Data transmission method and system of industrial humanoid inspection robot

Abstract

The invention discloses a data transmission method and system for an industrial humanoid inspection robot. The method comprises the following steps: acquiring inspection data; performing data classification on the inspection data, determining the priority of each piece of sub-inspection data based on a data classification result, and establishing a transmission queue; when it is determined that the current inspection point in the inspection route is not the preset key inspection point, establishing a linear path between the current inspection point and the control platform; dividing the linear path based on an equidistant principle through a straight line perpendicular to the linear path, and determining equipment corresponding to the minimum distance of the corresponding section of the linear path in each divided area as a relay node; and a communication link is constructed according to the plurality of relay nodes, and the industrial humanoid inspection robot transmits the transmission queue to the control platform through the communication link. The routing inspection data are classified, the priority is determined, the transmission queue is established, the key routing inspection data are transmitted preferentially, the relay node is determined, and the stability and effective coverage range of data transmission are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of data transmission technology, and in particular to a data transmission method and system for an industrial humanoid inspection robot. Background Technology

[0002] With the acceleration of industrial intelligence, industrial humanoid inspection robots, with their flexible movement and autonomous operation, have been widely used in complex industrial scenarios such as power, metallurgy, and chemical industries, undertaking inspection tasks such as equipment status monitoring, environmental parameter collection, and safety hazard investigation. Inspection data generated during the process, including equipment operation data, image and video data, and environmental sensor data, needs to be transmitted to the control platform in real time for analysis and processing. This allows maintenance personnel to promptly grasp the on-site situation and make decisions. Therefore, efficient and reliable data transmission is the core support for the effective operation of industrial humanoid inspection robots.

[0003] Currently, data transmission for industrial humanoid inspection robots relies on a direct wireless communication link between the robot and the control platform. However, industrial settings often involve densely packed factory buildings and large equipment, resulting in wide-ranging inspection routes. When the robot is operating at inspection points, multipath obstructions frequently occur between the robot and the control platform, leading to severe wireless signal attenuation, a significantly increased transmission error rate, and even communication interruptions. This fails to meet the continuous transmission requirements of inspection data. Inspection data includes various types such as text, images, and video, with significantly varying levels of importance. Existing methods often transmit all data mixed together without prioritizing based on data type and importance. This results in critical data being overwhelmed by non-critical data, increasing transmission latency and hindering the control platform's timely response to emergencies. Summary of the Invention

[0004] This invention aims to at least partially solve one of the technical problems in the aforementioned technologies. Therefore, the purpose of this invention is to propose a data transmission method and system for an industrial humanoid inspection robot. By classifying and prioritizing inspection data and establishing a transmission queue, the method prioritizes the transmission of critical inspection data, avoids bandwidth congestion caused by non-critical data, reduces transmission latency of critical information, and ensures that the control platform can promptly acquire important inspection data and respond quickly. Based on the flexible needs of the robot's dynamic inspection, relay nodes are determined, significantly improving the stability and effective coverage of data transmission.

[0005] To achieve the above objectives, embodiments of the present invention propose a data transmission method for an industrial humanoid inspection robot, comprising: Acquire inspection data while the industrial humanoid inspection robot executes its inspection route; The inspection data is classified, the priority of each sub-inspection data is determined based on the classification results, and a transmission queue is established. Determine whether the current inspection point in the inspection route is a preset key inspection point; When it is determined that the current inspection point in the inspection route is not a preset key inspection point, a straight path is established between the current inspection point and the control platform. The straight path is divided into sections based on the principle of equal distance using lines perpendicular to it. In each section, the device corresponding to the minimum distance to the segment of the straight path is identified as a relay node, and several relay nodes are then identified. The relay nodes communicate with each other. A communication link is established based on several relay nodes, and the industrial humanoid inspection robot transmits the transmission queue to the control platform through the communication link.

[0006] According to some embodiments of the present invention, before classifying the inspection data, the method further includes: The inspection data is cleaned, including deduplication, interpolation and imputation, and outlier removal.

