Qi tonifying method based on robot dog

Abstract

The invention discloses an air supply method based on a robotic dog, and relates to the technical field of automatic control and Internet of Things, and the method comprises the steps: building connection between the robotic dog and a monitoring center, carrying out initialization after the connection is built, collecting initialization data based on the initialized robotic dog, monitoring the initialization data in real time, and carrying out the air supply according to the initialization data. Analyzing the pressure of an air chamber of the robot dog, judging whether air supply operation needs to be carried out or not, moving the robot dog to a specified air supply position after determining that the robot dog needs to carry out air supply operation, butting an air supply injection hole of the robot dog with an air injection hole at the air supply position, starting the air supply operation after successful butting, and continuously monitoring the pressure of the air chamber and the air supply amount until the air supply process is completed. After the gas supply process is completed, the pressure of the gas chamber is measured again, a gas supply confirmation report is generated according to a new measurement result and sent to the monitoring center, and by introducing a dynamic pressure threshold definition and comprehensive evaluation model, the defects in the aspects of environmental adaptability and intelligent decision making in the prior art are effectively overcome.

Description

Technical Field

[0001] This invention relates to the fields of automation control and Internet of Things (IoT) technology, and in particular to a method for replenishing air based on a robot dog. Background Technology

[0002] In recent years, robot dogs, as highly flexible intelligent devices, have been widely used in various fields. Robot dogs can perform tasks in complex environments, such as disaster relief, environmental monitoring, and industrial inspection.

[0003] However, existing technologies still have some limitations. On the one hand, traditional methods usually set fixed thresholds to determine whether gas needs to be replenished. This static threshold setting cannot flexibly cope with different environmental conditions and has insufficient environmental adaptability. On the other hand, most existing gas replenishment methods rely on preset rules and simple logical judgments to carry out gas replenishment operations. They lack intelligent decision-making mechanisms based on data analysis. In the face of complex and ever-changing working environments, it is difficult to make optimal operational decisions, which in turn affects the long-term stable operation of the equipment. Summary of the Invention

[0004] In view of the aforementioned existing problems, the present invention is proposed.

[0005] Therefore, this invention provides a robot dog-based air replenishment method to solve the problems of poor environmental adaptability and insufficient intelligent decision-making.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0007] In a first aspect, the present invention provides a method for replenishing air based on a robot dog, which includes establishing a connection between the robot dog and a monitoring center, and performing initialization after establishing the connection;

[0008] Based on the initialized robot dog, collect initialization data and monitor the initialization data in real time;

[0009] Based on the initial data, analyze the air chamber pressure of the robot dog to determine whether an air replenishment operation is needed.

[0010] After confirming that the robot dog needs to be refilled with air, it moves to the designated air refill location and aligns its own air refill port with the air refill port at the location.

[0011] After successful docking, initiate the gas replenishment operation and continuously monitor the gas chamber pressure and gas replenishment volume until the gas replenishment process is completed.

[0012] After the gas replenishment process is completed, the pressure in the gas chamber is remeasured. Based on the new measurement results, a gas replenishment confirmation report is generated and sent to the monitoring center.

[0013] In a preferred embodiment of the robot dog-based air replenishment method of the present invention, the step of establishing a connection between the robot dog and the monitoring center, and then initializing it, specifically includes the following steps.

[0014] After starting the robot dog, connect the power supply to activate the device, and enter the control interface to select Wi-Fi as the connection method;

[0015] Select the target Wi-Fi, enter the SSID and password, connect to the network, and read the API address of the monitoring center from the machine dog's configuration file. Send a connection request, and the monitoring center will perform the connection operation after receiving the request.

[0016] After successful connection, the robot dog begins to execute a self-test program, including checking the gas pressure sensor, temperature sensor, humidity sensor, and battery level. After the self-test is completed, the device is initialized.

[0017] As a preferred embodiment of the robot dog-based air replenishment method of the present invention, the step of collecting initialization data and monitoring the initialization data in real time based on the initialized robot dog specifically includes the following steps.

[0018] The initialization data includes: current chamber pressure, battery level, environmental sensing data, and historical gas replenishment data;

[0019] After the robot dog completes its initialization, it automatically activates data acquisition, including:

[0020] The current pressure data of the gas chamber is collected using a gas pressure sensor;

[0021] Use the built-in BMS to collect battery power data;

[0022] Environmental sensing data is collected using temperature and humidity sensors;

[0023] Historical gas replenishment data is collected using the built-in memory;

[0024] The collected initial data is sent to the monitoring center through the established connection, and the monitoring center performs real-time monitoring.

