CN113972958A - Inspection robot and data transmission method thereof - Google Patents
Inspection robot and data transmission method thereof Download PDFInfo
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- CN113972958A CN113972958A CN202111202193.5A CN202111202193A CN113972958A CN 113972958 A CN113972958 A CN 113972958A CN 202111202193 A CN202111202193 A CN 202111202193A CN 113972958 A CN113972958 A CN 113972958A
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- 238000007689 inspection Methods 0.000 title claims abstract description 92
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
- H04J3/02—Details
- H04J3/06—Synchronising arrangements
- H04J3/0635—Clock or time synchronisation in a network
- H04J3/0685—Clock or time synchronisation in a node; Intranode synchronisation
- H04J3/0691—Synchronisation in a TDM node
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
Abstract
The embodiment of the invention discloses an inspection robot and a data transmission method thereof. The inspection robot comprises a lifting workbench and a robot body; a time division multiplexing unit in the first transmission pair and a data reduction unit in the second transmission pair are configured on the liftable workbench; the robot body is provided with a data reduction unit in the first transmission pair and a time-sharing multiplexing unit in the second transmission pair; the time-sharing multiplexing unit and the data restoring unit in any one of the first transmission pair and the second transmission pair are in wired connection, and connection between the lifting workbench and the robot body is achieved. In the embodiment of the invention, the multi-path data transmission between the lifting workbench and the robot body in the inspection robot is converted into one-path data transmission in a time-sharing multiplexing mode, so that the number of cables between the lifting workbench and the robot body in the inspection robot is reduced, the aging and breaking conditions caused by cable abrasion are reduced, and the reliability and stability of the data transmission of the inspection robot are improved.
Description
Technical Field
The invention relates to a data processing technology, in particular to an inspection robot and a data transmission method thereof.
Background
In order to improve the automation operation and maintenance level of the data computer room, an inspection robot is usually used to replace or assist a human being to perform corresponding operation and maintenance work in the data computer room. At this moment, considering that the data room cabinet adopts a 42U-bit standard cabinet, the height reaches about 2.2 meters, therefore, in order to realize the inspection of the height of the whole cabinet by the inspection robot, a liftable workbench can be configured on the inspection robot.
At present, because a data machine room has a data confidentiality requirement and is forbidden to build a wireless network, data acquisition modules such as a monitoring camera, an industrial camera, a thermal imager and the like configured on a lifting workbench of the inspection robot can be connected with a robot body by network cables (such as a hundred-mega Ethernet network cable or a thousand-mega Ethernet network cable) respectively according to the mode of a figure 1, so that data transmission between the workbench and the robot body is realized.
In the process of implementing the invention, at least the following technical problems are found in the prior art: the towline cable that is used for connecting liftable workstation and robot in patrolling and examining the robot is more in quantity, has greatly reduced the space of towline cable, easily causes the ageing fracture of towline cable to influence the reliable operation of patrolling and examining the last workstation of robot.
Disclosure of Invention
The embodiment of the invention provides an inspection robot and a data transmission method thereof, which aim to reduce the number of cables between a lifting workbench and a robot body in the inspection robot, reduce the aging and breaking conditions caused by cable abrasion and improve the reliability and stability of data transmission of the inspection robot.
In a first aspect, an embodiment of the present invention provides an inspection robot, including: the workbench and the robot body can be lifted;
the lifting workbench is provided with a time division multiplexing unit in a first transmission pair and a data reduction unit in a second transmission pair, the time division multiplexing unit in the first transmission pair is connected with a multi-channel data sending end on the lifting workbench, and the data reduction unit in the second transmission pair is connected with a multi-channel data receiving end on the lifting workbench;
the robot body is provided with a data reduction unit in the first transmission pair and a time division multiplexing unit in the second transmission pair, the data reduction unit in the first transmission pair is connected with a multi-channel data receiving end on the robot body, and the time division multiplexing unit in the second transmission pair is connected with a multi-channel data sending end on the robot body;
and the time division multiplexing unit and the data recovery unit in any one of the first transmission pair and the second transmission pair are in wired connection, so that the connection between the lifting workbench and the robot body is realized.
