CN105610553A - Robot terminal and server instruction synchronization control method, device and system - Google Patents
Robot terminal and server instruction synchronization control method, device and system Download PDFInfo
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- CN105610553A CN105610553A CN201610008091.2A CN201610008091A CN105610553A CN 105610553 A CN105610553 A CN 105610553A CN 201610008091 A CN201610008091 A CN 201610008091A CN 105610553 A CN105610553 A CN 105610553A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
- H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/08—Arrangements for detecting or preventing errors in the information received by repeating transmission, e.g. Verdan system
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
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- H04L67/146—Markers for unambiguous identification of a particular session, e.g. session cookie or URL-encoding
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/50—Network services
- H04L67/60—Scheduling or organising the servicing of application requests, e.g. requests for application data transmissions using the analysis and optimisation of the required network resources
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Abstract
The invention provides a robot terminal and server instruction synchronization control method, device and system. The method comprise following steps that: firstly, a controller receives first instruction data sent by a server; first time stamps are carried in the first instruction data; the first instruction data are used for controlling robot terminals to execute corresponding motions at the time corresponding to the first time stamps; secondly, whether the first time stamps in the first instruction data are overdue is judged; when the first times are overdue, the instruction data sent by the server again are received until the second instruction data carried with unexpired second time stamps are received; finally, according to the second instruction data, the robot terminals are controlled to execute corresponding motions at the time corresponding to the second time stamps; therefore, the robot terminals and the instruction data sent by the server are synchronized; the robot terminals can be synchronized with the stated time set by the server and execute stated motions corresponding to the time; the working efficiency of the robot terminals is improved; and the work coordination capability of multiple robot terminals is improved.
Description
Technical field
The present invention relates to Robotics field, in particular to robot terminal and clothesSynchronous control method, the Apparatus and system of business device instruction.
Background technology
Along with the develop rapidly of computer technology and artificial intelligence technology, estimate the general soonComing robot will be one of important industry determining national competitiveness. Robot is such as superThe large-scale stream of people, the logistical applications such as level market, airport, station, conference and exhibition center and logistics warehouseOccasion all has a wide range of applications, and it is the work with assistance or the replacement mankind by utonomous workingDo, meanwhile, the growing of wireless network communication technique carried for robot remote controlSupply convenient and stable means of communication, the real-time control under complex environment may have been become.
Robot long-distance control method of the prior art, adopts the mode of radio communication to carry outThe transfer of data of server end and robot terminal. Because WIFI network has coverageExtensively, transport tape is roomy and transmission speed is very fast outstanding advantage, conventionally use WIFI networkCarry out data communication. Above-mentioned long-range control method sends server end by WIFI networkControl instruction transfer to robot terminal, this terminal receives above-mentioned control instruction, goes forward side by sideThe operations such as the instruction analysis of line correlation and instruction execution realize the control to robot motion.
Inventor finds under study for action, robot long-distance control method employing of the prior artThe mode of WIFI network service, network signal poor stability and be easily disturbed server endIn the process of communicating by letter with robot terminal, the problem that exists command to postpone is caused to machineThe action that people's terminal can not put rules into practice at official hour, operating efficiency is low, furtherCause the phase mutual interference of moving between robot and well co-ordination, the coordination abilityPoor.
Summary of the invention
The control that the object of the present invention is to provide a kind of robot terminal to synchronize with server instructionMethod processed, Apparatus and system, guaranteed that robot terminal can refer to according to the execution of serverThe action that order puts rules into practice at official hour, has overcome multiple robot terminals due to instructionThe phase mutual interference that transmission delay causes, has improved operating efficiency and the machine of robot terminalThe coordination ability between people's terminal.
First aspect, the embodiment of the present invention provides a kind of robot terminal and server instructionSynchronous control method, wherein, described robot terminal comprises with described server communication and connectingThe controller connecing; Described control method comprises:
What described controller received that described server sends carries first of very first time markDirector data; Described the first director data is used for controlling described robot terminal described firstTime corresponding to time mark is carried out corresponding action;
Judge that the very first time in described the first director data marks whether expired;
If detect, described very first time mark is expired, receives described server and resendsDirector data, until receive the second not out of date instruction number of the second time mark carryingAccording to; Wherein, described the second director data is used for controlling described robot terminal described secondTime corresponding to time mark is carried out corresponding action;
According to described the second director data, control described robot terminal in described the second timeThe time that mark is corresponding is carried out corresponding action, to realize described robot terminal and described clothesThe director data that business device sends is synchronous.
In conjunction with first aspect, the embodiment of the present invention provides the first of first aspect possibleEmbodiment, wherein, described controller in the time detecting that the described very first time, mark was expired,Receiving the second director data that described server resends comprises:
Described controller is in the time detecting that the described very first time, mark was expired, to described serverWhat transmitting time mark was expired first replys instruction, so that described in described server feedback firstReply director data corresponding to instruction;
Receive second time mark of carrying that described server resends not out of date secondDirector data; Wherein, described the second director data is that described server is according to described robotThe current state of terminal generates, and described current state at least comprises described robot terminalOne or more in following status information: positional information, directional information and interactive information.
In conjunction with first aspect, the embodiment of the present invention provides the second of first aspect possibleEmbodiment, wherein, described method also comprises:
In the time that described controller detects that the described very first time, mark was not out of date, to described serviceWhat device transmitting time mark was not out of date second replys instruction.
In conjunction with the possible embodiment of the second of first aspect, the embodiment of the present invention providesThe third possible embodiment of first aspect, wherein, described method also comprises:
What receive according to predetermined interval that described server sends carries the of the 3rd time markThree director datas; Described the 3rd director data is used for controlling described robot terminal describedTime corresponding to three time marks carry out that corresponding and described the first director data perform an action underAn action; Described the 3rd director data be described server send corresponding to described secondReply the director data of instruction.
