CN114102602B

CN114102602B - Method and system for remotely controlling geological mapping self-walking robot

Info

Publication number: CN114102602B
Application number: CN202111491835.8A
Authority: CN
Inventors: 范景霞; 王哲; 寻妍; 卢文东
Original assignee: First Geological Brigade of Shandong Provincial Bureau of Geology and Mineral Resources of First Geological and Mineral Exploration Institute of Shandong Province
Current assignee: First Geological Brigade of Shandong Provincial Bureau of Geology and Mineral Resources of First Geological and Mineral Exploration Institute of Shandong Province
Priority date: 2021-12-08
Filing date: 2021-12-08
Publication date: 2022-06-03
Anticipated expiration: 2041-12-08
Also published as: CN114102602A

Abstract

The invention discloses a method for remotely controlling a geological mapping self-walking robot, which comprises the following steps: the surveying self-walking robot I receives a control command transmission instruction I sent by a surveying robot controller in a time period I of a transmission cycle I; after receiving the control command transmission instruction I, the surveying and mapping self-walking robot I monitors a self-walking robot control command sent by a surveying and mapping robot controller in a time period II of a transmission period I; if the self-walking robot control command is not successfully received, the surveying and mapping self-walking robot I sends an incorrect receiving message I to the surveying and mapping robot controller in the time period I of the transmission period II; after receiving the incorrect reception message I, the surveying robot controller sends a control command transmission instruction II to the surveying autonomous robot I in a period I of a transmission cycle III, wherein the transmission cycle III is spaced from the transmission cycle I by the transmission cycle II.

Description

Method and system for remotely controlling geological mapping self-walking robot

Technical Field

The invention relates to the technical field of geological mapping, in particular to a method and a system for remotely controlling a geological mapping self-walking robot.

Background

At present, partial geological mapping is carried out by the self-walking robot, scientific research personnel do not need to carry out on-the-spot mapping in many times, but can control the self-walking robot to carry out the geological mapping in a mode of operating a robot controller, the risk of casualties is greatly reduced in the mode, the mapping range of the geological mapping is enlarged, and the mapping precision is improved. At present, the information transmission mode between a robot controller and a self-walking robot is carried out by depending on a self-built wireless local area network, and how to improve the transmission efficiency of the local area network determines the control precision of the self-walking robot.

Disclosure of Invention

In order to achieve the above object, the present invention provides a method for remotely controlling a geological mapping self-walking robot, comprising: receiving a control command transmission instruction I sent by a surveying robot controller in a period I of a transmission cycle I by the surveying robot self-walking robot I, wherein the control command transmission instruction I indicates a period II of the transmission cycle I to the surveying robot self-walking I; after receiving a control command transmission instruction I, monitoring a self-walking robot control command sent by a mapping robot controller in a time period II of a transmission cycle I by the mapping robot controller, wherein the number of bits contained in the control command transmission instruction I is smaller than the number of bits contained in the self-walking robot control command; if the self-walking robot control command is not successfully received, the surveying and mapping self-walking robot I sends an incorrect reception message I to the surveying and mapping robot controller for a time period I of a transmission period II, wherein the transmission period II is the first transmission period in time after the transmission period I; after receiving the incorrect reception message I, the surveying robot controller sends a control command transmission instruction II to the surveying self-walking robot I in a period I of a transmission cycle III, wherein the transmission cycle III is spaced from the transmission cycle I by the transmission cycle II, wherein the control command transmission instruction II indicates the period I of the transmission cycle IV to the surveying self-walking robot I.

In a preferred embodiment, the method comprises: after receiving the control command transmission instruction II, the surveying and mapping self-walking robot I monitors a self-walking robot control command sent by a surveying and mapping robot controller in a time period I of a transmission period IV, wherein the transmission period IV is separated from the transmission period I by two transmission periods; and after successfully receiving the self-walking robot control command, sending a correct receiving message to the surveying robot controller by the surveying self-walking robot I in a time period I of a transmission period V, wherein the transmission period V is separated from the transmission period I by two transmission periods in time, and the control command transmission indication II comprises a bit number smaller than that of the self-walking robot control command.