[0025] In a preferred embodiment of the air replenishment method for a robot dog according to the present invention, the step of analyzing the air chamber pressure of the robot dog based on initialization data and determining whether an air replenishment operation is needed specifically includes the following operations.

[0026] Based on the initial data, the pressure in the air chamber is analyzed, and based on the equipment manufacturer's instructions, the minimum normal operating pressure that the air chamber should maintain under reference temperature and humidity is defined to obtain the basic pressure threshold.

[0027] Based on the basic pressure threshold, a dynamic pressure threshold is obtained by taking into account the impact of the current environment;

[0028] Based on dynamic pressure thresholds, an integrated equation is used to calculate the air chamber pressure health status score to comprehensively assess the health status of air chamber pressure. The specific formula is as follows:

[0029]

[0030] Where S p (t) represents the air chamber pressure health status score, P(t) represents the current air chamber pressure reading, P d (t) represents the dynamic pressure threshold, σ P The standard deviation of the chamber pressure is represented by η, the nonlinear pressure deviation weight is represented by λ, the pressure deviation sensitivity coefficient is represented by ω, the temperature influence weight is represented by T(t), and T represents the current temperature. a σ represents the average ambient temperature. T The standard deviation of ambient humidity;

[0031] The range of the obtained air chamber pressure health status score is from negative infinity to positive infinity. When the score is negative, it indicates that the air chamber pressure is too low and an air replenishment operation should be performed immediately. When the air chamber pressure health status score is close to zero, it is within the normal range and no air replenishment operation is required. When the air chamber pressure health status score is positive, it indicates that the air chamber pressure is too high and no air replenishment operation is required.

[0032] As a preferred embodiment of the robot dog-based air replenishment method of the present invention, the step of obtaining a dynamic pressure threshold based on a baseline pressure threshold by considering the influence of the current environment specifically includes the following operations.

[0033] Based on historical gas replenishment data, and combined with the reference temperature and humidity of the baseline pressure threshold, the high and low ranges of temperature and humidity are defined.

[0034] When the current ambient temperature is in the high temperature range, the threshold is increased; when it is in the low temperature range, the threshold is decreased.

[0035] Also considering the effect of humidity, the threshold is increased when the current ambient humidity is in the high humidity range and decreased when it is in the low humidity range.

[0036] In a preferred embodiment of the robot dog-based air replenishment method of the present invention, the step of confirming that the robot dog needs air replenishment, moving to a designated air replenishment location, and aligning its own air replenishment port with the air replenishment port of the location specifically includes the following steps.

[0037] After confirming that the robot dog needs to replenish air, the system uses built-in map data to determine the nearest air replenishment location and generates an air replenishment path. The robot dog then moves to the nearest air replenishment location according to the path.

[0038] Upon reaching the air replenishment location, the robot dog uses a high-resolution camera to locate the air injection port, employs image processing algorithms to pinpoint the air injection port, and adjusts its posture to prepare for docking.

[0039] After the air replenishment position is successfully located, the robot dog activates the robotic arm, aligns the built-in air replenishment port with the air replenishment port at the air replenishment position, and finally achieves alignment. During the docking process, tactile sensors and torque sensors provide real-time feedback.

[0040] As a preferred embodiment of the air replenishment method based on a robot dog according to the present invention, after successful docking, the air replenishment operation is initiated, and the air chamber pressure and air replenishment volume are continuously monitored until the air replenishment process is completed. Specifically, this includes the following steps:

[0041] After successful docking, the robot dog immediately starts the air replenishment process, and the control center activates the built-in gas injection operation to inject gas into the air chamber at a low speed.

[0042] During the gas injection process, the robot dog continuously monitors the pressure and gas supply in the gas chamber. The built-in pressure sensor collects the pressure data in the gas chamber in real time, and the flow sensor monitors the gas supply and feeds it back to the control center. The control center adjusts the gas injection rate based on the feedback.

[0043] When the pressure data and gas replenishment volume return to normal levels, the gas injection will automatically stop, and the gas replenishment process will be completed.

[0044] In a preferred embodiment of the air replenishment method based on a robot dog according to the present invention, after the air replenishment process is completed, the pressure of the air chamber is remeasured, and an air replenishment confirmation report is generated and sent to the monitoring center based on the new measurement results. This specifically includes the following steps.