In conjunction with first aspect, the embodiment of the present invention provides the 4th kind of first aspect possibleEmbodiment, wherein, the very first time mark in described the first director data of described judgement isNo expired comprising:
Obtain the very first time mark in described the first director data;
Judge that the described very first time marks whether to be greater than the displaying time of described robot terminal;Wherein, the displaying time of described robot terminal and the displaying time of described server are synchronizeed;
Very first time mark in described the first director data is less than described robot terminalWhen displaying time, judge that described very first time mark is expired;
Very first time mark in described the first director data is greater than described robot terminalWhen displaying time, judge that described very first time mark is not out of date.
Second aspect, the embodiment of the present invention also provides a kind of robot terminal and server to refer toMake synchronous control device, wherein, described robot terminal comprises and described server communicationThe controller connecting; Described controller comprises:
Receiver module, carries very first time mark for what receive that described server sendsThe first director data; Described the first director data is used for controlling described robot terminal describedThe time that very first time mark is corresponding is carried out corresponding action;
Judge module, for described the first director data that judges that described receiver module receivesThe very first time mark whether expired;
Expired director data analysis module, for detecting described first at described judge moduleWhen time mark is expired, receive the director data that described server resends, until receiveTo the second not out of date director data of second time mark of carrying; Wherein, described the second fingerMake data hold in described time corresponding to the second time mark for controlling described robot terminalThe action that row is corresponding;
Data simultaneous module, for the institute analyzing according to described expired director data analysis moduleState the second director data, control described robot terminal corresponding in described the second time markTime is carried out corresponding action, and to realize, described robot terminal and described server sendDirector data is synchronous.
In conjunction with second aspect, the embodiment of the present invention provides the first of second aspect possibleEmbodiment, wherein, described expired director data analysis module comprises:
First replys instruction sending unit, for detecting described first at described judge moduleWhen time mark is expired, to described server transmitting time mark expired first reply instruction,So that first replys director data corresponding to instruction described in described server feedback;
The second director data receiving element, for receiving carrying that described server resendsThe second not out of date director data of the second time mark; Wherein, described the second director dataIt is the instruction number that described server resends according to the current state of described robot terminalAccording to, described current state at least comprises one or more in following status information: described machineThe positional information of device people terminal, the directional information of described robot terminal and described robot are eventuallyThe interactive information of end.
In conjunction with second aspect, the embodiment of the present invention provides the second of second aspect possibleEmbodiment, wherein, described device also comprises not out of date director data analysis module; DescribedNot out of date director data analysis module comprises:
Second replys instruction sending unit, for detecting described first at described judge moduleWhen time mark is not out of date, to not out of date second the replying of described server transmitting time markInstruction;
The 3rd director data receiving element, sends out for receive described server according to predetermined intervalThe 3rd director data that carries the 3rd time mark sending; Described the 3rd director data is used forControl described robot terminal and carry out correspondence and institute in time corresponding to described the 3rd time markState the next one action that the first director data performs an action; Described in described the 3rd director data isServer send corresponding to described second reply instruction sending unit send described second shouldAnswer the director data of instruction.
In conjunction with second aspect, the embodiment of the present invention provides the third of second aspect possibleEmbodiment, wherein, described judge module comprises:
Very first time mark acquiring unit, for obtain that described receiver module receives described theVery first time mark in one director data;
Very first time marker for judgment unit, for judging described very first time mark acquiring unitThe described very first time of obtaining marks whether to be greater than the displaying time of described robot terminal; ItsIn, the displaying time of described robot terminal is synchronizeed with the displaying time of described server;
Expired judging unit, described in going out in described very first time marker for judgment unit judgesVery first time mark in the first director data is less than the displaying time of described robot terminalTime, judge that described very first time mark is expired;
Not out of date judging unit, for going out institute in described very first time marker for judgment unit judgesState the displaying time that very first time mark in the first director data is greater than described robot terminalTime, judge that described very first time mark is not out of date.
The third aspect, the embodiment of the present invention also provides a kind of robot terminal and server to refer toMake synchronous control system, described robot terminal comprises controller, wherein, and described systemComprise: server and the controller being connected with described server communication;
Described server is used for, and sends and carries the of very first time mark to described controllerOne director data; In the time that the described very first time, mark was expired, resend the second director data,Until the second time mark that described the second director data sending carries is not out of date;
Described controller is used for, and what receive that described server sends carries very first time markThe first director data; Described the first director data is used for controlling described robot terminal in instituteState the time that very first time mark is corresponding and carry out corresponding action; Judge described the first instruction numberAccording in the very first time mark whether expired; If detect, described very first time mark is expired,Receive the director data that described server resends, until receive at second o'clock that carriesBetween the second not out of date director data of mark; Wherein, described the second director data is for controllingDescribed robot terminal is carried out corresponding action in described time corresponding to the second time mark;According to described the second director data, control described robot terminal in described the second time markThe corresponding time is carried out corresponding action, to realize described robot terminal and described serverThe director data sending is synchronous.
