CN113259258B - Method, system, equipment and medium for displaying state information of robot in real time - Google Patents
Method, system, equipment and medium for displaying state information of robot in real time Download PDFInfo
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- CN113259258B CN113259258B CN202110519119.XA CN202110519119A CN113259258B CN 113259258 B CN113259258 B CN 113259258B CN 202110519119 A CN202110519119 A CN 202110519119A CN 113259258 B CN113259258 B CN 113259258B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L47/00—Traffic control in data switching networks
- H04L47/10—Flow control; Congestion control
- H04L47/25—Flow control; Congestion control with rate being modified by the source upon detecting a change of network conditions
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L47/00—Traffic control in data switching networks
- H04L47/70—Admission control; Resource allocation
- H04L47/80—Actions related to the user profile or the type of traffic
- H04L47/805—QOS or priority aware
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/26—Special purpose or proprietary protocols or architectures
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Abstract
The invention discloses a method, a system, equipment and a medium for displaying state information of a robot in real time. The real-time display method of the state information of the robot comprises the following steps: formulating a theme of the information of the robot, and setting a unique identifier of the robot on the theme; controlling the frequency of the robot and/or the cloud platform for sending information to the MQTTbroker according to the service priority; subscribing the theme of the robot on the cloud platform, screening the information displayed at the front end in the robot information received by the cloud platform, and sending the information to an MQTT broker; the front end subscribes a theme corresponding to the information displayed at the front end of the robot, and receives and displays the information displayed at the front end sent by the MQTT browser. The real-time display system of the state information of the robot includes: a theme formulation module; a frequency control module; a cloud platform theme processing module; and a front-end theme processing module. The invention also provides a real-time display device of the robot state information and a computer readable storage medium.
Description
Technical Field
The invention relates to the technical field of robot information transmission, in particular to a method, a system, equipment and a medium for displaying robot state information in real time.
Background
When the robot and the management platform send information to the front end, the information is generally sent by means of an MQTT browser. The existing method for sending information to the MQTT browser is extensive, the setting is not carried out according to the priority level of the sent information, all the information is sent at the same frequency, and the burden of a server and a robot is easily overlarge. When the number of robots increases, data delay and even server crash can occur.
Disclosure of Invention
Accordingly, an object of the present invention is to provide a method, a system, a device, and a medium for displaying robot status information in real time.
In a first aspect, the present invention provides a method for displaying status information of a robot in real time, including:
formulating a theme of the information of the robot, and setting a unique identifier of the robot on the theme;
controlling the frequency of sending information to the MQTT browser by the robot and/or the cloud platform according to the service priority level;
subscribing the theme of the robot on the cloud platform, screening the information displayed at the front end in the robot information received by the cloud platform, and sending the information to an MQTT broker;
the front end subscribes a theme corresponding to the information displayed at the front end of the robot, and receives and displays the information displayed at the front end sent by the MQTT browser.
In an embodiment of the foregoing technical solution, the controlling, according to the service priority, the frequency of sending information to the MQTT browser by the robot and/or the cloud platform includes:
calculating frequency of information sent by robot and/or cloud platform to MQTT browser
The unit is Hz;
wherein k is a constant, L is a service priority level, and L is more than or equal to 1 and less than or equal to 3,N is the number of robot connections;
and issuing the calculated frequency f of the sent information to the robot or the cloud platform in a theme form, and sending the information to the MQTT browser by the robot or the cloud platform according to the frequency.
In one embodiment, k =5;
when the sent information is rolling brush abrasion information, clear water amount information and sewage amount information, the L =1;
when the sent information is task progress, electric quantity and signal strength, the L =2;
when the transmitted information is position coordinate information, L =3.
In an embodiment of the foregoing technical solution, the controlling, according to the service priority, the frequency of sending information to the MQTT browser by the robot and/or the cloud platform further includes: and carrying out maximum value and minimum value processing on the calculated frequency of the transmitted information, controlling the frequency of the transmitted information within the range of 0.3Hz to 2Hz, processing according to 2Hz if the calculated frequency of the transmitted information exceeds 2Hz, and processing according to 0.3Hz if the calculated frequency of the transmitted information is less than 0.3 Hz.
In a second aspect, the present invention provides a real-time display system for robot status information, comprising:
the theme making module is used for making a theme of the information of the robot and setting a unique identifier of the robot on the theme;
the frequency control module is configured for controlling the frequency of the robot and/or the cloud platform for sending information to the MQTT browser according to the service priority level;
the cloud platform theme processing module is configured for subscribing the theme of the robot on the cloud platform, screening the information displayed at the front end in the robot information received by the cloud platform and sending the information to the MQTT broker;
and the front-end theme processing module is configured to subscribe a theme corresponding to the information displayed at the front end of the robot at the front end, and the front end receives and displays the information displayed at the front end and sent by the MQTT browser.