In a preferred embodiment, the method comprises: receiving a control command transmission instruction III sent by the surveying robot controller in a period II of a transmission cycle I by the surveying self-walking robot II, wherein the control command transmission instruction III instructs the period III of the transmission cycle I to the surveying self-walking robot II; after receiving the control command transmission instruction III, the surveying and mapping self-walking robot II monitors a self-walking robot control command sent by a surveying and mapping robot controller in the time period III of the transmission period I, wherein the control command transmission instruction III contains a smaller number of bits than the self-walking robot control command; if the self-walking robot control command is not successfully decoded, the surveying and mapping self-walking robot II sends an incorrect reception message II to the surveying and mapping robot controller in a time period I of a transmission period VI, wherein in time, the transmission period VI is the first transmission period after the transmission period I; after receiving the incorrect reception message II, the surveying robot controller sends a control command transmission instruction IV to the surveying self-walking robot II in a period I of a transmission cycle VII, wherein the transmission cycle VII is separated from the transmission cycle I by three transmission cycles, wherein the control command transmission instruction IV indicates the period II of the transmission cycle VII to the surveying self-walking robot II; after receiving the control command transmission indication IV, the surveying self-walking robot II listens for the self-walking robot control command sent by the surveying robot controller during the period II of the transmission cycle IV, wherein the number of bits of the control command transmission indication IV is smaller than the number of bits contained by the self-walking robot control command.

In a preferred embodiment, the method comprises: after receiving the self-walking robot control command, sending a resource request to a mapping robot controller by the mapping self-walking robot I; after receiving the resource request, the surveying robot controller allocates a specific resource for transmitting data to other surveying self-walking robot to the surveying self-walking robot I; after receiving the specific resource, the surveying self-walking robot I sends a transmission indication command to other surveying self-walking robots in a transmission period I and a frequency I of the specific resource, wherein the transmission control command indicates a transmission period II to the other surveying self-walking robots; after receiving the transmission instructing command, the other surveying self-walking robots listen to the self-walking robot control command transmitted by the surveying self-walking robot I, wherein the self-walking robot control command is transmitted over a transmission period II of the specific resource and a frequency II, wherein the frequency II has a predefined correspondence with the frequency I.

In a preferred embodiment, the method comprises: after receiving the self-walking robot control command, the mapping self-walking robot II sends a resource request to the mapping robot controller; after receiving the resource request, the surveying robot controller allocates a specific resource for transmitting data to the other surveying self-walking robot to the surveying self-walking robot II; after receiving the specific resource, the surveying self-walking robot II sends a transmission instruction command II to other surveying self-walking robots in a transmission period I and a frequency III of the specific resource, wherein the transmission instruction command II indicates the transmission period III to the other surveying self-walking robots; after receiving the transmission instructing command II, the self-walking robot control command sent by the surveying self-walking robot II is listened to by the other surveying self-walking robot, wherein the self-walking robot control command is sent over a transmission period III and a frequency IV, wherein the transmission period III is after the transmission period II, wherein the frequency IV has a predefined correspondence with the frequency III.

In a preferred embodiment, the method comprises: after receiving the self-walking robot control command, the mapping self-walking robot II sends a resource request to the mapping robot controller; after receiving the resource request, the surveying robot controller allocates a specific resource for transmitting data to the other surveying self-walking robot to the surveying self-walking robot II; after receiving the specific resource, the surveying self-walking robot II sends a transmission instruction command II to other surveying self-walking robots in a transmission period I and a frequency III of the specific resource, wherein the transmission instruction command II indicates the transmission period III and a transmission period IV to the other surveying self-walking robots; after receiving the transmission instructing command II, listening by the other surveying self-walking robot to the self-walking robot control command sent by the surveying self-walking robot II, wherein the self-walking robot control command is sent over a transmission period III and a transmission period IV and a frequency IV, wherein the transmission period III and the transmission period IV follow the transmission period II, wherein the frequency IV has a predefined correspondence with the frequency III, wherein the bandwidth of the frequency IV is smaller than the bandwidth of the frequency II.

The invention provides a system for remotely controlling geological mapping self-walking robots, which comprises a plurality of mapping self-walking robots and mapping robot controllers, wherein the plurality of mapping self-walking robots and the mapping robot controllers are configured to perform the following operations: receiving a control command transmission instruction I sent by a surveying robot controller in a period I of a transmission cycle I by the surveying robot self-walking robot I, wherein the control command transmission instruction I indicates a period II of the transmission cycle I to the surveying robot self-walking I; after receiving a control command transmission instruction I, monitoring a self-walking robot control command sent by a mapping robot controller in a time period II of a transmission cycle I by the mapping robot controller, wherein the number of bits contained in the control command transmission instruction I is smaller than the number of bits contained in the self-walking robot control command; if the self-walking robot control command is not successfully received, the surveying and mapping self-walking robot I sends an incorrect reception message I to the surveying and mapping robot controller for a time period I of a transmission period II, wherein the transmission period II is the first transmission period in time after the transmission period I; after receiving the incorrect reception message I, the surveying robot controller sends a control command transmission instruction II to the surveying self-walking robot I in a period I of a transmission cycle III, wherein the transmission cycle III is spaced from the transmission cycle I by the transmission cycle II, wherein the control command transmission instruction II indicates the period I of the transmission cycle IV to the surveying self-walking robot I.

