CN113858209A - Noise-reducing intelligent remote carrying robot with 5G audio transmission function - Google Patents
Noise-reducing intelligent remote carrying robot with 5G audio transmission function Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
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Abstract
The invention provides a noise-reducing intelligent remote carrying robot with 5G audio transmission, which comprises an audio signal receiving module, a processing module and a control module, wherein the audio signal receiving module is used for receiving an audio control signal sent by a terminal; the audio signal conversion module is used for decomposing the audio control signal into wavelet coefficients; the quantity sensing module is used for sensing the quantity of other transfer robots with the distance to the current transfer robot not exceeding a preset distance; the noise reduction module is used for selecting corresponding interference coefficients according to the number of robots to process and convert the wavelet coefficients to obtain noise reduction audio control signals; and the control module is used for controlling the carrying robot according to the noise reduction audio control signal.
Description
Technical Field
The invention relates to the technical field of 5G voice communication, in particular to a noise-reducing intelligent remote carrying robot with 5G audio transmission.
Background
In the prior art, most of remote carrying robots send unspecific voice commands to a carrying terminal through a network for controlling the carrying terminal to make various responses, but when the number of remote carrying robots is large, the remote carrying robots are easily interfered by signals of other remote carrying robots nearby when receiving the voice commands, and when only a fixed anti-interference value is set, the remote carrying robots perform anti-interference correction when receiving the voice commands, and when the number of the remote carrying robots is small, the fixed anti-interference value may cause the voice commands which should be received originally to be reduced and lose signals due to excessive interference, so that there is a strong need for a noise-reducing intelligent remote carrying robot with 5G audio transmission, which is used for intelligently adjusting voice interference coefficients according to the number of robots around the remote carrying robots to reduce noise at the noise-reducing positions of the voice commands And the audio noise reduction capability of the remote carrying robot is improved.
Disclosure of Invention
The invention provides a noise-reducing intelligent remote carrying robot with 5G audio transmission, which is used for solving the problems that when the number of remote carrying robots is dense, the remote carrying robots are easily interfered by signals of other remote carrying robots nearby when receiving voice commands, if only a fixed anti-interference value is set, the remote carrying robots carry out anti-interference correction when receiving the voice commands, and when the number of the remote carrying robots is small, the fixed anti-interference value possibly causes the problem that the voice commands which should be received originally are reduced and the signals are lost due to excessive interference.
A noise-reducible intelligent remote carrying robot with 5G audio transmission, comprising:
the audio signal receiving module is used for receiving an audio control signal sent by the terminal;
the audio signal conversion module is used for decomposing the audio control signal into a first wavelet coefficient;
the quantity sensing module is used for sensing the quantity of other transfer robots with the distance to the current transfer robot not exceeding a preset distance;
the noise reduction module is used for selecting corresponding interference coefficients according to the number of robots to process and convert the first wavelet coefficients to obtain noise reduction audio control signals;
and the control module is used for controlling the carrying robot according to the noise reduction audio control signal.
As an embodiment of the present invention, the audio signal conversion module decomposes the audio control signal into a number of first wavelet coefficients based on a wavelet transform.
As an embodiment of the present invention, the quantity sensing module includes:
the local signal sending unit is used for sending the unique identification mark information of the current robot and the position information of the current robot to the outside;
the external machine signal receiving unit is used for receiving the unique identification mark information and the corresponding position information sent by other robots except the local machine;
and the external machine signal processing unit is used for processing the information received by the external machine signal receiving unit to obtain the number of other carrying robots, the distance between the current carrying robot and the number of other carrying robots is not more than the preset distance.
As an embodiment of the present invention, the outer unit signal processing unit performs operations including:
screening the position information of other robots received in the external signal receiving unit based on the position information of the current robot to obtain qualified position information, wherein the distance between the position information of other robots and the position information of the current robot does not exceed a preset distance;
and calculating the number of the unique identification mark information corresponding to the qualified position information in the external machine signal receiving unit to obtain the number of the other transfer robots with the distance from the current transfer robot not exceeding the preset distance.