The controlling party that the robot terminal that the embodiment of the present invention provides is synchronizeed with server instructionMethod, Apparatus and system, the controller reception server first comprising by robot terminal is sent outThe first director data that carries very first time mark sending; Then judge the first director dataIn the very first time mark whether expired; When expired, receive that described server resendsDirector data, until receive the second not out of date director data of the second time mark carrying;Finally according to the second director data, control terminal is in the time that the second time mark is correspondingBetween carry out corresponding action, with realize director data that robot terminal and server send withStep, with the side of robot long-distance control method employing WIFI of the prior art network serviceFormula, network signal poor stability and be easily disturbed the robot terminal and the server instruction that causeAsynchronous comparing, it judges the in the first director data that server sends by controllerOne time marked whether expired, the instruction number that reception server resends again when expiredAccording to, until receive the second not out of date director data of the second time mark carrying, guaranteeThe official hour that can synchronization server arranges of robot terminal, and to should the timeThe action putting rules into practice, has improved operating efficiency and multiple robot terminal of robot terminalWork coordination ability.
For above-mentioned purpose of the present invention, feature and advantage can be become apparent, belowEspecially exemplified by preferred embodiment, and coordinate appended accompanying drawing, be described in detail below.
Brief description of the drawings
In order to be illustrated more clearly in the technical scheme of the embodiment of the present invention, below will be to embodimentIn the accompanying drawing of required use be briefly described, should be appreciated that the following drawings only showsSome embodiment of the present invention, therefore should not be counted as the restriction to scope, for abilityTerritory those of ordinary skill, is not paying under the prerequisite of creative work, can also basisThese accompanying drawings obtain other relevant accompanying drawings.
A kind of robot terminal and server that Fig. 1 shows the embodiment of the present invention to be provided refer toMake the method flow diagram of Synchronization Control;
Fig. 2 shows another kind of robot terminal and the server that the embodiment of the present invention providesThe method flow diagram of instruction Synchronization Control;
Fig. 3 shows another kind of robot terminal and the server that the embodiment of the present invention providesThe method flow diagram of instruction Synchronization Control;
Fig. 4 shows another kind of robot terminal and the server that the embodiment of the present invention providesThe method flow diagram of instruction Synchronization Control;
A kind of robot terminal and server that Fig. 5 shows the embodiment of the present invention to be provided refer toMake the structural representation of synchronous control device;
A kind of robot terminal and server that Fig. 6 shows the embodiment of the present invention to be provided refer toMake the structural representation of expired director data analysis module in synchronous control device;
A kind of robot terminal and server that Fig. 7 shows the embodiment of the present invention to be provided refer toMake the structural representation of not out of date director data analysis module in synchronous control device;
A kind of robot terminal and server that Fig. 8 shows the embodiment of the present invention to be provided refer toMake the structural representation of judge module in synchronous control device.
Main element symbol description:
10, receiver module; 20, judge module; 30, expired director data analysis module;40, data simultaneous module; 50, not out of date director data analysis module; 201, the very first timeMark acquiring unit; 202, very first time marker for judgment unit; 203, expired judging unit;204, not out of date judging unit; 301, first reply instruction sending unit; 302, the second fingerMake data receiver unit; 501, second reply instruction sending unit; 502, the 3rd instruction numberAccording to receiving element.
Detailed description of the invention
Below in conjunction with accompanying drawing in the embodiment of the present invention, to the technical side in the embodiment of the present inventionCase is clearly and completely described, and obviously, described embodiment is only the present invention onePart embodiment, instead of whole embodiment. Conventionally in accompanying drawing, describe and illustrate hereinThe assembly of the embodiment of the present invention can arrange and design with various configuration. Therefore,Below the detailed description of the embodiments of the invention that provide in the accompanying drawings being not intended to restriction wantsAsk the scope of the present invention of protection, but only represent selected embodiment of the present invention. Based onEmbodiments of the invention, those skilled in the art are not making under the prerequisite of creative workThe every other embodiment obtaining, belongs to the scope of protection of the invention.
Consider that robot long-distance control method of the prior art adopts WIFI network serviceMode, network signal poor stability and be easily disturbed server end and robot terminalWill exist in the process of communication the problem that postpones of command and cause the robot terminal can not beThe action that official hour puts rules into practice, operating efficiency is low, further cause robot itBetween the phase mutual interference of action and well co-ordination, the problem such as the coordination ability is poor,Inventive embodiments provide control method that a kind of robot terminal synchronizes with server instruction,Apparatus and system, it is moving that it has guaranteed that robot terminal can put rules into practice at official hourDo, improved the operating efficiency of robot terminal and the co-ordination energy of multiple robot terminalsPower.
The control method of first robot terminal being synchronizeed with server instruction is below carried out specificallyElaboration, robot terminal comprises the controller being connected with server communication, referring to Fig. 1,The specific implementation step of said method is as follows:
The first finger that carries very first time mark that S101, controller reception server sendMake data; Wherein, the first director data is used for control terminal at very first time markThe corresponding time is carried out corresponding action.
Concrete, consider the instruction that robot long-distance control method of the prior art existsTransmission delay and the action that causes robot terminal not put rules into practice at official hour are producedRaw robot terminal and the nonsynchronous problem of server instruction, the embodiment of the present invention providesIn the control method that robot terminal is synchronizeed with server instruction, what controller received is serviceThe first director data that carries very first time mark that device sends, wherein, very first time markWhat note recorded is the time of implementation of Article 1 director data, and the first director data can be controlledRobot terminal is carried out corresponding action in above-mentioned time corresponding to very first time mark.
In addition, above-mentioned the first director data can be that server sends to corresponding robot eventuallyInstruction is carried out in the control of a snap action of end, can be also a string walking information that comprisesControl and carry out instruction, the correspondence such as wherein said walking information comprises craspedodromes, turn left, turn rightAction message.
S102, judge that the very first time in the first director data marks whether expired.
Concrete, for ensure very first time mark in above-mentioned the first director data effectivelyProperty, is carrying out before robot terminal synchronizes with server instruction, and first controller judgesThe very first time in one director data marks whether expired, is by this very first time markThe time of implementation of the first director data recording and the displaying time of robot terminal itselfRelatively carry out corresponding judgement.
