Safety communication solving system for non-contact power supply RGV
By real-time monitoring of communication performance parameters, identification of fault types, elimination of radiation blind spots, and robot fault repair methods, the problem of unstable RGV communication was solved, achieving higher operational stability and safety.
Patent Information
- Application Number
- CN202511130098.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-08-13
- Publication Date
- 2025-11-21
AI Technical Summary
RGV wireless communication within semiconductor wafer fabs is susceptible to equipment obstruction and environmental interference, leading to signal instability and interruptions, which affects operational stability.
The system employs a data acquisition module to monitor communication performance parameters in real time, a data analysis module to identify fault types and perform security authentication, a lidar to eliminate radiation blind spots, a robot to repair faults, and physical isolation of uncertified equipment, thus forming a closed-loop mechanism.
It improves the communication and operational stability of RGV, reduces communication interruptions, and enhances system security and continuous operation capability.
Smart Images
Figure CN120993109A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of voltage control, in particular to a safe communication solution system for a non-contact power supply RGV. BACKGROUND
[0002] The RGV is a key equipment for logistics and transportation in a semiconductor wafer factory. It shuttles between various stations and machines to realize automatic cargo transportation. When the RGV is running, it needs to transmit information to the control system in real time through wireless communication. The quality of wireless communication directly affects the stability of the RGV operation. Wireless communication is also one of the key technologies for logistics and transportation in a semiconductor wafer factory.
[0003] The RGV usually uses infrared wireless transmission for communication. This kind of communication method often causes unstable signals or communication interruption when the equipment runs to a far place. On the other hand, when the light path of infrared communication needs to be opened for maintenance, the light path will be blocked by the maintenance door, and the communication of the RGV will be interrupted. SUMMARY
[0004] The present application provides a safe communication solution system for a non-contact power supply RGV, which solves the problems in the background art.
[0005] To solve the above technical problems, the present application adopts the following technical scheme: the present application provides a safe communication solution system for a non-contact power supply RGV, comprising: a data acquisition module: for real-time acquisition of communication performance parameters of the receiving end of the leaky wave cable, the communication performance parameters including signal strength, time domain reflection waveform, standing wave ratio, environmental electromagnetic interference peak value, signal attenuation slope, vibration displacement, and packet loss rate.
[0006] A data analysis module: for judging whether there is a leaky wave cable signal fault. If there is a leaky wave cable signal fault, identify the fault category of the leaky wave cable signal. If there is no leaky wave cable signal fault, perform safety authentication on the RGV equipment, locate and eliminate the range of the conical radiation field coverage blind area. The fault category includes internal fault and external fault.
[0007] Preferably, the judgment of whether there is a leaky wave cable signal fault is specifically as follows: if the real-time acquisition of the signal strength of the receiving end of the leaky wave cable is less than the signal strength threshold stored in the local database and the standing wave ratio is greater than the standing wave ratio threshold stored in the local database, it is determined that there is a leaky wave cable fault. If the real-time acquisition of the signal strength of the receiving end of the leaky wave cable is less than the signal strength threshold stored in the local database and the environmental electromagnetic interference peak value is greater than the environmental electromagnetic interference peak value threshold stored in the local database, it is also determined that there is a leaky wave cable fault.
[0008] If the signal strength of the real-time collected signal of the receiving end of the leaky wave cable is greater than the signal strength threshold stored in the local database, the standing wave ratio is less than the standing wave ratio threshold stored in the local database, and the peak value of the environmental electromagnetic interference is less than the peak value threshold of the environmental electromagnetic interference stored in the local database, then there is no leaky wave cable signal failure.
[0009] Preferably, the fault category of the leaky wave cable signal is identified, and the specific method is: when the amplitude of the impedance mutation in the time domain reflection waveform of the leaky wave cable is greater than the preset amplitude threshold, the deviation value of the environmental temperature and humidity where the leaky wave cable is located from the conventional environmental temperature and humidity stored in the local database is less than the preset environmental temperature and humidity deviation value, and the vibration displacement of the leaky wave cable is less than the preset first-level threshold, it is determined that the leaky wave cable is an internal fault.