[0045] After the air replenishment process is completed, the robot dog enters the verification stage, using the built-in gas pressure sensor to remeasure the pressure in the air chamber.

[0046] After receiving new pressure data, the robot dog's control center analyzes it, compares the new pressure reading with the standard pressure range, and observes the pressure fluctuations over a period of time.

[0047] The control center records the gas replenishment time, gas replenishment volume, and air chamber pressure information before and after gas replenishment, while also recording the ambient temperature and humidity during gas replenishment;

[0048] Based on the pressure data analysis results, combined with key information and environmental conditions, the robot dog automatically generates a gas replenishment confirmation report.

[0049] The robot dog will send the air replenishment confirmation report immediately after establishing an encrypted connection with the monitoring center via SSL.

[0050] After the robot dog sends the air replenishment confirmation report, it waits for confirmation from the monitoring center and logs the transmission locally.

[0051] The transmission log includes information such as the sending time, the receiving confirmation time, and the communication method used.

[0052] In a second aspect, the present invention provides a computer device, including a memory and a processor, wherein the memory stores a computer program, wherein: when the computer program is executed by the processor, it implements any step of the air replenishment method based on a robot dog as described in the first aspect of the present invention.

[0053] Thirdly, the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein: when the computer program is executed by a processor, it implements any step of the air replenishment method based on a robot dog as described in the first aspect of the present invention.

[0054] The beneficial effects of this invention are as follows: By introducing a dynamic pressure threshold definition and a comprehensive evaluation model, it effectively solves the shortcomings of existing technologies in terms of environmental adaptability and intelligent decision-making. Taking into account the influence of current ambient temperature and humidity, it dynamically adjusts the pressure threshold, enhancing environmental adaptability and ensuring more accurate and reliable evaluation results. Furthermore, this invention utilizes an integrated equation to calculate the health status score of the air chamber pressure. Combining factors such as nonlinear pressure deviation weight, pressure deviation sensitivity coefficient, and temperature influence weight, it achieves a comprehensive evaluation of the air chamber pressure status, ensuring automated and intelligent decision-making throughout the entire gas replenishment process, greatly improving work efficiency and safety. Attached Figure Description

[0055] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0056] Figure 1 This is a flowchart of the air replenishment method based on a robot dog in Example 1.

[0057] Figure 2 This is a flowchart of the process of obtaining a gas replenishment decision using the air chamber pressure health status score in Example 1. Detailed Implementation

[0058] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0059] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0060] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0061] Example 1, referring to Figure 1 and Figure 2 This is the first embodiment of the present invention, which provides a method for replenishing air based on a robot dog, including the following steps:

[0062] S1. Establish a connection between the robot dog and the monitoring center, and perform initialization after the connection is established.

[0063] Specifically, the steps include the following:

[0064] After starting the robot dog, ensure that the device is correctly connected to the power supply and activated. When the robot dog is powered on, it will automatically enter the control interface. On this interface, select Wi-Fi as the connection method, select the target Wi-Fi network and enter the SSID and password. The robot dog's built-in wireless module will attempt to establish a connection with the selected Wi-Fi network.

[0065] After successfully connecting to Wi-Fi, the robot dog reads the monitoring center's API address from the configuration file and sends a connection request to the monitoring center. Upon receiving the request, the monitoring center verifies the robot dog's identity information to ensure the security and legitimacy of the connection. After successful verification, the monitoring center performs the connection operation to establish a communication link between the two parties.

[0066] After successfully establishing a connection, the robot dog immediately starts a self-test to ensure that all key components are working properly. The self-test process includes checking the gas pressure sensor, temperature sensor, humidity sensor, and battery power. By verifying the sensors and power, it ensures that they can accurately provide real-time data and have enough power to complete the gas replenishment task.

[0067] After completing the self-test, the robot dog will enter the initialization state, load the necessary parameters and settings to ensure that the device is in the best working condition. After initialization, the robot dog is ready to receive instructions from the monitoring center. The entire connection and initialization process not only ensures stable communication between the robot dog and the monitoring center, but also lays a solid foundation for subsequent data collection and real-time monitoring.

[0068] S2. Based on the initialized robot dog, collect initialization data and monitor the initialization data in real time.