If S103 detects the very first time, mark is expired, and reception server resendsDirector data, until receive the second not out of date director data of the second time mark carrying;Wherein, the second director data for control terminal in the time that the second time mark is correspondingBetween carry out corresponding action.
Concrete, the time of implementation of the first director data recording at very first time mark isThrough having exceeded the displaying time of robot terminal itself, judge very first time mark expiredTime, above-mentioned controller can be abandoned whole the first director data, then continues reception server weightThe new director data sending, until receive second time mark of carrying not out of date secondDirector data.
Concrete, described the second director data is used for controlling described robot terminal described theTime corresponding to two time marks is carried out corresponding action; Wherein, the second director data controlThe corresponding action that robot terminal is carried out and the first director data control terminal are carried outCorresponding action can be identical, also can be different, and these two corresponding holding of director dataWhether action is done identical is to determine according to the current state of controlled robot terminal,And the second time mark that the second above-mentioned director data is entrained and the first director data instituteThe very first time mark carrying is not identical. Because robot that the embodiment of the present invention provides is wholeThe control method that end is synchronizeed with server instruction knows that at server very first time mark is expiredTime, can again send director data in default interval time, until receive carryThe second director data that two time marks are not out of date, thus robot terminal and service ensuredThe real-time synchronization of device instruction.
Concrete, above-mentioned director data is the concept of a general reference, is that this director data canTo be a finger corresponding with the first director data that carries expired very first time markMaking data, can be also multiple the first instruction numbers with carrying expired very first time markAccording to corresponding director data. If the time mark that first director data carries is not out of date,Server sends and the first director data phase that carries not out of date time mark stoppingOther corresponding director datas; If the time mark that first director data carries is out of date,Server can again send and carry according to the current state of controlled robot terminalThe corresponding director data of the first director data of expired very first time mark, until controlIt is not out of date that device is judged the second entrained time mark of the second director data of reception, serviceDevice is knowing that the second time mark is when not out of date, no longer resend with carry not out of dateOther corresponding director datas of the second director data of the second time mark, robot terminalAccording to above-mentioned the second director data in above-mentioned not out of date time corresponding to the second time markCarry out corresponding action. Consider the randomness of director data delay issue, the invention processExample is in the concrete process of setting forth, and the first director data receiving for the first time with controller is expiredAnd it is unsuccessful to communicate by letter, the second director data receiving is for the second time not out of date and communicate by letter and successfully do toolThe explanation of body, first communication unsuccessful, for the second time communicate by letter unsuccessful ... communicates by letter into for N timeThe data synchronization principles of merit and said process type, do not repeat them here.
In addition, above-mentioned the second director data can be also that server sends to corresponding robotInstruction is carried out in the control of a snap action of terminal, can be also a string walking information that comprisesControl carry out instruction, the correspondence such as wherein said walking information comprises craspedodrome, turn left, turn rightAction message.
S104, according to the second director data, control terminal is in the second time mark pairThe time of answering is carried out corresponding action, the instruction sending to realize robot terminal and serverData are synchronous.
Concrete, above-mentioned controller according to its carry the second time mark not out of date secondDirector data, control terminal is carried out corresponding in time corresponding to the second time markAction, synchronous to realize the director data that robot terminal and described server send.
Wherein, above-mentioned director data synchronously refers to that robot terminal can be in the second time markUnder the time of implementation of record, carry out the control action of the second director data of server transmission. ThisControl method that the robot terminal that provides synchronizes with server instruction is provided in invention is theArticle one, under expired early stage very first time in director data, can also continue to receive clothesThe director data that business device sends, until time mark in this director data is just held when not out of dateThe corresponding action of row, wherein, above-mentioned director data is server working as according to robot terminalFront state, comprehensively weighs this robot terminal other robot terminal around to its actionThe control instruction sent of impact, by above-mentioned cyclic process, ensured robot terminal withServer instruction is synchronous.
The controlling party that the robot terminal that the embodiment of the present invention provides is synchronizeed with server instructionMethod, with the side of robot long-distance control method employing WIFI of the prior art network serviceFormula, network signal poor stability and be easily disturbed the robot terminal and the server instruction that causeAsynchronous comparing, it judges the in the first director data that server sends by controllerOne time marked whether expired, the instruction number that reception server resends again when expiredAccording to, until receive the second not out of date director data of the second time mark carrying, guaranteeThe official hour that can synchronization server arranges of robot terminal, and to should the timeThe action putting rules into practice, has improved operating efficiency and multiple robot terminal of robot terminalHarmoniously working capability.
In order to realize controller to expired the first instruction that carries very first time mark receivingThe further processing of data, the expired director data analytic process of above-mentioned steps 103 is concreteRealize as follows, flow chart shown in Figure 2, described method also comprises:
S201, controller are in the time detecting that the very first time, mark was expired, while transmission to serverBetween mark expired first reply instruction corresponding so that server feedback first is replied instructionDirector data;
The second time mark that what S202, reception server resend carry not out of dateTwo director datas; What wherein, the second director data was server according to robot terminal is currentState generates, and above-mentioned current state at least comprises in the following status information of robot terminalOne or more: positional information, directional information and interactive information.