[0010] The synchronous change characteristics of the leaky wave cable are identified based on the signal attenuation slope of the leaky wave cable and the time sequence data of the peak value of the environmental electromagnetic interference, and the synchronous change characteristics are synchronous anomaly and synchronous normal. If the synchronous change characteristics of the leaky wave cable are synchronous anomaly, or the infrared reflectivity of the surface of the leaky wave cable slot is less than the preset infrared reflectivity threshold, or the deviation value of the environmental temperature and humidity where the leaky wave cable is located from the conventional environmental temperature and humidity stored in the local database is greater than the preset environmental temperature and humidity deviation value, or the vibration displacement of the leaky wave cable is greater than the preset second-level threshold, then it is determined that the leaky wave cable is an external fault.
[0011] Preferably, the device is securely authenticated, and the specific method is: when the RGV device initiates a connection request, first verify whether the issuing authority of the RGV device digital certificate is in the trusted root certificate chain, and compare the device unique identifier bound to the certificate with the authorized device information in the pre-stored whitelist database. If the RGV device digital certificate is in the trusted root certificate chain and the device unique identifier bound to the certificate is consistent with the authorized device information in the pre-stored whitelist database, the RGV device passes the verification, the management system generates a dynamic temporary key based on the current timestamp and a random number and issues it to the RGV device, and the RGV device needs to use the key to encrypt a response packet containing the device identification and session number within a specified time and return it. The management system authorizes access to the electromagnetic field established by the leaky wave cable radiation after verifying the consistency of the returned data, and disconnects the connection immediately and records the physical address of the RGV device and the time of violation to the management system.
[0012] Preferably, the blind area range of the conical radiation field is positioned and eliminated, and the specific method is: a space point cloud model A={(x k ,y k ,z k| k = 1, 2, …, W}, wherein k is the number of laser radar scanning points, W is a positive integer greater than 2, the generated spatial point cloud model is divided into a plurality of minimum volume units, if the field strength value of a certain minimum volume unit is less than the preset field strength threshold, the minimum volume unit is marked as a low field strength unit, each low field strength unit is counted, adjacent low field strength units are traversed by a flood fill algorithm, and are merged into a plurality of continuous spatial regions, the volume of the continuous spatial region is the product of the minimum volume unit and the number of low field strength units in the continuous spatial region, and if the volume of a certain continuous spatial region is greater than or equal to the blind area volume threshold stored in the local database, the continuous spatial region is determined to be a blind area.
[0013] According to the coordinate mapping relationship between the blind area marked by the spatial point cloud model and the device topology stored in the local database, the physical orientation of the worm gear drive point adjusting leaky wave cable slot structure is driven, the physical obstacle area is penetrated by expanding the radiation angle, the blind area signal strength and the packet loss rate are obtained in real time, if the blind area point signal strength continuously reaches the preset communication requirement and the packet loss rate meets the preset standard threshold, it is judged that the blind area is eliminated successfully, the radiation field coverage range is updated in the three-dimensional topology interface and is synchronously uploaded to the management terminal.
[0014] The data processing module is used to eliminate the internal fault of the leaky wave cable signal, process the external fault of the leaky wave cable signal, and physically isolate the equipment that does not pass the safety authentication.
[0015] Preferably, the internal fault of the leaky wave cable signal is eliminated, and the specific method is: high-frequency pulses are emitted to the leaky wave cable and time-domain reflected waveforms are captured, the internal fault type of the leaky wave cable is identified, and the internal fault positioning method of the leaky wave cable is matched according to the fault positioning method corresponding to each internal fault type stored in the local database.
[0016] After positioning the fault point, the robot cuts off the damaged section of the leaky wave cable, seals the joint with a heat-shrinkable sleeve and fills waterproof glue, verifies whether the fault is eliminated after repair, and if the impedance mutation amplitude in the time-domain reflected waveform of the repaired leaky wave cable is less than the preset amplitude threshold, the internal fault of the leaky wave cable is eliminated, otherwise, a warning is given.
[0017] Preferably, the external fault of the leaky wave cable signal is processed, and the specific method is: the external fault type identification code of the leaky wave cable is determined, and the identification code is composed of a fault type character and a fault number.
[0018] According to the corresponding fault solving method matched according to each external fault type identification code stored in the local database, the robot executes the corresponding processing measures, and the processing measures are at least one of forced disconnection of the device network connection of the interference channel, physical wiping of the contaminated slot hole, installation of a hydrophobic nano coating on the slot hole, and installation of a shock pad on the RGV device to which the leaky wave cable belongs.
