Inspection robot and inspection system

Abstract

The utility model provides a kind of inspection robot and inspection system, comprising: data acquisition unit, processor and communication unit;Data acquisition unit is electrically connected with processor, for the environmental information collected is input to processor;Processor is electrically connected with the data acquisition unit and data output unit respectively, for according to environmental information control communication unit sends early warning information;Wherein, processor includes hardware encryption engine and trusted platform module, hardware encryption engine is used to the received environmental information and / or the early warning information is decrypted and encrypted processing, trusted platform module is used to store the key and digital certificate required by decryption and encryption processing.The utility model embodiment, using the more reliable security processor of processor, can be encrypted from the hardware level information, and key is stored in processor local, can further avoid the risk that information is cracked and leaked due to key leakage, so that inspection robot meets the data security needs under different places.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to an inspection robot and inspection system. Background Technology

[0002] Currently, the inspection robots already in use on the market are mainly industrial inspection robots in different sub-sectors such as electricity, gas, and water supply. These inspection robots face relatively fixed inspection scenarios and routes, and the data they collect and process is relatively stable, so there are basically no privacy and security issues.

[0003] When conducting inspections in open public places with high personnel flow, such as hotels, schools, shopping malls, and transportation hubs, it is inevitable to collect a large amount of private data. How to ensure the security of this data and prevent the leakage of citizens' information is an issue that cannot be ignored. Utility Model Content

[0004] In view of the above problems, an inspection robot and inspection system are proposed to overcome or at least partially solve the above problems, so as to solve the problem of high information leakage risk of existing inspection robots on the market.

[0005] To address the aforementioned problems, this utility model discloses an inspection robot, which includes: a data acquisition unit, a processor, and a communication unit;

[0006] The data acquisition unit is electrically connected to the processor and is used to input the acquired environmental information to the processor;

[0007] The processor is electrically connected to the data acquisition unit and the communication unit respectively, and is used to control the communication unit to send early warning information according to the environmental information;

[0008] The processor includes a hardware encryption engine and a trusted platform module. The hardware encryption engine is used to encrypt and decrypt the received environmental information and / or warning information. The trusted platform module is used to store the keys and digital certificates required for encryption and decryption.

[0009] Optionally, the data acquisition unit includes at least one of a temperature and humidity sensor, a smoke sensor, an infrared sensor, and a camera.

[0010] Optionally, the processor is provided with an I2C interface, an SPI interface, a GPIO interface, a UART interface, a DVO interface, and a USB interface;

[0011] The temperature and humidity sensor is connected to the I2C interface or the SPI interface, the smoke sensor is connected to the I2C interface or the SPI interface, the infrared sensor is connected to the GPIO interface or the UART interface, and the camera is connected to the DVO interface or the USB interface.

[0012] Optionally, the communication unit includes at least one of a 4G module, a Wi-Fi module, and an Ethernet module.

[0013] Optionally, the processor is provided with a USB interface, a PCIe interface, an SDIO interface, and a GMAC interface;

[0014] The 4G module is connected to the USB interface or the PCIe interface, the Wi-Fi module is connected to the SDIO interface or the USB interface, and the Ethernet module is connected to the GMAC interface.

[0015] Optionally, the processor is an ACPI-enabled processor.

[0016] Optionally, the inspection robot further includes a load unit, a voltage regulator, and a frequency controller;

[0017] The voltage regulator and the frequency controller are both electrically connected to the processor and also electrically connected to the load unit;

[0018] The voltage regulator is used to adjust the voltage of the load unit under the adjustment signal sent by the processor, and the frequency controller is used to adjust the frequency of the load unit under the control signal sent by the processor.

[0019] Optionally, the inspection robot also includes a human-computer interaction unit;

[0020] The human-computer interaction unit is electrically connected to the processor and is used to realize information interaction between personnel and the inspection robot.

[0021] Optionally, the inspection robot also includes a chassis and a multi-degree-of-freedom robotic arm;

[0022] The multi-degree-of-freedom robotic arm is electrically connected to the processor and is equipped with a fire-extinguishing spray device at its end; the chassis is fixedly connected to the multi-degree-of-freedom robotic arm.

[0023] This utility model also provides an inspection system, which includes any of the aforementioned inspection robots, as well as a server and / or mobile terminal that are communicatively connected to the inspection robot.

