CN113059569A - Multi-terminal interaction method, device and system - Google Patents
Multi-terminal interaction method, device and system Download PDFInfo
- Publication number
- CN113059569A CN113059569A CN202110383399.6A CN202110383399A CN113059569A CN 113059569 A CN113059569 A CN 113059569A CN 202110383399 A CN202110383399 A CN 202110383399A CN 113059569 A CN113059569 A CN 113059569A
- Authority
- CN
- China
- Prior art keywords
- mobile terminal
- topological structure
- target
- opposite side
- transmission path
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 38
- 230000003993 interaction Effects 0.000 title claims abstract description 31
- 230000005540 biological transmission Effects 0.000 claims abstract description 54
- 238000004891 communication Methods 0.000 claims description 18
- 238000012545 processing Methods 0.000 claims description 10
- 238000012795 verification Methods 0.000 claims description 10
- 230000002457 bidirectional effect Effects 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 7
- 230000008569 process Effects 0.000 description 7
- 238000012986 modification Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 206010033799 Paralysis Diseases 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W76/00—Connection management
- H04W76/10—Connection setup
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The invention discloses a multi-terminal interaction method, a device and a system, wherein the method is applied to a target mobile terminal in a mobile terminal group, and comprises the following steps: when any mobile terminal in the mobile terminal group is detected, a data link channel is established with the mobile terminal; acquiring the opposite side topological structure of any mobile terminal, and updating a target topological structure stored by the opposite side topological structure according to the opposite side topological structure; and determining a transmission path of the information based on the connection relation represented by the target topological structure. The technical problem that in the prior art, a multi-terminal data transmission path is fixed, so that cooperative scheduling is difficult is solved, a more efficient data transmission mode is realized, and the technical effect of facilitating cooperative scheduling is achieved.
Description
Technical Field
The invention relates to the field of robots, in particular to a multi-terminal interaction method, device and system.
Background
At present, a single mobile robot is difficult to complete complex and tedious work tasks by the mobile robot, and no matter an industrial robot or a service robot, multi-robot cooperation is an inevitable trend, namely, the performance of the whole robot, such as fault tolerance, flexibility and task execution efficiency, is improved by information sharing and communication cooperation. The existing multi-machine cooperative control system is generally divided into a centralized control structure and a distributed control structure.
However, in the specific implementation process, the system composed of the centralized control structure is slow to process a large number of tasks at the same time, and the main control unit needs to be deployed additionally, and the main control unit is down, which may cause the whole system to be paralyzed. A system formed by a distributed control structure deploys a data transmission mode among robots in advance, and global optimal scheduling is difficult to achieve. Further, it is difficult to make cooperative scheduling.
Disclosure of Invention
The embodiment of the application provides a multi-terminal interaction method, device and system, solves the technical problem that cooperative scheduling is difficult due to the fact that a multi-terminal data transmission path is fixed in the prior art, and achieves a more efficient data transmission mode, so that the technical effect of cooperative scheduling is facilitated.
In a first aspect, the present application provides the following technical solutions through an embodiment of the present application:
a multi-terminal interaction method is applied to a target mobile terminal in a mobile terminal group, and comprises the following steps:
when any mobile terminal in the mobile terminal group is detected, a data link channel is established with the mobile terminal;
acquiring the opposite side topological structure of any mobile terminal, and updating a target topological structure stored by the opposite side topological structure according to the opposite side topological structure;
and determining a transmission path of the information based on the connection relation represented by the target topological structure.
Optionally, after the establishing a data link channel with any mobile terminal when detecting any mobile terminal in the mobile terminal group, the method further includes:
and when the data link channel is detected to be disconnected with any mobile terminal, updating the target topological structure stored in the mobile terminal.
Optionally, the obtaining of the opposite side topology structure of any mobile terminal includes:
and acquiring verification information of any mobile terminal, and acquiring the opposite side topological structure of any mobile terminal if the verification information passes authentication.
Optionally, the determining a transmission path of information based on the connection relationship characterized by the target topology includes:
and determining a feasible path set from a source node to a target node in the target topological structure based on the connection relation represented by the target topological structure, and determining the transmission path from the feasible path set based on a bidirectional A-algorithm.
Optionally, the establishing a data link channel with the mobile terminal includes:
and establishing the data link channel with any mobile terminal based on a transmission control protocol and an internet protocol.