[0019] After the repair, it is verified whether the fault is eliminated, if the synchronous change characteristic of the leaky cable is synchronous normal, and the infrared reflectivity of the leaky cable slot hole surface is greater than the preset infrared reflectivity threshold, and the deviation value of the ambient temperature and humidity of the leaky cable from the normal ambient temperature and humidity stored in the local database is less than the preset ambient temperature and humidity deviation value, and the vibration displacement of the leaky cable is less than the preset secondary threshold, then the external fault of the leaky cable is eliminated.
[0020] If the synchronous change characteristic of the leaky cable is synchronous abnormal, or the infrared reflectivity of the leaky cable slot hole surface is less than the preset infrared reflectivity threshold, or the deviation value of the ambient temperature and humidity of the leaky cable from the normal ambient temperature and humidity stored in the local database is greater than the preset ambient temperature and humidity deviation value, or the vibration displacement of the leaky cable is greater than the preset secondary threshold, then a warning is performed.
[0021] Preferably, the device that does not pass the security authentication is physically isolated, and the specific method is that when the RGV device fails the security authentication for three times in a row, the management system simultaneously performs track power supply cut-off and audible and light alarm positioning, wherein the power supply cut-off range is accurate to the track partition coordinates of the device to which the leaky cable belongs, and the physical position of the device to which the leaky cable belongs is indicated in real time through multi-frequency audible and light coding, and at the same time, the electromagnetic brake of the guide wheel of the track section where the RGV device to which the leaky cable belongs is located is locked to force it to stay in the isolation area until the administrator authorizes release.
[0022] The beneficial effects of the present application are that: (1) the first part of the present application: real-time acquisition of multi-dimensional parameters, with the help of professional equipment to ensure data accuracy, covering internal and external characteristics, providing complete basis for subsequent analysis, avoiding single parameter deviation, and guaranteeing the scientific nature of system analysis.
[0023] (2) the second part of the present application: accurately identify faults and distinguish types through threshold logic, ensure the legality of the device through certificate chain and white list when there is no fault, eliminate the radiation blind area combined with laser radar, reduce communication interruption, and improve the stability of RGV operation.
[0024] (3) the third part of the present application: for internal and external faults, take measures such as robot repair and cut off interference source to efficiently solve the problem, physically isolate the unauthenticated device to block the risk, form a closed loop mechanism, and improve the system safety and continuous operation ability. BRIEF DESCRIPTION OF DRAWINGS
[0025] In order to make the technical solutions in the embodiments of the present application or the prior art clearer, the accompanying drawings needed in the embodiments or prior art description will be briefly introduced. Obviously, the accompanying drawings in the following description only aim to some embodiments of the present application, and for those skilled in the art, other drawings can be obtained without creative effort based on these drawings.
[0026] Figure 1 It is a schematic diagram of the system module of the present application.
[0027] Figure 2 It is a top view of the RGV device of the present application.
[0028] Figure 3 It is a schematic diagram of the installation of the leaky cable of the present application. DETAILED DESCRIPTION
[0029] The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present application.
[0030] Referring to Figure 1 The present application provides a safe communication solution system for a non-contact power supply RGV, which comprises a data acquisition module, a data analysis module, a data processing module and a local database.
[0031] It should be noted that the data acquisition module is connected with the data analysis module, the data analysis module is connected with the data processing module, and the local database is connected with the data acquisition module, the data analysis module and the data processing module.
[0032] The data acquisition module is used for collecting communication performance parameters of a receiving end of a leaky cable in real time, wherein the communication performance parameters include signal strength, time domain reflection waveform, standing wave ratio, environmental electromagnetic interference peak value, signal attenuation slope, vibration displacement amount and packet loss rate.
[0033] It should be noted that the signal strength is collected by a field strength meter, the time domain reflection waveform and the standing wave ratio are obtained by a time domain reflectometer, the environmental electromagnetic interference peak value and the signal attenuation slope are detected by a spectrum analyzer, the packet loss rate is detected by a network tester, and the cable deformation displacement amount is monitored by an industrial machine vision device, and the vibration displacement amount is collected by a three-axis accelerometer.
[0034] The data analysis module is used for judging whether there is a leakage cable signal fault, if there is a leakage cable signal fault, identifying the fault category of the leakage cable signal, if there is no leakage cable signal fault, performing safety authentication on the RGV equipment, positioning and eliminating the range of the conical radiation field coverage blind area, and the fault category includes internal fault and external fault.