In a preferred embodiment, the system comprises a plurality of surveying self-walking robots and a surveying robot controller configured to: after receiving the control command transmission instruction II, the surveying and mapping self-walking robot I monitors a self-walking robot control command sent by a surveying and mapping robot controller in a time period I of a transmission period IV, wherein the transmission period IV is separated from the transmission period I by two transmission periods; after successfully decoding the self-walking robot control command, sending a correct reception message to the surveying robot controller by the surveying self-walking robot I for a period I of a transmission period V, wherein the transmission period V is separated from the transmission period I by two transmission periods in time, wherein the control command transmission indication II comprises a smaller number of bits than the self-walking robot control command.

In a preferred embodiment, the system comprises a plurality of surveying self-walking robots and a surveying robot controller configured to: receiving a control command transmission instruction III sent by the surveying robot controller in a period II of a transmission cycle I by the surveying self-walking robot II, wherein the control command transmission instruction III instructs the period III of the transmission cycle I to the surveying self-walking robot II; after receiving the control command transmission instruction III, the surveying and mapping self-walking robot II monitors a self-walking robot control command sent by a surveying and mapping robot controller in the time period III of the transmission period I, wherein the control command transmission instruction III contains a smaller number of bits than the self-walking robot control command; if the self-walking robot control command is not successfully decoded, the surveying and mapping self-walking robot II sends an incorrect reception message II to the surveying and mapping robot controller in a time period I of a transmission period VI, wherein in time, the transmission period VI is the first transmission period after the transmission period I; after receiving the incorrect reception message II, the surveying robot controller sends a control command transmission instruction IV to the surveying self-walking robot II in a period I of a transmission cycle VII, wherein the transmission cycle VII is separated from the transmission cycle I by three transmission cycles, wherein the control command transmission instruction IV indicates the period II of the transmission cycle VII to the surveying self-walking robot II; after receiving the control command transmission indication IV, the surveying self-walking robot II listens for the self-walking robot control command sent by the surveying robot controller during the period II of the transmission cycle IV, wherein the number of bits of the control command transmission indication IV is smaller than the number of bits contained by the self-walking robot control command.

In a preferred embodiment, the system comprises a plurality of surveying self-walking robots and a surveying robot controller configured to: after receiving the self-walking robot control command, sending a resource request to a mapping robot controller by the mapping self-walking robot I; after receiving the resource request, the surveying robot controller allocates a specific resource for transmitting data to the other surveying self-walking robot to the surveying self-walking robot I;

after receiving the specific resource, the surveying self-walking robot I sends a transmission indication command to other surveying self-walking robots in a transmission period I and a frequency I of the specific resource, wherein the transmission control command indicates a transmission period II to the other surveying self-walking robots; after receiving the transmission instructing command, the other surveying self-walking robots listen to the self-walking robot control command transmitted by the surveying self-walking robot I, wherein the self-walking robot control command is transmitted over a transmission period II of the specific resource and a frequency II, wherein the frequency II has a predefined correspondence with the frequency I; in a preferred embodiment, the mapping self-walking robot II sends a resource request to the mapping robot controller after receiving the self-walking robot control command; after receiving the resource request, the surveying robot controller allocates a specific resource for transmitting data to the other surveying self-walking robot to the surveying self-walking robot II; after receiving the specific resource, the surveying and mapping self-walking robot II sends a transmission instruction command II to other surveying and mapping self-walking robots in a transmission period I and a frequency III of the specific resource, wherein the transmission instruction command II indicates the transmission period III to the other surveying and mapping self-walking robots; after receiving the transmission instruction command II, listening, by the other surveying self-walking robot, to the self-walking robot control command sent by the surveying self-walking robot II, wherein the self-walking robot control command is sent over a transmission period III and a frequency IV, wherein the transmission period III is after the transmission period II, wherein the frequency IV has a predefined correspondence with the frequency III; in a preferred embodiment, the mapping self-walking robot II sends a resource request to the mapping robot controller after receiving the self-walking robot control command; after receiving the resource request, the surveying robot controller allocates a specific resource for transmitting data to the other surveying self-walking robot to the surveying self-walking robot II; after receiving the specific resource, the surveying self-walking robot II sends a transmission instruction command II to other surveying self-walking robots in a transmission period I and a frequency III of the specific resource, wherein the transmission instruction command II indicates the transmission period III and a transmission period IV to the other surveying self-walking robots; after receiving the transmission instructing command II, listening by the other surveying self-walking robot to the self-walking robot control command sent by the surveying self-walking robot II, wherein the self-walking robot control command is sent over a transmission period III and a transmission period IV and a frequency IV, wherein the transmission period III and the transmission period IV follow the transmission period II, wherein the frequency IV has a predefined correspondence with the frequency III, wherein the bandwidth of the frequency IV is smaller than the bandwidth of the frequency II.