Concrete, controller in the time detecting that the very first time, mark was expired, can abandon this firstThe first director data that time mark is corresponding, and to server transmitting time mark expiredOne replys instruction, and then, server receives above-mentioned first and replys instruction, and replys thus fingerMake corresponding response result judge the failure of this data communication, tie by above-mentioned judgementFruit server will resend director data to robot terminal immediately, and this director data is clothesBusiness device is according to the current state of robot terminal, comprehensively weighs around its of this robot terminalThe control instruction that his robot terminal sends the impact of its action, last, controller connectsReceive above-mentioned director data and carry out whether expired the sentencing of time mark of carrying in director dataDisconnected, until receive the second not out of date director data of the second time mark carrying, serverJust no longer send corresponding with the second director data that carries the second not out of date time markDirector data, controller also no longer receive.
Wherein, consider the master controller of the server of controlling one or more robot terminalsTo distribute corresponding sub-controller, i.e. each height control to all robot terminals of being controlledA corresponding corresponding robot terminal, the machine that embodiment of the present invention provides controlled of device processedThe control method that device people terminal is synchronizeed with server instruction can be passed through machine of server controlsDevice people terminal synchronizes, also can control multiple robot terminals synchronous. So server existsReceive first of robot terminal transmission and reply after instruction, will consider current institute organicInteractive information between positional information, directional information and the robot terminal of device people terminal is givenCurrent transmission first is replied this robot terminal corresponding to instruction and is again sent director data, straightIt is the second not out of date instruction number of the second time mark carrying to this director data sending outAccording to, same, above-mentioned the second director data is also that server considers all relevant machinesInteractive information between device people terminal positional information, directional information and robot terminal generates.
In addition, the robot terminal that the embodiment of the present invention provides is synchronizeed with server instructionControl method is in the time that server sends above-mentioned director data or the second director data, all rightIn the place knowing, (as turning round) reserves certain time delay, makes above-mentioned instruction sameOne step process has more robustness.
Corresponding to above-mentioned expired director data analytic process, the machine that the embodiment of the present invention providesThe control method that device people terminal is synchronizeed with server instruction also includes not out of date director dataAnalytic process, specifically as follows realize, flow chart shown in Figure 3, instituteThe method of stating also comprises the steps:
S301, controller detect when the very first time, mark was not out of date, while transmission to serverBetween mark not out of date second reply instruction;
S302, send according to predetermined interval reception server carry the 3rd time markThe 3rd director data; Wherein, the 3rd director data was used for control terminal at the 3rd o'clockBetween to carry out the next one that corresponding and the first director data perform an action moving time corresponding to markDo; Above-mentioned the 3rd director data be server send corresponding to the second instruction of replying instructionData.
Concrete, controller, will be to server in the time detecting that the very first time, mark was not out of dateWhat transmitting time mark was expired second replys instruction, and then, server receives above-mentioned first shouldAnswer instruction, and reply thus response result corresponding to instruction and judged this data communicationSuccess, will be according to Preset Time interval to robot terminal by above-mentioned judged result serverSend the 3rd director data, the 3rd director data is used for control terminal in the 3rd timeThe time that mark is corresponding is carried out the corresponding next one action performing an action with the first director data,Be that above-mentioned the 3rd director data is next article of new instruction when not out of date at the first director dataData, same, controller also will carry out the 3rd time of time mark to the 3rd director dataWhether expired judgement of note, concrete deterministic process with judge first o'clock in the first director dataBetween mark whether expired similarly, do not repeat them here.
In addition, above-mentioned the 3rd director data can be also that server sends to corresponding robotInstruction is carried out in the control of a snap action of terminal, can be also a string walking information that comprisesControl carry out instruction, the correspondence such as wherein said walking information comprises craspedodrome, turn left, turn rightAction message.
In order to ensure the optimum performance of dependent instruction market demand in network transmission process, thisThe control method that the robot terminal that inventive embodiments provides is synchronizeed with server instruction is regularThe robot terminal in consolidated network communication and server are carried out precise time withStep. The above-mentioned control method that the embodiment of the present invention provides is to carry out based on above-mentioned time synchronizedThe first director data in the very first time mark whether expired judgement, referring to Fig. 4, onStating deterministic process specifically comprises the steps:
S401, obtain the very first time mark in the first director data;
S402, judge that the very first time marks whether to be greater than the displaying time of robot terminal; ItsIn, the displaying time of robot terminal is synchronizeed with the displaying time of server.
Concrete, first the control method that the embodiment of the present invention provides obtains the first director dataIn very first time mark, then carry out the current aobvious of this very first time mark and robot terminalShow the comparison of time. Wherein, the current displaying time of robot terminal and server is currentDisplaying time is synchronous, and the first director data that very first time mark is server transmission carriesTime for each instruction, by the comparison of both temporal informations, have more communication success or notThe confidence level of judgement.
S403, very first time mark in the first director data are less than the aobvious of robot terminalWhile showing the time, judge that very first time mark is expired.
Very first time mark in the first director data is less than the displaying time of robot terminalTime, be that robot terminal has received the corresponding displaying time of this first director dataExceed time of implementation corresponding to the first director data, judged very first time mark expired,Cannot carry out corresponding action according to time of implementation corresponding to this first director data.
S404, very first time mark in the first director data are greater than the aobvious of robot terminalWhile showing the time, judge that very first time mark is not out of date.
Very first time mark in the first director data is greater than the displaying time of robot terminalTime, be greater than time of implementation that the first director data is corresponding robot terminal receive thisThe corresponding displaying time of one director data, judges very first time mark not out of date, machineDevice people terminal is waited for to the time of implementation with according to this first director data by current displaying timeThe corresponding time of implementation is carried out corresponding action.