[0035] In the specific embodiment of the present application, the specific method for judging whether there is a leakage cable signal fault is that if the real-time collected signal strength of the leakage cable receiving end is less than the signal strength threshold stored in the local database and the standing wave ratio is greater than the standing wave ratio threshold stored in the local database, then it is determined that there is a leakage cable fault, and if the real-time collected signal strength of the leakage cable receiving end is less than the signal strength threshold stored in the local database and the environmental electromagnetic interference peak value is greater than the environmental electromagnetic interference peak value threshold stored in the local database, then it is also determined that there is a leakage cable fault.
[0036] If the real-time collected signal strength of the leakage cable receiving end is greater than the signal strength threshold stored in the local database, the standing wave ratio is less than the standing wave ratio threshold stored in the local database, and the environmental electromagnetic interference peak value is less than the environmental electromagnetic interference peak value threshold stored in the local database, then there is no leakage cable signal fault.
[0037] It should be noted that the standing wave ratio represents the degree of signal reflection in the leakage cable, for example, when the leakage cable is damaged, it will cause the signal reflection to be enhanced.
[0038] It should be noted that the environmental electromagnetic interference peak value refers to the highest value of electromagnetic noise in the environment, which represents the degree of influence of external interference sources on communication.
[0039] Referring to Figure 3 In the specific embodiment of the present application, the specific method for identifying the fault category of the leakage cable signal is that when the amplitude of the impedance mutation in the time domain reflection waveform of the leakage cable is greater than the preset amplitude threshold, the deviation value of the environmental temperature and humidity where the leakage cable is located from the conventional environmental temperature and humidity stored in the local database is less than the preset environmental temperature and humidity deviation value, and the vibration displacement amount of the leakage cable is less than the preset first threshold, it is determined that the leakage cable is an internal fault.
[0040] Based on the signal attenuation slope of the leakage cable and the time sequence data of the environmental electromagnetic interference peak value, the synchronous change characteristics of the leakage cable are identified, the synchronous change characteristics are synchronous abnormality and synchronous normality, if the synchronous change characteristics of the leakage cable are synchronous abnormality, or the infrared reflectivity of the leakage cable slot hole surface is less than the preset infrared reflectivity threshold, or the deviation value of the environmental temperature and humidity where the leakage cable is located from the conventional environmental temperature and humidity stored in the local database is greater than the preset environmental temperature and humidity deviation value, or the vibration displacement amount of the leakage cable is greater than the preset second threshold, then it is determined that it is an external fault.
[0041] It should be noted that the deviation value of the environment temperature and humidity of the leaky wave cable from the conventional environment temperature and humidity stored in the local database is the difference between the environment temperature of the leaky wave cable and the conventional environment temperature plus the difference between the environment humidity of the leaky wave cable and the conventional environment humidity.
[0042] It should be noted that if the number of consistency of the increment direction of the signal attenuation slope and the peak value of the environmental electromagnetic interference at consecutive time nodes is greater than the threshold value of the number of consistency of the increment direction stored in the local database, then the synchronous change characteristic of the leaky wave cable is synchronous abnormal, otherwise, the synchronous change characteristic of the leaky wave cable is synchronous normal.
[0043] It should be noted that the number of consistency of the increment direction refers to the number of times that the change trend of the signal attenuation slope and the peak value of the environmental electromagnetic interference at consecutive time nodes is the same.
[0044] The signal attenuation slope is the signal attenuation amount of the leaky wave cable divided by the time length of the consecutive time nodes.
[0045] The infrared reflectivity of the surface of the slot of the leaky wave cable is obtained by scanning the surface of the slot of the leaky wave cable along the axial direction of the leaky wave cable by an infrared spectrum bullet, and high reflectivity indicates that the surface of the leaky wave cable is clean.
[0046] In a specific embodiment of the present application, the specific method for performing security authentication on the device is as follows: when the RGV device initiates a connection request, first verify whether the issuing authority of the digital certificate of the RGV device is in the trusted root certificate chain, and compare the device unique identifier bound to the certificate with the authorized device information in the pre-stored whitelist database, if the digital certificate of the RGV device is in the trusted root certificate chain and the device unique identifier bound to the certificate is consistent with the authorized device information in the pre-stored whitelist database, then the RGV device passes the verification, the management system generates a dynamic temporary key based on the current timestamp and a random number and issues it to the RGV device, the RGV device needs to use the key to encrypt a response packet containing the device identification and session number within a specified time and return it, the management system authorizes access to the wireless communication link established by the electromagnetic field radiated by the leaky wave cable after verifying the consistency of the returned data, otherwise, the connection is immediately disconnected and the physical address of the RGV device and the time of violation are recorded to the management system.