In a second aspect, an embodiment of the present invention provides a data transmission method, which is applied to the inspection robot provided in the first aspect, and the method includes:
converting multi-path transmission data into one path of transmission data in a time division multiplexing mode through time division multiplexing units configured on data sending ends of two communication parties in the inspection robot, and transmitting the transmission data to data receiving ends of the two communication parties;
a data reduction unit is configured on a data receiving end of each communication party, and the transmission data of the path is reduced according to the synchronous time sequence specified by time division multiplexing so as to realize data transmission of the communication parties in the inspection robot;
the two communication parties are a lifting workbench and a robot body in the inspection robot.
The technical scheme provided by the embodiment of the invention is that the time-sharing multiplexing unit in the first transmission pair and the data restoring unit in the second transmission pair are arranged on the lifting workbench of the inspection robot, the data restoring unit in the first transmission pair and the time-sharing multiplexing unit in the second transmission pair are arranged on the robot body, then the time-sharing multiplexing unit in any one of the first transmission pair and the second transmission pair and the data restoring unit are connected by wire, so as to realize the connection between the lifting workbench and the robot body in the inspection robot, at the moment, the time-sharing multiplexing mode is adopted to convert the multi-path data transmission between the lifting workbench and the robot body in the inspection robot into one-path data transmission, the multi-path data connection between the lifting workbench and the robot body is not needed, and thus the number of cables between the lifting workbench and the robot body in the inspection robot is reduced, the space of drag chain cable in the robot is patrolled and examined in the increase, reduces because the cable wearing and tearing lead to ageing cracked condition, improves the reliability and the stability of patrolling and examining robot data transmission.
In addition, in the data transmission process in the inspection robot, time-sharing multiplexing of data transmission is realized according to the data effective proportion and the synchronous time sequence of the multi-path transmission data, and the accuracy of the data transmission is ensured.
Drawings
Fig. 1 is a schematic diagram of data transmission in an inspection robot in the prior art.
Fig. 2 is a schematic diagram of the principle of the inspection robot according to the embodiment of the present invention.
Fig. 3 is a flowchart illustrating an example of a data transmission method according to an embodiment of the present invention.
Fig. 4 is another exemplary flowchart of a data transmission method according to an embodiment of the present invention.
Fig. 5 is a schematic diagram of a time division multiplexing process according to an embodiment of the present invention.
Fig. 6 is a schematic diagram of a data reduction process according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 2 is a schematic diagram of the principle of the inspection robot according to the embodiment of the present invention, which is applicable to any scenario where the inspection robot performs corresponding operation and maintenance work in a data room with security requirements. Specifically, referring to fig. 2, the inspection robot of the present embodiment may include a liftable table 10 and a robot body 20.
The liftable worktable 10 is provided with a time-sharing multiplexing unit 310 in a first transmission pair 30 and a data recovery unit 420 in a second transmission pair 40, which are respectively connected with a plurality of paths of data interfaces on the liftable worktable 10; the robot body 20 is provided with a data recovery unit 320 in the first transmission pair 30 and a time division multiplexing unit 410 in the second transmission pair 40, which are respectively connected with a plurality of paths of data interfaces on the robot body 20; the time division multiplexing unit and the data recovery unit in any one of the first transmission pair 30 and the second transmission pair 40 are connected by wire, so that the connection between the liftable workbench 10 and the robot body 20 is realized.
Specifically, the time-sharing multiplexing unit 310 in the first transmission pair 30 is connected to a multi-channel data sending terminal on the liftable worktable 10, and the data restoring unit 420 in the second transmission pair 40 is connected to a multi-channel data receiving terminal on the liftable worktable 10; the data recovery unit 320 in the first transmission pair 30 is connected to a multi-channel data receiving terminal on the robot body 20, and the time division multiplexing unit 410 in the second transmission pair 40 is connected to a multi-channel data transmitting terminal on the robot body 20.