In a third aspect, the present invention further provides a real-time display apparatus for robot status information, the apparatus comprising a storage device and a processor, wherein the storage device is used for storing one or more programs;
when the one or more programs are executed by the processor, the processor implements the robot state information real-time display method according to any one of the above items.
In a fourth aspect, the present invention further provides a computer-readable storage medium storing at least one program, which when executed by a processor, implements the real-time robot status information display method according to any one of the above aspects.
Compared with the prior art, the robot state information real-time display method, the system, the equipment and the medium can balance the relationship between the frequency and the burden of the server and the robot by setting the frequency of controlling the robot and/or the cloud platform to send information to the MQTT browser according to the service priority, subscribing the theme of the robot on the cloud platform and subscribing the theme corresponding to the information displayed at the front end of the robot at the front end, thereby improving the capability of the server for processing the information, improving the concurrent number reported by multiple robots at the same time, and avoiding the problems of data delay and even server crash when the number of the robots is increased; in addition, the sensitivity of reporting and displaying back of a single robot can be improved, the reporting frequency is improved, and the delay of state change is reduced.
For a better understanding and practice, the invention is described in detail below with reference to the accompanying drawings.
Drawings
Fig. 1 is an exemplary flow chart diagram of a robot status information real-time display method of the present invention.
Fig. 2 is an exemplary block diagram of a robot status information real-time display system of the present invention.
Detailed Description
The terms of orientation of up, down, left, right, front, back, top, bottom, and the like, referred to or may be referred to in this specification, are defined relative to their configuration, and are relative concepts. Therefore, it may be changed according to different positions and different use states. Therefore, these and other directional terms should not be construed as limiting terms.
The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in this disclosure and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
Referring to fig. 1, fig. 1 is a block diagram illustrating an exemplary process of a real-time display method of robot status information according to the present invention.
In a first aspect, the present invention provides a method for displaying status information of a robot in real time, including:
102, controlling the frequency of the robot and/or the cloud platform to send information to the MQTT browser according to the service priority level;
103, subscribing the theme of the robot on the cloud platform, screening the information displayed at the front end in the robot information received by the cloud platform, and sending the information to the MQTT browser;
and 104, subscribing the theme corresponding to the information displayed at the front end of the robot at the front end, and receiving and displaying the information displayed at the front end sent by the MQTT browser at the front end.
When the robot works, the working state needs to be displayed on a cloud platform or a front end (a web end, an APP, an applet and the like) in real time, for example, the property cleaning robot needs to display information such as clear water amount, sewage amount, rolling brush condition, task progress and the like on the cloud platform or the front end.
In the step 101, by formulating the theme of the information of the robot and setting the unique identifier of the robot on the theme, the theme can be bound with the ID of the robot, and after the information is sent, the robot corresponding to each piece of information can be directly identified, which is beneficial to the targeted processing of the information and improves the information identification and processing efficiency.
In an embodiment, in step 102, the controlling, according to the service priority, the frequency of the robot and/or the cloud platform sending information to the MQTT browser includes:
calculating frequency of information sent by robot and/or cloud platform to MQTT browser
The unit is Hz;
wherein k is a constant, L is a service priority level, L is more than or equal to 1 and less than or equal to 3,N is the number of robot connections;
and issuing the calculated frequency f of the sent information to the robot or the cloud platform in a theme mode, triggering the sending when the distance between the frequency f and the last issuing is more than the range of plus or minus 0.3Hz, wherein the 0.3Hz can be flexibly configured and adjusted according to the configuration file, and the robot or the cloud platform sends the information to the MQTT browser according to the frequency.
Due to the frequency of the robot and/or the cloud platform sending information to the MQTT broker, as long as the frequency is high enough, the delay of the information is lower, and the information is more real-time. But the server and robot are burdened so that a balance point is taken to achieve the optimal state. The computing robot and/or the cloud platform can well balance the relationship between the frequency and the burden of the server and the robot when sending information to the MQTT browser, so that the information processing capacity of the server is improved, the concurrence number reported by multiple robots at the same time is improved, and when the number of the robots is increased, the problems of data delay and even server crash are avoided; in addition, the sensitivity of reporting and displaying back of a single robot can be improved, the reporting frequency is improved, and the delay of state change is reduced.
In one embodiment, k =5. It should be noted that k may be appropriately adjusted according to the service requirement and data analysis, for example, other natural numbers such as 4 may be taken.
When the sent information is rolling brush abrasion information, clear water amount information and sewage amount information, the L =1;
when the sent information is task progress, electric quantity and signal strength, the L =2;
when the transmitted information is position coordinate information, L =3.