[0047] It should be noted that the whitelist database contains the registration information of all compliant RGV devices.
[0048] The device identification is the unique digital identity certificate of the device and the physical address of the RGV device.
[0049] The session number is the serial number of the RGV device sending communication.
[0050] Reference Figure 2As shown, in specific embodiments of the present application, the positioning and elimination of the blind area range of the conical radiation field coverage is specifically implemented by: generating a space point cloud model A = {(x k ,y k ,z k )|k = 1, 2,..., W} through laser radar scanning track environment three-dimensional physical structure, wherein k is the number of laser radar scanning points, and W is a positive integer greater than 2, the generated space point cloud model is segmented into a plurality of minimum volume units, if the field strength value of a certain minimum volume unit is less than a preset field strength threshold, the minimum volume unit is marked as a low field strength unit, the low field strength units are counted, adjacent low field strength units are traversed by a flood fill algorithm, and are merged into a plurality of continuous space regions, the volume of the continuous space region is the product of the minimum volume unit and the number of low field strength units in the continuous space region, and if the volume of a certain continuous space region is greater than or equal to a blind area volume threshold stored in a local database, the continuous space region is determined as a blind area.
[0051] According to the coordinate mapping relationship between the blind area marked by the space point cloud model and the device topology stored in the local database, the physical orientation of the worm gear driving point adjusting the slotting structure of the leaky wave cable is driven, the physical obstacle area is penetrated by expanding the radiation angle, the blind area signal strength and the packet loss rate are obtained in real time, if the blind area point signal strength continuously reaches a preset communication requirement and the packet loss rate meets a preset standard threshold, it is judged that the blind area elimination is successful, the radiation field coverage range is updated in the three-dimensional topology interface and is synchronously uploaded to the management terminal.
[0052] Exemplarily, the minimum volume unit is 1 cubic meter, and the field strength value of the minimum volume unit is obtained by measuring by a field strength meter.
[0053] It should be noted that the flood fill algorithm is a computer graphics algorithm for identifying and marking adjacent connected regions, and the flood fill algorithm is relatively mature and will not be described here.
[0054] It should be noted that the coordinate mapping relationship of the device topology means that the blind area vertex coordinates positioned by the laser radar are converted to the actuator coordinate system through an affine transformation matrix, and the physical orientation of the slotting structure of the leaky wave cable is adjusted by driving the worm gear driving point according to the positional relationship between the worm gear driving point and the slotting structure of the leaky wave cable, so as to ensure the spatial consistency of the blind area elimination action.
[0055] Exemplarily, the physical orientation of the slotting structure of the leaky wave cable is adjusted by driving the worm gear driving point, such as: adjusting the vertical inclination angle of the waveguide structure by a linkage worm gear mechanism, and changing the pitch angle of the slotting direction.
[0056] The packet loss rate represents the ratio of lost data packets in data transmission, and the percentage represents the reliability of communication. High packet loss rate indicates unstable signal.
[0057] The data processing module is used for eliminating internal faults of the leaky cable signal, processing external faults of the leaky cable signal, and physically isolating devices that fail to pass safety authentication.
[0058] In specific embodiments of the present application, the method for eliminating internal faults of the leaky cable signal is specifically: transmitting high-frequency pulses to the leaky cable and capturing time-domain reflection waveforms, identifying the internal fault category of the leaky cable, and matching the internal fault locating method of the leaky cable according to the fault locating method corresponding to each internal fault category stored in the local database.
[0059] After locating the fault point, a robot is sent to cut off the damaged section of the leaky cable, a heat-shrinkable sleeve is used to seal the joint and fill waterproof glue, and after repair, it is verified whether the fault is eliminated. If the amplitude of the impedance mutation in the time-domain reflection waveform of the repaired leaky cable is less than the preset amplitude threshold, the internal fault of the leaky cable is eliminated, otherwise, a warning is given.
[0060] The internal fault categories include high-resistance faults, short-circuit faults, and open-circuit faults.
[0061] In one specific embodiment, for high-resistance faults, a three-pulse method is used. First, a low-voltage pulse is used to obtain the reflection waveform of the entire length of the leaky cable without breaking the fault point. A set high-voltage is applied to break the fault point to form a transient short circuit. Then, the fault dispersion point of the leaky cable is located by comparing the waveforms before and after the fault is broken.