Specifically, consider that present but the liftable workstation in patrolling and examining the robot and the robot body within the time can adopt multichannel data connection, make but the majority transmission data between liftable workstation and robot body can adopt parallel transmission's mode, consequently in order to reduce the connection cable between liftable workstation and the robot body in patrolling and examining the robot, this embodiment can optimize the data transmission mode between liftable workstation and robot body, but improve the multichannel data parallel transmission mode between liftable workstation and robot body into serial transmission mode, thereby reduce the communication cable between liftable workstation and the robot body in patrolling and examining the robot.
In order to ensure the inspection comprehensiveness of the inspection robot to the cabinets in the data machine room, a plurality of data acquisition modules such as a monitoring camera, an industrial camera, a thermal imager and the like are configured on a lifting workbench 10 of the inspection robot and used for acquiring various inspection data in the height of the whole cabinet in the data machine room, so that the inspection comprehensiveness is ensured.
At this time, in this embodiment, the multiple data interfaces on the liftable platform 10 may be data interfaces for performing data transmission with the robot body 20 in the data acquisition modules configured on the liftable platform 10, and the multiple data interfaces on the robot body 20 may be data interfaces provided on the robot body 20 for performing data transmission with the data acquisition modules configured on the liftable platform 10. That is, the multiple data transmitting terminals and the multiple data receiving terminals on the liftable worktable 10 are the data transmitting terminals and the data receiving terminals of the data acquisition modules installed on the liftable worktable 10; the multiple data transmitting ends and the multiple data receiving ends on the robot body 20 are data transmitting ends and data receiving ends which are arranged on the robot body 20 and used for data transmission with the data acquisition modules installed on the liftable workbench 10.
In this embodiment, data interaction is performed between the liftable table 10 and the robot body 20 in the inspection robot, the liftable table 10 and the robot body 20 serve as both communication parties in the inspection robot, and when any one of the liftable table 10 and the robot body 20 serves as a data sending end in both communication parties, the other is a data receiving end in both communication parties.
Therefore, in order to guarantee in the mutual arbitrary transmission direction of data between liftable workstation 10 and robot 20, liftable workstation 10 and robot 20 can both be connected to the cable that can adopt less quantity, in order to reduce the condition that leads to ageing fracture because the cable is constantly worn and torn, this embodiment can be directed against each transmission direction of data interaction between liftable workstation 10 and the robot 20, set up two transmission pairs respectively in patrolling and examining the robot, wherein first transmission pair 30 is used for supporting liftable workstation 10 to transmit data to robot 20, second transmission pair 40 is used for supporting robot 20 to liftable workstation 10 transmission data.
In this case, in order to reduce the number of connection cables between the liftable table 10 and the robot body 20 in the inspection robot, the present embodiment may change the parallel transmission method of the multi-path data between the liftable table 10 and the robot body 20 to the serial transmission method. Then, in order to realize the improvement from the parallel transmission mode to the serial transmission mode of the multi-channel data between the liftable worktable 10 and the robot body 20, in this embodiment, a time-sharing multiplexing unit and a data restoring unit are respectively arranged in any one of the first transmission pair 30 and the second transmission pair 40, before data transmission is performed between two communication parties in the inspection robot, the multi-channel transmission data required to be transmitted by a data transmitting end in the two communication parties is converted into one-channel transmission data by the time-sharing multiplexing unit in a time-sharing multiplexing mode, then the converted one-channel transmission data is sent to a data receiving end in the two communication parties, thereby reducing a connecting cable between the liftable worktable 10 and the robot body 20 in the inspection robot, and then the received one-channel transmission data is restored into the multi-channel transmission data required to be transmitted by the data restoring unit, therefore, on the basis of reducing the number of connecting cables between the two communication parties in the inspection robot, multi-path data transmission between the two communication parties in the inspection robot is further realized.