[0024] The embodiments of this utility model have the following advantages:

[0025] The inspection robot of this utility model uses a more reliable processor, which can encrypt and decrypt the transmitted information at the hardware level. The key is stored locally on the processor, which can further avoid the risk of information being cracked and leaked due to key leakage, so that the inspection robot can meet the data security needs of different places. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the control system architecture of an inspection robot according to this utility model;

[0027] Figure 2 This is a schematic diagram of the control system architecture of another inspection robot of this utility model;

[0028] Figure 3 This is a schematic diagram of the control system architecture of another inspection robot according to this utility model;

[0029] Figure 4 This is a simplified structural diagram of an inspection robot according to this utility model;

[0030] Explanation of reference numerals in the attached figures:

[0031] 10. Data acquisition unit; Temperature and humidity sensor 101, Smoke sensor 102, Infrared sensor 103, Camera 104; 11. Processor; 111. Hardware encryption engine; 112. Trusted platform module; 12. Communication unit; 121. 4G module; 122. Wi-Fi module; 123. Ethernet module; 13. Load unit; 14. Voltage regulator; 15. Frequency controller; 16. Human-machine interaction unit; 17. Chassis; 18. Multi-degree-of-freedom robotic arm. Detailed Implementation

[0032] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] To enhance the information security of the inspection robot, this embodiment of the invention optimizes and upgrades the control circuit of the traditional robot, such as... Figure 1 The diagram illustrates the architecture of a control system for an inspection robot according to the present invention. The inspection robot includes a data acquisition unit 10, a processor 11, and a communication unit 12.

[0034] The data acquisition unit 10 is electrically connected to the data input interface of the processor 11, enabling the transmission of various environmental information collected by the inspection robot during its inspection to the processor 11. This environmental information can include various environmental conditions such as sound or noise, light intensity, gas composition, temperature, humidity, and passenger density collected by sensors and cameras. The communication unit 12 is also electrically connected to the processor 11. The interface connecting the communication unit 12 and the processor 11 can be a bidirectional data transmission interface. This means that the processor 11 can control the communication unit 12 and send warning information to it based on the aforementioned environmental information. Furthermore, in some inspection scenarios, the communication unit 12 can also receive control commands and transmit them to the electrically connected processor 11 via the interface, enabling wired control or wireless remote control of the inspection robot.

[0035] The processor 11 used in this embodiment of the invention is a processor with higher security performance. Compared with conventional encryption using pure software algorithms, this processor 11 includes a hardware encryption engine 111, which is used to encrypt and decrypt received environmental information and / or warning information. The hardware encryption engine 111 is a coprocessor or hardware encryption card integrated into the processor 11, and its hardware structure is actually an encryption circuit. This hardware encryption engine can improve the efficiency of data encryption and decryption processing.

[0036] In addition, the processor 11 in this embodiment of the present invention also includes a hardware-level trusted platform module 112. This trusted platform module 112 has an independent storage area within the processor 11 for storing the keys and digital certificates required for encryption and decryption processing. It can isolate access from the operating system and prevent key leakage. In some embodiments, the hardware encryption engine 111 and the trusted platform module 112 can be hardware circuits independent of the processor core, physically isolating the encryption and decryption functions from other control functions of the processor.

[0037] Taking the inspection robot of this embodiment as an example, the key stored in the trusted platform module 112 of the processor 11 of the inspection robot can be defined by the administrator or generated by a hardware random number generator. After the inspection robot obtains sensitive privacy data such as facial information and license plate information in the inspection environment through the aforementioned data acquisition unit 10, the plaintext data corresponding to this privacy data is transmitted to the hardware encryption engine 111, encrypted and converted into ciphertext using the key in the trusted platform module 112, and then transmitted through the communication unit 12. Similarly, the ciphertext data received by the communication unit 12 is also first transmitted to the hardware encryption engine 111, decrypted into plaintext using the key, and then processed locally on the inspection robot.

[0038] Therefore, the inspection robot of this utility model uses a more reliable and secure processor, which can encrypt and decrypt the transmitted information at the hardware level. Furthermore, the key is stored locally on the processor, further avoiding the risk of information being compromised and leaked due to key leakage. This allows the inspection robot to meet the data security needs of different locations.