Compared with the prior art, the invention has the following advantages that aiming at the control of the surveying and mapping robot, the simplest and most original control mode of the surveying and mapping self-walking robot is similar to the control mode of a remote control automobile, the controller of the surveying and mapping robot is similar to an original remote controller, and the operation mode of the surveying and mapping self-walking robot is similar to the remote control automobile. Although the control mode can be directly realized by the prior art of carrying and transferring, is simple and feasible, the information quantity transmitted by the mode is limited, namely the mapping self-walking robot cannot be controlled to perform complex actions, and meanwhile, different self-walking robots cannot be controlled to perform different actions. Aiming at the problem, a local area network technology is needed to realize the transmission of complex control commands and the simultaneous control of a plurality of self-walking robots, so that the invention provides a related method aiming at the scene of controlling the plurality of self-walking robots in the local area network, and the method can improve the transmission efficiency of the local area network.

Drawings

FIG. 1 is a flow diagram of a method according to an embodiment of the present invention;

FIG. 2 is a flow diagram of a method according to an embodiment of the invention;

FIG. 3 is a flow diagram of a method according to an embodiment of the invention.

Detailed Description

The following detailed description of the present invention is provided in conjunction with the accompanying drawings, but it should be understood that the scope of the present invention is not limited to the specific embodiments.

Throughout the specification and claims, unless explicitly stated otherwise, the word "comprise", or variations such as "comprises" or "comprising", will be understood to imply the inclusion of a stated element or component but not the exclusion of any other element or component.

In the application scene of the invention, scientific researchers do not need to carry out on-site surveying and mapping, and control the surveying and mapping self-walking robot to carry out geological surveying and mapping in a mode of operating the surveying and mapping robot controller. At present, the simplest and the most original control mode of the surveying and mapping self-walking robot is similar to the control mode of a remote control automobile, the controller of the surveying and mapping robot is similar to an original remote controller, and the operation mode of the surveying and mapping self-walking robot is similar to the control mode of the remote control automobile. Although the control mode can be directly realized by the prior art of carrying and transferring, is simple and feasible, the information quantity transmitted by the mode is limited, namely the mapping self-walking robot cannot be controlled to perform complex actions, and meanwhile, different self-walking robots cannot be controlled to perform different actions. Aiming at the problem, a local area network technology is needed to realize the transmission of complex control commands and the simultaneous control of a plurality of self-walking robots, so that the invention provides a related method aiming at the scene of controlling the plurality of self-walking robots in the local area network, and the method can improve the transmission efficiency of the local area network.

FIG. 1 is a flow diagram of a method according to one embodiment of the invention. As shown, the method of one embodiment comprises:

s11: receiving a control command transmission instruction I sent by a surveying robot controller in a period I of a transmission cycle I by the surveying robot self-walking robot I, wherein the control command transmission instruction I indicates a period II of the transmission cycle I to the surveying robot self-walking I; in the application scenario of the present invention, since the bandwidth of the lan is large, it is not desirable that the surveying and mapping self-walking robot monitors the data sent by the surveying and mapping robot controller over the whole bandwidth at any time, otherwise the problem of power consumption is likely to occur, in one aspect, it is prescribed that the surveying and mapping self-walking robot I monitors the control command transmission indication I only in the time period I of the transmission cycle I, if the indication is monitored, the surveying and mapping self-walking robot I continues to monitor the subsequent data, if the indication is not monitored, the surveying and mapping self-walking robot I does not monitor the subsequent data;

s12: after receiving a control command transmission instruction I, monitoring a self-walking robot control command sent by a mapping robot controller in a time period II of a transmission cycle I by the mapping robot controller, wherein the number of bits contained in the control command transmission instruction I is smaller than the number of bits contained in the self-walking robot control command; in one aspect, the control command transmission instruction I contains a smaller number of bits, so the frequency band for sending the control command transmission instruction can be narrower, and in one aspect, the frequency band for sending the control command transmission instruction can be narrower than the frequency band for sending the self-walking robot control command; the monitoring time of the surveying and mapping self-walking robot is shorter, and the monitoring bandwidth is smaller, so that the aim of reducing power consumption can be fulfilled; in one aspect, the self-walking robot control commands can contain a larger amount of data because the bandwidth of the current local area network is large enough, which makes the self-walking robot control commands more complex, enabling complex operation of the self-walking robot; in one aspect, where the command transmission delay meets the requirement, one transmission cycle may be 10ms, 20ms, 100ms, or even 1000ms, with the time period being a smaller unit than the transmission cycle;

s13: if the self-walking robot control command is not successfully received, the surveying and mapping self-walking robot I sends an incorrect reception message I to the surveying and mapping robot controller for a time period I of a transmission period II, wherein the transmission period II is the first transmission period in time after the transmission period I;

s14: after receiving the incorrect reception message I, the surveying robot controller sends a control command transmission instruction II to the surveying self-walking robot I in a period I of a transmission cycle III, wherein the transmission cycle III is spaced from the transmission cycle I by the transmission cycle II, wherein the control command transmission instruction II indicates the period I of the transmission cycle IV to the surveying self-walking robot I.