Therefore, according to the specific functions of the time-sharing multiplexing unit and the data restoring unit in each transmission pair, in this embodiment, the time-sharing multiplexing unit 310 in the first transmission pair 30 and the data restoring unit 420 in the second transmission pair 40 are configured on the liftable platform 10 of the inspection robot, and the data restoring unit 320 in the first transmission pair 30 and the time-sharing multiplexing unit 410 in the second transmission pair 40 are configured on the robot body 20. Then, the time division multiplexing unit 310 in the first transmission pair 30 disposed on the liftable table 10 and the data restoring unit 320 in the first transmission pair 30 disposed on the robot body 20 realize data transmission from the liftable table 10 to the robot body 20. Meanwhile, the data transmission from the robot body 20 to the liftable platform 10 is realized through the time division multiplexing unit 410 in the second transmission pair 40 disposed on the robot body 20 and the data recovery unit 420 in the second transmission pair 40 disposed on the liftable platform 10.
Further, the time-sharing multiplexing unit 310 in the first transmission pair 30 and the data restoring unit 420 in the second transmission pair 40 disposed on the liftable worktable 10 may be connected to multiple data interfaces on the liftable worktable 10, that is, to data interfaces of various data acquisition modules such as a monitoring camera, an industrial camera, a thermal imager, and the like mounted on the liftable worktable 10, so that the time-sharing multiplexing unit 310 disposed on the liftable worktable 10 may obtain data to be transmitted to the robot body 20 from the connected multiple data interfaces, and after restoring the multiple transmission data transmitted by the robot body 20, the data restoring unit 420 disposed on the liftable worktable 10 may transmit the multiple transmission data to the data acquisition modules through the connected multiple data interfaces.
At this time, the data receiving end of the time division multiplexing unit 310 in the first transmission pair 30 configured on the liftable worktable 10 may be connected to the multiple data transmitting ends on the liftable worktable 10, and the data transmitting end of the data restoring unit 420 in the second transmission pair 40 configured on the liftable worktable 10 may be connected to the multiple data receiving ends on the liftable worktable 10, so as to accurately distinguish the data transmission directions of the liftable worktable 10.
Moreover, the data recovery unit 320 in the first transmission pair 30 and the time-sharing multiplexing unit 410 in the second transmission pair 40 disposed on the robot body 20 are connected to the multiple data interfaces on the robot body 20, that is, connected to the data interfaces disposed on the robot body 20 and used for performing data transmission with the data acquisition modules disposed on the liftable worktable 10, so that the time-sharing multiplexing unit 410 disposed on the robot body 20 can obtain data to be transmitted to the liftable worktable 10 from the connected multiple data interfaces, and after recovering the multiple transmission data transmitted by the liftable worktable 10, the data recovery unit 320 disposed on the robot body 20 can transmit the multiple transmission data to the robot body through the connected multiple data interfaces.
At this time, the data transmitting end of the data restoring unit 320 in the first transmission pair 30 disposed on the robot body 20 may be connected to the multiple data receiving ends on the robot body 20, and the data receiving end of the time division multiplexing unit 410 in the second transmission pair 40 disposed on the robot body 20 may be connected to the multiple data transmitting ends on the robot body 20, so that the data transmission directions of the robot body 20 may be accurately distinguished.
Finally, the internal time-sharing multiplexing unit and the data restoring unit of any one of the transmission pair 30 and the second transmission pair 40 in the inspection robot can be in wired connection, and original multi-path transmission data is converted into one-path transmission data for transmission when the internal time-sharing multiplexing unit of any transmission transmits data to the internal data restoring unit of the transmission pair, so that the multi-path connection cable between the internal time-sharing multiplexing unit and the data restoring unit of any transmission can be replaced by one-path connection cable, multi-path data connection between the lifting workbench and the robot body is not needed, and the number of cables between the lifting workbench and the robot body in the inspection robot is reduced.
In the embodiment of the invention, the time-sharing multiplexing unit in the first transmission pair and the data restoring unit in the second transmission pair are configured on the lifting workbench of the inspection robot, the data restoring unit in the first transmission pair and the time-sharing multiplexing unit in the second transmission pair are configured on the robot body, then the time-sharing multiplexing unit in any one of the first transmission pair and the second transmission pair and the data restoring unit are connected by wire, so that the connection between the lifting workbench and the robot body in the inspection robot is realized, at the moment, the time-sharing multiplexing mode is adopted, the multi-path data transmission between the lifting workbench and the robot body in the inspection robot is converted into one-path data for transmission, the multi-path data connection between the lifting workbench and the robot body is not needed, and the number of cables between the lifting workbench and the robot body in the inspection robot is reduced, the space of drag chain cable in the robot is patrolled and examined in the increase, reduces because the cable wearing and tearing lead to ageing cracked condition, improves the reliability and the stability of patrolling and examining robot data transmission.