[0007] According to some embodiments of the present invention, the inspection data is classified, the priority of each sub-inspection data is determined based on the data classification results, and a transmission queue is established, including: The inspection data is categorized into text data, voice data, and video data. The speech data is converted into first-stage text data based on PAI model compression and MNN inference engine. Video frames are extracted from the video data to obtain keyframe images. The keyframe images are then transformed to obtain the second transformed text data. The text data set is determined based on the text data, the first transformed text data, and the second transformed text data; The text dataset is scanned to extract keywords; the semantics of the keywords are classified, and synonyms and antonyms are identified based on the classification results. The keywords are then organized and summarized according to semantic differences to form a preliminary semantic map. Based on the preliminary semantic graph, semantic nodes and connections are established. Each semantic node represents a data entity, and the connections show the relationships between data entities. Duplicate nodes are identified and reduced to generate an optimized semantic network. Based on the optimized semantic network, static and dynamic data separation is performed to obtain static data with a tree structure and dynamic data with a graph structure. Static data is hierarchically classified based on a pre-defined tree-structured data table to obtain the first priority information; Dynamic data is hierarchically classified based on a pre-defined graph structure data table to obtain second priority information; The priority of each sub-inspection data is determined based on the first priority information and the second priority information, and a transmission queue is established.

[0008] According to some embodiments of the present invention, an industrial humanoid inspection robot transmits a transmission queue to a control platform via a communication link, including: A bandwidth allocation model is established based on the transmission queue; the bandwidth allocation model takes minimizing transmission delay and maximizing bandwidth utilization as the objective function, and the remaining bandwidth as the constraint condition. Determine the bandwidth allocation information for transmitted data based on the bandwidth allocation model; The transmission queue is transmitted to the control platform based on the communication link and bandwidth allocation information.

[0009] According to some embodiments of the present invention, a communication link is constructed based on a plurality of relay nodes, including: Determine the set of communication frequency bands supported by each relay node and compare it with a preset set of communication frequency bands; select relay nodes whose communication frequency band set includes the preset set of communication frequency bands as target relay nodes; A communication link is constructed based on the target relay node.

[0010] According to some embodiments of the present invention, it further includes: When the current inspection point in the inspection route is determined to be a preset key inspection point, the industrial humanoid inspection robot will transmit the transmission queue to the edge computing node deployed within the preset range of the preset key inspection point; the edge computing node is communicatively connected with the industrial humanoid inspection robot and the control platform. Edge computing nodes determine the midpoint of the transmission queue, dividing it into a front-end transmission queue and a back-end transmission queue, and then transmit the front-end transmission queue to the control platform.

[0011] According to some embodiments of the present invention, the process of an industrial humanoid inspection robot transmitting a transmission queue to a control platform via a communication link further includes: Real-time monitoring of data transmission status; the data transmission status includes transmission rate, bit error rate, packet loss rate, and transmission delay; The data transmission status is compared with the preset data transmission status. When an anomaly is detected, a data transmission failure is determined and a fault alarm message is issued. The fault alarm message includes the fault type and the time of the fault occurrence.

[0012] According to some embodiments of the present invention, an industrial humanoid inspection robot transmits a transmission queue to a control platform via a communication link, including: The transmission queues are classified by sensitivity to determine sensitive and non-sensitive data; a first transmission queue and a second transmission queue are constructed based on the sensitive and non-sensitive data, respectively. The industrial humanoid inspection robot transmits the first transmission queue to the control platform through the communication link based on an encryption strategy. The encryption strategy involves configuring encryption algorithms for the industrial humanoid inspection robot and each relay node in the communication link, and configuring decryption algorithms for each relay node and the control platform. The industrial humanoid inspection robot transmits the second transmission queue to the control platform via a communication link using an unencrypted strategy.

[0013] According to some embodiments of the present invention, a system applying the data transmission method of the industrial humanoid inspection robot as described above includes: The acquisition module is used to acquire inspection data when the industrial humanoid inspection robot is executing the inspection route; The first module is used to classify the inspection data, determine the priority of each sub-inspection data based on the data classification results, and establish a transmission queue. The judgment module is used to determine whether the current inspection point in the inspection route is a preset key inspection point; The second module is used to establish a straight path between the current inspection point and the control platform when it is determined that the current inspection point in the inspection route is not a preset key inspection point. The determination module is used to divide the straight path based on the principle of equal distance using straight lines perpendicular to the straight path, and to determine the device corresponding to the minimum distance of the corresponding segment of the straight path in each divided region as a relay node, thereby determining several relay nodes; the relay nodes communicate with each other. The transmission module is used to build a communication link based on several relay nodes. The industrial humanoid inspection robot transmits the transmission queue to the control platform through the communication link.