Optionally, the mobile terminal is a robot device.
Optionally, after determining the transmission path of the information based on the connection relationship characterized by the target topology, the method further includes:
and transmitting the information to a specified mobile terminal in the mobile terminal group through the determined transmission path based on an extensible information interaction protocol.
In a second aspect, the present application provides the following technical solutions according to an embodiment of the present application:
a mobile terminal apparatus comprising:
the communication unit is used for establishing a data link channel with any mobile terminal when any mobile terminal in the mobile terminal group is detected;
the storage unit is used for acquiring the opposite side topological structure of any one mobile terminal and updating a target topological structure stored by the storage unit according to the opposite side topological structure;
and the processing unit is used for determining the transmission path of the information based on the connection relation represented by the target topological structure.
Optionally, the communication unit is further configured to: and when the data link channel is detected to be disconnected with any mobile terminal, updating the target topological structure stored in the mobile terminal.
Optionally, the communication unit is further configured to: and establishing the data link channel with any mobile terminal based on a transmission control protocol and an internet protocol.
Optionally, the communication unit is further configured to: and transmitting the information to a specified mobile terminal in the mobile terminal group through the determined transmission path based on an extensible information interaction protocol.
Optionally, the communication unit is further configured to: and acquiring verification information of any mobile terminal, and acquiring the opposite side topological structure of any mobile terminal if the verification information passes authentication.
Optionally, the processing unit is further configured to: and determining a feasible path set from a source node to a target node in the target topological structure based on the connection relation represented by the target topological structure, and determining the transmission path from the feasible path set based on a bidirectional A-algorithm.
Optionally, the mobile terminal is a robot device.
In a third aspect, the present application provides the following technical solutions through an embodiment of the present application:
a mobile terminal system comprising:
a plurality of mobile terminals;
the mobile terminal includes: the device comprises a communication unit, a storage unit and a processing unit;
the communication unit is used for establishing a data link channel with any mobile terminal when any mobile terminal in the mobile terminal group is detected; the storage unit is used for acquiring the opposite side topological structure of any one mobile terminal and updating a target topological structure stored by the storage unit according to the opposite side topological structure; and the processing unit is used for determining the transmission path of the information based on the connection relation represented by the target topological structure.
Optionally, the communication unit is a Wi-Fi device, so as to implement ad hoc network driving and an extensible information interaction protocol.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:
the embodiment of the invention discloses a multi-terminal interaction method, a multi-terminal interaction device and a multi-terminal interaction system. A connection can be established ad hoc with any mobile terminal. Further, the counterpart topology of any one of the mobile terminals may be acquired, and the target topology stored in the counterpart topology may be updated according to the counterpart topology. The topology stored in the topology can be enabled to keep the latest state. And then, based on the connection relation represented by the target topological structure, the transmission path of the information can be determined, and data transmission and interaction are further flexibly performed. The technical problem that in the prior art, a multi-terminal data transmission path is fixed, so that cooperative scheduling is difficult is solved, a more efficient data transmission mode is realized, and the technical effect of facilitating cooperative scheduling is achieved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
FIG. 1 is a flowchart of a multi-terminal interaction method according to an embodiment of the present invention;
FIG. 2 is a block diagram of a mobile terminal apparatus according to an embodiment of the present invention;
fig. 3 is a block diagram of a mobile terminal system according to an embodiment of the present invention.
Detailed Description
The embodiment of the application provides a multi-terminal interaction method, device and system, solves the technical problem that cooperative scheduling is difficult due to the fact that a multi-terminal data transmission path is fixed in the prior art, and achieves a more efficient data transmission mode, so that the technical effect of cooperative scheduling is facilitated.
In order to solve the technical problems, the general idea of the embodiment of the application is as follows:
a multi-terminal interaction method is applied to a target mobile terminal in a mobile terminal group, and comprises the following steps:
when any mobile terminal in the mobile terminal group is detected, a data link channel is established with the mobile terminal;
acquiring the opposite side topological structure of any mobile terminal, and updating a target topological structure stored by the opposite side topological structure according to the opposite side topological structure;
and determining a transmission path of the information based on the connection relation represented by the target topological structure.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
First, it is stated that the term "and/or" appearing herein is merely one type of associative relationship that describes an associated object, meaning that three types of relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
Example one
In this embodiment, a multi-terminal interaction method is provided, as shown in fig. 1, where the method is applied to a target mobile terminal in a mobile terminal group, and the method includes:
step S101, when any mobile terminal in the mobile terminal group is detected, a data link channel is established with the mobile terminal;
step S102, obtaining the opposite side topological structure of any mobile terminal, and updating the target topological structure stored by the opposite side topological structure according to the opposite side topological structure;
and step S103, determining a transmission path of the information based on the connection relation represented by the target topological structure.