[0069] Specifically, the steps include the following:

[0070] After the robot dog completes the initialization operation, it automatically activates the data acquisition function and begins to collect initialization data, including the current pressure of the air chamber, battery power, environmental perception data, and historical air replenishment data. Each piece of data is the basis for making intelligent decisions.

[0071] The specific data acquisition process includes: using the built-in high-precision gas pressure sensor, the robot dog monitors the pressure changes in the gas chamber in real time and obtains the current pressure data;

[0072] With its built-in BMS battery management system, the robot dog continuously monitors the remaining battery power, provides the current percentage of power, and obtains battery power data to ensure that it has enough power to complete the task.

[0073] Temperature and humidity data of the surrounding environment are collected by temperature and humidity sensors to adjust the dynamic pressure threshold, helping the robot dog adapt to different working environment conditions and ensuring the accuracy of measurement results.

[0074] By using the built-in memory, you can view past Qi replenishment records and extract historical Qi replenishment data, which helps to analyze the frequency and pattern of Qi replenishment and can also provide a reference for future Qi replenishment decisions.

[0075] After completing the collection of initial data, the robot dog packages the collected initial data through the established Wi-Fi network connection and sends it to the monitoring center via SSL encryption protocol. This not only protects the privacy and integrity of the data, but also prevents tampering or loss during transmission.

[0076] After receiving the data, the monitoring center immediately enters it into the database and starts real-time monitoring. The monitoring interface displays various parameters of the robot dog, including air chamber pressure, battery level, and ambient temperature and humidity, so as to keep track of the robot dog's working status in real time, ensuring the accuracy and timeliness of the data, and also improving the robot dog's adaptability in complex and changing environments.

[0077] S3. Based on the initial data, analyze the air chamber pressure of the robot dog and determine whether an air replenishment operation is required.

[0078] Specifically, the steps include the following:

[0079] Based on the initial data, a comprehensive analysis of the air chamber pressure is conducted. Based on the recommendations in the instruction manual provided by the equipment manufacturer, the minimum normal operating pressure that the air chamber should maintain under standard environmental conditions, specific reference temperature and humidity is defined. This minimum normal operating pressure is the optimal value obtained through a large number of experiments and practical applications to ensure that the robot dog can operate safely and stably in a standard environment.

[0080] Based on historical air replenishment data, and combined with the reference temperature and humidity of the basic pressure threshold, the robot dog defines the high and low ranges of temperature and humidity. If the current ambient temperature is 5 degrees or more higher than the reference temperature, it is considered a high temperature environment; if it is 5 degrees or more lower, it is considered a low temperature environment.

[0081] Regarding humidity, an environment is considered high humidity if the current ambient humidity is 10% or more higher than the reference humidity, and low humidity if it is 10% or more lower. These ranges are set based on historical data and equipment manufacturers' recommendations to ensure flexibility in different environments.

[0082] Adjust the pressure threshold accordingly based on the current ambient temperature and humidity range;

[0083] When the current ambient temperature is in the high temperature range, the pressure increases due to the expansion of the gas in the chamber. Therefore, the dynamic pressure threshold should be appropriately increased. When the current ambient temperature is in the low temperature range, the pressure decreases due to the contraction of the gas. Therefore, the dynamic pressure threshold should be appropriately decreased to prevent misjudgment of low chamber pressure and to ensure that the pressure assessment is always accurate regardless of temperature changes.

[0084] Also considering the influence of humidity, when the current ambient humidity is in the high humidity range, the humid air may cause the pressure reading to be higher, so the dynamic pressure threshold should be increased appropriately. When the current ambient humidity is in the low humidity range, the dry environment may cause the pressure reading to be lower, so the dynamic pressure threshold should be decreased appropriately.

[0085] By comprehensively considering the effects of temperature and humidity, the baseline pressure threshold is dynamically adjusted to obtain a dynamic pressure threshold suitable for the current environmental conditions.

[0086] Based on dynamic pressure thresholds, a comprehensive formula is used to calculate the air chamber pressure health status score to comprehensively assess the health status of air chamber pressure. The expression is as follows:

[0087]

[0088] Where S p (t) represents the air chamber pressure health status score, P(t) represents the current air chamber pressure reading, P d (t) represents the dynamic pressure threshold, σP The standard deviation of the chamber pressure is represented by η, the nonlinear pressure deviation weight is represented by λ, the pressure deviation sensitivity coefficient is represented by ω, the temperature influence weight is represented by T(t), and T represents the current temperature. a σ represents the average ambient temperature. T The standard deviation of ambient humidity;

[0089] This formula takes into account pressure deviation and temperature change, providing a comprehensive evaluation index. Through this formula, the state of air chamber pressure can be judged more accurately, avoiding misjudgment caused by a single parameter.