[0014] This invention proposes a data transmission method and system for an industrial humanoid inspection robot. By establishing a straight-line path between the robot and the control platform and dividing the area into regions based on equidistant principles, the device closest to the path within each region is selected as a relay node. This ensures spatial matching between the relay node and the transmission path, reducing signal attenuation. Simultaneously, relay nodes communicate with each other to form a relay transmission link, effectively avoiding obstruction and interference from obstacles, significantly improving data transmission stability and effective coverage. Utilizing existing equipment in the industrial field as relay nodes eliminates the need for deploying a large number of dedicated relays, significantly reducing hardware costs and construction difficulty. The relay node selection method based on dynamic inspection paths can adapt to the needs of robot mobile inspection scenarios, enhancing the flexibility and practicality of the solution. By classifying and prioritizing inspection data and establishing a transmission queue, critical inspection data is prioritized for transmission, preventing non-critical data from consuming bandwidth, reducing transmission latency of critical information, and ensuring the control platform can promptly acquire important inspection data and respond quickly. By systematically planning the selection and layout of relay nodes, a relay link based on path matching is formed. Combined with the collaborative communication design between relay nodes, efficient data relay transmission is achieved, further improving the overall transmission efficiency.

[0015] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description and the accompanying drawings.

[0016] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0017] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a flowchart of a data transmission method for an industrial humanoid inspection robot according to an embodiment of the present invention; Figure 2 This is a block diagram of a data transmission system for an industrial humanoid inspection robot according to an embodiment of the present invention. Detailed Implementation

[0018] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0019] like Figure 1 As shown, this embodiment of the invention proposes a data transmission method for an industrial humanoid inspection robot, including steps S1-S6: S1. Acquire inspection data while the industrial humanoid inspection robot is executing the inspection route; S2. Classify the inspection data, determine the priority of each sub-inspection data based on the data classification results, and establish a transmission queue. S3. Determine whether the current inspection point in the inspection route is a preset key inspection point; S4. When the current inspection point in the inspection route is not a preset key inspection point, establish a straight path between the current inspection point and the control platform. S5. Divide the straight path based on the principle of equal distance using straight lines perpendicular to the straight path. In each divided area, determine the device corresponding to the minimum distance to the segment of the straight path and use it as a relay node. Then, determine several relay nodes. The relay nodes communicate with each other. S6. Based on several relay nodes, a communication link is constructed, and the industrial humanoid inspection robot transmits the transmission queue to the control platform through the communication link.

[0020] The working principle of the above technical solution is as follows: The inspection data is collected in real-time by an industrial humanoid inspection robot executing an inspection route, gathering equipment status, environmental parameters, and images / videos. The inspection data is categorized, such as text, voice, and video data. Each data type is converted into text data and segmented to determine the priority of each sub-inspection data. A transmission queue is established, prioritizing higher-priority sub-inspection data for data transmission. Pre-set key inspection points are important points along the inspection route, such as those surrounded by important equipment or processes to be inspected, or intersections of multiple inspection routes. Edge computing nodes are pre-set around the key inspection points to facilitate their connection with the control platform. When the current inspection point in the inspection route is determined not to be a preset critical inspection point, a straight path is established between the current inspection point and the control platform. Using a line perpendicular to this straight path as a dividing line, the straight path is divided into multiple continuous regions according to the principle of equal spacing. Within each region, the field device closest to the corresponding segment of the straight path is selected as a relay node, ensuring spatial matching between the relay node and the transmission path. Simultaneously, communication connections are pre-established between each relay node, forming a relay-transmission node network. Based on the selected relay nodes, a relay communication link is constructed from the industrial humanoid inspection robot to the control platform. According to the priority order of the transmission queue, the inspection data is relayed to the control platform level by level through the communication link, completing the data upload.