In this embodiment of the application, the mobile terminal may be a robot, a mobile phone, a tablet, or a computer, which is not limited herein, and is not an example.
Preferably, the mobile terminal is a robot, a single mobile robot is difficult to complete complex and tedious work tasks by the mobile terminal, and no matter an industrial robot or a service robot, multi-robot cooperation is an inevitable trend, namely, the performance of the whole robot, such as fault tolerance, flexibility and task execution efficiency, is improved by information sharing and communication cooperation.
The following describes in detail the detailed steps of the multi-end interaction method provided by the present application with reference to fig. 1:
firstly, step S101 is executed, and when any mobile terminal in the mobile terminal group is detected, a data link channel is established with the any mobile terminal.
In a specific implementation process, the mobile terminal is a robot device, and the robot scans surrounding Wi-Fi signals through the Wi-Fi device of the robot. And when a new Wi-Fi signal is scanned out, establishing a data link channel with the Wi-Fi signal. Of course, other data transmission methods, such as bluetooth, radio, etc., may be used, and the embodiment is not limited.
Specifically, the data link channel may be established with the mobile terminal based on a TCP/IP Protocol (Transmission Control Protocol/Internet Protocol ). Further, information transmission between a plurality of different networks can be realized.
Preferably, before establishing the data link channel with the mobile terminal, the authentication information of the mobile terminal needs to be acquired. If the verification information passes the authentication, a data link channel is established with the verification information, and if the verification information does not pass the authentication, the data link channel is not established with the verification information. Thus, it is possible to avoid establishing connection with unnecessary mobile terminals.
In the specific implementation process, each robot broadcasts its own MAC (media access Control) address, ID (Identity document), and the like to the outside through its own Wi-Fi, and its own database stores IDs and MACs of other robots. Therefore, the authentication information (ID or MAC) of any one of the mobile terminals can be acquired, and the authentication information can be compared with the information in the database of the mobile terminal, so that whether the authentication information passes or not can be judged.
Preferably, in the embodiment of the present application, when it is detected that the data link channel is disconnected from any one of the mobile terminals, the target topology stored in the target topology is updated. The topology structure stored by the self-storage device can be in the latest state, and further, when data are transmitted subsequently, data cannot be transmitted mistakenly.
In the specific implementation process, when the robot detects that the Wi-Fi connected with the robot disappears, the data link channel connected with the robot is disconnected, then the network topology structure of the robot is updated, and the network topology structure of the robot is sent to the robot connected with the robot.
Next, step S102 is executed to obtain the opposite side topology structure of any one of the mobile terminals, and update the target topology structure stored in the mobile terminal according to the opposite side topology structure.
For example, if the topological structure of the other party is characterized in that the robot B is connected with the robot C, and the topological structure of the other party is characterized in that the robot a is connected with the robot D, the topological structure of the other party is updated to be that the robot a is connected with the robot B and the robot B, and the robot B is connected with the robot C.
Next, step S103 is executed to determine a transmission path of information based on the connection relationship represented by the target topology.
Specifically, when the multi-robot scenario is large enough, robot a cannot directly establish an information transmission connection with robot B, and if there is another robot (e.g., C, D, etc.) in between at this time, the data transmission from robot a to robot B can be forwarded by an intermediate robot (e.g., C, D, etc.).
In a specific implementation process, when the number of robots is large, the connection relationship of different robots is complex, and various path selections exist in a topological structure. The feasible path set from the source node to the target node in the target topology can be determined based on the connection relation characterized by the target topology, and the transmission path is determined from the feasible path set based on a bidirectional a-x algorithm.
Preferably, the information can be transmitted to the specified mobile terminal in the mobile terminal group through the determined transmission path based on an extensible information interaction protocol.