[0039] In addition, it should be noted that the use of this inspection robot in this embodiment of the present invention should be carried out in a place where environmental information is collected in accordance with relevant data security laws and regulations, and the above-mentioned technical measures can further improve data security and reduce public safety risks.

[0040] Optionally, such as Figure 2 As shown, in the inspection robot of this utility model embodiment, in order to adapt to various complex inspection environments and inspection tasks, the data acquisition unit 10 may include at least one of the following according to actual needs: temperature and humidity sensor 101, smoke sensor 102, infrared sensor 103, and camera 104.

[0041] The temperature and humidity sensor 101 can be used to obtain temperature and humidity information in the inspection environment, the smoke sensor 102 can obtain particulate matter information in the air in the inspection environment, the infrared sensor 103 can be used to measure distance and avoid obstacles, and the camera 104 can capture and record inspection images. On the other hand, when the camera 104 integrates an artificial intelligence chip, it can also directly analyze the captured images to determine whether there are dangerous situations in the inspection scene.

[0042] Understandably, a single type of sensor can only acquire one type of information and cannot accurately form a real-time status of the inspection environment. When multiple types of sensors are used in combination, the processor 11 can analyze the data to accurately determine whether a dangerous event has occurred and then control the communication unit 12 to issue a warning message. For example, the high temperature information collected by the temperature and humidity sensor 101 cannot lead to the conclusion that a fire has occurred. However, by combining the particulate matter concentration information collected by the smoke sensor 102 or the image information captured by the camera 104, a further determination can be made. If the probability of a fire is high based on a comprehensive scoring assessment, a trigger signal is sent to the control unit 12, which then controls the communication unit 12 to send a fire warning message.

[0043] Optionally, such as Figure 2 As shown, in one embodiment, the processor 11 of this utility model embodiment is provided with I 2 The processor 11 includes a C-interface, SPI interface, GPIO interface, UART interface, DVO interface, and USB interface. Each of these interfaces connects to a corresponding controller within the processor 11, and the controller is configured to support I / O. 2C protocol, SPI protocol, GPIO protocol, UART protocol, DVO protocol and USB protocol.

[0044] Temperature and humidity sensor 101 is connected to I 2 The smoke sensor 102 is connected to either a Type-C or SPI interface. 2 The infrared sensor 103 is connected to the GPIO interface or UART interface, and the camera 104 is connected to the DVO interface or USB interface.

[0045] Since the processor 11 itself has these rich interfaces, there is no need to use an additional adapter board to expand the interfaces. This helps to save the internal hardware layout space of the inspection robot and helps to achieve the miniaturization and weight reduction of the inspection robot.

[0046] Optionally, such as Figure 2 As shown, in one embodiment, the communication unit 12 of this utility model includes at least one of a 4G module 121, a Wi-Fi module 122, and an Ethernet module 123. The 4G module 121 and the Ethernet module 123 enable the inspection robot to achieve efficient and stable remote information transmission, while the Wi-Fi module 122 facilitates interconnection between the inspection robot and other inspection robots or hardware devices on the same local area network, enabling intelligent interactive control.

[0047] Optionally, such as Figure 2 As shown, in one embodiment, the processor 11 of this utility model is provided with a USB interface, a PCIe interface, an SDIO interface and a GMAC interface.

[0048] The 4G module 121 is connected to a USB interface or a PCIe interface, the Wi-Fi module 122 is connected to an SDIO interface or a USB interface, and the Ethernet module 123 is connected to a GMAC interface.

[0049] Since the processor 11 itself has these rich communication interfaces, there is no need to use an additional adapter board to expand the interfaces. This helps to save the internal hardware layout space of the inspection robot and helps to achieve the miniaturization and weight reduction of the inspection robot.

[0050] Optionally, in one embodiment, when the inspection robot of this utility model is connected to multiple types of sensors in the data acquisition unit 10, in order to save power consumption, the selected processor 11 can be an ACPI-enabled processor. Since the power management characteristics of ACPI define system sleep state and device power consumption state for the control system mounted on the inspection robot, the switching between different states can be achieved through the ACPI controller integrated inside the processor 11 and its protocol conventions, thereby reducing power consumption and saving energy during system sleep state.

