Anti-interference communication positioning robot system suitable for low-altitude emergency scene

Abstract

The invention discloses an anti-interference communication positioning robot system suitable for a low-altitude emergency scene. The anti-interference communication positioning robot system is applied to scenes such as disaster rescue and emergency inspection. The system comprises a robot body, an anti-interference communication module, a dual-mode positioning module, a cooperative control module and a ground terminal. The anti-interference communication module adopts multi-band adaptive frequency hopping, integrates UHF, LTE-V2X and emergency short wave bands, and is internally provided with an interference detection subunit and a Mesh relay subunit to ensure the stability of a link; the dual-mode positioning module integrates Beidou No.3 and UWB technologies to realize high-precision positioning switching of an open / shielded scene; and the cooperative control module intelligently adjusts a flight path through a communication-positioning linkage algorithm in combination with an obstacle avoidance sensor. According to the invention, the problems of easy communication interference, insufficient positioning precision and lack of cooperation of modules are solved, the communication interruption rate is reduced by more than 80%, the positioning precision is improved by 5-10 times compared with single satellite positioning, the method can adapt to complex emergency scenes, and the autonomous operation capability of the robot is improved.

Description

An anti-interference communication and positioning robot system suitable for low-altitude emergency scenarios Technical Field

[0001] This invention relates to the intersection of low-altitude economy, emergency communication and intelligent robot technology, specifically to a low-altitude robot system with anti-interference communication, high-precision positioning and autonomous obstacle avoidance functions, which can be applied to low-altitude operation scenarios such as disaster relief and emergency inspection. Background Technology

[0002] In recent years, low-altitude robots have been increasingly used in emergency response. However, in complex disaster scenarios (such as earthquakes, floods, and environments with strong electromagnetic interference), existing technologies have the following drawbacks: communication links are susceptible to electromagnetic interference and obstruction by obstacles, leading to data transmission interruptions and the inability of the ground control terminal to obtain robot status and operation data in real time; the positioning accuracy of a single satellite positioning mode drops significantly in scenarios such as urban high-rise buildings and indoor environments, and may even fail, affecting the robot's path planning and operation accuracy; the communication and positioning modules of existing low-altitude robots work independently, lacking a linkage and coordination mechanism, resulting in insufficient overall anti-interference capability and environmental adaptability of the system.

[0003] Currently, most improvement solutions in the industry focus on enhancing the performance of a single module (such as increasing communication power or replacing the positioning chip), without addressing the coordination issues of communication, positioning, and obstacle avoidance at the system level, making it difficult to meet the operational needs of complex low-altitude emergency scenarios. Summary of the Invention

[0004] I. Purpose of the Invention The purpose of this invention is to overcome the shortcomings of the prior art and provide an anti-interference communication and positioning robot system suitable for low-altitude emergency scenarios. Through the coordinated design of communication and positioning modules, an integrated working mechanism of "communication-positioning-obstacle avoidance" is constructed, which significantly improves the communication stability and positioning accuracy of low-altitude robots in strong interference and complex obstruction scenarios, and ensures the efficient and safe conduct of emergency operations.

[0005] II. Technical Solution To achieve the above-mentioned objectives, this invention provides an anti-interference communication and positioning robot system suitable for low-altitude emergency scenarios, comprising a low-altitude robot body, an anti-interference communication module, a dual-mode positioning module, a collaborative control module, and a ground control terminal. The connection relationships and working principles of each module are as follows: (I) Low-altitude robot body

[0006] As the system's platform, it integrates various functional modules and auxiliary equipment required for operation, providing the installation foundation and power support for the entire system. It also carries an obstacle avoidance sensor group, working in conjunction with the collaborative control module to achieve autonomous obstacle avoidance. (II) Anti-interference communication module

[0007] The system employs a multi-band adaptive frequency hopping communication unit, integrating UHF (ultra-high frequency), LTE-V2X, and emergency shortwave communication bands to cover communication needs in different scenarios. It also features a built-in interference signal detection subunit, capable of real-time identification of interference frequency band types and intensities in the environment, and automatically switching to interference-free or low-interference frequency bands for data transmission, preventing communication link interruptions due to interference. Simultaneously, a signal relay subunit is configured; when the main communication link is interrupted, it can automatically search for similar robots within a 1km radius to form a temporary mesh network, achieving continuous data transmission through multi-node relays and ensuring communication continuity. (III) Dual-mode positioning module