In the specific implementation process, according to different scenes and different service requirements, the required transmission information content can be dynamically designed, and the format of the transmission information content is a key-value format. And then, after the coding, the information is sent through Wi-Fi equipment, and the opposite robot can obtain the information content of the transparent transmission only by decoding so as to improve the safety of information transmission.
The following description is provided to help illustrate a specific test flow of the method provided in this embodiment:
the system comprises 7 robots (robots ABCDEFG), each robot is provided with an independent WI-FI module so as to realize ad hoc network drive, an extensible information interaction protocol, external signal emission, signal detection of other robots, connection establishment, data transmission and the like.
When the robot A finds that the robot C exists around, the robot A establishes a link with the robot C, further verifies authentication information, obtains a topological structure page table of the opposite side after authentication, and updates the topological structure page table of the robot A based on the represented connection relation of the topological structure page table of the opposite side.
When the signals of the robot E and the robot A are weakened so that data forwarding cannot be achieved, the robot A and the robot E are disconnected, and the topological structure page table of the robot A and the robot E is updated.
When the robot A needs to send information with the robot B, the robot A does not directly establish information transmission connection with the robot B. If robot C is in between the two at this time (robot C is connected to robots a and B, respectively), then the data transmission from robot a to robot B can be relayed through intermediate robot C. Because the number of robots is large, various path selections exist, the path forwarding module converts the problem into the optimal path problem from a source node to a target node in a topological structure through a topological structure page table, and the optimal path can be determined by using a bidirectional A-star algorithm.
Example two
Based on the same inventive concept, as shown in fig. 2, the present embodiment provides a mobile terminal apparatus 200, including:
a communication unit 210, configured to establish a data link channel with any mobile terminal in the mobile terminal group when the mobile terminal is detected;
a storage unit 220, configured to obtain an opposite-side topology structure of any one of the mobile terminals, and update a target topology structure stored in the storage unit according to the opposite-side topology structure;
and the processing unit 230 is configured to determine a transmission path of the information based on the connection relationship represented by the target topology.
Since the mobile terminal device described in this embodiment is a device used for implementing the multi-terminal interaction method in the embodiment of the present invention, based on the multi-terminal interaction method described in the embodiment of the present invention, a person skilled in the art can understand the specific implementation manner of the mobile terminal device in this embodiment and various variations thereof, so that a detailed description of how the mobile terminal device implements the method in the embodiment of the present invention is not provided here. The device used by those skilled in the art to implement the multi-port interaction method in the embodiments of the present invention is within the scope of the present invention.
EXAMPLE III
Based on the same inventive concept, as shown in fig. 3, the present embodiment provides a mobile terminal system 300, including:
a plurality of mobile terminals 310;
the mobile terminal includes: the device comprises a communication unit, a storage unit and a processing unit;
the communication unit is used for establishing a data link channel with any mobile terminal when any mobile terminal in the mobile terminal group is detected; the storage unit is used for acquiring the opposite side topological structure of any one mobile terminal and updating a target topological structure stored by the storage unit according to the opposite side topological structure; and the processing unit is used for determining the transmission path of the information based on the connection relation represented by the target topological structure.
Optionally, the communication unit is a Wi-Fi device, so as to implement ad hoc network driving and an extensible information interaction protocol.
The technical scheme in the embodiment of the application at least has the following technical effects or advantages:
the embodiment of the invention discloses a multi-terminal interaction method, a multi-terminal interaction device and a multi-terminal interaction system. A connection can be established ad hoc with any mobile terminal. Further, the counterpart topology of any one of the mobile terminals may be acquired, and the target topology stored in the counterpart topology may be updated according to the counterpart topology. The topology stored in the topology can be enabled to keep the latest state. And then, based on the connection relation represented by the target topological structure, the transmission path of the information can be determined, and data transmission and interaction are further flexibly performed. The technical problem that in the prior art, a multi-terminal data transmission path is fixed, so that cooperative scheduling is difficult is solved, a more efficient data transmission mode is realized, and the technical effect of facilitating cooperative scheduling is achieved.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
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. A multi-terminal interaction method is applied to a target mobile terminal in a mobile terminal group, and comprises the following steps:
when any mobile terminal in the mobile terminal group is detected, a data link channel is established with the mobile terminal;
acquiring the opposite side topological structure of any mobile terminal, and updating a target topological structure stored by the opposite side topological structure according to the opposite side topological structure;
and determining a transmission path of the information based on the connection relation represented by the target topological structure.