As an embodiment of the present invention, the denoising module includes an interference coefficient selecting unit, a wavelet coefficient processing unit, and a wavelet coefficient converting unit.
As an embodiment of the present invention, the interference coefficient selecting unit performs operations including:
if the number of the robots is larger than or equal to a preset number threshold of the robots, selecting a preset first interference coefficient;
and if the number of the robots is less than the preset number threshold value of the robots, selecting a preset second interference coefficient.
As an embodiment of the present invention, the wavelet coefficient processing unit performs operations including:
converting a first wavelet coefficient which is larger than a corresponding interference coefficient in the plurality of first wavelet coefficients according to a preset first conversion formula to obtain a first partial wavelet coefficient;
converting the first wavelet coefficients which are less than or equal to the corresponding interference coefficients in the plurality of first wavelet coefficients according to a preset second conversion formula to obtain second partial wavelet coefficients;
and combining the first partial wavelet coefficient and the second partial wavelet coefficient to obtain a second wavelet coefficient.
As an embodiment of the present invention, the wavelet coefficient conversion unit performs operations including:
and converting the wavelet coefficient processed by the wavelet coefficient processing unit into a noise reduction audio control signal based on wavelet transformation.
As an embodiment of the present invention, an intelligent teleportation robot of 5G audio transmission that can reduce noise further includes: the unified management module is used for carrying out unified management on the remote carrying robot;
the unified management module executes the following operations:
acquiring a noise reduction audio control signal, and judging whether the noise reduction audio control signal contains a range diffusion identifier or not;
if the current remote carrying robot is not more than the preset distance, the current remote carrying robot sends broadcast information carrying the unique identification mark information, the position information and the channel connection identification information of the current remote carrying robot to other remote carrying robots;
after other remote carrying robots receive the broadcast information, if the other remote carrying robots do not establish the instant communication channel within the preset communication time, establishing the instant communication channel with the current remote carrying robot according to the broadcast information;
the current remote handling robot sends the noise reduction audio control signal containing the range diffusion identifier to each of the other remote handling robots through the instant messaging channel.
As an embodiment of the present invention, an intelligent teleportation robot of 5G audio transmission that can reduce noise further includes: the device comprises a received signal storage module and an audio control signal source safety guarantee module;
the received signal storage module is used for storing the historical data received by the audio signal receiving module;
the audio control signal source safety guarantee module executes the following operations:
when the audio signal receiving module receives an audio control signal sent by a terminal, acquiring a historical audio control signal which has the same identity information with the audio control signal in the received signal storage module based on the identity information of the terminal contained in the audio control signal, and determining the safe transmission proportion of the audio control signal and the attack proportion initiated by the terminal in the receiving process of the historical audio control signal;
determining a first historical security value of the terminal according to the proportion of the audio control signal to be safely transmitted and the proportion of the terminal to launch attacks;
sending a request signal carrying the identity information of the terminal to audio control signal source safety guarantee modules of other carrying robots, the distance between the request signal and the current carrying robot is not more than a preset distance, and acquiring second historical safety values in the audio control signal source safety guarantee modules of the other carrying robots;
determining a total historical security value from the first historical security value and the second historical security value;
if the total historical safety value of the terminal is greater than or equal to the preset safety value, judging that the source of the audio control signal received by the audio signal receiving module is safe, and allowing the audio control signal to be sent to the audio signal conversion module;
if the total historical safety value of the terminal is smaller than the preset safety value, the source of the audio control signal received by the audio signal receiving module is judged to be unsafe, the audio control signal is refused to be sent to the audio signal conversion module, and a failure signal is fed back to the terminal.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of an intelligent remote handling robot with noise reduction and 5G audio transmission according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a number sensing module of a noise-reducing intelligent remote handling robot with 5G audio transmission according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a noise reduction module in an intelligent remote handling robot with 5G audio transmission capable of reducing noise according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an intelligent remote handling robot with noise reduction and 5G audio transmission according to an embodiment of the present invention 2;
fig. 5 is a schematic diagram 3 of an intelligent remote handling robot with noise reduction and 5G audio transmission according to an embodiment of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