[0051] Optionally, such as Figure 3 As shown, in one embodiment, in addition to using an ACPI controller for power management to reduce power consumption, the inspection robot of this embodiment also includes a load unit 13, a voltage regulator 14, and a frequency controller 15. The load unit 13 can be one or more of the sensors described in the foregoing embodiments, or it can be a drive motor on which the walking mechanism of the inspection robot depends, a servo motor used in the robot's robotic arm, or other electrical load devices. Both the voltage regulator 14 and the frequency controller 15 are electrically connected to the processor 11 and also electrically connected to the load unit 13. The voltage regulator 14 and the frequency controller 15 receive adjustment signals and control signals from the processor 11, respectively, and output voltage to the load unit 13. The adjustment signal can adjust the operating voltage of the load unit 13, while the control signal can control the frequency of the load unit 13, thereby controlling the operating frequency of the load device, thus enabling the inspection robot to complete corresponding mechanical movements such as walking and arm swinging.

[0052] The processor 11 can dynamically reduce the frequency or voltage using DVFS technology according to the workload, directly reducing the dynamic power consumption of the inspection robot. Alternatively, it can use DPM technology to temporarily turn off the clock or power supply of hardware devices that are not in operation. When the robot needs to work, it can be woken up manually by pressing a physical button or by sending a wake-up command remotely.

[0053] Therefore, embodiments of this utility model can also utilize ACPI, DVFS, or DPM technologies to reduce the power consumption of the inspection robot and extend its operating time.

[0054] Optionally, such as Figure 3As shown, in one embodiment, the inspection robot of this utility model further includes a human-machine interaction unit 16. The human-machine interaction unit 16 is electrically connected to the processor 11 and is used to realize information interaction between personnel and the inspection robot. For example, the human-machine interaction unit 16 can be an input device such as a touch screen, physical buttons, or a microphone installed on the robot, or it can be an audio-visual information output device such as a speaker, buzzer, or LED light. The human-machine interaction unit 16 can directly receive trigger operations from personnel or display warning information, which can improve the ease of operation of the inspection robot.

[0055] Optionally, such as Figure 4 As shown, the inspection robot of this embodiment also includes a chassis 17 and a multi-degree-of-freedom robotic arm 18. The multi-degree-of-freedom robotic arm 18 is mounted and fixed on the chassis 17, and is also electrically connected to the processor 11. When the processor 11 determines that a fire has occurred based on the data collected by the data acquisition unit 10, the processor 11 can drive the multi-degree-of-freedom robotic arm 18 to adjust its posture to a suitable position, so that the fire-extinguishing spray device at the end of the multi-degree-of-freedom robotic arm 18 faces the fire source, realizing emergency fire extinguishing in critical situations and preventing the fire from spreading.

[0056] Understandably, in some implementations, after the data acquisition unit 10 sends the collected environmental information to the processor 11, the processor 11 sends various types of environmental information to the server or mobile terminal via the communication unit 12. After the background management personnel analyze and confirm the information, they can send a fire extinguishing control signal to the communication unit 12. At this time, the communication unit 12 transmits the received fire extinguishing control signal to the processor 11. The processor 11 completes the drive control logic on the local side of the inspection robot to realize emergency fire extinguishing operations. For example, when the inspection robot includes the aforementioned voltage regulator 14 and frequency controller 15, the processor 11 can send adjustment signals and control signals to the voltage regulator 14 and frequency controller 15 respectively. After receiving the adjustment signals and control signals, the load unit 13 drives the entire robot to move it to the vicinity of the fire source. At the same time, the processor 11 can also send a drive signal to the multi-degree-of-freedom robotic arm 18 to drive the multi-degree-of-freedom robotic arm 18 to adjust its posture to a suitable position, so that the fire extinguishing spray device at the end of the multi-degree-of-freedom robotic arm 18 faces the fire source, realizing emergency fire extinguishing in critical situations and preventing the fire from spreading.

[0057] It should be noted that the multi-degree-of-freedom robotic arm 18 in this embodiment of the invention is a mechanism driven by multiple servo motors, electric motors, or linear modules. This mechanism has multiple rotational degrees of freedom, multiple translational degrees of freedom, or a combination of rotational and translational degrees of freedom. For example, the multi-degree-of-freedom robotic arm 18 can be a three-axis robotic arm conforming to an orthogonal rectangular coordinate system. This embodiment of the invention does not limit the specific structure of the multi-degree-of-freedom robotic arm 18.