2. The method of claim 1, wherein after said establishing a data link channel with any mobile terminal in the group of mobile terminals upon detection of said any mobile terminal, further comprising:
and when the data link channel is detected to be disconnected with any mobile terminal, updating the target topological structure stored in the mobile terminal.
3. The method according to claim 1, wherein said obtaining the counterpart topology of any of the mobile terminals comprises:
and acquiring verification information of any mobile terminal, and acquiring the opposite side topological structure of any mobile terminal if the verification information passes authentication.
4. The method of claim 1, wherein determining a transmission path for information based on the connection relationship characterized by the target topology comprises:
and determining a feasible path set from a source node to a target node in the target topological structure based on the connection relation represented by the target topological structure, and determining the transmission path from the feasible path set based on a bidirectional A-algorithm.
5. The method of claim 1, wherein said establishing a data link channel with said any mobile terminal comprises:
and establishing the data link channel with any mobile terminal based on a transmission control protocol and an internet protocol.
6. The method of claim 1, wherein the mobile terminal is a robotic device.
7. The method of claim 1, wherein after determining the transmission path of information based on the connection relationship characterized by the target topology, further comprising:
and transmitting the information to a specified mobile terminal in the mobile terminal group through the determined transmission path based on an extensible information interaction protocol.
8. A mobile terminal apparatus, characterized by comprising:
the communication unit is used for establishing a data link channel with any mobile terminal when any mobile terminal in the mobile terminal group is detected;
the storage unit is used for acquiring the opposite side topological structure of any one mobile terminal and updating a target topological structure stored by the storage unit according to the opposite side topological structure;
and the processing unit is used for determining the transmission path of the information based on the connection relation represented by the target topological structure.
9. A mobile terminal system, characterized by comprising:
a plurality of mobile terminals;
the mobile terminal includes: the device comprises a communication unit, a storage unit and a processing unit;
the communication unit is used for establishing a data link channel with any mobile terminal when any mobile terminal in the mobile terminal group is detected; the storage unit is used for acquiring the opposite side topological structure of any one mobile terminal and updating a target topological structure stored by the storage unit according to the opposite side topological structure; and the processing unit is used for determining the transmission path of the information based on the connection relation represented by the target topological structure.
10. The system of claim 9, wherein the communication unit is a Wi-Fi device to implement ad-hoc network-driven and extensible information interaction protocols.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110383399.6A CN113059569A (en) | 2021-04-09 | 2021-04-09 | Multi-terminal interaction method, device and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110383399.6A CN113059569A (en) | 2021-04-09 | 2021-04-09 | Multi-terminal interaction method, device and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113059569A true CN113059569A (en) | 2021-07-02 |
Family
ID=76566321
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110383399.6A Pending CN113059569A (en) | 2021-04-09 | 2021-04-09 | Multi-terminal interaction method, device and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113059569A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113618734A (en) * | 2021-08-09 | 2021-11-09 | 深圳市注能科技有限公司 | Robot feedback method and robot |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103379501A (en) * | 2012-04-26 | 2013-10-30 | 财团法人工业技术研究院 | Resource management method and apparatuses for device to device communications |
| CN104125620A (en) * | 2014-07-31 | 2014-10-29 | 宇龙计算机通信科技(深圳)有限公司 | Relay selection routing method and relay selection routing device based on terminal device-to-device communication |
| CN104768122A (en) * | 2015-03-16 | 2015-07-08 | 深圳酷派技术有限公司 | Data sharing method, device and terminal based on terminal direct communication |
| CN105764106A (en) * | 2016-02-03 | 2016-07-13 | 宇龙计算机通信科技(深圳)有限公司 | Transmission path updating method, terminal and system |
| US20160205012A1 (en) * | 2015-01-13 | 2016-07-14 | Fujitsu Limited | Device and method for path calculation |