As an alternative in this embodiment, in order to ensure synchronization of time division multiplexing when data transmission is performed by both communication parties in the inspection robot, as shown in fig. 2, in this embodiment, clock modules are configured on the liftable workbench 10 and the robot body 20, and are used to provide clock synchronization signals for the liftable workbench 10 and the robot body 20 during data transmission.
The time division multiplexing achieves the purpose of transmitting multiplex data by one line by transmitting part of data of each path of data in the multiplex data alternately in time. Therefore, the clock module can provide the synchronous time of each path of data in the multiplexed data for the liftable worktable 10 and the robot body 20.
In this embodiment, in order to accurately distinguish clock synchronization signals of the units disposed in the liftable table 10 and the robot body 20 during data transmission, the time division multiplexing unit 310 in the first transmission pair 30 disposed on the liftable table 10 may be connected to the first clock unit 510 in the clock module disposed on the liftable table 10, and the data recovery unit 420 in the second transmission pair 40 disposed on the liftable table 10 may be connected to the second clock unit 520 in the clock module disposed on the liftable table 10. Moreover, the data recovery unit 320 in the first transmission pair 30 disposed on the robot body 20 may be connected to the third clock unit 530 in the clock module disposed on the robot body 20, and the time division multiplexing unit 410 in the second transmission pair 40 disposed on the robot body 20 may be connected to the fourth clock unit 540 in the clock module disposed on the robot body 20, that is, each unit disposed in the liftable worktable 10 and the robot body 20 is correspondingly connected to one clock unit, so that the clock units connected to each unit disposed in the liftable worktable 10 and the robot body 20 are individually provided with corresponding clock synchronization signals.
At this time, the connection line between the time-sharing multiplexing unit and the data restoring unit in any one of the first transmission pair 30 and the second transmission pair 40 may include a data transmission line and a clock synchronization line, the data transmission line is used for transmitting a converted path of transmission data between the liftable worktable 10 of the inspection robot and the robot body 20, and the clock synchronization line is used for transmitting a synchronization timing sequence when the time-sharing multiplexing unit performs time-sharing multiplexing between the liftable worktable 10 of the inspection robot and the robot body 20, so that the data restoring unit in any one of the transmission pairs restores the received path of transmission data according to the synchronization timing sequence when the time-sharing multiplexing is performed, and the accuracy of restoration after the time-sharing multiplexing of the data is ensured.
Fig. 3 is a flowchart illustrating an example of a data transmission method according to an embodiment of the present invention, and is applicable to an inspection robot provided in the foregoing embodiment in any scenario where the inspection robot performs corresponding operation and maintenance work in a data room with security requirements. At the moment, the lifting workbench and the robot body in the inspection robot can be used as both communication parties in the inspection robot. As shown in fig. 3, the method may specifically include the following steps:
and S310, converting the multi-path transmission data into one path of transmission data in a time division multiplexing mode through the time division multiplexing units configured on the data sending ends of the two communication parties in the inspection robot, and transmitting the transmission data to the data receiving ends of the two communication parties.
Specifically, in order to guarantee the inspection comprehensiveness of the inspection robot to the cabinet in the data machine room, multiple data acquisition modules such as a monitoring camera, an industrial camera and a thermal imager can be configured on a lifting workbench of the inspection robot, and the data acquisition modules are used for acquiring various inspection data in the height of the whole cabinet in the data machine room, so that the inspection comprehensiveness is guaranteed. Moreover, in order to in the arbitrary transmission direction of data interaction between liftable workstation and the robot body, can both adopt less quantity cable to connect liftable workstation and robot body, in order to reduce because the continuous wearing and tearing of cable lead to ageing cracked condition, this embodiment can be directed against each transmission direction between the communication both sides that liftable workstation and robot body constitute, set up two transmission pairs respectively in patrolling and examining the robot, wherein first transmission is to being used for supporting liftable workstation to the robot body transmission data, the second transmission is to being used for supporting the robot body to the liftable workstation transmission data.