[0021] The beneficial effects of the above technical solution are as follows: By establishing a straight path between the industrial humanoid inspection robot and the control platform and dividing the area according to the principle of equidistant spacing, the device closest to the path in each area is selected as a relay node, ensuring the spatial matching between the relay node and the transmission path and reducing signal transmission attenuation. Simultaneously, the relay nodes communicate with each other to form a relay transmission link, effectively avoiding obstruction and interference from obstacles, significantly improving the stability and effective coverage of data transmission. Utilizing existing equipment in the industrial field as relay nodes eliminates the need for deploying a large number of dedicated relays, significantly reducing hardware costs and construction difficulty. The relay node selection method based on the dynamic inspection path can adapt to the needs of robot mobile inspection scenarios, improving the flexibility and practicality of the solution. By classifying and prioritizing inspection data and establishing a transmission queue, key inspection data is transmitted first, avoiding non-critical data from occupying bandwidth, reducing the transmission latency of critical information, and ensuring that the control platform can obtain important inspection data in a timely manner and respond quickly. By systematically planning the selection and layout of relay nodes, the relay selection method of dividing the area at equal intervals ensures the balanced distribution of link nodes, avoids transmission bottlenecks caused by excessively dense or sparse relay nodes, forms a relay link based on path matching, and, combined with the collaborative communication design between relay nodes, achieves efficient relay transmission of data, further improving the overall transmission efficiency.

[0022] In one embodiment, the control platform determines the feedback instruction based on the transmission queue and transmits it back to the industrial humanoid inspection robot based on the communication link, and the industrial humanoid inspection robot executes the feedback instruction.

[0023] According to some embodiments of the present invention, before classifying the inspection data, the method further includes: The inspection data is cleaned, including deduplication, interpolation and imputation, and outlier removal.

[0024] The working principle of the above technical solution is as follows: deduplication facilitates the removal of duplicate data; interpolation and imputation generate reasonable imputation data to complete the continuity of the data sequence; outlier removal facilitates the identification and removal of outlier data.

[0025] The beneficial effects of the above technical solution are: improving the quality of inspection data, reducing the capacity of the transmission queue based on data cleaning, reducing the occupation of communication link bandwidth, optimizing transmission efficiency, and reducing bandwidth waste.

[0026] According to some embodiments of the present invention, the inspection data is classified, the priority of each sub-inspection data is determined based on the data classification results, and a transmission queue is established, including: The inspection data is categorized into text data, voice data, and video data. The speech data is converted into first-stage text data based on PAI model compression and MNN inference engine. Video frames are extracted from the video data to obtain keyframe images. The keyframe images are then transformed to obtain the second transformed text data. The text data set is determined based on the text data, the first transformed text data, and the second transformed text data; The text dataset is scanned to extract keywords; the semantics of the keywords are classified, and synonyms and antonyms are identified based on the classification results. The keywords are then organized and summarized according to semantic differences to form a preliminary semantic map. Based on the preliminary semantic graph, semantic nodes and connections are established. Each semantic node represents a data entity, and the connections show the relationships between data entities. Duplicate nodes are identified and reduced to generate an optimized semantic network. Based on the optimized semantic network, static and dynamic data separation is performed to obtain static data with a tree structure and dynamic data with a graph structure. Static data is hierarchically classified based on a pre-defined tree-structured data table to obtain the first priority information; Dynamic data is hierarchically classified based on a pre-defined graph structure data table to obtain second priority information; The priority of each sub-inspection data is determined based on the first priority information and the second priority information, and a transmission queue is established.

[0027] The working principle of the above technical solution is as follows: For speech data, the PAI model (Baidu Deep Learning Platform model) is used for compression and optimization, combined with the MNN inference engine (lightweight deep learning inference framework) to convert the speech signal into structured first-stage transformed text data. Video data is processed by extracting video frames to obtain keyframe images. These keyframe images are then processed using image recognition technology to obtain second-stage transformed text data. A text data set is determined based on the text data, the first-stage transformed text data, and the second-stage transformed text data. The text data set is scanned to extract keywords. The semantics of the keywords are classified based on a word vector model. Synonyms and antonyms are identified based on the classification results, and semantic differences are organized and summarized to form a preliminary semantic graph, used to present the logical relationships between keywords. Based on the preliminary semantic graph, each keyword or semantic unit is defined as a "semantic node," and connecting lines are used to represent the logical relationships between nodes. Duplicate nodes are identified and removed to generate a concise and accurate optimized semantic network. Based on the optimized semantic network, static and dynamic data are separated. Data with stable attributes and fixed relationships (such as basic equipment parameters and static location information) are classified as "static data," with a tree-like structure (e.g., a hierarchical relationship of "plant area-workshop-equipment-parameter"). Data that changes dynamically over time and has flexible relationships (such as real-time temperature fluctuations and fault alarm information) are classified as "dynamic data," with a graph-like structure. Static data is prioritized based on a pre-defined tree-structured data table (e.g., according to the "equipment importance-parameter stability" grading rule) to obtain first-priority information (e.g., basic parameters of core equipment have higher priority than ordinary equipment). Dynamic data is prioritized based on a pre-defined graph-structured data table (e.g., according to the "event urgency-impact range" grading rule) to obtain second-priority information (e.g., "fault alarm" has higher priority than "routine parameter update"). Data is then arranged from highest to lowest priority based on the first and second-priority information to establish a transmission queue.

