CN115913570A - Multi-robot dispatching method for meal delivery robot - Google Patents

Abstract

The invention provides a multi-robot dispatching method for a food delivery robot, which has the advantages of a multi-party communication method based on dual identities: the problem that in the prior art, the P2P is used as a client and a server only under the peer-to-peer condition is solved; illegal personnel can not pass the security certification in the communication process, so that the network security is improved; packaging the data into a uniform type, so that all equipment can perform corresponding operation on the data packet according to the data packet type; the wireless communication device used in cooperation with the portable computer has the advantages of overcoming the defects of local scheduling: the provided wireless communication device introduces the GSM/GPRS technology to a portable computer to form a multi-mode wireless communication card, can provide online internet access data and voice communication at any time in the coverage areas of GPRS and GSM, can meet the functions of simultaneously receiving and transmitting E-mail, browsing the internet, making a call and receiving and transmitting short messages on the portable computer, and provides a basic device for realizing convenient and reliable mobile office of users.

Description

Multi-robot dispatching method for meal delivery robot

Technical Field

The invention belongs to the technical field of robot communication, and particularly relates to a multi-robot dispatching method for a food delivery robot.

Background

A robot is an intelligent machine that can work semi-autonomously or fully autonomously. Robots can perform tasks such as tasks or movements by programming and automatic control. The robot has the basic characteristics of perception, decision, execution and the like, can assist and even replace human beings to finish dangerous, heavy and complex work, improves the working efficiency and quality, serves human life, and expands or extends the range of activities and abilities of the human beings. Particularly, the robot is widely used in the food delivery industry at present, can reduce the proportion of personnel, and has the advantages of on-time food delivery and the like.

At present, multi-machine dispatching of food delivery robots mostly adopts a local dispatching mode. Namely, when a plurality of robots approach, the robots communicate nearby, and the conflict of the robots in the operation process is avoided. Local scheduling has two disadvantages: firstly, an independent communication channel is needed, the channel is used for information interaction among multiple robots, and the channel can generate interference on the external network connection of the robot or occupy a wireless frequency band; and secondly, congestion is easily caused, although local scheduling can avoid direct conflict among multiple machines, congestion cannot be avoided, and the situation that waiting time is overlong in a narrow area is easy to occur. Therefore, the invention provides a multi-robot dispatching method for a food delivery robot to solve the problems.

Disclosure of Invention

The invention provides a multi-machine scheduling method for a food delivery robot, and aims to provide a global scheduling method.

The invention is realized in this way, a multi-machine dispatching method for a food delivery robot, which comprises a multi-party communication method based on dual identities, and is suitable for interconnection and intercommunication of more than one communication device, wherein the multi-party communication method based on dual identities comprises the following steps: each communication device monitors all communication devices connected with the communication device in real time, judges whether a network connection request initiated by the communication device is sent to the communication device, if so, establishes connection with the communication device initiating the network connection request by using the identity of the server side and interacts with the communication device, if not, the monitoring is continued, and each communication device can actively send the network connection request to the communication device connected with the communication device by using the identity of the client side at any time.

Preferably, a communication object of the current communication device and an identity of the current communication device when communicating with each communication object, that is, a communication range in which each device is deployed and an identity of the current device when communicating with devices within the communication range, are set and stored in each communication device.

Preferably, in order to ensure that each communication device stores a digital certificate for security authentication in secure communication, when one device is used as a client to actively initiate network connection, an initiator sends the digital certificate stored in the initiator to an opposite party and simultaneously receives the digital certificate sent by the opposite party, both communication parties authenticate identities, and both parties perform data sending or receiving after passing identity authentication;

one of the devices is used as a server to monitor network connection initiated by other network devices to the device, the monitoring party receives a digital certificate sent to the network connection initiating party, identity authentication is carried out on the network connection initiating party, meanwhile, the monitoring party sends a digital certificate stored by the monitoring party to the network connection initiating party, identity authentication is requested to be carried out on the monitoring party, and data sending or receiving is carried out after both communication parties are judged to pass the authentication.

Preferably, in order to prevent hackers from injecting or tampering network traffic, the data to be transmitted is not sent in the clear, but the data to be transmitted is encapsulated into a data packet, and the encapsulated data is encrypted and sent by using a public key in a digital certificate stored in the data packet.

Preferably, the type of the data packet is added in front of the data segment in the packaging process, the receiver decrypts the data packet according to a public key in a digital certificate stored in the receiver after receiving the data packet, and then analyzes a field indicating the type of the data packet from the decrypted data, and performs corresponding processing according to the type of the data packet.