The controlling party that the robot terminal that the embodiment of the present invention provides is synchronizeed with server instructionMethod, with the side of robot long-distance control method employing WIFI of the prior art network serviceFormula, network signal poor stability and be easily disturbed the robot terminal and the server instruction that causeAsynchronous comparing, it judges the in the first director data that server sends by controllerOne time marked whether expired, the instruction number that reception server resends again when expiredAccording to, until receive the second not out of date director data of the second time mark carrying, guaranteeThe official hour that can synchronization server arranges of robot terminal, and to should the timeThe action putting rules into practice, has improved operating efficiency and multiple robot terminal of robot terminalWork coordination ability.
The control dress that the embodiment of the present invention also provides robot terminal to synchronize with server instructionPut, described device is for carrying out the controlling party that above-mentioned robot terminal is synchronizeed with server instructionMethod, referring to Fig. 5, described device comprises:
Receiver module 10, what send for reception server carries the of very first time markOne director data; Wherein, the first director data is used for control terminal in the very first timeThe time that mark is corresponding is carried out corresponding action;
Judge module 20, for judging the first director data that receiver module 10 receivesThe very first time marks whether expired;
Expired director data analysis module 30, for detecting at first o'clock at judge module 20Between mark when expired, the director data that reception server resends, carries until receiveThe second not out of date director data of the second time mark; Wherein, the second director data is used forControl terminal is carried out corresponding action in time corresponding to the second time mark;
Data simultaneous module 40, for what analyze according to expired director data analysis module 30The second director data, it is right that control terminal was carried out in time corresponding to the second time markThe action of answering, synchronous to realize the director data that robot terminal and server send.
Wherein, above-mentioned the first director data and the second director data can be all that server sendsCarrying out instruction to the control of a snap action of corresponding robot terminal, can be also oneInstruction is carried out in the control that string comprises walking information, and wherein said walking information comprises craspedodrome, a left sideCorresponding action messages such as turning, turn right.
In order to realize controller to expired the first instruction that carries very first time mark receivingThe further processing of data, referring to Fig. 6, above-mentioned expired director data analysis module 30 comprisesFirst replys instruction sending unit 301 and the second director data receiving element 302, wherein,
First replys instruction sending unit 301, for detecting at first o'clock at judge module 20Between mark when expired, to server transmitting time mark expired first reply instruction so thatServer feedback first is replied director data corresponding to instruction;
The second director data receiving element 302, what resend for reception server carriesThe second not out of date director data of the second time mark; Wherein, the second director data is clothesBusiness device generates according to the current state of robot terminal, and wherein, current state at least comprisesOne or more in the following status information of robot terminal: positional information, directional informationAnd interactive information.
Corresponding to above-mentioned expired director data analysis module 30, referring to Fig. 7, the invention processThe control device that the robot terminal that provides of example is synchronizeed with server instruction also includes notThe not out of date director data analysis module 50 that expired director data is analyzed, it comprises secondReply instruction sending unit 501 and the 3rd director data receiving element 502, wherein,
Second replys instruction sending unit 501, for detecting at first o'clock at judge module 20Between mark when not out of date, to server transmitting time mark not out of date second reply instruction;
The 3rd director data receiving element 502, for sending out according to predetermined interval reception serverThe 3rd director data that carries the 3rd time mark sending; Wherein, the 3rd director data is usedCarry out corresponding and the first instruction in control terminal in time corresponding to the 3rd time markThe next one action that data perform an action; The 3rd director data be server send corresponding toThe second second director data of replying instruction of replying that instruction sending unit 501 sends.
In order to ensure the optimum performance of dependent instruction market demand in network transmission process, thisThe control device that the robot terminal that inventive embodiments provides is synchronizeed with server instruction is regularThe robot terminal in consolidated network communication and server are carried out precise time withStep. The judge module 20 of the above-mentioned control device that the embodiment of the present invention provides is based on the above-mentioned timeThe very first time in the first director data synchronously carrying out marks whether expired judgement, referring toFig. 8, above-mentioned judge module 20 comprises: very first time mark acquiring unit 201, for obtainingGet the very first time mark in the first director data that receiver module 10 receives;
Very first time marker for judgment unit 201, for judging very first time mark acquiring unit201 very first times of obtaining marked whether to be greater than the displaying time of robot terminal; Wherein,The displaying time of robot terminal is synchronizeed with the displaying time of server;
Expired judging unit 203, for judging in very first time marker for judgment unit 201When very first time mark in the first director data is less than the displaying time of robot terminal, sentenceDetermine very first time mark expired;
Not out of date judging unit 204, for judging in very first time marker for judgment unit 201When going out very first time mark in the first director data and being greater than the displaying time of robot terminal,Judge that very first time mark is not out of date.
The control dress that the robot terminal that the embodiment of the present invention provides is synchronizeed with server instructionPut, with the mode of robot remote control employing WIFI of the prior art network service,Network signal poor stability and to be easily disturbed the robot terminal causing different from server instructionStep is compared, its by controller judge server send the first director data in first o'clockBetween mark whether expired, the director data that reception server resends again when expired,Until receive the second not out of date director data of the second time mark carrying, guarantee machineThe official hour that device people terminal can synchronization server arranges, and to carrying out the timeThe action of regulation, has improved the operating efficiency of robot terminal and the work of multiple robot terminalsMake the coordination ability.
The control that the embodiment of the present invention also provides a kind of robot terminal to synchronize with server instructionSystem processed, wherein, robot terminal comprises controller, above-mentioned control system comprises serverWith the controller being connected with server communication, concrete,
Server is used for, and sends the first instruction number that carries very first time mark to controllerAccording to; In the time that the very first time, mark was expired, resend the second director data, until sendThe second time mark that the second director data carries is not out of date;
Controller is used for, the first finger that carries very first time mark that reception server sendsMake data; The first director data is corresponding at very first time mark for control terminalTime is carried out corresponding action; Judge that the very first time in the first director data marked whetherPhase; If detect, very first time mark is expired, the instruction number that reception server resendsAccording to, until receive the second not out of date director data of the second time mark carrying; Wherein,The second director data is carried out in time corresponding to the second time mark for control terminalCorresponding action; According to the second director data, control terminal is in the second time markThe corresponding time is carried out corresponding action, the finger sending to realize robot terminal and serverMake data synchronous.