[0008] Integrating BeiDou-3 high-precision positioning with UWB (ultra-wideband) indoor positioning technology, a positioning solution covering all scenarios is formed; in open, unobstructed scenarios, BeiDou-3 positioning is the primary method, achieving centimeter-level positioning accuracy; in scenarios with weak satellite signals, such as those obstructed by tall buildings in cities, indoors, or in ruins, the system automatically switches to UWB positioning mode. By deploying emergency positioning base stations in the work area, a local positioning network is formed, achieving decimeter-level positioning in indoor / obstructed areas; positioning data is transmitted in real time to the collaborative control module, providing data support for system linkage control. (IV) Collaborative Control Module

[0009] As the core control unit of the system, it has a built-in communication-positioning linkage algorithm, which is responsible for coordinating the working status of each module and realizing coordinated linkage: when the anti-interference communication module detects that the signal strength is lower than the preset threshold, it automatically triggers the dual-mode positioning module to increase the sampling frequency of positioning data, and after compressing the positioning data, it transmits it to the ground control terminal through the emergency shortwave band; at the same time, it links the obstacle avoidance sensor group (LiDAR + visual sensor) of the low-altitude robot body, and dynamically adjusts the robot's flight path according to the positioning data and obstacle information, avoids signal blocking obstacles, optimizes the environment of the communication link, and improves communication stability. (V) Ground Control Terminal

[0010] It establishes a wireless communication connection with the anti-interference communication module to receive communication status data, positioning data, and operation data transmitted by the robot, and displays the robot's position, running status, and operation progress in real time through a visual interface; it supports manual intervention operation, and can manually switch the communication mode or positioning mode according to the actual operation needs, and issue operation instructions to the robot to ensure the flexibility of emergency operations.

[0011] III. Beneficial Effects Compared with existing technologies, this invention has the following significant beneficial effects: Strong anti-interference capability: By combining multi-band adaptive frequency hopping design with Mesh relay technology, the impact of environmental electromagnetic interference and obstacle obstruction on the communication link can be effectively avoided, ensuring stable transmission of the communication link in complex emergency scenarios. Compared with traditional single-band communication solutions, the communication interruption rate is reduced by more than 80%; High positioning accuracy: Adopting a dual-mode positioning switching scheme of Beidou-3 and UWB, it fully covers various emergency operation scenarios such as open areas and obstructions. The positioning accuracy is 5-10 times higher than that of single satellite positioning. Among them, the static accuracy of Beidou positioning can reach ±2cm and the dynamic accuracy can reach ±5cm, while the UWB positioning accuracy can reach ±30cm, fully meeting the precise positioning requirements of emergency operations; Good system coordination: The innovative construction of a "communication-positioning-obstacle avoidance" linkage control mechanism enables intelligent collaborative work between modules. It can adapt to complex and ever-changing operating environments without human intervention, greatly improving the robot's autonomous operation capability and environmental adaptability, and reducing the labor costs and operational difficulty of emergency operations. Detailed Implementation

[0012] I. System Hardware Components (I) Low-Altitude Robot Body

[0013] The system utilizes a multi-rotor UAV platform equipped with lidar, visual obstacle avoidance sensors, and a battery management system. It boasts stable flight performance and reliable payload capacity; its payload capacity is ≥5kg, meeting the installation requirements of various functional modules and operational equipment; and its endurance is ≥2 hours, enabling it to support long-duration emergency operations. (II) Anti-interference communication module

[0014] The KT-600 multi-band communication module is selected, with an operating frequency band covering 300MHz-4GHz and a frequency hopping rate ≥1000 times / second, which can quickly avoid interference frequency bands; the transmit power is adjustable from 1-5W, which can be flexibly adjusted according to the operating distance and environmental interference intensity, taking into account both communication distance and energy consumption control. (III) Dual-mode positioning module

[0015] The system integrates a BeiDou-3 dual-mode positioning chip (model: UM982) and a UWB positioning module (model: DW1000), with a positioning data output frequency of 10Hz, providing high-frequency, high-precision positioning data support for the system. The BeiDou-3 positioning accuracy is ±2cm static and ±5cm dynamic, while the UWB positioning accuracy is ±30cm, meeting positioning requirements in various scenarios. (IV) Cooperative Control Module

[0016] The system uses the STM32H743 main control chip, which has powerful data processing capabilities and multi-module interface expansion capabilities. It has a built-in communication-positioning linkage algorithm program, supporting data fusion and command issuance from the anti-interference communication module, dual-mode positioning module, obstacle avoidance sensor group, and ground control terminal, ensuring the coordinated operation of all system modules. (V) Ground Control Terminal

[0017] It adopts an industrial-grade tablet computer, which is waterproof, dustproof, and drop-resistant, making it suitable for complex emergency environments. It comes pre-installed with system control software, which supports the visual display of communication status, positioning data, and work progress. It also provides a manual switch button for communication / positioning modes and a work instruction input interface for easy operation.