Referring to fig. 1, an embodiment of the present invention provides a noise-reducing intelligent remote transfer robot with 5G audio transmission, including:
the audio signal receiving module is used for receiving an audio control signal sent by the terminal;
the audio signal conversion module is used for decomposing the audio control signal into a first wavelet coefficient;
the quantity sensing module is used for sensing the quantity of other transfer robots with the distance to the current transfer robot not exceeding a preset distance;
the noise reduction module is used for selecting corresponding interference coefficients according to the number of robots to process and convert the first wavelet coefficients to obtain noise reduction audio control signals;
the control module is used for controlling the carrying robot according to the noise reduction audio control signal;
furthermore, the audio signal conversion module preferably decomposes the audio control signal into a plurality of first wavelet coefficients based on wavelet transform;
the working principle of the technical scheme is as follows: the audio signal receiving module receives an audio control signal sent by the control terminal, and the audio signal conversion module decomposes the received audio control signal into a plurality of first wavelet coefficients beta based on a wavelet transform mode1tT is 1,2,3, …, t is a positive integer, when the audio control signal is received, the number sensing module obtains the number of other transfer robots, the distance between the number sensing module and the current transfer robot is not more than the preset distance, in a manner that a remote transfer robot signal sending and receiving exists in the preset distance, and the preset distance is preferably 10 m; after the specific number is determined, the noise reduction module selects a corresponding interference coefficient according to the number of the robots to process and convert the first wavelet coefficient to obtain a noise reduction audio control signal, and the control module correspondingly controls the carrying robot according to the noise reduction audio control signal;
the beneficial effects of the above technical scheme are: and intelligently adjusting the voice interference coefficient according to the number of other robots around the remote carrying robot to perform noise reduction processing on the voice command, so that the audio noise reduction capability of the remote carrying robot is improved.
Referring to fig. 2, in one embodiment, the quantity sensing module includes:
the local signal sending unit is used for sending the unique identification mark information of the current robot and the position information of the current robot to the outside;
the external machine signal receiving unit is used for receiving the unique identification mark information and the corresponding position information sent by other robots except the local machine;
the external machine signal processing unit is used for processing the information received by the external machine signal receiving unit to obtain the number of other carrying robots with the distance from the current carrying robot not more than the preset distance;
further, the outer unit signal processing unit performs operations including:
screening the position information of other robots received in the external signal receiving unit based on the position information of the current robot to obtain qualified position information, wherein the distance between the position information of other robots and the position information of the current robot does not exceed a preset distance;
calculating the number of the unique identification mark information corresponding to the qualified position information in the external unit signal receiving unit to obtain the number of other carrying robots with the distance to the current carrying robot not exceeding a preset distance;
the working principle and the beneficial effects of the technical scheme are as follows: when receiving the audio control signal, the local signal sending unit sends the unique identification mark information of the current robot and the position information of the current robot to the outside, the unique identification mark information is used for accurately judging the number of the robots, and the external signal receiving unit is also used for receiving the unique identification mark information and the corresponding position information sent by other robots except the local robot, and the external signal receiving unit is used for receiving the unique identification mark information and the corresponding position information sent by other robots except the local robot, and can be used for avoiding the number acquisition errors of other robots around the remote carrying robot due to the fact that the other robots send the position information for multiple times simultaneously and thus are judged to be repeatedly sent when a plurality of remote carrying robots simultaneously sense the number of other robots to the outside; wherein, the range of the external sending signal and the external receiving signal is preferably 10 m-15 m; the outer machine signal processing unit is used for processing the information received by the outer machine signal receiving unit to obtain the number of other carrying robots which are not more than a preset distance away from the current carrying robot, specifically comprises the steps of judging the number of other robots around according to the received unique identification mark information, and judging how many other robots are within a range of 10m of the current remote carrying robot according to corresponding position information, so that the number of other carrying robots which are not more than the preset distance away from the current carrying robot is obtained, the number of other carrying robots which are not more than the preset distance away from the current carrying robot is beneficially and rapidly calculated through the local machine signal sending unit, the outer machine signal receiving unit and the outer machine signal processing unit, and the detection efficiency is improved.