[0028] The beneficial effects of the above technical solution are as follows: Multimodal data is transformed to obtain a text dataset. The text dataset is then processed through semantic graphs and optimized semantic networks, facilitating the accurate determination of the logical relationships between keywords. Reduction of duplicate nodes decreases redundant analysis, improving the efficiency and accuracy of priority assessment. Based on the optimized semantic network, static and dynamic data are separated, and different data grading strategies are matched to static and dynamic data, facilitating the accurate determination of priority information for sub-inspection data and thus improving the accuracy of the transmission queue.

[0029] According to some embodiments of the present invention, an industrial humanoid inspection robot transmits a transmission queue to a control platform via a communication link, including: A bandwidth allocation model is established based on the transmission queue; the bandwidth allocation model takes minimizing transmission delay and maximizing bandwidth utilization as the objective function, and the remaining bandwidth as the constraint condition. Determine the bandwidth allocation information for transmitted data based on the bandwidth allocation model; The transmission queue is transmitted to the control platform based on the communication link and bandwidth allocation information.

[0030] The working principle of the above technical solution is as follows: Minimizing transmission latency and maximizing bandwidth utilization are the dual objective functions. Minimizing transmission latency addresses the real-time requirements of high-priority data in the transmission queue. For example, the first half of the data in the transmission queue is defined as high-priority data. Maximizing bandwidth utilization avoids wasting bandwidth resources and ensures that the limited link bandwidth is fully utilized. The core constraint is "remaining bandwidth," meaning the total bandwidth allocated by the model must not exceed the real-time available bandwidth of the current communication link. Based on the priority, data size, and transmission time requirements of each sub-inspection data in the transmission queue, combined with the objective function and constraints of the bandwidth allocation model, an optimization algorithm is used to solve for the optimal allocation scheme. The optimization algorithm includes a greedy algorithm. The industrial humanoid inspection robot, based on the determined bandwidth allocation information, schedules the transmission queue on the established communication link according to the allocated bandwidth and timing.

[0031] The beneficial effects of the above technical solution are: it enables high-priority data to obtain better bandwidth resources, significantly reduces its transmission latency, and ensures the real-time transmission of critical data. By rationally scheduling the transmission of low-priority data in the remaining bandwidth, it fully taps the transmission potential of the link and improves the utilization efficiency of bandwidth resources. It avoids link congestion, packet loss, or retransmission caused by over-transmission, reduces the probability of transmission failure, and improves the stability and reliability of data transmission.

[0032] According to some embodiments of the present invention, a communication link is constructed based on a plurality of relay nodes, including: Determine the set of communication frequency bands supported by each relay node and compare it with a preset set of communication frequency bands; select relay nodes whose communication frequency band set includes the preset set of communication frequency bands as target relay nodes; A communication link is constructed based on the target relay node.

[0033] The working principle of the above technical solution is as follows: The set of communication frequency bands supported by each node is obtained through the attribute information inherent in the relay node or a real-time query mechanism. The preset communication frequency band set is determined based on industrial environment anti-interference requirements, transmission rate requirements, etc. The target node must support all frequency bands in the preset communication frequency band set to ensure that it can adapt to all communication requirements specified by the system. A communication link is constructed based on the selected target relay nodes and their spatial locations.

[0034] The beneficial effects of the above technical solution are: ensuring that all relay nodes support the core communication frequency band specified by the system, fundamentally avoiding communication interruptions and data loss caused by the mismatch between node frequency bands and system requirements, ensuring the basic connectivity of the link, and also helping to improve transmission stability and anti-interference capabilities.