And a time-sharing multiplexing unit and a data restoring unit are respectively arranged in any one of the first transmission pair and the second transmission pair, the time-sharing multiplexing unit in the first transmission pair and the data restoring unit in the second transmission pair are configured on a lifting workbench of the inspection robot according to the specific functions of the time-sharing multiplexing unit and the data restoring unit in each transmission pair, and the data restoring unit in the first transmission pair and the time-sharing multiplexing unit in the second transmission pair are configured on the robot body.
In this embodiment, according to each transmission direction between two communication parties consisting of the liftable workbench and the robot body in the inspection robot, any one of the liftable workbench and the robot body can be used as a data sending end in the two communication parties, and the other can be used as a data receiving end in the two communication parties.
At this time, for a data sending end of two communication parties in the inspection robot, the time division multiplexing unit configured on the data sending end can receive the multiplex transmission data which needs to be transmitted to a data receiving end, and the time division multiplexing unit adopts a time division multiplexing mode to convert the multiplex transmission data into one path of transmission data, and then transmits the converted one path of transmission data to the data receiving ends of the two communication parties. Because the time-sharing multiplexing unit of the data sending end transmits data to the data reduction unit of the data receiving end, original multi-path transmission data are converted into one path of transmission data for transmission, multi-path connecting cables in all transmission directions between the liftable workbench and the robot body can be replaced by one path of connecting cables, multi-path data connection between the liftable workbench and the robot body is not needed, and the number of cables between the liftable workbench and the robot body in the inspection robot is reduced.
And S320, restoring one path of transmission data according to the synchronous time sequence specified by time division multiplexing through the data restoring units configured on the data receiving ends of the two communication parties so as to realize the data transmission of the two communication parties in the inspection robot.
Specifically, in order to ensure the synchronism of time division multiplexing when both communication parties in the inspection robot perform data transmission, when the data sending end adopts a time division multiplexing mode to convert the multiplex transmission data into one path of transmission data, a corresponding synchronous time sequence is also specified for the time division multiplexing, the conversion format of each path of data in the multiplex transmission data in the converted path of transmission data is set through the rising edge and the falling edge of the synchronous time sequence, and the synchronous time sequence and the converted path of transmission data are sent to the data receiving end together.
After receiving a path of transmission data transmitted by the data transmitting end, the data receiving end can analyze the synchronous time sequence specified by the time division multiplexing, and determine the conversion format of each path of data in the original multi-path transmission data in the converted path of transmission data. Then, the data receiving end divides the received transmission data according to the conversion format of each path of data in the multi-path transmission data in the converted transmission data, so that each path of data in the multi-path transmission data of the data sending end is restored, and multi-path data transmission between two communication parties in the inspection robot is achieved.
In the embodiment of the invention, the data transmitting ends in the liftable workbench and the robot body in the inspection robot can adopt a time-sharing multiplexing mode to convert the multi-path data transmission between the liftable workbench and the robot body in the inspection robot into one-path data for transmission, and the multi-path data connection between the liftable workbench and the robot body is not needed, so that the number of cables between the liftable workbench and the robot body in the inspection robot is reduced, the space of a towline cable in the inspection robot is increased, the aging and breaking conditions caused by cable abrasion are reduced, and the reliability and stability of the data transmission of the inspection robot are improved.
In a specific embodiment, the multiple transmission data may be converted into one transmission data according to a data effective ratio of the multiple transmission data and a synchronization timing specified by time division multiplexing, and the one transmission data may be restored in a corresponding manner. Specifically, as shown in fig. 4, the method may include the following steps:
and S410, synchronously dividing each path of transmission data in the multi-path transmission data according to the data effective ratio of the multi-path transmission data through the time division multiplexing unit configured on the data transmitting end of the two communication parties in the inspection robot.