Preferably, the wireless communication device is matched with a portable computer for use, and the circuit structure of the device comprises four parts, namely a GSM/GPRS wireless module, an audio circuit, an interface conversion circuit and a microcontroller circuit.

Preferably, the GSM/GPRS wireless module processes voice, signaling and data transmission to realize wireless communication between the portable computer and the GSM/GPRS network side;

the audio circuit is in electric signal connection with the GSM/GPRS wireless module to realize the input and output of the voice signal of the GSM/GPRS wireless module;

the interface conversion circuit is connected with the GSM/GPRS wireless module through a serial bus to realize the conversion between standard interface signals and serial interface signals between the portable computer and the GSM/GPRS wireless module;

the microcontroller circuit is respectively connected with the interface conversion circuit through a bus and connected with the GSM/GPRS wireless module through a power supply activation line, initializes the interface conversion circuit and controls the state conversion of the interface conversion circuit, and simultaneously controls the power-on of the GSM/GPRS wireless module.

Preferably, the audio circuit is capable of enabling dial-up voice communications.

Compared with the prior art, the invention has the beneficial effects that:

1. the method provided by the invention has the following advantages when the communication is carried out in more than one network: the problem that in the prior art, the P2P is used as a client and a server only under the peer-to-peer condition is solved; identity authentication is carried out through a digital certificate in the communication process, and illegal personnel cannot pass safety authentication, so that the safety and reliability of the network are improved; the data are packaged into a uniform type, and the data representing the type of the data packet are added, so that all equipment can perform corresponding operation on the data packet according to the type of the data packet, and the data processing with different functions according to different protocols in the prior art is omitted; the public key in the digital certificate stored by the hacker is used for encrypting or decrypting the packaged data, so that the hacker has no trouble, the security of data transmission is ensured, and the defect of local scheduling is overcome;

2. the wireless communication device used with the portable computer has the following advantages: the provided wireless communication device introduces GSM/GPRS technology to a portable computer to form a multi-mode wireless communication card, can provide online internet access data and voice communication at any time in the coverage areas of GPRS and GSM, can meet the functions of simultaneously receiving and transmitting E-mail, browsing the internet, making a call and receiving and sending short messages on the portable computer, and provides a basic device for realizing convenient and reliable mobile office for users.

Drawings

FIG. 1 is a flow chart of one of the methods of the present invention for a communication device to initiate a network connection to another communication device;

fig. 2 is a block diagram of a wireless communication device formed when the present invention is used with a notebook computer having a PIMCIA interface.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention.

Example 1: the multi-party communication method based on dual identities comprises the following steps:

taking the example that the communication device a initiates a network connection to the communication device B:

1) The communication equipment A initiatively sends a network connection request to the communication equipment B by the identity of the client;

2) The communication equipment A judges whether the active connection is successful, if so, the step 3) is executed, otherwise, the current network connection process is ended;

3) According to a transport layer encryption socket (SSL) protocol, the communication equipment A sends a digital certificate stored by the communication equipment A to the communication equipment B to request the communication equipment B to authenticate the identity, and meanwhile, the communication equipment A also needs to receive the digital certificate sent by the communication equipment B to authenticate whether the identity of the communication equipment B is legal or not;

4) Judging whether the communication equipment A and the communication equipment B pass the authentication of the other side, if so, executing the step 5), otherwise, indicating that the communication equipment is possibly illegal, and ending the current network connection process;

5) Judging whether data need to be sent, if so, executing step 6), otherwise, executing step 7);

6) The communication equipment A encapsulates data to be sent according to the data message format of the table 1, and then encrypts and sends the encapsulated data according to a public key in a digital certificate stored by the communication equipment A;

7) Judging whether data need to be received, if so, performing step 8), and otherwise, ending the current network connection process;

8) The communication equipment A decrypts the received data according to the public key in the digital certificate stored by the communication equipment A, analyzes the received data, analyzes the message type in the data, and performs corresponding processing according to the message type. For example: and if the analyzed message type is the firewall linkage configuration file, storing the file and the like.

Wherein, the equipment completes various functions and adopts a unified communication protocol, namely: the data transmitted between the devices adopts a uniform data packaging format, and the defined data message packaging format is shown as a table I:

table 1 data packet packaging format

Type

Seq_num

Length

Data

In table 1, type indicates the Type of the packet, seq _ num indicates the sequence number of the packet, length indicates the Length of the packet, and Date indicates the content of the packet.