[0035] According to some embodiments of the present invention, it further includes: When the current inspection point in the inspection route is determined to be a preset key inspection point, the industrial humanoid inspection robot will transmit the transmission queue to the edge computing node deployed within the preset range of the preset key inspection point; the edge computing node is communicatively connected with the industrial humanoid inspection robot and the control platform. Edge computing nodes determine the midpoint of the transmission queue, dividing it into a front-end transmission queue and a back-end transmission queue, and then transmit the front-end transmission queue to the control platform.

[0036] The working principle of the above technical solution is as follows: When the industrial humanoid inspection robot determines that the current inspection point is a preset critical inspection point, it no longer uses the relay link transmission mode for non-critical inspection points. Instead, it activates edge computing nodes deployed within the preset range of the critical inspection point as the data relay core. The edge computing nodes establish a stable communication connection with the industrial humanoid inspection robot and the control platform in advance. The edge computing nodes determine the midpoint of the transmission queue, dividing it into a front transmission queue (before the midpoint) and a back transmission queue (after the midpoint), and transmit the front transmission queue to the control platform. The edge computing nodes perform calculations on the back transmission queue to obtain a first calculation result; the control platform processes the front transmission queue to obtain a second calculation result and transmits it to the edge computing nodes. The edge nodes integrate the first and second calculation results to obtain feedback instructions and transmit them to the industrial humanoid inspection robot.

[0037] The beneficial effects of the above technical solution are as follows: The front-end transmission queue, i.e., the high-priority transmission queue, is transmitted to the control platform for data processing via edge computing nodes. The back-end transmission queue, i.e., the low-priority transmission queue, is also processed via edge computing nodes. The localized deployment of edge computing nodes significantly shortens data transmission distance and reduces signal attenuation and transmission latency. By segmenting queues and prioritizing the transmission of front-end data, edge nodes can reduce the amount of data transmitted instantaneously, avoid bandwidth congestion, and reduce bandwidth pressure on the core link. Edge computing nodes share the computational load of the control platform, facilitating improved data processing efficiency.

[0038] According to some embodiments of the present invention, the process of an industrial humanoid inspection robot transmitting a transmission queue to a control platform via a communication link further includes: Real-time monitoring of data transmission status; the data transmission status includes transmission rate, bit error rate, packet loss rate, and transmission delay; The data transmission status is compared with the preset data transmission status. When an anomaly is detected, a data transmission failure is determined and a fault alarm message is issued. The fault alarm message includes the fault type and the time of the fault occurrence.

[0039] The working principle of the above technical solution is as follows: The data transmission status is preset to the normal threshold range of each indicator, such as a transmission rate of no less than 2Mbps, a bit error rate of no more than 0.1%, a packet loss rate of no more than 1%, and a latency of no more than 500ms. When an anomaly is detected, a data transmission failure is determined, and a fault alarm message is issued.

[0040] The beneficial effects of the above technical solution are: monitoring the data transmission status facilitates timely detection of transmission anomalies, determination of fault types, and improves the reliability of data transmission.

[0041] According to some embodiments of the present invention, an industrial humanoid inspection robot transmits a transmission queue to a control platform via a communication link, including: The transmission queues are classified by sensitivity to determine sensitive and non-sensitive data; a first transmission queue and a second transmission queue are constructed based on the sensitive and non-sensitive data, respectively. The industrial humanoid inspection robot transmits the first transmission queue to the control platform through the communication link based on an encryption strategy. The encryption strategy involves configuring encryption algorithms for the industrial humanoid inspection robot and each relay node in the communication link, and configuring decryption algorithms for each relay node and the control platform. The industrial humanoid inspection robot transmits the second transmission queue to the control platform via a communication link using an unencrypted strategy.

[0042] The working principle of the above technical solution is as follows: Sensitivity levels are identified and categorized within the established transmission queues to determine sensitive and non-sensitive data. Sensitive data includes core industrial parameters, security information, and classified information. Core industrial parameters include equipment operating thresholds and production formula data. Security information includes emergency response plans. Classified information includes equipment serial numbers and plant layout details. Non-sensitive data includes non-sensitive data and robot status information. A customized encryption strategy is used for the first transmission queue to ensure transmission security. The second transmission queue uses a direct transmission strategy, without encryption, sending data directly to the control platform via the communication link, reducing data processing steps.