Referring to fig. 3, in an embodiment, the denoising module includes an interference coefficient selecting unit, a wavelet coefficient processing unit, and a wavelet coefficient converting unit;
the interference coefficient selection unit executes the following operations:
if the number of the robots is larger than or equal to a preset number threshold of the robots, selecting a preset first interference coefficient;
if the number of the robots is less than a preset number threshold, selecting a preset second interference coefficient;
the wavelet coefficient processing unit performs operations including:
converting a first wavelet coefficient which is larger than a corresponding interference coefficient in the plurality of first wavelet coefficients according to a preset first conversion formula to obtain a first partial wavelet coefficient;
converting the first wavelet coefficients which are less than or equal to the corresponding interference coefficients in the plurality of first wavelet coefficients according to a preset second conversion formula to obtain second partial wavelet coefficients;
combining the first partial wavelet coefficient and the second partial wavelet coefficient to obtain a second wavelet coefficient;
the wavelet coefficient conversion unit performs operations including:
converting the second wavelet coefficient processed by the wavelet coefficient processing unit into a noise reduction audio control signal based on wavelet transformation;
the working principle of the technical scheme is as follows: noise reduction module bagThe system comprises an interference coefficient selection unit, a wavelet coefficient processing unit and a wavelet coefficient conversion unit; the interference coefficient selection unit executes the following operations: if the number of the robots is larger than or equal to a preset number threshold of the robots, selecting a preset first interference coefficient; if the number of the robots is less than a preset number threshold, selecting a preset second interference coefficient; the calculation method for presetting the first interference coefficient is preferably
The calculation method for presetting the second interference coefficient is preferably
Wherein alpha is1And alpha2Respectively presetting a first interference coefficient and a second interference coefficient, theta is a standard variance value of the wavelet coefficient, n is the number of decomposition layers of the audio signal conversion module when the wavelet coefficient is decomposed, Y is the length of the received audio control signal, i is the number of robots when the number of the robots is greater than or equal to a preset number of robots threshold value, j is the number of the robots when the number of the robots is less than the preset number of robots threshold value, wherein the preset number of robots threshold value is preferably 3; the wavelet coefficient processing unit performs operations including: converting a first wavelet coefficient which is larger than a corresponding interference coefficient in the plurality of first wavelet coefficients according to a preset first conversion formula to obtain a first partial wavelet coefficient; the corresponding interference coefficient is a preset first interference coefficient or a preset second interference coefficient; the first conversion formula is preferably preset
Wherein, beta1τ' is the first partial wavelet coefficient, sgn (beta)1τ) As a step function, beta1τFor the first wavelet coefficient larger than the corresponding interference coefficient in the plurality of first wavelet coefficients, τ e t is 1,2,3, …, | β1τL is the value of the first wavelet coefficient which is larger than the corresponding interference coefficient in the plurality of first wavelet coefficients, alpha is the corresponding interference coefficient, namely the preset first interference coefficient or the preset second interference coefficient, e is a natural constant, b and c are preset optimization parameters, and b belongs to [ c ]0,1]C is a positive integer; converting the first wavelet coefficients which are less than or equal to the corresponding interference coefficients in the plurality of first wavelet coefficients according to a preset second conversion formula to obtain second partial wavelet coefficients; the preset second conversion formula is preferably:
the beneficial effects of the above technical scheme are: the interference coefficient selection unit intelligently selects preset interference coefficients based on the number of other robots around the target remote carrying robot, so that the anti-interference accuracy of the interference coefficients is improved; the wavelet coefficient processing unit compares the preset interference coefficient with the value of the wavelet coefficient decomposed by the audio control signal and intelligently selects the corresponding conversion formula to obtain the second wavelet coefficient, so that the accuracy of the second wavelet coefficient is improved.