[0018] II. Workflow The workflow of the anti-interference communication positioning robot system of this invention includes four stages: power-on initialization, normal operation mode, interference / occlusion scene switching, and Mesh network construction, as follows: (I) Power-on initialization

[0019] After the robot is powered on, the anti-interference communication module automatically starts environmental frequency band scanning to identify available frequency bands and interference conditions in the current environment; the dual-mode positioning module simultaneously starts BeiDou-3 positioning and UWB positioning functions to complete the search and locking of positioning signals; the collaborative control module starts the self-test program of each module to check the working status of the anti-interference communication module, dual-mode positioning module, and obstacle avoidance sensor group, and completes parameter initialization configuration to ensure that each module meets the operational requirements. (II) Normal Operation Mode

[0020] In open, unobstructed environments with minimal electromagnetic interference, the anti-interference communication module prioritizes the LTE-V2X band for data transmission. This band offers high transmission speeds and low latency, ensuring real-time data transmission. The dual-mode positioning module primarily utilizes BeiDou-3 positioning, continuously outputting high-precision positioning data. The robot executes emergency inspection or rescue tasks along a pre-defined path, transmitting collected operational data, positioning data, and its own operational status data to the ground control terminal in real-time via the anti-interference communication module. The ground control terminal then displays the relevant information in real-time. (III) Interference / Obstruction Scene Switching

[0021] When the anti-interference communication module detects an interference signal strength > -80dBm, it automatically switches to frequency hopping communication mode to avoid interference through rapid frequency hopping and triggers the dual-mode positioning module to increase the sampling frequency of positioning data to ensure the continuity of positioning data. If the dual-mode positioning module detects a loss of BeiDou signal lock (number of satellites < 4), it immediately switches to UWB positioning mode to achieve accurate positioning by relying on pre-deployed emergency positioning base stations. At the same time, the obstacle avoidance sensor group is activated to collect information on obstacles in the surrounding environment. The collaborative control module combines the positioning data and obstacle information to adjust the robot's flight altitude and path, avoid signal-blocking obstacles, and optimize the communication link environment. (IV) Mesh Network Construction

[0022] When the main communication link of a single robot is interrupted due to severe interference or obstruction, the collaborative control module automatically searches for similar robots within a 1km radius, initiates a Mesh network establishment request, and establishes a temporary Mesh network with the responding robot. Through the relay nodes in the network, the robot's positioning data and operational data are transmitted to the ground control terminal to ensure uninterrupted data transmission and guarantee the continuity of emergency operations.

[0023] Taking an earthquake emergency rescue scenario as an example, the application method of this invention will be described in detail: In the area where buildings have collapsed due to an earthquake, ground rescue personnel first set up three UWB emergency positioning base stations around the work area to form a local positioning network with a coverage radius of 500m, providing support for positioning in obstructed scenarios; then, the low-altitude robot of this invention is deployed to the work area. After the robot is powered on, it automatically enters the initialization stage. The anti-interference communication module scans the environmental frequency band and finds that there is strong electromagnetic interference in the disaster area. The dual-mode positioning module detects that the Beidou satellite signal is lost (number of satellites < 4).

[0024] Based on the above environmental detection results, the collaborative control module triggers a mode switch: the anti-interference communication module switches to frequency hopping communication mode, using alternating frequency hopping between the UHF band and the emergency shortwave band to avoid interference; the dual-mode positioning module switches to UWB positioning mode, relying on the deployed emergency positioning base stations to achieve stable positioning with an accuracy of ±30cm; at the same time, the obstacle avoidance sensor group activates the lidar and visual sensors to collect obstacle information inside the ruins, and the collaborative control module plans the optimal flight path based on the positioning data and obstacle information to avoid obstructions such as walls and steel bars.

[0025] The robot enters the ruins according to the planned path, collects key rescue data such as the location of trapped personnel and the concentration of ambient gases, and transmits the data back to the ground control terminal in real time through a Mesh network built by an anti-interference communication module (establishing a relay connection with two other robots of the same type in the vicinity). Ground rescue personnel can obtain information about the situation inside the ruins through the terminal's visual interface, accurately formulate rescue plans, and carry out targeted rescue work, greatly improving rescue efficiency and safety.