[0062] In one specific embodiment, for short-circuit or open-circuit faults, the impedance imbalance point is measured by a bridge method or the discharge acoustic signal exceeding the set sensitivity threshold is captured by an acoustic detector to locate the fault point.
[0063] It should be noted that the time-domain reflection waveform is obtained by a time-domain reflectometer and reflects the impedance change of the leaky cable. When the signal propagates in the leaky cable, a reflection wave is generated when it encounters a fault point. The waveform mutation indicates the fault location.
[0064] In specific embodiments of the present application, the method for processing external faults of the leaky cable signal is specifically: determining the external fault category identification code of the leaky cable, which is composed of a fault category character and a fault number.
[0065] According to the corresponding fault solving method matched by each external fault category identification code stored in the local database, a robot is sent to perform the corresponding processing measures, which are at least one of the following: forcibly disconnecting the network connection of the device with the interference channel, physically wiping the contaminated slot, adding a hydrophobic nano coating to the slot, and installing a shock pad on the RGV device to which the leaky cable belongs.
[0066] After the repair, it is verified whether the fault is eliminated. If the synchronous change characteristic of the leaky wave cable is synchronous normal, the infrared reflectivity of the surface of the leaky wave cable slot is greater than the preset infrared reflectivity threshold, the deviation of the ambient temperature and humidity of the leaky wave cable from the normal ambient temperature and humidity stored in the local database is less than the preset ambient temperature and humidity deviation, and the vibration displacement of the leaky wave cable is less than the preset secondary threshold, then the external fault of the leaky wave cable is eliminated.
[0067] If the synchronous change characteristic of the leaky wave cable is synchronous abnormal, or the infrared reflectivity of the surface of the leaky wave cable slot is less than the preset infrared reflectivity threshold, or the deviation of the ambient temperature and humidity of the leaky wave cable from the normal ambient temperature and humidity stored in the local database is greater than the preset ambient temperature and humidity deviation, or the vibration displacement of the leaky wave cable is greater than the preset secondary threshold, then a warning is given.
[0068] Exemplarily, the fault category character is A synchronous abnormal fault, B surface pollution fault, C environmental misalignment fault, and D vibration overrun fault.
[0069] Exemplarily, the fault number is channel 1 and channel 2.
[0070] In one specific embodiment, when the signal attenuation slope of the leaky wave cable and the ambient electromagnetic interference peak value are consistent in the incremental direction at a number of consecutive time nodes greater than the incremental direction consistency threshold value stored in the local database, the fault category character is judged to be A synchronous abnormal fault. The frequency spectrum analyzer scans the channels around the track, captures the channel with continuously rising interference peak value, uses the mirror switch port to locate the MAC address of the interference channel, marks the fault number as channel 1, and then forcibly disconnects the device network connection with the interference channel.
[0071] In one specific embodiment, when the infrared reflectivity of the surface of the leaky wave cable slot is less than the preset infrared reflectivity threshold, the fault category character is judged to be B surface pollution fault, and then the contaminated slot is physically wiped.
[0072] In one specific embodiment, when the deviation of the ambient temperature and humidity of the leaky wave cable from the normal ambient temperature and humidity stored in the local database is less than the preset ambient temperature and humidity deviation, the fault category character is judged to be C environmental misalignment fault, and then a hydrophobic nano coating is added to the slot.
[0073] It should be noted that the hydrophobic nano coating has moisture-proof and anti-pollution properties, preventing condensation water from freezing to cause local low-temperature embrittlement and indirectly improving the heat preservation property.
[0074] In one specific embodiment, when the vibration displacement of the leaky wave cable is greater than the preset secondary threshold, the fault category character is judged to be D vibration overrun fault, and then a shock-absorbing gasket is installed on the RGV device to which the leaky wave cable belongs.
[0075] In the specific embodiments of the present application, the physical isolation of the device that fails to pass the security authentication is specifically implemented as follows: when the RGV device fails the security authentication for three times in succession, the management system synchronously performs track power supply cut-off and sound-light alarm positioning, wherein the power supply cut-off range is accurate to the track partition coordinates of the device to which the leaky cable belongs, and the real-time indication of the physical position of the device to which the leaky cable belongs is performed through multi-frequency sound-light coding, while the electromagnetic brake of the guide wheel of the track section where the RGV device to which the leaky cable belongs is located is locked to force it to stay in the isolation area until the administrator releases it.