The effective data ratio of the multipath transmission data obtained by the data sending end of the two communication parties in the inspection robot can be determined by the transmission rate of each path of transmission data in the multipath transmission data. For example, as shown in fig. 5, three paths of transmission data, namely, industrial camera data, monitoring camera data and thermal imager data, can be respectively acquired through a plurality of paths of data interfaces in a data transmitting terminal, which correspond to 3 data acquisition modules, namely, an industrial camera, a monitoring camera and a thermal imager, at this time, a gigabit ethernet is accessed to the data interface corresponding to the industrial camera, and a hundred-gigabit ethernet is accessed to the data interfaces corresponding to the monitoring camera and the thermal imager, so that the effective data ratio of the three paths of transmission data is 10:1: 1.
Then, the data sending end of the two communication parties in the inspection robot can synchronously divide each path of transmission data in the multiplexed data according to the data effective ratio of the multiplexed data, as shown in fig. 5, so as to obtain synchronous data frames synthesized by partial data in the multiplexed data in different transmission periods.
And S420, merging the synchronous data frames after synchronous division in the multi-path transmission data through the time division multiplexing unit configured on the data sending end of the two communication parties in the inspection robot to obtain one path of transmission data.
According to the synchronous transmission time interval of each synchronous data frame formed by synchronously dividing the multi-path transmission data, each synchronous data frame can be merged as shown in fig. 5, so that one path of converted transmission data is obtained.
And S430, determining a synchronous time sequence appointed by time division multiplexing according to a synchronous combination result of multi-path transmission data in one path of transmission data through a time division multiplexing unit configured on a data sending end of both communication parties in the inspection robot.
After the data sending end converts the multi-path transmission data into one path of transmission data in a time-sharing multiplexing mode, the data sending end sets corresponding rising edges and falling edges according to synchronous combination results of all synchronous data frames formed by partial data in the multi-path transmission data in the one path of transmission data, so that a synchronous time sequence specified by time-sharing multiplexing is obtained, and each synchronous data frame can be analyzed from the converted one path of transmission data according to the rising edges and the falling edges in the synchronous time sequence.
Therefore, in the data transmission process in the inspection robot, the time-sharing multiplexing of data transmission is realized according to the data effective proportion and the synchronous time sequence of the multi-path transmission data, and the accuracy of the data transmission is ensured.
And S440, transmitting one path of transmission data and the synchronous time sequence to data receiving ends of two communication parties through a time division multiplexing unit configured on the data transmitting ends of the two communication parties in the inspection robot.
And S450, synchronously dividing one path of transmission data according to the specified synchronous time sequence of time division multiplexing through the data reduction units configured on the data receiving ends of the two communication parties.
After receiving a path of transmission data transmitted by the data transmitting end and a synchronization timing sequence specified by time division multiplexing through the data receiving ends of both communication parties, as shown in fig. 6, the data receiving end divides the received path of transmission data based on a rising edge and a falling edge in the synchronization timing sequence specified by time division multiplexing, thereby obtaining each synchronization data frame.
And S460, analyzing each divided synchronous data frame according to the data effective ratio of the multi-path transmission data through a data reduction unit configured on the data receiving end of the two communication parties to obtain each path of transmission data in the multi-path transmission data.
At this time, each synchronous data frame obtained by dividing one path of transmission data by the data receiving end is composed of partial data of each path of data in the original multipath transmission data of the data transmitting end, so that the data receiving end can perform multipath data analysis on each synchronous data frame according to the effective data ratio of the multipath transmission data, thereby obtaining partial data in each path of data in the multipath transmission data contained in the synchronous data frame, and then merging the partial data of each path of data contained in each synchronous data frame, thereby obtaining each path of transmission data in the multipath transmission data, realizing the reduction from one path of transmission data to the multipath transmission data, and ensuring the accuracy of the reduction after time-sharing multiplexing of the data.
It should be understood that although the steps in the flowcharts of fig. 3 and 4 are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 3 and 4 may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least some of the sub-steps or stages of other steps.