[0026] The system of this invention is not only applicable to earthquake disaster relief scenarios, but can also be extended to various low-altitude emergency operation scenarios such as forest fire prevention, power line inspection, and flood disaster monitoring, and has broad application prospects and practical value.

Claims

1. An anti-interference communication and positioning robot system suitable for low-altitude emergency scenarios, characterized in that, The system includes a low-altitude robot body, an anti-interference communication module, a dual-mode positioning module, a collaborative control module, and a ground control terminal. The anti-interference communication module, dual-mode positioning module, and collaborative control module are all integrated into the low-altitude robot body and are signal-connected. The collaborative control module is signal-connected to the obstacle avoidance sensor group of the low-altitude robot body, and the anti-interference communication module is wirelessly connected to the ground control terminal. The anti-interference communication module adopts a multi-band adaptive frequency hopping design and incorporates an interference signal detection subunit and a signal relay subunit. The interference signal detection subunit is used to identify the type and intensity of interference frequency bands in the environment in real time, and the signal relay subunit is used to establish a temporary mesh network with similar robots in the vicinity when the main communication link is interrupted. The dual-mode positioning module integrates BeiDou-3 high-precision positioning and UWB indoor positioning technology, and can automatically switch positioning modes according to the scene. The collaborative control module incorporates a communication-positioning linkage algorithm, which triggers the dual-mode positioning module to adjust the positioning data sampling frequency based on the signal strength of the anti-interference communication module, and coordinates with the obstacle avoidance sensor group to adjust the robot's flight path.

2. The anti-interference communication and positioning robot system suitable for low-altitude emergency scenarios according to claim 1, characterized in that, The anti-interference communication module integrates three communication frequency bands: UHF, LTE-V2X, and emergency shortwave. The operating frequency band covers 300MHz-4GHz, the frequency hopping rate is ≥1000 times / second, and the transmit power is adjustable from 1-5W.

3. The anti-interference communication and positioning robot system suitable for low-altitude emergency scenarios according to claim 1, characterized in that, The dual-mode positioning module has a BeiDou-3 positioning accuracy of ±2cm (static) / ±5cm (dynamic) and a UWB positioning accuracy of ±30cm. The positioning data output frequency is 10Hz, and it automatically switches to UWB positioning mode when the number of satellites is less than 4.

4. The anti-interference communication and positioning robot system suitable for low-altitude emergency scenarios according to claim 1, characterized in that, The logic of the communication-positioning linkage algorithm is as follows: when the anti-interference communication module detects that the signal strength is lower than the preset threshold, it triggers the dual-mode positioning module to increase the sampling frequency of positioning data, compresses the positioning data and transmits it preferentially through the emergency shortwave frequency band, and links the obstacle avoidance sensor group to adjust the flight path according to the positioning data to avoid signal blocking obstacles.

5. The anti-interference communication and positioning robot system suitable for low-altitude emergency scenarios according to claim 1, characterized in that, The obstacle avoidance sensor group includes a lidar and a vision sensor. The collaborative control module collects environmental obstacle information through the obstacle avoidance sensor group and optimizes the communication link environment by combining the positioning data.

6. The anti-interference communication and positioning robot system suitable for low-altitude emergency scenarios according to claim 1, characterized in that, The low-altitude robot body is a multi-rotor UAV platform with a payload capacity of ≥5kg and a flight time of ≥2 hours. The collaborative control module adopts an STM32H743 main control chip, which supports multi-module data fusion and command issuance.

7. The anti-interference communication and positioning robot system suitable for low-altitude emergency scenarios according to claim 1, characterized in that, The ground control terminal is an industrial-grade tablet computer pre-installed with system control software, supporting data visualization display, manual switching of communication / positioning modes, and issuance of work instructions.

8. The anti-interference communication and positioning robot system suitable for low-altitude emergency scenarios according to claim 1, characterized in that, The effective search range of the signal relay subunit is 1km, and multi-node data relay transmission can be achieved through a temporary mesh network.

9. The anti-interference communication and positioning robot system suitable for low-altitude emergency scenarios according to claim 1, characterized in that, When the anti-interference communication module detects an interference signal strength > -80dBm, it automatically switches to frequency hopping communication mode.

10. The anti-interference communication and positioning robot system suitable for low-altitude emergency scenarios according to claim 1, characterized in that, The dual-mode positioning module integrates a BeiDou-3 dual-mode positioning chip and a UWB positioning module. The BeiDou-3 dual-mode positioning chip is model UM982, and the UWB positioning module is model DW1000.