In an implementation manner, in step 102, the controlling, according to the service priority, the frequency of the robot and/or the cloud platform sending information to the MQTT browser further includes: and carrying out maximum value and minimum value processing on the calculated frequency of the transmitted information, controlling the frequency of the transmitted information within the range of 0.3Hz to 2Hz, processing according to 2Hz if the calculated frequency of the transmitted information exceeds 2Hz, and processing according to 0.3Hz if the calculated frequency of the transmitted information is less than 0.3 Hz. The frequency of the transmitted information is processed to the maximum value and the minimum value, so that the judgment process of the frequency can be simplified, and the influence of possible abnormal values is reduced. Reducing the frequency too high or too low can have an impact on system load and can make the user experience unfriendly.
In step 103, the cloud platform may receive the information reported by the robot by subscribing to the theme of the robot. At the moment, the cloud platform needs to process the received robot information, some information needs to be stored for later analysis, some information needs to be displayed at the front end, and the cloud platform sends the information needing to be displayed at the front end to the MQTT broker.
The theme of the robot is subscribed through the cloud platform, the sending of invalid information is reduced, the processing capacity of the server on the information is improved, and data delay is avoided.
In the step 104, the subject corresponding to the information displayed at the front end of the front-end subscription robot can receive the information, and then the information is visually displayed in a form of a graph or a table in a page, an APP or an applet.
By directly subscribing the theme corresponding to the information displayed at the front end, the information which is not required to be displayed at the front end is reduced, the pertinence of information transmission is improved, the transmission of invalid information is avoided, and the possibility of data delay and server crash is reduced.
Referring to fig. 2, fig. 2 is an exemplary block diagram of a real-time display system for robot status information according to the present invention.
In a second aspect, the present invention provides a real-time display system for robot status information, comprising:
the theme making module is used for making a theme of the information of the robot and setting a unique identifier of the robot on the theme;
the frequency control module is configured for controlling the frequency of the robot and/or the cloud platform for sending information to the MQTT broker according to the service priority level;
the cloud platform theme processing module is configured for subscribing the theme of the robot on the cloud platform, screening the information displayed at the front end in the robot information received by the cloud platform and sending the information to the MQTT broker;
and the front-end theme processing module is configured to subscribe a theme corresponding to the information displayed at the front end of the robot at the front end, and the front end receives and displays the information displayed at the front end and sent by the MQTT browser.
Referring to fig. 2, fig. 2 is an exemplary block diagram of a robot status information real-time display system according to the present invention.
During specific implementation, the main body specifying module, the frequency control module and the cloud platform theme processing module can be arranged in a cloud platform, the front-end theme processing module can be arranged at the front end, the cloud platform and the robot are in communication connection with the MQTT broker, and the MQTT broker can send information to the front end, so that the normal operation of the system is realized.
Of course, other embodiments in different forms are possible, and the above-described embodiment is merely an example.
In a third aspect, the present invention further provides a real-time display apparatus for robot status information, the apparatus comprising a storage device and a processor, wherein the storage device is used for storing one or more programs;
when the one or more programs are executed by the processor, the processor implements the robot state information real-time display method as described.
The device may also preferably include a communication interface for communicating with external devices and for interactive transmission of data.
It should be noted that the memory may include a high-speed RAM memory, and may also include a nonvolatile memory (nonvolatile memory), such as at least one disk memory.
In a specific implementation, if the memory, the processor and the communication interface are integrated on a chip, the memory, the processor and the communication interface can complete mutual communication through the internal interface. If the memory, the processor and the communication interface are implemented independently, the memory, the processor and the communication interface may be connected to each other through a bus and perform communication with each other.
In a fourth aspect, the present invention further provides a computer-readable storage medium storing at least one program, which when executed by a processor, implements the robot status information real-time display method as described.
It should be appreciated that the computer-readable storage medium is any data storage device that can store data or programs which can thereafter be read by a computer system. Examples of the computer readable storage medium include read-only memory, random-access memory, CD-ROMs, HDDs, DVDs, magnetic tapes, optical data storage devices, and the like. The computer readable storage medium can also be distributed over network coupled computer systems so that the computer readable code is stored and executed in a distributed fashion. Program code embodied on a computer readable storage medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, radio Frequency (RF), etc., or any suitable combination of the foregoing.
In some embodiments, the computer-readable storage medium may be non-transitory.
Compared with the prior art, the robot state information real-time display method, the system, the equipment and the medium can balance the relationship between the frequency and the burden of the server and the robot by setting the frequency of controlling the robot and/or the cloud platform to send information to the MQTT browser according to the service priority, subscribing the theme of the robot on the cloud platform and subscribing the theme corresponding to the information displayed at the front end of the robot at the front end, thereby improving the capability of the server for processing the information, improving the concurrent number reported by multiple robots at the same time, and avoiding the problems of data delay and even server crash when the number of the robots is increased; in addition, the sensitivity of reporting and displaying back of a single robot can be improved, the reporting frequency is improved, and the delay of state change is reduced.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.