[0076] It should be noted that the multi-frequency sound-light coding is used to indicate the physical position of the device to which the leaky cable belongs in real time through red light flashing and 2 kHz beeping.
[0077] The above is only an example and description of the concept of the present application, and those skilled in the art can make various modifications or supplements to the described specific embodiments or use similar ways to replace them, as long as they do not deviate from the concept of the present application or exceed the scope defined by the present application, which shall fall within the protection scope of the present application.
Claims
1. A secure communication solution for contactless power supply RGV, characterized in that, include: Data acquisition module: used to collect communication performance parameters of the receiver of the leaky cable in real time. The communication performance parameters include signal strength, time-domain reflection waveform, standing wave ratio, peak value of environmental electromagnetic interference, signal attenuation slope, vibration displacement, and packet loss rate. Data analysis module: used to determine whether there is a leaky cable signal fault. If there is a leaky cable signal fault, the fault type of the leaky cable signal is identified. If there is no leaky cable signal fault, the RGV equipment is certified for safety, and the blind zone of the cone radiation field coverage is located and eliminated. The fault type includes internal faults and external faults. Data processing module: used to eliminate internal faults in leaky cable signals, handle external faults in leaky cable signals, and physically isolate devices that have not passed safety certification.
2. The secure communication solution system for contactless power supply RGV according to claim 1, characterized in that, The specific method for determining whether a leakage cable signal fault exists is as follows: If the real-time signal strength at the receiver of the leaky cable is less than the signal strength threshold stored in the local database and the standing wave ratio is greater than the standing wave ratio threshold stored in the local database, then a leaky cable fault is determined to exist. If the real-time signal strength at the receiver of the leaky cable is less than the signal strength threshold stored in the local database and the peak value of the environmental electromagnetic interference is greater than the peak value threshold of the environmental electromagnetic interference stored in the local database, then a leaky cable fault is also determined to exist. If the real-time signal strength at the receiver of the leaky cable is greater than the signal strength threshold stored in the local database, the standing wave ratio (SWR) is less than the SWR threshold stored in the local database, and the peak value of the environmental electromagnetic interference is less than the peak value of the environmental electromagnetic interference stored in the local database, then there is no signal fault in the leaky cable.
3. A secure communication solution system for contactless power supply RGV according to claim 2, characterized in that, The specific method for identifying the fault type of the leaky cable signal is as follows: When the impedance change amplitude in the time-domain reflection waveform of the leaky cable is detected to be greater than the preset amplitude threshold, and the deviation between the ambient temperature and humidity of the leaky cable and the normal ambient temperature and humidity stored in the local database is less than the preset ambient temperature and humidity deviation, and the vibration displacement of the leaky cable is less than the preset first-level threshold, the leaky cable is determined to be an internal fault. Based on the timing data of the signal attenuation slope and peak value of the environmental electromagnetic interference of the leaky cable, the synchronous change characteristics of the leaky cable are identified. The synchronous change characteristics are synchronous abnormality and synchronous normality. If the synchronous change characteristics of the leaky cable are synchronous abnormality, or the infrared reflectivity of the surface of the leaky cable slot is less than the preset infrared reflectivity threshold, or the deviation of the ambient temperature and humidity of the leaky cable from the normal ambient temperature and humidity stored in the local database is greater than the preset ambient temperature and humidity deviation value, or the vibration displacement of the leaky cable is greater than the preset secondary threshold, then it is determined to be an external fault.
4. A secure communication solution system for contactless power supply RGV according to claim 1, characterized in that, The specific method for performing security authentication on the device is as follows: When an RGV device initiates a connection request, the system first verifies whether the issuing authority of the RGV device's digital certificate is within the trusted root certificate chain. Simultaneously, it compares the device's unique identifier bound to the certificate with the authorized device information in the pre-stored whitelist database. If an RGV device's digital certificate is within the trusted root certificate chain and the device's unique identifier matches the authorized device information in the pre-stored whitelist database, the RGV device verification is successful. The management system generates a dynamic temporary key based on the current timestamp and a random number and sends it to the RGV device. The RGV device must use this key to encrypt a response packet containing the device identifier and session sequence number within a specified time and send it back. The management system verifies the consistency of the returned data and then authorizes access to the wireless communication link established by the electromagnetic field radiated by the leaky cable. Otherwise, the connection is immediately disconnected, and the RGV device's physical address and the time of the violation are recorded and sent to the management system.