Type occupies two bytes, and types include: alarm information, system state information, communication profile data, system log file data, rule file data, upgrade packet data, start/stop/get log commands, responses, probe engine profile data, rule mask commands, session file setup commands, session processing profile data, connection state data, session file setup commands, session file data, session processing command file data, flow statistics data, address resolution protocol, spoof profile data, dial-up detection profile data, firewall linkage key file data, console clock synchronization commands, alarm agent profile data; seq _ num occupies 4 bytes; length takes 4 bytes.

Example 2: the multiparty communication method based on dual identity comprises the following steps:

each communication device is pre-configured with which other devices it is required to communicate with, and with which identity it is to communicate: the client side or the server side is made, and meanwhile, the digital certificate distributed by the authentication server side, namely the digital signature for authentication is stored in each communication device so as to carry out security authentication. Each device can customize different service functions and different request service functions according to actual needs. When the client and the server equipment run, the network connection is actively initiated, and meanwhile, whether other equipment initiates the network connection to the client or the server equipment is detected in real time.

The transmission layer adopts SSL as a transmission layer security protocol, takes the process that the communication equipment A monitors other equipment to initiate network connection to the communication equipment A as an example, and comprises the following steps:

1) The communication equipment A monitors network connection initiated by other equipment to the communication equipment A in real time;

2) Judging whether a network connection request exists, if so, executing 3), otherwise, returning to 1) to continue monitoring;

3) According to SSL protocol, sending self-stored digital certificate to the monitored communication equipment initiating network connection, requesting the other side to perform identity authentication, receiving the digital certificate sent by the other side equipment, and authenticating the identity of the other side equipment;

4) Judging whether the opposite side equipment passes the authentication, if so, executing the step 5), and if not, returning to continue monitoring;

5) Judging whether data need to be sent, if so, executing step 6), otherwise, executing step 7);

6) The communication equipment A encapsulates the data to be sent according to a data message format shown in a table I, and then encrypts and sends the encapsulated data according to a public key in a digital certificate stored by the communication equipment A;

7) Judging whether data need to be received, and if the data need to be received, executing the step 8); otherwise, returning to the step 3) to continue monitoring;

8) The communication equipment A decrypts the received data according to the public key in the digital certificate stored by the communication equipment A, analyzes the received data, analyzes the message type in the data, and performs corresponding processing according to the message type.

Example 3: wireless communication device for use with a portable computer:

the GSM/GPRS wireless module is composed of a GSM/GPRS protocol stack, a baseband processor and a radio frequency circuit (with an antenna device), completes the processing of voice, signaling and data transmission, and the external interface of the module is an RS232 serial interface. Through the wireless GSM/GPRS module, the instruction and data issued by the user through the portable computer host can be sent to the GSM/GPRS network side, and the data from the GSM/GPRS network side can also be received and transmitted to the portable computer host user. The audio circuit connected with the GSM/GPRS wireless module comprises a voice input and output circuit, and the realization of a voice function is ensured.

The standard interface and serial interface signal conversion circuit is a communication interface between the wireless communication device and the portable computer, the portable computer is provided with a standard interface such as PCMCIA and CF interfaces, the instruction sent by the user is transmitted to the interface circuit through an interface slot of the portable computer, the interface circuit realizes the conversion from the standard interface signal to the RS232 interface, and converts the instruction into a signal which can be identified by the GSM/GPRS wireless module and conforms to the RS232 standard. The interface circuit also introduces a power supply directly from the slot of the portable computer as a power supply of the wireless communication device.

The microcontroller circuit completes the logic control inside the radio communication device, and includes mainly the initialization of the interface converting circuit, the state conversion of the control interface circuit, the control of the power-on of the GSM/GPRS radio module and the real-time detection of the work state, especially the power consumption, of the GSM/GPRS radio module.

The voice communication process comprises two processes of making a call and receiving the call, and specifically comprises the following steps:

in the telephone receiving process, the GSM/GPRS wireless module 11 receives a ringing indication signal from a GSM/GPRS network side, transmits the ringing indication signal to the interface conversion circuit through the RS232 bus, and the interface conversion circuit converts the serial RS232 signal into a standard interface signal of the portable computer and then transmits the standard signal to the portable computer 2 for the user to process the call request. If the user agrees to the call request, the user sends a call agreement instruction, the instruction is transmitted to the GSM/GPRS wireless module through the interface conversion circuit, the GSM/GPRS wireless module is responsible for establishing a voice link for communicating with the calling party, and the user can carry out voice call with the calling party through a microphone and an earphone of the audio circuit.