The control system that the robot terminal that the embodiment of the present invention provides is synchronizeed with server instructionSystem, with the mode of robot remote control employing WIFI of the prior art network service,Network signal poor stability and to be easily disturbed the robot terminal causing different from server instructionStep is compared, and it has guaranteed the official hour that robot terminal can synchronization server arranges,And to the action that should put rules into practice the time, improved robot terminal operating efficiency andThe work coordination ability of multiple robot terminals.
What the embodiment of the present invention provided carries out robot terminal and server instruction Synchronization ControlThe computer program of method, comprise the computer-readable storage of having stored program codeMedium, the instruction that described program code comprises can be used for carrying out described in previous methods embodimentMethod, specific implementation can, referring to embodiment of the method, not repeat them here.
Those skilled in the art can be well understood to, for convenience and simplicity of description,The specific works process of system, device and the unit of foregoing description, can be with reference to preceding methodCorresponding process in embodiment, does not repeat them here.
In the several embodiment that provide in the application, should be understood that, disclosed system,Apparatus and method, can realize by another way. Device embodiment described aboveOnly that schematically for example, the division of described unit, only draws for a kind of logic functionPoint, when actual realization, can there is other dividing mode, again for example, multiple unit or assemblyCan in conjunction with or can be integrated into another system, or some features can ignore, or notCarry out. Another point, shown or discussed coupling each other or direct-coupling or communicationConnection can be by some communication interfaces, INDIRECT COUPLING or the communication connection of device or unit,Can be electrically, machinery or other form.
The described unit as separating component explanation can be or can not be also physically to divideOpen, the parts that show as unit can be or can not be also physical location,To be positioned at a place, or also can be distributed on multiple NEs. Can be according to realityThe needs on border select some or all of unit wherein to realize the order of the present embodiment scheme.
In addition, the each functional unit in each embodiment of the present invention can be integrated in a placeIn reason unit, can be also that the independent physics of unit exists, also can two or two withUpper unit is integrated in a unit.
If described function realizes and as product pin independently using the form of SFU software functional unitWhen selling or using, can be stored in a computer read/write memory medium. Based on like thisUnderstanding, the portion that technical scheme of the present invention contributes to prior art in essence in other wordsPoint or the part of this technical scheme can embody with the form of software product, this calculatingMachine software product is stored in a storage medium, comprises that some instructions are in order to make a meterCalculation machine equipment (can be personal computer, server, or the network equipment etc.) carry out thisInvent all or part of step of method described in each embodiment. And aforesaid storage medium bagDraw together: USB flash disk, portable hard drive, read-only storage (ROM, Read-OnlyMemory),Random access memory (RAM, RandomAccessMemory), magnetic disc or CDEtc. various media that can be program code stored.
The above, be only the specific embodiment of the present invention, but protection scope of the present inventionBe not limited to this, any be familiar with those skilled in the art the present invention disclose skillWithin the scope of art, can expect easily changing or replacing, all should be encompassed in protection scope of the present inventionWithin. Therefore, protection scope of the present invention should be as the criterion with the protection domain of described claim.
Claims (10)
1. the control method that robot terminal is synchronizeed with server instruction, its feature existsIn, described robot terminal comprises the controller being connected with described server communication; Described controlMethod processed comprises:
What described controller received that described server sends carries first of very first time markDirector data; Described the first director data is used for controlling described robot terminal described firstTime corresponding to time mark is carried out corresponding action;
Judge that the very first time in described the first director data marks whether expired;
If detect, described very first time mark is expired, receives described server and resendsDirector data, until receive the second not out of date instruction number of the second time mark carryingAccording to; Wherein, described the second director data is used for controlling described robot terminal described secondTime corresponding to time mark is carried out corresponding action;
According to described the second director data, control described robot terminal in described the second timeThe time that mark is corresponding is carried out corresponding action, to realize described robot terminal and described clothesThe director data that business device sends is synchronous.
2. the control that robot terminal according to claim 1 is synchronizeed with server instructionMethod processed, is characterized in that, described controller is detecting that described very first time mark is expiredTime, receive the second director data that described server resends and comprise:
Described controller is in the time detecting that the described very first time, mark was expired, to described serverWhat transmitting time mark was expired first replys instruction, so that described in described server feedback firstReply director data corresponding to instruction;
Receive second time mark of carrying that described server resends not out of date secondDirector data; Wherein, described the second director data is that described server is according to described robotThe current state of terminal generates, and described current state at least comprises described robot terminalOne or more in following status information: positional information, directional information and interactive information.
3. the control that robot terminal according to claim 1 is synchronizeed with server instructionMethod processed, is characterized in that, described method also comprises:
In the time that described controller detects that the described very first time, mark was not out of date, to described serviceWhat device transmitting time mark was not out of date second replys instruction.
4. the control that robot terminal according to claim 3 is synchronizeed with server instructionMethod processed, is characterized in that, described method also comprises:
What receive according to predetermined interval that described server sends carries the of the 3rd time markThree director datas; Described the 3rd director data is used for controlling described robot terminal describedTime corresponding to three time marks carry out that corresponding and described the first director data perform an action underAn action; Described the 3rd director data be described server send corresponding to described secondReply the director data of instruction.
