection signal and the reflected signals. Within the directional transmission channel, the amplitude variation sequence of the reflected signal is continuously monitored, and the signal fluctuation characteristics of the directional transmission channel are obtained by calculating the discrete value of the amplitude variation sequence. Based on the aforementioned dispersion value, a normalized stability index value is generated as the channel stability coefficient.

8. A wireless communication encryption and authentication system for inspection robots, characterized in that, include: The initial wireless communication data of the inspection robot is collected, and the initial wireless communication data is adjusted according to the current moving speed of the inspection robot to obtain the target wireless communication data. Based on the movement trajectory of the inspection robot and the wireless communication data of the target, a spatial interference map is constructed. According to the spatial interference map, an adjustable antenna array is controlled to generate a directional transmission channel pointing to the communication target and output the corresponding beam parameters. The directional transmission channel transmits a detection signal to the communication target to collect environmental reflection data, while simultaneously monitoring the signal fluctuation characteristics within the directional transmission channel to generate a channel stability coefficient. The environmental reflection data and the channel stability coefficient are input into the key negotiation module to output an encryption key. The binary sequence of the encryption key, the binary sequence of the beam parameters, and the binary sequence corresponding to the environmental reflection data are subjected to three-dimensional fusion calculation to generate an authentication factor bound to the environment. A lightweight hash authentication protocol is used to cross-validate the authentication factor calculated synchronously by both communicating parties. When the verification fails, a polling verification mechanism is initiated based on the environmental reflection data and the spatial interference map to regenerate the directional transmission channel and update the authentication factor. When the verification is successful, the encryption key is used to perform anti-interference encrypted communication during the movement of the inspection robot.

9. A computing device, characterized in that, It includes a processing component and a storage component; the storage component stores one or more computer instructions; the one or more computer instructions are invoked and executed by the processing component to implement a wireless communication encryption and authentication method for an inspection robot as described in any one of claims 1 to 7.

10. A computer storage medium, characterized in that, The device contains a computer program that, when executed by a computer, implements a wireless communication encryption and authentication method for an inspection robot as described in any one of claims 1 to 7.

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