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, beta_1τ' is the first partial wavelet coefficient, sgn (beta)_1τ) As a step function, beta_1τFor the first wavelet coefficient larger than the corresponding interference coefficient in the plurality of first wavelet coefficients, τ e t is 1,2,3, …, | β_1τL 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:

wherein, beta_1ω"is the second partial wavelet coefficient, β_1ωThe first wavelet coefficients which are less than or equal to the corresponding interference coefficients in the plurality of first wavelet coefficients, omega e t is 1,2,3, …, | beta_1ω| is the value of the first wavelet coefficient less than or equal to the corresponding interference coefficient in the plurality of first wavelet coefficients, theta is the standard variance value of the wavelet coefficients, k is a preset optimization parameter, and k is<α; combining the first partial wavelet coefficient and the second partial wavelet coefficient to obtain a second wavelet coefficient beta_2t(ii) a By assuming the first wavelet coefficient beta_1tWherein t is 1,2,3,4,5,6, wherein β₁₁,β₁₃,β₁₅Is greater than the corresponding interference coefficient, beta is corrected according to a preset first conversion formula₁₁,β₁₃,β₁₅Is treated to obtain beta₁₁′,β₁₃′,β₁₅', wherein beta₁₂,β₁₄,β₁₆If the value of (b) is less than or equal to the corresponding interference coefficient, then p is calculated according to a preset second conversion formula₁₂,β₁₄,β₁₆Is treated to obtain beta₁₂”,β₁₄”,β₁₆", will beta₁₁′,β₁₃′,β₁₅' and beta₁₂”,β₁₄”,β₁₆"combine to obtain the second wavelet coefficient, i.e. the second wavelet coefficient beta_2t＝β₁₁′,β₁₂”,β₁₃′,β₁₄”,β₁₅′,β₁₆"; the wavelet coefficient conversion unit performs operations including: converting a second wavelet coefficient obtained after the wavelet coefficient processing unit processes the second wavelet coefficient into a noise reduction audio control signal based on wavelet transformation;

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:

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;

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, δ_2qA 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

1. The utility model provides a 5G audio transmission's that can degrade noise intelligence telehandling robot which characterized in that includes:

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;

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:

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:

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:

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:

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:

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;

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;

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.