Referring to fig. 4, in one embodiment, the intelligent teleporter robot for noise-reducible 5G audio transmission further includes: the unified management module is used for carrying out unified management on the remote carrying robot;
the unified management module executes the following operations:
acquiring a noise reduction audio control signal, and judging whether the noise reduction audio control signal contains a range diffusion identifier or not;
if the current remote carrying robot is not more than the preset distance, the current remote carrying robot sends broadcast information carrying the unique identification mark information, the position information and the channel connection identification information of the current remote carrying robot to other remote carrying robots;
after other remote carrying robots receive the broadcast information, if the other remote carrying robots do not establish the instant communication channel within the preset communication time, establishing the instant communication channel with the current remote carrying robot according to the broadcast information;
the current remote carrying robot sends the noise reduction audio control signal containing the range diffusion identification to each other remote carrying robot through an instant communication channel;
the working principle of the technical scheme is as follows: in practical application scenarios, it often occurs that the control terminal sends a unified command, such as a return command, an in-place standby command, etc., to all the remote handling robots, and the existing method usually sends the same audio control signal to each remote handling robot in a working area to control the behaviors of all the remote handling robots, but when the remote handling robots are located densely, and simultaneously receive the audio control signal, the interference of the reception of other remote handling robots around on the audio control signal received by any remote handling robot is very large, which seriously even causes the loss of the signal due to the reduction of the received audio control signal by one or more remote handling robots due to excessive interference, so that the remote handling robot cannot obtain an accurate command, and when the control terminal needs to send a unified audio control signal through the unified management module, the remote carrying robots can be controlled to execute the same instruction only by sending the audio control signal to at least one remote carrying robot, so that the control execution efficiency of the remote carrying robots is improved, and the coverage rate of the remote carrying robots executing the same instruction in a working area is improved;
the unified management module executes the following operations: the control terminal sends an audio control signal carrying the range diffusion identifier to any intelligent remote carrying robot; preferably, the noise reduction of the audio control signal to obtain the noise reduction audio control signal does not cause the range diffusion mark to disappear; acquiring a noise reduction audio control signal, and judging whether the noise reduction audio control signal contains a range diffusion identifier or not; if the current remote carrying robot is not more than the preset distance, the current remote carrying robot sends broadcast information carrying the unique identification mark information, the position information and the channel connection identification information of the current remote carrying robot to other remote carrying robots; after other remote carrying robots receive the broadcast information, if the other remote carrying robots do not establish the instant communication channel within the preset communication time, establishing the instant communication channel with the current remote carrying robot according to the broadcast information; furthermore, if instant communication channels are established in preset communication time of all other remote carrying robots around, the noise reduction audio control signals are directly sent to the control module to be executed; the preset communication time is preferably 20s, and establishing an instant communication channel with the current remote carrying robot according to the broadcast information specifically includes: other remote carrying robots position the current remote carrying robot according to the unique identification mark information and the position information carried in the broadcast information, then send the carried channel connection identification information and a channel establishment request to the current remote carrying robot, the current remote carrying robot verifies whether the carried channel connection identification information is the same as the channel connection identification information carried in the broadcast information sent by the current remote carrying robot, if so, the current remote carrying robot agrees to establish an instant communication channel, the duration of the instant communication channel is preferably 20s, and the 20s instant communication channel is destroyed; the current remote carrying robot sends the noise reduction audio control signal containing the range diffusion identification to each other remote carrying robot through an instant communication channel; then the current remote carrying robot head executes the noise reduction audio control signal through a control module; after receiving the noise reduction audio control signal containing the range diffusion identifier, the other remote carrying robots execute the process until all the remote carrying robots in the working area complete the reception of the noise reduction audio control signal containing the range diffusion identifier;
furthermore, each remote carrying robot which executes the noise reduction audio control signal containing the range diffusion identifier sends own unique identification mark information to the control terminal, the control terminal checks all received unique identification mark information, and independently sends the audio control signal to the remote carrying robot which does not receive the unique identification mark information in 60 s; the omission of the same instruction caused by the fact that a certain remote carrying robot cannot receive a diffusion signal when the certain remote carrying robot is too far away from the remote carrying robot group is prevented, and the coverage rate of the remote carrying robot executing the same instruction in a working area is improved;
the beneficial effects of the above technical scheme are: through the unified management module, when the control terminal needs to send the unified audio control signal, all the remote carrying robots can be controlled to execute the same instruction only by sending the audio control signal to at least one remote carrying robot, the efficiency of the remote carrying robot in control execution is improved, and meanwhile the coverage rate of the remote carrying robots executing the same instruction in a working area is improved.