[0058] In addition, this utility model embodiment also provides an inspection system, which includes any of the inspection robots described in the foregoing embodiments, and a server and / or mobile terminal that can communicate with the inspection robot. The server can be a computer device with high data processing and computing performance, and the mobile terminal can be a handheld terminal device such as a mobile phone or tablet computer.

[0059] In this inspection system, based on the aforementioned hardware structure characteristics of the inspection robot, information security is enhanced regardless of whether the robot communicates with a server or a mobile terminal. For example, the inspection robot can transmit facial information captured during the inspection process after hardware encryption, preventing the leakage of large amounts of facial information and avoiding information security incidents.

[0060] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0061] Those skilled in the art will understand that although preferred embodiments of the present invention have been described, those skilled in the art, once they learn the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the present invention.

[0062] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0063] The inspection robot provided by this utility model has been described in detail above. Specific examples have been used to illustrate the principle and implementation of this utility model. The description of the above embodiments is only for the purpose of helping to understand the method and core idea of ​​this utility model. At the same time, for those skilled in the art, there will be changes in the specific implementation and application scope based on the idea of ​​this utility model. Therefore, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. An inspection robot, characterized in that, include: Data acquisition unit, processor, and communication unit; The data acquisition unit is electrically connected to the processor and is used to input the acquired environmental information to the processor; The processor is electrically connected to the data acquisition unit and the communication unit respectively, and is used to control the communication unit to send early warning information according to the environmental information; The processor includes a hardware encryption engine and a trusted platform module; the hardware encryption engine is used to encrypt and decrypt the received environmental information and / or warning information, and the trusted platform module is used to store the keys and digital certificates required for encryption and decryption.

2. The inspection robot according to claim 1, characterized in that, The data acquisition unit includes at least one of a temperature and humidity sensor, a smoke sensor, an infrared sensor, and a camera.

3. The inspection robot according to claim 2, characterized in that, The processor is equipped with an I2C interface, an SPI interface, a GPIO interface, a UART interface, a DVO interface, and a USB interface; The temperature and humidity sensor is connected to the I2C interface or the SPI interface, the smoke sensor is connected to the I2C interface or the SPI interface, the infrared sensor is connected to the GPIO interface or the UART interface, and the camera is connected to the DVO interface or the USB interface.

4. The inspection robot according to claim 1, characterized in that, The communication unit includes at least one of a 4G module, a Wi-Fi module, and an Ethernet module.

5. The inspection robot according to claim 4, characterized in that, The processor is equipped with a USB interface, a PCIe interface, an SDIO interface, and a GMAC interface; The 4G module is connected to the USB interface or the PCIe interface, the Wi-Fi module is connected to the SDIO interface or the USB interface, and the Ethernet module is connected to the GMAC interface.

6. The inspection robot according to any one of claims 1 to 5, characterized in that, The processor is an ACPI-enabled processor.

7. The inspection robot according to claim 1, characterized in that, The inspection robot also includes a load unit, a voltage regulator, and a frequency controller; The voltage regulator and the frequency controller are both electrically connected to the processor, and are also electrically connected to the load unit respectively; The voltage regulator is used to adjust the voltage of the load unit under the adjustment signal sent by the processor; the frequency controller is used to adjust the frequency of the load unit under the control signal sent by the processor.

8. The inspection robot according to claim 1, characterized in that, The inspection robot also includes a human-computer interaction unit; The human-computer interaction unit is electrically connected to the processor and is used to realize information interaction between personnel and the inspection robot.

9. The inspection robot according to claim 1, characterized in that, The inspection robot also includes a chassis and a multi-degree-of-freedom robotic arm; The multi-degree-of-freedom robotic arm is electrically connected to the processor and is equipped with a fire-extinguishing spray device at its end; the chassis is fixedly connected to the multi-degree-of-freedom robotic arm.

10. An inspection system, characterized in that, The inspection system includes the inspection robot as described in any one of claims 1 to 9, and a server and / or mobile terminal that are communicatively connected to the inspection robot.

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