Claims (6)
1. A real-time display method for robot state information is characterized by comprising the following steps:
formulating a theme of the information of the robot, and setting a unique identifier of the robot on the theme;
controlling the frequency of sending information to the MQTT browser by the robot and/or the cloud platform according to the service priority level; the frequency of controlling the robot and/or the cloud platform to send information to the MQTT browser according to the service priority comprises the following steps: computingFrequency of sending information to MQTT broker by robot and/or cloud platform
The unit is Hz, the calculated frequency f of the sent information is issued to the robot or the cloud platform in a theme mode, and the robot or the cloud platform sends the information to the MQTT browser according to the frequency; wherein k is a constant, L is a service priority level, L is more than or equal to 1 and less than or equal to 3,N is the number of robot connections;
subscribing the theme of the robot on the cloud platform, screening the information displayed at the front end in the robot information received by the cloud platform, and sending the information to an MQTT broker;
the front end subscribes a theme corresponding to the information displayed at the front end of the robot, and receives and displays the information displayed at the front end sent by the MQTT browser.
2. The real-time display method of robot status information according to claim 1, wherein k =5;
when the sent information is rolling brush abrasion information, clear water amount information and sewage amount information, the L =1;
when the transmitted information is task progress, electric quantity and signal strength, the L =2;
when the transmitted information is position coordinate information, L =3.
3. The real-time robot state information display method according to claim 2, wherein the controlling of the frequency of the robot and/or the cloud platform sending information to the MQTT browser according to the service priority further comprises: and carrying out maximum value and minimum value processing on the calculated frequency of the transmitted information, controlling the frequency of the transmitted information within the range of 0.3Hz to 2Hz, processing according to 2Hz if the calculated frequency of the transmitted information exceeds 2Hz, and processing according to 0.3Hz if the calculated frequency of the transmitted information is less than 0.3 Hz.
4. A real-time display system of robot state information is characterized by comprising:
the theme making module is configured for making a theme of the information of the robot and setting a unique identifier of the robot on the theme;
the frequency control module is configured for controlling the frequency of the robot and/or the cloud platform for sending information to the MQTT browser according to the service priority level; the method for controlling the robot and/or the cloud platform to send information to the MQTT broker according to the service priority comprises the following steps: calculating frequency of information sent by robot and/or cloud platform to MQTT browser
The unit is Hz, the calculated frequency f of the sent information is issued to the robot or the cloud platform in a theme mode, and the robot or the cloud platform sends the information to the MQTT browser according to the frequency; wherein k is a constant, L is a service priority level, L is more than or equal to 1 and less than or equal to 3,N is the number of robot connections;
the cloud platform theme processing module is configured for subscribing the theme of the robot on the cloud platform, screening information displayed at the front end in the robot information received by the cloud platform and sending the information to the MQTT broker;
and the front-end theme processing module is configured to subscribe a theme corresponding to the information displayed at the front end of the robot at the front end, and the front end receives and displays the information displayed at the front end, which is sent by the MQTT broker.
5. A robot status information real-time display device is characterized by comprising a storage device and a processor, wherein the storage device is used for storing one or more programs;
the processor implementing the robot status information real-time display method of any one of claims 1-3 when the one or more programs are executed by the processor.
6. A computer-readable storage medium storing at least one program, wherein the program, when executed by a processor, implements the robot status information real-time display method according to any one of claims 1 to 3.
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| CN202110519119.XA CN113259258B (en) | 2021-05-12 | 2021-05-12 | Method, system, equipment and medium for displaying state information of robot in real time |
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| CN202110519119.XA CN113259258B (en) | 2021-05-12 | 2021-05-12 | Method, system, equipment and medium for displaying state information of robot in real time |
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| CN113259258B true CN113259258B (en) | 2022-11-04 |
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| US10432535B2 (en) * | 2017-02-28 | 2019-10-01 | Hewlett Packard Enterprise Development Lp | Performing a specific action on a network packet identified as a message queuing telemetry transport (MQTT) packet |
| CN109309704B (en) * | 2017-07-28 | 2021-11-02 | 阿里巴巴集团控股有限公司 | Method, equipment and system for realizing commodity purchase and corresponding communication |
| US11277351B2 (en) * | 2018-11-08 | 2022-03-15 | Arris Enterprises Llc | Priority-based queueing for scalable device communication |
| CN110493143B (en) * | 2019-07-11 | 2022-10-18 | 华东计算技术研究所（中国电子科技集团公司第三十二研究所） | Method, system, device and medium for dynamically adjusting message distribution frequency |
| CN111381981B (en) * | 2020-03-04 | 2023-07-11 | 上海东普信息科技有限公司 | Method, device, equipment and storage medium for pushing small program message |
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