Referring to fig. 5, in one embodiment, the intelligent teleporter robot for noise-reducible 5G audio transmission further includes: the device comprises a received signal storage module and an audio control signal source safety guarantee module;
the received signal storage module is used for storing the historical data received by the audio signal receiving module;
the audio control signal source safety guarantee module executes the following operations:
when the audio signal receiving module receives an audio control signal sent by a terminal, acquiring a historical audio control signal which has the same identity information with the audio control signal in the received signal storage module based on the identity information of the terminal contained in the audio control signal, and determining the safe transmission proportion of the audio control signal and the attack proportion initiated by the terminal in the receiving process of the historical audio control signal;
determining a first historical security value of the terminal according to the proportion of the audio control signal to be safely transmitted and the proportion of the terminal to launch attacks;
sending a request signal carrying the identity information of the terminal to audio control signal source safety guarantee modules of other carrying robots, the distance between the request signal and the current carrying robot is not more than a preset distance, and acquiring second historical safety values in the audio control signal source safety guarantee modules of the other carrying robots;
determining a total historical security value from the first historical security value and the second historical security value;
if the total historical safety value of the terminal is greater than or equal to the preset safety value, judging that the source of the audio control signal received by the audio signal receiving module is safe, and allowing the audio control signal to be sent to the audio signal conversion module;
if the total historical safety value of the terminal is smaller than the preset safety value, judging that the source of the audio control signal received by the audio signal receiving module is unsafe, refusing to send the audio control signal to the audio signal conversion module, and feeding back a failure signal to the terminal;
the working principle of the technical scheme is as follows: when the transfer robot is remotely controlled, the robot breaks away from the visual field of workers to carry out automatic operation, when the transfer robot works in a place with an incomplete monitoring environment or a working environment with weak security, if the transfer robot is remotely cracked and remotely controlled by the people, the transfer robot transfers goods to a dangerous area or causes the transfer robot to obtain an error instruction to destroy other articles at a transfer point, so that a large amount of economic damage is caused, through the audio control signal source safety guarantee module, when the remote transfer robot receives the audio control signal each time, the audio control signal is subjected to source detection, the source safety of the audio control signal is guaranteed, so that the transfer robot is prevented from being remotely cracked and remotely controlled by the people, the transfer robot transfers goods to the dangerous area or causes the transfer robot to obtain the error instruction to destroy other articles at the transfer point, thereby causing a great deal of economic damage;
the received signal storage module is used for storing the historical data received by the audio signal receiving module; the historical data comprises historical audio control signals, the proportion of safe transmission of the audio control signals corresponding to the historical audio control signals in the receiving process and the proportion of attack launching of the terminal; furthermore, if the received signal storage module is full, unloading the full received signal storage module according to a queue first-in first-out mode; the audio control signal source safety guarantee module executes the following operations: when the audio signal receiving module receives an audio control signal sent by a terminal, acquiring a historical audio control signal which has the same identity information with the audio control signal in the received signal storage module based on the identity information of the terminal contained in the audio control signal, and determining the safe transmission proportion of the audio control signal and the attack proportion initiated by the terminal in the receiving process of the historical audio control signal; calculating a first historical safety value of the terminal according to the safe transmission proportion of the audio control signal and the attack launching proportion of the terminal; the calculation formula is preferably: delta1＝
Wherein, delta1Is a first historical safety value, A is the proportion of the safe transmission of the audio control signal, B is the proportion of the attack initiated by the terminal, g and h are preset reward and punishment weight values, and g is (0, 1)]H e [ -1, 0); sending a request signal carrying the identity information of the terminal to the audio control signal source safety guarantee module of other transfer robots with the distance to the current transfer robot not more than the preset distance to acquire the audio control of the other transfer robotsGenerating a second historical security value in the signal source security assurance module; the second historical security value is preferably calculated in the same manner as the first historical security value; after the first historical safety value and the second historical safety value are obtained, calculating a total historical safety value according to the first historical safety value and the second historical safety value; the calculation formula is preferably:
wherein δ is a total historical security value, Q is the number of other transfer robots that send a request signal carrying the identity information of the terminal to a distance not exceeding a preset distance from the current transfer robot, δ2qA second historical safety value for the qth other transfer robot; if the total historical safety value of the terminal is greater than or equal to the preset safety value, judging that the source of the audio control signal received by the audio signal receiving module is safe, and allowing the audio control signal to be sent to the audio signal conversion module; the preset safety value is preferably obtained by testing the average value of the measured first historical safety values when the audio control signal is sent to the audio signal receiving module from the preset safety terminal for not less than 10 times; if the total historical safety value of the terminal is smaller than the preset safety value, judging that the source of the audio control signal received by the audio signal receiving module is unsafe, refusing to send the audio control signal to the audio signal conversion module, and feeding back a failure signal to the terminal;
furthermore, acquiring the identity information of the terminal with the total historical security value smaller than the preset security value to establish a suspected identity information set, directly refusing to send the audio control signal to the audio signal conversion module and feeding back a failure signal to the terminal if the identity information of the terminal receiving the audio control information is in the suspected identity information set, further, the suspected identity information set has a control instruction, the identity information of the terminal can be deleted or added in the suspected identity information set through the control instruction, and the identity information comprises but is not limited to network ip, mac address and other information;
the beneficial effects of the above technical scheme are: through audio control signal source safety guarantee module, when long-range transfer robot received audio control signal at every turn, carry out the source detection to this audio control signal, guarantee this audio control signal's source safety to prevent that transfer robot from being long-range the cracking and remote control by the people, make transfer robot transport goods to danger area or lead to transfer robot to obtain wrong instruction and destroy the other article of transfer point, thereby cause a large amount of economic damage.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. The utility model provides a 5G audio transmission's that can degrade noise intelligence telehandling robot which characterized in that includes:
the audio signal receiving module is used for receiving an audio control signal sent by the terminal;
the audio signal conversion module is used for decomposing the audio control signal into a first wavelet coefficient;
the quantity sensing module is used for sensing the quantity of other transfer robots with the distance to the current transfer robot not exceeding a preset distance;
the noise reduction module is used for selecting a corresponding interference coefficient according to the number of the robots to process and convert the first wavelet coefficient to obtain a noise reduction audio control signal;
and the control module is used for controlling the carrying robot according to the noise reduction audio control signal.
2. The intelligent teleporter robot of 5G audio transmission with noise reduction function according to claim 1, wherein the audio signal transformation module decomposes the audio control signal into a plurality of first wavelet coefficients based on wavelet transform.
3. The intelligent noise-reducible 5G audio-transmission remote handling robot according to claim 1, wherein the number sensing module comprises:
the local signal sending unit is used for sending the unique identification mark information of the current robot and the position information of the current robot to the outside;
the external machine signal receiving unit is used for receiving the unique identification mark information and the corresponding position information sent by other robots except the local machine;
and the external machine signal processing unit is used for processing the information received by the external machine signal receiving unit to obtain the number of other carrying robots, the distance between the current carrying robot and the number of other carrying robots is not more than the preset distance.
4. The intelligent teleporter robot of 5G audio transmission of noise reduction of claim 3, wherein the outer machine signal processing unit performs operations comprising:
screening the position information of other robots received in the external signal receiving unit based on the position information of the current robot to obtain qualified position information, wherein the distance between the position information of other robots and the position information of the current robot does not exceed a preset distance;
and calculating the number of the unique identification mark information corresponding to the qualified position information in the external machine signal receiving unit to obtain the number of the other transfer robots with the distance from the current transfer robot not exceeding the preset distance.