5. A secure communication solution system for contactless power supply RGV according to claim 1, characterized in that, The specific method for locating and eliminating the blind zone covered by the conical radiation field is as follows: A spatial point cloud model A = {(x} is generated by scanning the three-dimensional physical structure of the orbital environment using lidar. k ,y k ,z k Let k = 1, 2, ..., W, where k is the number of the LiDAR scanning point and W is a positive integer greater than 2. The generated spatial point cloud model is divided into several minimum volume units. If the field strength value of a minimum volume unit is less than the preset field strength threshold, the minimum volume unit is marked as a low field strength unit. The low field strength units are counted and the adjacent low field strength units are traversed by the flood filling algorithm and merged into several continuous spatial regions. The volume of the continuous spatial region is the product of the minimum volume unit and the number of low field strength units in the continuous spatial region. If the volume of a continuous spatial region is greater than or equal to the blind zone volume threshold stored in the local database, the continuous spatial region is determined to be a blind zone. Based on the coordinates of the blind zone marked by the spatial point cloud model and the coordinate mapping relationship of the device topology stored in the local database, the driving worm gear drive point adjusts the physical orientation of the slotted structure of the leakage cable. By expanding the radiation angle to penetrate the physical obstacle area, the signal strength and packet loss rate of the blind zone are obtained in real time. If the signal strength of the blind zone point continues to meet the preset communication requirements and the packet loss rate meets the preset standard threshold, the blind zone is judged to be successfully eliminated. The radiation field coverage is updated in the three-dimensional topology interface and uploaded to the management terminal simultaneously.
6. A secure communication solution system for contactless power supply RGV according to claim 3, characterized in that, The specific method for eliminating internal faults in the leakage cable signal is as follows: High-frequency pulses are emitted to the leaky cable and the time-domain reflected waveform is captured to identify the internal fault category of the leaky cable. Based on the fault location method corresponding to each internal fault category stored in the local database, the internal fault location method of the leaky cable is matched. After locating the fault point, a robot is dispatched to cut off the damaged section of the leaky cable. The joint is sealed with heat shrink tubing and filled with waterproof glue. After repair, the fault is verified to see if it has been eliminated. If the impedance change amplitude in the time-domain reflection waveform of the repaired leaky cable is less than the preset amplitude threshold, the internal fault of the leaky cable is eliminated; otherwise, an early warning is issued.
7. A secure communication solution system for contactless power supply RGV according to claim 3, characterized in that, The specific method for handling external faults in the leakage cable signal is as follows: Determine the external fault category identification code of the leaky cable, the identification code consisting of fault category characters and fault number; The corresponding fault solution is obtained by matching the identification codes of each external fault category stored in the local database. The robot is dispatched to perform the corresponding processing measures. The processing measures are at least one of the following: forcibly disconnecting the device network connection with the interference channel, physically wiping the contaminated slot, adding a hydrophobic nano-coating to the slot, and installing shock-absorbing pads on the RGV equipment to which the leakage cable belongs. After repair, verify whether the fault has been eliminated. If the synchronous change characteristics of the leaky cable are normal and the infrared reflectivity of the leaky cable slot surface is greater than the preset infrared reflectivity threshold, and the deviation between the ambient temperature and humidity of the leaky cable and the normal ambient temperature and humidity stored in the local database is less than the preset ambient temperature and humidity deviation, and the vibration displacement of the leaky cable is less than the preset secondary threshold, then the external fault of the leaky cable is eliminated. An early warning will be issued if the synchronous change characteristics of the leaky cable are abnormal, or if the infrared reflectivity of the leaky cable slot surface is less than the preset infrared reflectivity threshold, or if the deviation between the ambient temperature and humidity of the leaky cable and the normal ambient temperature and humidity stored in the local database is greater than the preset ambient temperature and humidity deviation value, or if the vibration displacement of the leaky cable is greater than the preset secondary threshold.
8. A secure communication solution system for contactless power supply RGV according to claim 4, characterized in that, The specific method for physically isolating devices that have not passed security certification is as follows: When the RGV device fails the safety authentication three times in a row, the management system will simultaneously cut off the track power supply and perform an audible and visual alarm to locate the device. The power supply cut-off range is accurate to the coordinates of the track section where the leaky cable belongs. The system will also use multi-frequency audible and visual encoding to indicate the physical location of the leaky cable in real time. At the same time, the system will lock the electromagnetic brake of the guide wheel of the RGV device in the track section where the leaky cable belongs, forcing it to remain in the isolation area until the administrator authorizes its release.