FIG. 2 is a flow diagram of a method according to an embodiment of the invention. As shown, in one aspect, a method includes:

s21: after receiving the control command transmission instruction II, the surveying and mapping self-walking robot I monitors a self-walking robot control command sent by a surveying and mapping robot controller in a time period I of a transmission period IV, wherein the transmission period IV is separated from the transmission period I by two transmission periods;

s22: after successful reception of the self-walking robot control command, sending a correct reception message to the surveying robot controller by the surveying self-walking robot I for a period I of a transmission period V, wherein the transmission period V is separated in time from the transmission period I by two transmission periods, wherein the control command transmission indication II contains a smaller number of bits than the self-walking robot control command. In one aspect, the transmission period IV overlaps in time with the transmission period V, but frequency division multiplexes both in frequency, in other words, the transmission period IV may be a transmission period at frequency f1 and the transmission period V may be a transmission period at frequency f2, it being understood by those skilled in the art that the time period I of the transmission period V occurs after the time period I of the transmission period IV in time; in a preferred embodiment, the method comprises: receiving a control command transmission instruction III sent by the surveying robot controller in a period II of a transmission cycle I by the surveying self-walking robot II, wherein the control command transmission instruction III instructs the period III of the transmission cycle I to the surveying self-walking robot II; after receiving the control command transmission instruction III, the surveying and mapping self-walking robot II monitors a self-walking robot control command sent by a surveying and mapping robot controller in the time period III of the transmission period I, wherein the control command transmission instruction III contains a smaller number of bits than the self-walking robot control command; if the self-walking robot control command is not successfully decoded, the surveying and mapping self-walking robot II sends an incorrect reception message II to the surveying and mapping robot controller in a time period I of a transmission period VI, wherein in time, the transmission period VI is the first transmission period after the transmission period I; after receiving the incorrect reception message II, the surveying robot controller sends a control command transmission instruction IV to the surveying self-walking robot II in a period I of a transmission cycle VII, wherein the transmission cycle VII is separated from the transmission cycle I by three transmission cycles, wherein the control command transmission instruction IV indicates the period II of the transmission cycle VII to the surveying self-walking robot II; in one aspect, the interval time between the retransmitted self-walking robot control command and the first transmitted self-walking robot control command is optionally adjustable, which ensures flexibility in resource allocation; for example, if other high-priority transmission requests occur in three transmission periods spaced between the transmission period VII and the transmission period I, the three transmission periods may be preferentially used for other high-priority transmissions; after receiving the control command transmission indication IV, the surveying self-walking robot II listens for the self-walking robot control command sent by the surveying robot controller during the period II of the transmission cycle IV, wherein the number of bits of the control command transmission indication IV is smaller than the number of bits contained by the self-walking robot control command.

In one aspect of the present invention, in order to extend the control range of the surveying robot controller, the surveying self-walking robot may be controlled in a multi-hop manner, and in one aspect, the surveying robot controller transmits a set of commands for a plurality of surveying robots to one surveying self-walking robot in a group, and the surveying robot then forwards the commands for the other surveying self-walking robots to the other surveying self-walking robots, thereby achieving the control range of the surveying robot controller and more greatly improving the control number of the controllers. FIG. 3 is a flow diagram of a method according to an embodiment of the invention. As shown, in one aspect, a method includes:

s31: after receiving the self-walking robot control command, sending a resource request to a mapping robot controller by the mapping self-walking robot I;

s32: after receiving the resource request, the surveying robot controller allocates a specific resource for transmitting data to the other surveying self-walking robot to the surveying self-walking robot I;

s33: after receiving the specific resource, the surveying self-walking robot I sends a transmission indication command to other surveying self-walking robots in a transmission period I and a frequency I of the specific resource, wherein the transmission control command indicates a transmission period II to the other surveying self-walking robots;

s34: after receiving the transmission instructing command, the other surveying self-walking robots listen to the self-walking robot control command transmitted by the surveying self-walking robot I, wherein the self-walking robot control command is transmitted over a transmission period II of the specific resource and a frequency II, wherein the frequency II has a predefined correspondence with the frequency I. In one aspect, the predefined correspondence of frequency II to frequency I may be written by a researcher through an interface such as USB, PCIE, etc. to the mapping autonomous robot before deployment of the entire system.