It should be noted that the effect diagrams shown in the embodiment of the present disclosure are intended to illustrate a method for data transmission in an inspection robot, and contents (including but not limited to text, pictures, and the like) presented in a specific page do not form a limitation on a scheme.
The above-described embodiments should not be construed as limiting the scope of the invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions can occur, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An inspection robot, comprising: the workbench and the robot body can be lifted;
the lifting workbench is provided with a time division multiplexing unit in a first transmission pair and a data reduction unit in a second transmission pair, the time division multiplexing unit in the first transmission pair is connected with a multi-channel data sending end on the lifting workbench, and the data reduction unit in the second transmission pair is connected with a multi-channel data receiving end on the lifting workbench;
the robot body is provided with a data reduction unit in the first transmission pair and a time division multiplexing unit in the second transmission pair, the data reduction unit in the first transmission pair is connected with a multi-channel data receiving end on the robot body, and the time division multiplexing unit in the second transmission pair is connected with a multi-channel data sending end on the robot body;
and the time division multiplexing unit and the data recovery unit in any one of the first transmission pair and the second transmission pair are in wired connection, so that the connection between the lifting workbench and the robot body is realized.
2. The inspection robot according to claim 1, wherein the multiple data sending ends and the multiple data receiving ends on the liftable worktable are data sending ends and data receiving ends of the data acquisition modules installed on the liftable worktable;
the multi-path data transmitting end and the multi-path data receiving end on the robot body are used for data transmission with the data acquisition modules installed on the lifting workbench.
3. The inspection robot according to claim 1, wherein the liftable worktable and the robot body are provided with clock modules respectively used for providing clock synchronization signals for the liftable worktable and the robot body during data transmission.
4. The inspection robot according to claim 3, wherein the time-sharing multiplexing unit in the first transmission pair is connected with a first clock unit in a clock module configured on the liftable worktable, and the data recovery unit in the second transmission pair is connected with a second clock unit in the clock module configured on the liftable worktable;
the data recovery unit in the first transmission pair is connected with a third clock unit in a clock module configured on the robot body, and the time-sharing multiplexing unit in the second transmission pair is connected with a fourth clock unit in the clock module configured on the robot body.
5. The inspection robot according to claim 3, wherein the connection lines between the time-division multiplexing unit and the data recovery unit within any one of the first transmission pair and the second transmission pair include a data transmission line and a clock synchronization line.
6. A data transmission method applied to the inspection robot according to any one of claims 1 to 5, the method comprising:
converting multi-path transmission data into one path of transmission data in a time division multiplexing mode through time division multiplexing units configured on data sending ends of two communication parties in the inspection robot, and transmitting the transmission data to data receiving ends of the two communication parties;
restoring the path of transmission data according to the synchronous time sequence specified by time division multiplexing through a data restoring unit configured on the data receiving end of the two communication parties so as to realize data transmission of the two communication parties in the inspection robot;
the two communication parties are a lifting workbench and a robot body in the inspection robot.
7. The method according to claim 6, wherein said converting the multiplexed data into one path of transmission data by time division multiplexing comprises:
synchronously dividing each path of transmission data in the multi-path transmission data according to the data effective ratio of the multi-path transmission data;
and merging the synchronous data frames which are synchronously divided in the multi-path transmission data to obtain the one-path transmission data.
8. The method of claim 7, wherein the data effective fraction of the multiplexed data is determined by a transmission rate of each of the multiplexed data.
9. The method of claim 7, wherein the transmitting to the data receiving end of the two communicating parties comprises:
determining the synchronous time sequence appointed by the time division multiplexing according to the synchronous combination result of the multi-path transmission data in the one path of transmission data;
and transmitting the transmission data and the synchronous time sequence to data receiving ends of the two communication parties.
10. The method according to claim 6, wherein the recovering the one-path transmission data according to the synchronization timing specified by the time division multiplexing comprises:
synchronously dividing the transmission data according to the synchronous time sequence appointed by the time division multiplexing;
and analyzing each divided synchronous data frame according to the effective data proportion of the multi-path transmission data to obtain each path of transmission data in the multi-path transmission data.
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