[0043] The beneficial effects of the above technical solution are: it facilitates the protection of sensitive data and reduces the risk of industrial information leakage; it uses unencrypted transmission for non-sensitive data, which facilitates optimized transmission efficiency; and it improves the reliability and security of data transmission by using different strategies to transmit sensitive and non-sensitive data.

[0044] like Figure 2As shown, according to some embodiments of the present invention, a system applying the data transmission method of the industrial humanoid inspection robot described above includes: The acquisition module is used to acquire inspection data when the industrial humanoid inspection robot is executing the inspection route; The first module is used to classify the inspection data, determine the priority of each sub-inspection data based on the data classification results, and establish a transmission queue. The judgment module is used to determine whether the current inspection point in the inspection route is a preset key inspection point; The second module is used to establish a straight path between the current inspection point and the control platform when it is determined that the current inspection point in the inspection route is not a preset key inspection point. The determination module is used to divide the straight path based on the principle of equal distance using straight lines perpendicular to the straight path, and to determine the device corresponding to the minimum distance of the corresponding segment of the straight path in each divided region as a relay node, thereby determining several relay nodes; the relay nodes communicate with each other. The transmission module is used to build a communication link based on several relay nodes. The industrial humanoid inspection robot transmits the transmission queue to the control platform through the communication link.

[0045] The beneficial effects of the above technical solution are as follows: By establishing a straight path between the industrial humanoid inspection robot and the control platform and dividing the area according to the principle of equidistant spacing, the device closest to the path in each area is selected as a relay node, ensuring the spatial matching between the relay node and the transmission path and reducing signal transmission attenuation. Simultaneously, the relay nodes communicate with each other to form a relay transmission link, effectively avoiding obstruction and interference from obstacles, significantly improving the stability and effective coverage of data transmission. Utilizing existing equipment in the industrial field as relay nodes eliminates the need for deploying a large number of dedicated relays, significantly reducing hardware costs and construction difficulty. The relay node selection method based on the dynamic inspection path can adapt to the needs of robot mobile inspection scenarios, improving the flexibility and practicality of the solution. By classifying and prioritizing inspection data and establishing a transmission queue, key inspection data is transmitted first, avoiding non-critical data from occupying bandwidth, reducing the transmission latency of critical information, and ensuring that the control platform can obtain important inspection data in a timely manner and respond quickly. By systematically planning the selection and layout of relay nodes, the relay selection method of dividing the area at equal intervals ensures the balanced distribution of link nodes, avoids transmission bottlenecks caused by excessively dense or sparse relay nodes, forms a relay link based on path matching, and, combined with the collaborative communication design between relay nodes, achieves efficient relay transmission of data, further improving the overall transmission efficiency.

[0046] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A data transmission method for an industrial humanoid inspection robot, characterized in that, include: Acquire inspection data while the industrial humanoid inspection robot executes its inspection route; The inspection data is classified, the priority of each sub-inspection data is determined based on the classification results, and a transmission queue is established. Determine whether the current inspection point in the inspection route is a preset key inspection point; When it is determined that the current inspection point in the inspection route is not a preset key inspection point, a straight path is established between the current inspection point and the control platform. The straight path is divided into sections based on the principle of equal distance using lines perpendicular to it. In each section, the device corresponding to the minimum distance to the segment of the straight path is identified as a relay node, and several relay nodes are then identified. The relay nodes communicate with each other. A communication link is established based on several relay nodes, and the industrial humanoid inspection robot transmits the transmission queue to the control platform through the communication link.

2. The data transmission method for the industrial humanoid inspection robot as described in claim 1, characterized in that, Before classifying the inspection data, the following steps are also included: The inspection data is cleaned, including deduplication, interpolation and imputation, and outlier removal.

3. The data transmission method for the industrial humanoid inspection robot as described in claim 1, characterized in that, The inspection data is categorized, the priority of each sub-inspection data is determined based on the classification results, and a transmission queue is established, including: The inspection data is categorized into text data, voice data, and video data. The speech data is converted into first-stage text data based on PAI model compression and MNN inference engine. Video frames are extracted from the video data to obtain keyframe images. The keyframe images are then transformed to obtain the second transformed text data. The text data set is determined based on the text data, the first transformed text data, and the second transformed text data; The text dataset is scanned to extract keywords; the semantics of the keywords are classified, and synonyms and antonyms are identified based on the classification results. The keywords are then organized and summarized according to semantic differences to form a preliminary semantic map. Based on the preliminary semantic graph, semantic nodes and connections are established. Each semantic node represents a data entity, and the connections show the relationships between data entities. Duplicate nodes are identified and reduced to generate an optimized semantic network. Based on the optimized semantic network, static and dynamic data separation is performed to obtain static data with a tree structure and dynamic data with a graph structure. Static data is hierarchically classified based on a pre-defined tree-structured data table to obtain the first priority information; Dynamic data is hierarchically classified based on a pre-defined graph structure data table to obtain second priority information; The priority of each sub-inspection data is determined based on the first priority information and the second priority information, and a transmission queue is established.