[0090] The robot dog makes air replenishment decisions based on the obtained air chamber pressure health status score. When the score is negative, it indicates that the air chamber pressure is too low, and an air replenishment operation is triggered immediately. When the score is close to zero, it is within the normal range and no air replenishment operation is required. When the score is positive, it indicates that the air chamber pressure is too high, and no air replenishment operation is required. This graded evaluation mechanism improves the intelligent decision-making ability and environmental adaptability through accurate analysis of air chamber pressure, ensuring that the robot dog is always in the best working condition.

[0091] S4. After confirming that the robot dog needs to be refilled with air, move it to the designated air refill location and align its own air refill port with the air refill port of the location.

[0092] Specifically, the steps include the following:

[0093] After confirming that the robot dog needs to refuel, the system uses built-in map data to determine the nearest refueling location. The map data records in detail the location, accessibility, and current status of all refueling stations in the working environment. After determining the nearest refueling location, the system automatically generates an optimal refueling path. This path not only considers the shortest distance but also avoids obstacles and other potential risk points to ensure that the robot dog can safely reach its destination. The robot dog moves autonomously according to the generated refueling path until it reaches the designated refueling location.

[0094] Upon reaching the air replenishment location, the robot dog uses its built-in high-resolution camera to locate the air injection port. The images captured by the camera are transmitted in real time to the image processing algorithm, which quickly analyzes the image content and accurately locates the air injection port at the air replenishment location. To ensure the accuracy of the location, images from different angles are taken multiple times and analyzed in multiple rounds to finally pinpoint the exact location of the air injection port. At the same time, the robot dog adjusts its posture based on the location results to ensure that the air injection port is aligned with the optimal position.

[0095] Once the replacement position is successfully located, the built-in robotic arm is activated. The robotic arm allows the robot dog to operate flexibly in multiple degrees of freedom, thereby achieving high-precision alignment and docking. The tactile sensors and torque sensors on the robotic arm provide real-time feedback during the docking process, helping the robot dog to perceive contact force and positional deviation. The data from these sensors is transmitted to the control center in real time so that the robotic arm's movements can be quickly adjusted to ensure the stability and accuracy of the docking process. Under the coordination of the control center, the robot dog's built-in air injection port is perfectly aligned with the air injection port at the air injection position, completing the docking.

[0096] The entire movement and docking process not only demonstrates a high degree of automation and intelligence, but also incorporates multiple safety measures, including prioritizing the safest route during path planning to avoid any possible collision risks. During docking, a real-time feedback mechanism ensures that even slight deviations can be corrected immediately, guaranteeing a high success rate for docking. In addition, the robot dog records key data from each movement and docking, providing a basis for subsequent optimization and troubleshooting.

[0097] S5. After successful docking, initiate the gas replenishment operation and continuously monitor the gas chamber pressure and gas replenishment volume until the gas replenishment process is completed.

[0098] Specifically, the steps include the following:

[0099] After the robot dog successfully completes the docking of the air injection port, the robot dog's control center will immediately activate the built-in gas injection device, which includes a precision-controlled valve and an adjustable flow gas pump. The control center first performs a comprehensive self-check to confirm that all related equipment, including the gas source, valve, and pipeline, are in optimal working condition.

[0100] After self-check, gas injection begins at a low speed, set to 10-20% of the maximum flow rate, to reduce the risk of rapid pressurization and provide a stable starting point for subsequent pressure monitoring. The control center automatically controls the speed and flow rate of gas injection and checks the quality of the gas source to ensure that the injected gas is pure and free of impurities, thus avoiding damage to the gas chamber.

[0101] During the gas injection process, the robot dog uses built-in high-precision pressure and flow sensors to monitor the pressure and gas supply in the gas chamber in real time. These sensors collect pressure data in the gas chamber once per second to ensure that any subtle changes can be captured in time.