In a preferred embodiment, the method comprises: after receiving the self-walking robot control command, the mapping self-walking robot II sends a resource request to the mapping robot controller; after receiving the resource request, the surveying robot controller allocates a specific resource for transmitting data to the other surveying self-walking robot to the surveying self-walking robot II; after receiving the specific resource, the surveying self-walking robot II sends a transmission instruction command II to other surveying self-walking robots in a transmission period I and a frequency III of the specific resource, wherein the transmission instruction command II indicates the transmission period III to the other surveying self-walking robots; in an aspect, the other surveying self-walking robot that the surveying self-walking robot II sends the object may be different from the other surveying self-walking robot that the surveying self-walking robot I sends the object, in an aspect, the other surveying self-walking robot that the surveying self-walking robot II sends the object may be the same as the other surveying self-walking robot that the surveying self-walking robot I sends the object, in which one of the other surveying self-walking robots may judge whether the self-walking robot control command sent by the surveying self-walking robot I conflicts with the self-walking robot control command sent by the surveying self-walking robot II after receiving the self-walking robot control commands sent by the surveying self-walking robot I and the surveying self-walking robot II, for example, the self-walking robot control command sent by the surveying self-walking robot I controls the self-walking robot to travel leftward, the self-walking robot control command sent by the self-walking robot II controls the self-walking robot to travel rightward, judging that a conflict of control commands occurs, for example, if the self-walking robot control command sent by the surveying self-walking robot I controls the self-walking robot to send surveying data to the surveying self-walking robot I, and the self-walking robot control command sent by the surveying self-walking robot II controls the self-walking robot to move rightwards, the two commands do not conflict; in one aspect, if a conflict of commands occurs, the other autonomous mapping robots may decide which command to execute based on the priorities of autonomous mapping robots I and II, and may also decide which command to execute based on which command was received first.

After receiving the transmission instructing command II, the self-walking robot control command sent by the surveying self-walking robot II is listened to by the other surveying self-walking robot, wherein the self-walking robot control command is sent over a transmission period III and a frequency IV, wherein the transmission period III is after the transmission period II, wherein the frequency IV has a predefined correspondence with the frequency III.

It should be understood that, in various embodiments of the present invention, the order of the above-described writing of each process does not mean the order of execution, and the order of execution of each process should be determined by its function and its inherent logic, and should not limit the implementation process of the embodiments of the present invention in any way.

It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.

Claims

1. A method of remotely controlling a geological mapping self-walking robot, the method comprising:

receiving a control command transmission instruction I sent by a surveying robot controller in a period I of a transmission cycle I by a surveying self-walking robot I, wherein the control command transmission instruction I indicates a period II of the transmission cycle I to the surveying self-walking robot I; after receiving the control command transmission instruction I, monitoring a self-walking robot control command sent by a mapping robot controller in a time period II of a transmission cycle I by the mapping robot controller, wherein the control command transmission instruction I comprises a smaller number of bits than a self-walking robot control command; if the self-walking robot control command is not successfully received, sending an incorrect reception message I to the mapping robot controller by the mapping self-walking robot I in a time period I of a transmission period II, wherein the transmission period II is the first transmission period in time after the transmission period I; after receiving the incorrect reception message I, the surveying robot controller sends a control command transmission instruction II to the surveying self-walking robot I in a period I of a transmission cycle III, wherein the transmission cycle III is spaced from the transmission cycle I by the transmission cycle II, wherein the control command transmission instruction II indicates the period I of the transmission cycle IV to the surveying self-walking robot I;

after receiving the control command transmission instruction II, monitoring a self-walking robot control command sent by a mapping robot controller in a time period I of a transmission period IV by two transmission periods; after successful reception of the self-walking robot control command, sending a correct reception message to the surveying robot controller by the surveying self-walking robot I for a period I of a transmission period V, wherein the transmission period V is separated from the transmission period I by two transmission periods in time, wherein the control command transmission indication II comprises a smaller number of bits than the self-walking robot control command, wherein the transmission period IV is frequency division multiplexed with the transmission period V in frequency.