During the calling process, a user operates a portable computer to request for communication with a called party, a call request instruction is transmitted to a GSM/GPRS wireless module through an interface conversion circuit, the GSM/GPRS wireless module transmits the user request to a GSM/GPRS network, when the called party answers, a voice link is established between the calling party and the called party, and the user can carry out voice communication with the called party through a microphone and an earphone of an audio circuit.

The process of the wireless communication device cooperating with the computer to receive and send the short message is as follows: when sending short message, user operates portable computer host to make short message, the short message is sent to GSM/GPRS wireless module through interface conversion circuit, and the GSM/GPRS wireless module sends the content of short message to short message service center. When receiving the short message, the GSM/GPRS wireless module receives the short message from the GSM/GPRS network side and stores the short message in the GSM/GPRS wireless module or the SIM card. The user accesses the GSM/GPRS wireless module or the SIM card by operating the portable computer host to read the stored short message, and the short message is displayed on the portable computer host.

The above description is intended to be illustrative of the preferred embodiment of the present invention and should not be taken as limiting the invention, but rather, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

Claims (8)

1. A multi-robot dispatching method for a meal delivery robot is characterized by comprising the following steps: the multiparty communication method based on dual identity is applicable to interconnection and intercommunication of more than one communication device, and comprises the following steps: each communication device monitors all communication devices connected with the communication device in real time, judges whether a network connection request initiated by the communication device is sent to the communication device, if so, establishes connection with the communication device initiating the network connection request by using the identity of the server side and interacts with the communication device, if not, the monitoring is continued, and each communication device can actively send the network connection request to the communication device connected with the communication device by using the identity of the client side at any time.

2. The multi-robot dispatching method for meal delivery robots as claimed in claim 1, wherein: the communication object of the current communication device and the identity of the current communication device when communicating with each communication object, i.e., the communication range in which each device is deployed and the identity of the current device when communicating with devices within the communication range, are set and stored in each communication device.

3. The multi-robot meal delivery robot scheduling method of claim 2, wherein: in order to ensure that each communication device stores a digital certificate for safety authentication in safety communication, when one device is used as a client to actively initiate network connection, an initiator sends the digital certificate stored in the initiator to an opposite party and simultaneously receives the digital certificate sent by the opposite party, both communication parties carry out authentication identity, and data sending or receiving is carried out after both communication parties pass identity authentication;

one of the devices is used as a server to monitor network connection initiated by other network devices to the device, the monitoring party receives a digital certificate sent to the network connection initiating party, identity authentication is carried out on the network connection initiating party, meanwhile, the monitoring party sends a digital certificate stored by the monitoring party to the network connection initiating party, identity authentication is requested to be carried out on the monitoring party, and data sending or receiving is carried out after both communication parties are judged to pass the authentication.

4. The multi-robot dispatching method for meal delivery robots as claimed in claim 3, wherein: in order to prevent hackers from injecting or tampering network traffic, data to be transmitted is not sent in clear, but the data to be transmitted is packaged into a data packet, and the packaged data is encrypted by using a public key in a digital certificate stored in the data packet and is sent.

5. The multi-robot meal delivery robot scheduling method of claim 4, wherein: the type of the data packet is added in the front of the data segment in the packaging process, the receiver decrypts the data packet according to a public key in a digital certificate stored in the receiver after receiving the data packet, then a field which represents the type of the data packet is analyzed from the decrypted data, and corresponding processing is carried out according to the type of the data packet.

6. The multi-robot dispatching method for meal delivery robots as claimed in claim 1, wherein: the circuit structure of the device comprises four parts, namely a GSM/GPRS wireless module, an audio circuit, an interface conversion circuit and a microcontroller circuit.

7. The multi-robot meal delivery robot scheduling method of claim 6, wherein: the GSM/GPRS wireless module processes voice, signaling and data transmission to realize wireless communication between the portable computer and a GSM/GPRS network side;

the audio circuit is in electric signal connection with the GSM/GPRS wireless module to realize the input and output of the voice signal of the GSM/GPRS wireless module;

the interface conversion circuit is connected with the GSM/GPRS wireless module through a serial bus to realize the conversion between standard interface signals and serial interface signals between the portable computer and the GSM/GPRS wireless module;

the microcontroller circuit is respectively connected with the interface conversion circuit through a bus and connected with the GSM/GPRS wireless module through a power supply activation line, initializes the interface conversion circuit and controls the state conversion of the interface conversion circuit, and simultaneously controls the power-on of the GSM/GPRS wireless module.

8. The multi-robot meal delivery robot scheduling method of claim 7, wherein: the audio circuit may implement a dial-up voice communication.

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