[0102] The flow sensor is responsible for monitoring the amount of gas supplied, recording the specific values ​​for each injection, and transmitting this data to the control center. The control center dynamically adjusts the gas injection rate based on the feedback information received. When the pressure sensor detects that the pressure in the gas chamber is rising too quickly, the control center will slow down the injection rate. When the pressure rises slowly or stagnates, the control center will speed up the injection rate.

[0103] The control center adopts an advanced PID control algorithm. By continuously calculating the difference between the target air replenishment value and the actual air replenishment value, and adjusting the output according to the three parameters of proportional, integral and derivative, it ensures the stability and rapid response capability of the air replenishment process. In addition, the control center transmits key parameters such as air chamber pressure and air replenishment volume collected in real time to the monitoring center through the wireless communication module. When the parameters exceed the safe range, the monitoring center will immediately issue an alarm and prompt the necessary measures to be taken to ensure the safety of the air replenishment process.

[0104] When the pressure data and gas supply volume reach the normal range, the control center automatically stops the gas injection. This normal range is set based on the standard value provided by the equipment manufacturer to ensure that the pressure and gas volume in the gas chamber are in the optimal working state. The control center will also perform a final check to confirm that all parameters are within the safe range and to ensure that the gas supply process is completely finished.

[0105] From the initiation of the gas replenishment operation to its final completion, every key operation is meticulously designed and employs advanced technologies, including low-speed injection, high-precision sensors, closed-loop control, and PID algorithms, to ensure the safety, accuracy, and efficiency of the gas replenishment operation. The real-time monitoring and feedback adjustment mechanism can flexibly respond to various situations, guaranteeing the success rate and stability of the gas replenishment process.

[0106] S6. After completing the gas replenishment process, remeasure the pressure in the gas chamber, generate a gas replenishment confirmation report based on the new measurement results, and send it to the monitoring center.

[0107] Specifically, the steps include the following:

[0108] After completing the air replenishment process, the robot dog enters an important verification stage to ensure that the air chamber pressure reaches the standard. The pressure of the air chamber is remeasured using the built-in high-precision gas pressure sensor. To ensure the accuracy of the measurement results, the robot dog will briefly pause other operations and focus on obtaining the most stable pressure reading. The sensor continuously collects data multiple times within a few seconds and calculates the average value to eliminate the influence of any instantaneous fluctuations. In addition, the status of the sensor is checked at the same time to ensure that it is working properly and is not affected by external interference, thus ensuring the accuracy of subsequent analysis.

[0109] After receiving new pressure data, the robot dog's control center performs a detailed analysis, compares the new pressure reading with the standard pressure range, and confirms whether the pressure in the air chamber is in the optimal working state. In addition, the control center will also observe the pressure fluctuation over a period of time to ensure that the pressure is stable and there are no abnormal changes.

[0110] The above standard pressure range is defined based on the technical specifications provided by the equipment manufacturer and the optimal operating parameters of the robot dog under standard operating conditions;

[0111] After confirming that the pressure data is correct, the control center begins to record a series of key information, including the gas replenishment time, gas replenishment volume, and air chamber pressure information before and after gas replenishment. At the same time, the ambient temperature and humidity during gas replenishment are recorded. All of this information is recorded in detail in the local database, including the specific date and timestamp.

[0112] Based on the pressure data analysis results, combined with key information and environmental conditions, the robot dog automatically generates a detailed air replenishment confirmation report. This report not only includes various parameters during the air replenishment process, including air replenishment time, air replenishment volume, and pressure in the front and rear air chambers, but also information on ambient temperature and humidity. To ensure the readability and standardization of the report, it is formatted according to a fixed template, ensuring that each part has a clear title and content. In addition, the report also includes the robot dog's unique identifier and air replenishment event number, which facilitates the monitoring center to quickly locate and manage the situation.

[0113] To ensure the secure transmission of the refueling report, the robot dog establishes an encrypted connection with the monitoring center via SSL. It first initiates a connection request, verifies the identity of the monitoring center, and exchanges encryption keys to ensure the security of communication. Once the connection is successfully established, the robot dog immediately sends a refueling confirmation report.

[0114] During the transmission process, the connection status is continuously monitored to ensure the integrity and security of data transmission. After transmission is completed, the robot dog waits for a confirmation receipt from the monitoring center to confirm that the report has been successfully received. This receipt is not only a sign of successful transmission of the gas replenishment report, but also the final confirmation of the end of the entire gas replenishment process. If no confirmation receipt is received within the predetermined time, the report will be automatically resent.