| US20170085471A1 (en) * | 2000-09-20 | 2017-03-23 | George Mason Intellectual Properties, Inc. | Label switched packet transfer device |
| CN108574971A (en) * | 2017-03-10 | 2018-09-25 | 株式会社东芝 | Wireless communication device, wireless communication system and radio communication program |
| CN110113263A (en) * | 2019-05-16 | 2019-08-09 | 北京邮电大学 | A kind of communication path determines method and device |
| CN111948962A (en) * | 2020-07-14 | 2020-11-17 | 深圳市优必选科技股份有限公司 | Robot synchronization control method and device |
-
2021
- 2021-04-09 CN CN202110383399.6A patent/CN113059569A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170085471A1 (en) * | 2000-09-20 | 2017-03-23 | George Mason Intellectual Properties, Inc. | Label switched packet transfer device |
| CN103379501A (en) * | 2012-04-26 | 2013-10-30 | 财团法人工业技术研究院 | Resource management method and apparatuses for device to device communications |
| CN104125620A (en) * | 2014-07-31 | 2014-10-29 | 宇龙计算机通信科技(深圳)有限公司 | Relay selection routing method and relay selection routing device based on terminal device-to-device communication |
| US20160205012A1 (en) * | 2015-01-13 | 2016-07-14 | Fujitsu Limited | Device and method for path calculation |
| CN104768122A (en) * | 2015-03-16 | 2015-07-08 | 深圳酷派技术有限公司 | Data sharing method, device and terminal based on terminal direct communication |
| CN105764106A (en) * | 2016-02-03 | 2016-07-13 | 宇龙计算机通信科技(深圳)有限公司 | Transmission path updating method, terminal and system |
| CN108574971A (en) * | 2017-03-10 | 2018-09-25 | 株式会社东芝 | Wireless communication device, wireless communication system and radio communication program |
| CN110113263A (en) * | 2019-05-16 | 2019-08-09 | 北京邮电大学 | A kind of communication path determines method and device |
| CN111948962A (en) * | 2020-07-14 | 2020-11-17 | 深圳市优必选科技股份有限公司 | Robot synchronization control method and device |
Non-Patent Citations (1)
| Title |
|---|
| 孙庆辉等: "《空间位置信息服务系统原理和方法》", 28 February 2009, 西安地图出版社 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113618734A (en) * | 2021-08-09 | 2021-11-09 | 深圳市注能科技有限公司 | Robot feedback method and robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP4173485B2 (en) | Mobile radio terminal device | |
| US9648662B2 (en) | Bluetooth networking | |
| US20080008109A1 (en) | Method and apparatus for bridging wireless control networks | |
| CN111565474B (en) | Method and system for establishing communication connection between AP (access point) equipment and target terminal based on Mesh network | |
| CN113543277B (en) | Distribution network processing method and device and electronic equipment | |
| CN106210155A (en) | The method and apparatus connecting application server | |
| EP2945338A1 (en) | Data transmission method and device | |
| CN100391185C (en) | Wireless network device and method for reassociation bwteen wireless networks using the wireless network device | |
| CN111884875A (en) | Offline device determination method and device | |
| CN110753313A (en) | Data synchronization method and system | |
| CN113059569A (en) | Multi-terminal interaction method, device and system | |
| GB2505230A (en) | Leader node appointment in a data communications network | |
| CN111092952B (en) | Data interaction method and related product | |
| US9843471B1 (en) | Method and apparatus of providing emergency communication services | |
| EP3340687B1 (en) | Method for connecting communication device, and communication device | |
| CN112866013B (en) | Network configuration method, device and system | |
| JP2016178494A (en) | Gateway device and communication method | |
| CN105657052B (en) | The communication means of controlling terminal and voice box group, device and speaker set control system | |
| EP3430840B1 (en) | Distributed wireless intercom audio routing over ethernet with roaming | |
| JP2008131417A (en) | Terminal accommodation apparatus, and packet route switching method and program | |
| CN114915920B (en) | Message transmission method, device, robot and storage medium | |
| JP2004349779A (en) | Wireless terminal provided with high speed roaming processing means for wireless lan | |
| CN117424776B (en) | Data transmission system, control method, device and medium | |
| JP3973035B2 (en) | Area identification device, communication system, area identification method and communication method | |
| CN114615191A (en) | Network communication method, system, routing equipment and service equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: Room 702, 7th floor, NO.67, Beisihuan West Road, Haidian District, Beijing 100089 Applicant after: Beijing Yunji Technology Co.,Ltd. Address before: Room 702, 7 / F, 67 North Fourth Ring Road West, Haidian District, Beijing Applicant before: BEIJING YUNJI TECHNOLOGY Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210702 |
|
| RJ01 | Rejection of invention patent application after publication |