2. The method of remotely controlling a geological mapping autonomous robot according to claim 1, said method comprising:

receiving a control command transmission instruction III sent by a surveying robot controller in a period II of a transmission cycle I by a surveying self-walking robot II, wherein the control command transmission instruction III instructs the period III of the transmission cycle I to the surveying self-walking robot II; after receiving the control command transmission instruction III, the surveying self-walking robot II monitors a self-walking robot control command sent by a surveying robot controller in a time period III of a transmission period I, wherein the control command transmission instruction III contains a smaller number of bits than a self-walking robot control command; if the self-walking robot control command is not successfully decoded, sending an incorrect receipt message II to the mapping robot controller by a mapping self-walking robot II in a time period I of a transmission period VI, wherein in time, the transmission period VI is the first transmission period after the transmission period I; after receiving the incorrect reception message II, the surveying robot controller sends a control command transmission instruction IV to the surveying self-walking robot II in a period I of a transmission cycle VII, wherein the transmission cycle VII is separated from the transmission cycle I by three transmission cycles, wherein the control command transmission instruction IV indicates the period II of the transmission cycle VII to the surveying self-walking robot II; after receiving the control command transmission indication IV, the surveying self-walking robot II listens for self-walking robot control commands sent by the surveying robot controller during a period II of the transmission period IV, wherein the number of bits of the control command transmission indication IV is smaller than the number of bits contained by the self-walking robot control commands.

3. The method of remotely controlling a geological mapping autonomous robot according to claim 2, said method comprising:

sending, by a mapping self-walking robot I, a resource request to the mapping robot controller after receiving the self-walking robot control command; after receiving the resource request, a mapping robot controller allocates a specific resource for transmitting data to other mapping self-walking robots to the mapping self-walking robot I; after receiving the specific resource, sending a transmission instruction command to the other surveying and mapping self-walking robot by the surveying and mapping self-walking robot I in a transmission period I and a frequency I of the specific resource, wherein the transmission control command instructs the other surveying and mapping self-walking robot to transmit a transmission period II;

after receiving the transmission instructing command, the other surveying self-walking robots listen to a self-walking robot control command sent by a surveying self-walking robot I, wherein the self-walking robot control command is sent over a transmission cycle II of a specific resource and a frequency II, wherein the frequency II has a predefined correspondence with the frequency I.

4. The method of remotely controlling a geological mapping autonomous robot according to claim 3, said method comprising:

after receiving the self-walking robot control command, the surveying self-walking robot II sends a resource request to the surveying robot controller; after receiving the resource request, a mapping robot controller allocates a specific resource for transmitting data to other mapping self-walking robots to the mapping self-walking robot II; after receiving the specific resource, sending a transmission instruction command II to the other surveying and mapping self-walking robot in a transmission period I and a frequency III of the specific resource, wherein the transmission instruction command II indicates the transmission period III to the other surveying and mapping self-walking robot; after receiving the transmission indication command II, listening by the other surveying autonomous robot to a self-walking robot control command sent by surveying autonomous robot II, wherein the self-walking robot control command is sent over a transmission period III and a frequency IV, wherein the transmission period III is after the transmission period II, wherein the frequency IV has a predefined correspondence with the frequency III.

5. The method of remotely controlling a geological mapping autonomous robot according to claim 4, said method comprising:

after receiving the self-walking robot control command, the mapping self-walking robot II sends a resource request to the mapping robot controller; after receiving the resource request, a mapping robot controller allocates a specific resource for transmitting data to other mapping self-walking robots to the mapping self-walking robot II; after receiving the specific resource, sending a transmission instruction command II to the other surveying and mapping self-walking robot in a transmission period I and a frequency III of the specific resource, wherein the transmission instruction command II indicates a transmission period III and a transmission period IV to the other surveying and mapping self-walking robot; after receiving the transmission instruction command II, listening by the other surveying self-walking robot to a self-walking robot control command sent by surveying self-walking robot II, wherein the self-walking robot control command is sent over a transmission period III and a transmission period IV and a frequency IV, wherein the transmission period III and the transmission period IV follow the transmission period II, wherein the frequency IV has a predefined correspondence with the frequency III, wherein a bandwidth of the frequency IV is smaller than a bandwidth of the frequency II.

6. A system for remotely controlling a geological mapping self-walking robot, the system comprising a plurality of mapping self-walking robots and mapping robot controllers configured to: receiving a control command transmission instruction I sent by a surveying robot controller in a period I of a transmission cycle I by a surveying self-walking robot I, wherein the control command transmission instruction I indicates a period II of the transmission cycle I to the surveying self-walking robot I; after receiving the control command transmission instruction I, monitoring a self-walking robot control command sent by a mapping robot controller in a time period II of a transmission cycle I by the mapping robot controller, wherein the control command transmission instruction I comprises a smaller number of bits than a self-walking robot control command; if the self-walking robot control command is not successfully received, sending an incorrect reception message I to the mapping robot controller by the mapping self-walking robot I in a time period I of a transmission period II, wherein the transmission period II is the first transmission period in time after the transmission period I; after receiving the incorrect reception message I, the surveying robot controller sends a control command transmission instruction II to the surveying self-walking robot I in a period I of a transmission cycle III, wherein the transmission cycle III is spaced from the transmission cycle I by the transmission cycle II, wherein the control command transmission instruction II indicates the period I of the transmission cycle IV to the surveying self-walking robot I;

after receiving the control command transmission instruction II, monitoring a self-walking robot control command sent by a mapping robot controller in a time period I of a transmission period IV by two transmission periods; after successful decoding of the self-walking robot control command, sending a correct receipt message to the mapping robot controller by the mapping self-walking robot I for a period I of a transmission period V, wherein the transmission period V is separated in time from the transmission period I by two transmission periods, wherein the control command transmission indication II comprises a smaller number of bits than the self-walking robot control command, wherein the transmission period IV is frequency division multiplexed with the transmission period V in frequency.