[0115] After receiving confirmation, log the transmission locally, including the sending time, the time of receiving confirmation, and the communication method used. Recording this information helps to track the transmission of each data and ensures traceability.

[0116] This embodiment also provides a computer device applicable to the air replenishment method based on a robot dog, including: a memory and a processor; the memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions to implement the air replenishment method based on a robot dog as proposed in the above embodiment.

[0117] The computer device can be a terminal, comprising a processor, memory, communication interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, carrier networks, NFC (Near Field Communication), or other technologies. The display screen can be an LCD screen or an e-ink screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad on the computer device's casing, or an external keyboard, touchpad, or mouse.

[0118] This embodiment also provides a storage medium storing a computer program, which, when executed by a processor, implements the air replenishment method for a robot dog as proposed in the above embodiments. The storage medium 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 Red-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0119] In summary, this invention effectively addresses the shortcomings of existing technologies in terms of environmental adaptability and intelligent decision-making by introducing a dynamic pressure threshold definition and a comprehensive evaluation model. It considers the influence of current ambient temperature and humidity, dynamically adjusts the pressure threshold, enhances environmental adaptability, and ensures more accurate and reliable evaluation results. Furthermore, this invention utilizes an integrated equation to calculate the health status score of the air chamber pressure. By combining factors such as nonlinear pressure deviation weights, pressure deviation sensitivity coefficients, and temperature influence weights, it achieves a comprehensive evaluation of the air chamber pressure status, ensuring automated and intelligent decision-making throughout the entire gas replenishment process, and significantly improving work efficiency and safety.

[0120] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A method for replenishing air based on a robot dog, characterized in that: include, Establish a connection between the robot dog and the monitoring center, and then initialize it. Based on the initialized robot dog, collect initialization data and monitor the initialization data in real time; Based on the initial data, analyze the air chamber pressure of the robot dog to determine whether an air replenishment operation is needed. After confirming that the robot dog needs to be refilled with air, it moves to the designated air refill location and aligns its own air refill port with the air refill port at the location. After successful docking, initiate the gas replenishment operation and continuously monitor the gas chamber pressure and gas replenishment volume until the gas replenishment process is completed. After the gas replenishment process is completed, the pressure in the gas chamber is remeasured. Based on the new measurement results, a gas replenishment confirmation report is generated and sent to the monitoring center.

2. The air replenishment method based on a robot dog as described in claim 1, characterized in that: The process of establishing a connection between the robot dog and the monitoring center, followed by initialization, specifically includes the following steps: After starting the robot dog, connect the power supply to activate the device, and enter the control interface to select Wi-Fi as the connection method; Select the target Wi-Fi, enter the SSID and password, connect to the network, and read the API address of the monitoring center from the machine dog's configuration file. Send a connection request, and the monitoring center will perform the connection operation after receiving the request. After successful connection, the robot dog begins to execute a self-test program, including checking the gas pressure sensor, temperature sensor, humidity sensor, and battery level. After the self-test is completed, the device is initialized.

3. The air replenishment method based on a robot dog as described in claim 2, characterized in that: The process of collecting and monitoring initialization data based on the initialized robot dog includes the following steps: The initialization data includes: current chamber pressure, battery level, environmental sensing data, and historical gas replenishment data; After the robot dog completes its initialization, it automatically activates data acquisition, including: The current pressure data of the gas chamber is collected using a gas pressure sensor; Use the built-in BMS to collect battery power data; Environmental sensing data is collected using temperature and humidity sensors; Historical gas replenishment data is collected using the built-in memory; The collected initial data is sent to the monitoring center through the established connection, and the monitoring center performs real-time monitoring.