4. The data transmission method for the industrial humanoid inspection robot as described in claim 1, characterized in that, The industrial humanoid inspection robot transmits the data queue to the control platform via a communication link, including: A bandwidth allocation model is established based on the transmission queue; the bandwidth allocation model takes minimizing transmission delay and maximizing bandwidth utilization as the objective function, and the remaining bandwidth as the constraint condition. Determine the bandwidth allocation information for transmitted data based on the bandwidth allocation model; The transmission queue is transmitted to the control platform based on the communication link and bandwidth allocation information.

5. The data transmission method for the industrial humanoid inspection robot as described in claim 1, characterized in that, A communication link is constructed based on several relay nodes, including: Determine the set of communication frequency bands supported by each relay node and compare it with a preset set of communication frequency bands; select relay nodes whose communication frequency band set includes the preset set of communication frequency bands as target relay nodes; A communication link is constructed based on the target relay node.

6. The data transmission method for the industrial humanoid inspection robot as described in claim 1, characterized in that, Also includes: When the current inspection point in the inspection route is determined to be a preset key inspection point, the industrial humanoid inspection robot will transmit the transmission queue to the edge computing node deployed within the preset range of the preset key inspection point; the edge computing node is communicatively connected with the industrial humanoid inspection robot and the control platform. Edge computing nodes determine the midpoint of the transmission queue, dividing it into a front-end transmission queue and a back-end transmission queue, and then transmit the front-end transmission queue to the control platform.

7. The data transmission method for the industrial humanoid inspection robot as described in claim 1, characterized in that, The process of an industrial humanoid inspection robot transmitting a data queue to the control platform via a communication link also includes: Real-time monitoring of data transmission status; the data transmission status includes transmission rate, bit error rate, packet loss rate, and transmission delay; The data transmission status is compared with the preset data transmission status. When an anomaly is detected, a data transmission failure is determined and a fault alarm message is issued. The fault alarm message includes the fault type and the time of the fault occurrence.

8. The data transmission method for the industrial humanoid inspection robot as described in claim 1, characterized in that, The industrial humanoid inspection robot transmits the data queue to the control platform via a communication link, including: The transmission queues are classified by sensitivity to determine sensitive and non-sensitive data; a first transmission queue and a second transmission queue are constructed based on the sensitive and non-sensitive data, respectively. The industrial humanoid inspection robot transmits the first transmission queue to the control platform through the communication link based on an encryption strategy. The encryption strategy involves configuring encryption algorithms for the industrial humanoid inspection robot and each relay node in the communication link, and configuring decryption algorithms for each relay node and the control platform. The industrial humanoid inspection robot transmits the second transmission queue to the control platform via a communication link using an unencrypted strategy.

9. A system applying the data transmission method of an industrial humanoid inspection robot as described in any one of claims 1-8, characterized in that, include: The acquisition module is used to acquire inspection data when the industrial humanoid inspection robot is executing the inspection route; The first module is used to classify the inspection data, determine the priority of each sub-inspection data based on the data classification results, and establish a transmission queue. The judgment module is used to determine whether the current inspection point in the inspection route is a preset key inspection point; The second module is used to establish a straight path between the current inspection point and the control platform when it is determined that the current inspection point in the inspection route is not a preset key inspection point. The determination module is used to divide the straight path based on the principle of equal distance using straight lines perpendicular to the straight path, and to determine the device corresponding to the minimum distance of the corresponding segment of the straight path in each divided region as a relay node, thereby determining several relay nodes; the relay nodes communicate with each other. The transmission module is used to build a communication link based on several relay nodes. The industrial humanoid inspection robot transmits the transmission queue to the control platform through the communication link.

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