5. The intelligent teleporter robot of 5G audio transmission that can reduce noise of claim 1, wherein the noise reduction module comprises interference coefficient selection unit, wavelet coefficient processing unit, wavelet coefficient conversion unit.
6. The intelligent teleporter robot of 5G audio transmission of noise reduction according to claim 5, wherein the interference factor selecting unit performs operations comprising:
if the number of the robots is larger than or equal to a preset number threshold of the robots, selecting a preset first interference coefficient;
and if the number of the robots is smaller than a preset number threshold of the robots, selecting a preset second interference coefficient.
7. The intelligent teleporter robot of 5G audio transmission of degradable noise of claim 5, characterized in that the wavelet coefficient processing unit executes operations comprising:
converting a first wavelet coefficient which is larger than a corresponding interference coefficient in the plurality of first wavelet coefficients according to a preset first conversion formula to obtain a first partial wavelet coefficient;
converting the first wavelet coefficients which are less than or equal to the corresponding interference coefficients in the plurality of first wavelet coefficients according to a preset second conversion formula to obtain second partial wavelet coefficients;
and combining the first partial wavelet coefficient and the second partial wavelet coefficient to obtain a second wavelet coefficient.
8. The intelligent teleporter robot of 5G audio transmission of degradable noise of claim 5, characterized in that the wavelet coefficient conversion unit executes operations comprising:
and converting the second wavelet coefficient processed by the wavelet coefficient processing unit into a noise reduction audio control signal based on wavelet transformation.
9. The intelligent noise-reducible 5G audio-transmission teleporter robot according to claim 1, further comprising: the unified management module is used for carrying out unified management on the remote carrying robot;
the unified management module executes the following operations:
acquiring a noise reduction audio control signal, and judging whether the noise reduction audio control signal contains a range diffusion identifier or not;
if the current remote carrying robot is not more than the preset distance, the current remote carrying robot sends broadcast information carrying the unique identification mark information, the position information and the channel connection identification information of the current remote carrying robot to other remote carrying robots;
after the other remote carrying robots receive the broadcast information, if an instant communication channel is not established in preset communication time of the other remote carrying robots, the other remote carrying robots establish the instant communication channel with the current remote carrying robot according to the broadcast information;
and the current remote carrying robot sends the noise reduction audio control signal containing the range diffusion identification to other remote carrying robots through the instant communication channel.
10. The intelligent noise-reducible 5G audio-transmission teleporter robot according to claim 1, further comprising: the device comprises a received signal storage module and an audio control signal source safety guarantee module;
the received signal storage module is used for storing the historical data received by the audio signal receiving module;
the audio control signal source safety guarantee module executes the following operations:
when the audio signal receiving module receives an audio control signal sent by a terminal, based on the identity information of the terminal contained in the audio control signal, obtaining a historical audio control signal with the same identity information as the audio control signal in the received signal storage module, and determining the safe transmission proportion of the audio control signal and the attack proportion initiated by the terminal in the receiving process of the historical audio control signal;
determining a first historical security value of the terminal according to the proportion of the audio control signal to be safely transmitted and the proportion of the terminal to launch attacks;
sending a request signal carrying the identity information of the terminal to audio control signal source safety guarantee modules of other carrying robots, the distance between the request signal and the current carrying robot is not more than a preset distance, and acquiring second historical safety values in the audio control signal source safety guarantee modules of the other carrying robots;
determining a total historical security value from the first historical security value and the second historical security value;
if the total historical safety value of the terminal is greater than or equal to a preset safety value, judging that the source of the audio control signal received by the audio signal receiving module is safe, and allowing the audio control signal to be sent to the audio signal conversion module;
if the total historical safety value of the terminal is smaller than a preset safety value, the source of the audio control signal received by the audio signal receiving module is judged to be unsafe, the audio control signal is refused to be sent to the audio signal conversion module, and a failure signal is fed back to the terminal.
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