4. The air replenishment method based on a robot dog as described in claim 3, characterized in that: The step of analyzing the air chamber pressure of the robot dog based on the initialization data and determining whether an air replenishment operation is needed includes the following operations. Based on the initial data, the pressure in the air chamber is analyzed, and based on the equipment manufacturer's instructions, the minimum normal operating pressure that the air chamber should maintain under reference temperature and humidity is defined to obtain the basic pressure threshold. Based on the basic pressure threshold, a dynamic pressure threshold is obtained by taking into account the impact of the current environment; Based on dynamic pressure thresholds, an integrated equation is used to calculate the air chamber pressure health status score to comprehensively assess the health status of air chamber pressure. The specific formula is as follows: Where S p (t) represents the air chamber pressure health status score, P(t) represents the current air chamber pressure reading, P d (t) represents the dynamic pressure threshold, σ P The standard deviation of the chamber pressure is represented by η, the nonlinear pressure deviation weight is represented by λ, the pressure deviation sensitivity coefficient is represented by ω, the temperature influence weight is represented by T(t), and T represents the current temperature. a σ represents the average ambient temperature. T The standard deviation of ambient humidity; The range of the obtained air chamber pressure health status score is from negative infinity to positive infinity. When the score is negative, it indicates that the air chamber pressure is too low and an air replenishment operation should be performed immediately. When the air chamber pressure health status score is close to zero, it is within the normal range and no air replenishment operation is required. When the air chamber pressure health status score is positive, it indicates that the air chamber pressure is too high and no air replenishment operation is required.

5. The air replenishment method based on a robot dog as described in claim 4, characterized in that: The process of obtaining a dynamic pressure threshold based on a baseline pressure threshold, while considering the impact of the current environment, specifically includes the following operations. Based on historical gas replenishment data, and combined with the reference temperature and humidity of the baseline pressure threshold, the high and low ranges of temperature and humidity are defined. When the current ambient temperature is in the high temperature range, the threshold is increased; when it is in the low temperature range, the threshold is decreased. Also considering the effect of humidity, the threshold is increased when the current ambient humidity is in the high humidity range and decreased when it is in the low humidity range.

6. The air replenishment method based on a robot dog as described in claim 5, characterized in that: After confirming that the robot dog needs air replenishment, it moves to the designated air replenishment location and aligns its own air replenishment port with the air replenishment port at the location. This process includes the following steps: After confirming that the robot dog needs to replenish air, the system uses built-in map data to determine the nearest air replenishment location and generates an air replenishment path. The robot dog then moves to the nearest air replenishment location according to the path. Upon reaching the air replenishment location, the robot dog uses a high-resolution camera to locate the air injection port, employs image processing algorithms to pinpoint the air injection port, and adjusts its posture to prepare for docking. After the air replenishment position is successfully located, the robot dog activates the robotic arm, aligns the built-in air replenishment port with the air replenishment port at the air replenishment position, and finally achieves alignment. During the docking process, tactile sensors and torque sensors provide real-time feedback.

7. The air replenishment method based on a robot dog as described in claim 6, characterized in that: After successful docking, the gas replenishment operation is initiated, and the gas chamber pressure and replenishment volume are continuously monitored until the gas replenishment process is completed. The specific steps include the following: After successful docking, the robot dog immediately started the gas replenishment process, and the control center activated the built-in gas injection operation to inject gas into the gas chamber at a low speed. During the gas injection process, the robot dog continuously monitors the pressure and gas supply in the gas chamber. The built-in pressure sensor collects the pressure data in the gas chamber in real time, and the flow sensor monitors the gas supply and feeds it back to the control center. The control center adjusts the gas injection rate based on the feedback. When the pressure data and gas replenishment volume return to normal levels, the gas injection will automatically stop, and the gas replenishment process will be completed.

8. The air replenishment method based on a robot dog as described in claim 7, characterized in that: After the gas replenishment process is completed, the pressure in the gas chamber is measured again. Based on the new measurement results, a gas replenishment confirmation report is generated and sent to the monitoring center. The specific steps include the following: After the air replenishment process is completed, the robot dog enters the verification stage, using the built-in gas pressure sensor to remeasure the pressure in the air chamber. After receiving new pressure data, the robot dog's control center analyzes it, compares the new pressure reading with the standard pressure range, and observes the pressure fluctuations over a period of time. The control center records the gas replenishment time, gas replenishment volume, and air chamber pressure information before and after gas replenishment, while also recording the ambient temperature and humidity during gas replenishment; Based on the pressure data analysis results, combined with key information and environmental conditions, the robot dog automatically generates a gas replenishment confirmation report. The robot dog will send the air replenishment confirmation report immediately after establishing an encrypted connection with the monitoring center via SSL. After the robot dog sends the air replenishment confirmation report, it waits for confirmation from the monitoring center and logs the transmission locally. The transmission log includes information such as the sending time, the receiving confirmation time, and the communication method used.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, it implements the steps of the air replenishment method based on the robot dog as described in any one of claims 1 to 8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, it implements the steps of the air replenishment method based on the robot dog as described in any one of claims 1 to 8.

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