7. The system of remotely controlling a geological mapping self-propelled robot as recited in claim 6, comprising a plurality of mapping self-propelled robots and mapping robot controllers configured to: receiving a control command transmission instruction III sent by a surveying robot controller in a period II of a transmission cycle I by a surveying self-walking robot II, wherein the control command transmission instruction III instructs the period III of the transmission cycle I to the surveying self-walking robot II; after receiving the control command transmission instruction III, the surveying self-walking robot II monitors a self-walking robot control command sent by a surveying robot controller in a time period III of a transmission period I, wherein the control command transmission instruction III contains a smaller number of bits than a self-walking robot control command; if the self-walking robot control command is not successfully decoded, sending an incorrect receipt message II to the mapping robot controller by a mapping self-walking robot II in a time period I of a transmission period VI, wherein in time, the transmission period VI is the first transmission period after the transmission period I; after receiving the incorrect reception message II, the surveying robot controller sends a control command transmission instruction IV to the surveying self-walking robot II in a period I of a transmission period VII, wherein the transmission period VII is separated from the transmission period I by three transmission periods, wherein the control command transmission instruction IV indicates the period II of the transmission period VII to the surveying self-walking robot II; after receiving the control command transmission indication IV, the surveying self-walking robot II listens for self-walking robot control commands sent by the surveying robot controller during a period II of the transmission period IV, wherein the number of bits of the control command transmission indication IV is smaller than the number of bits contained by the self-walking robot control commands.

8. The system of remotely controlling a geological mapping self-propelled robot according to claim 7, which comprises a plurality of mapping self-propelled robots and mapping robot controllers configured to: sending, by a mapping self-walking robot I, a resource request to the mapping robot controller after receiving the self-walking robot control command; after receiving the resource request, a mapping robot controller allocates a specific resource for transmitting data to other mapping self-walking robots to the mapping self-walking robot I; after receiving the specific resource, sending a transmission instruction command to the other surveying and mapping self-walking robot by the surveying and mapping self-walking robot I in a transmission period I and a frequency I of the specific resource, wherein the transmission control command instructs the other surveying and mapping self-walking robot to transmit a transmission period II; after receiving the transmission instructing command, the other surveying self-walking robots listen to a self-walking robot control command sent by a surveying self-walking robot I, wherein the self-walking robot control command is sent over a transmission cycle II of a specific resource and a frequency II, wherein the frequency II has a predefined correspondence with the frequency I; after receiving the self-walking robot control command, the mapping self-walking robot II sends a resource request to the mapping robot controller; after receiving the resource request, a mapping robot controller allocates a specific resource for transmitting data to other mapping self-walking robots to the mapping self-walking robot II; after receiving the specific resource, sending a transmission instruction command II to the other surveying and mapping self-walking robot in a transmission period I and a frequency III of the specific resource, wherein the transmission instruction command II indicates the transmission period III to the other surveying and mapping self-walking robot; after receiving the transmission instruction command II, listening by the other surveying self-walking robot to a self-walking robot control command sent by surveying self-walking robot II, wherein the self-walking robot control command is sent over a transmission period III and a frequency IV, wherein the transmission period III is after the transmission period II, wherein the frequency IV has a predefined correspondence with the frequency III; after receiving the self-walking robot control command, the mapping self-walking robot II sends a resource request to the mapping robot controller; after receiving the resource request, a mapping robot controller allocates a specific resource for transmitting data to other mapping self-walking robots to the mapping self-walking robot II; after receiving the specific resource, sending a transmission instruction command II to the other surveying and mapping self-walking robot in a transmission period I and a frequency III of the specific resource, wherein the transmission instruction command II indicates a transmission period III and a transmission period IV to the other surveying and mapping self-walking robot; after receiving the transmission instruction command II, listening by the other surveying self-walking robot to a self-walking robot control command sent by surveying self-walking robot II, wherein the self-walking robot control command is sent over a transmission period III and a transmission period IV and a frequency IV, wherein the transmission period III and the transmission period IV follow the transmission period II, wherein the frequency IV has a predefined correspondence with the frequency III, wherein a bandwidth of the frequency IV is smaller than a bandwidth of the frequency II.