5. the control that robot terminal according to claim 1 is synchronizeed with server instructionMethod processed, is characterized in that, the very first time mark in described the first director data of described judgementNote whether expired comprising:
Obtain the very first time mark in described the first director data;
Judge that the described very first time marks whether to be greater than the displaying time of described robot terminal;Wherein, the displaying time of described robot terminal and the displaying time of described server are synchronizeed;
Very first time mark in described the first director data is less than described robot terminalWhen displaying time, judge that described very first time mark is expired;
Very first time mark in described the first director data is greater than described robot terminalWhen displaying time, judge that described very first time mark is not out of date.
6. the control device that robot terminal is synchronizeed with server instruction, its feature existsIn, described robot terminal comprises the controller being connected with described server communication; Described controlDevice processed comprises:
Receiver module, carries very first time mark for what receive that described server sendsThe first director data; Described the first director data is used for controlling described robot terminal describedThe time that very first time mark is corresponding is carried out corresponding action;
Judge module, for described the first director data that judges that described receiver module receivesThe very first time mark whether expired;
Expired director data analysis module, for detecting described first at described judge moduleWhen time mark is expired, receive the director data that described server resends, until receiveTo the second not out of date director data of second time mark of carrying; Wherein, described the second fingerMake data hold in described time corresponding to the second time mark for controlling described robot terminalThe action that row is corresponding;
Data simultaneous module, for the institute analyzing according to described expired director data analysis moduleState the second director data, control described robot terminal corresponding in described the second time markTime is carried out corresponding action, and to realize, described robot terminal and described server sendDirector data is synchronous.
7. the control that robot terminal according to claim 6 is synchronizeed with server instructionDevice processed, is characterized in that, described expired director data analysis module comprises:
First replys instruction sending unit, for detecting described first at described judge moduleWhen time mark is expired, to described server transmitting time mark expired first reply instruction,So that first replys director data corresponding to instruction described in described server feedback;
The second director data receiving element, for receiving carrying that described server resendsThe second not out of date director data of the second time mark; Wherein, described the second director dataThat described server generates according to the current state of described robot terminal, described current shapeState at least comprises one or more in the following status information of described robot terminal: positionInformation, directional information and interactive information.
8. the control that robot terminal according to claim 6 is synchronizeed with server instructionDevice processed, is characterized in that, also comprises not out of date director data analysis module; Described not mistakeIndex futures make data analysis module comprise:
Second replys instruction sending unit, for detecting described first at described judge moduleWhen time mark is not out of date, to not out of date second the replying of described server transmitting time markInstruction;
The 3rd director data receiving element, sends out for receive described server according to predetermined intervalThe 3rd director data that carries the 3rd time mark sending; Described the 3rd director data is used forControl described robot terminal and carry out correspondence and institute in time corresponding to described the 3rd time markState the next one action that the first director data performs an action; Described in described the 3rd director data isServer send corresponding to described second reply instruction sending unit send described second shouldAnswer the director data of instruction.
9. the control that robot terminal according to claim 6 is synchronizeed with server instructionDevice processed, is characterized in that, described judge module comprises:
Very first time mark acquiring unit, for obtain that described receiver module receives described theVery first time mark in one director data;
Very first time marker for judgment unit, for judging described very first time mark acquiring unitThe described very first time of obtaining marks whether to be greater than the displaying time of described robot terminal; ItsIn, the displaying time of described robot terminal is synchronizeed with the displaying time of described server;
Expired judging unit, described in going out in described very first time marker for judgment unit judgesVery first time mark in the first director data is less than the displaying time of described robot terminalTime, judge that described very first time mark is expired;
Not out of date judging unit, for going out institute in described very first time marker for judgment unit judgesState the displaying time that very first time mark in the first director data is greater than described robot terminalTime, judge that described very first time mark is not out of date.
10. the control system that robot terminal is synchronizeed with server instruction, described machinePeople's terminal comprises controller, it is characterized in that, described system comprises: server and with describedThe controller that server communication connects;
Described server is used for, and sends and carries the of very first time mark to described controllerOne director data; In the time that the described very first time, mark was expired, resend the second director data,Until the second time mark that described the second director data sending carries is not out of date;
Described controller is used for, and what receive that described server sends carries very first time markThe first director data; Described the first director data is used for controlling described robot terminal in instituteState the time that very first time mark is corresponding and carry out corresponding action; Judge described the first instruction numberAccording in the very first time mark whether expired; If detect, described very first time mark is expired,Receive the director data that described server resends, until receive at second o'clock that carriesBetween the second not out of date director data of mark; Wherein, described the second director data is for controllingDescribed robot terminal is carried out corresponding action in described time corresponding to the second time mark;According to described the second director data, control described robot terminal in described the second time markThe corresponding time is carried out corresponding action, to realize described robot terminal and described serverThe director data sending is synchronous.
Priority Applications (6)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610008091.2A CN105610553A (en) | 2016-01-04 | 2016-01-04 | Robot terminal and server instruction synchronization control method, device and system |
| EP16883135.2A EP3402106B1 (en) | 2016-01-04 | 2016-08-03 | Method and system for synchronization between robot and server |
| JP2018553279A JP6594567B2 (en) | 2016-01-04 | 2016-08-03 | Method and system for synchronization between robot and server |
| KR1020187019187A KR102132105B1 (en) | 2016-01-04 | 2016-08-03 | Method and system for synchronization between robot and server |
| PCT/CN2016/093124 WO2017118002A1 (en) | 2016-01-04 | 2016-08-03 | Method and system for synchronization between robot and server |
| US15/326,409 US10341413B2 (en) | 2016-01-04 | 2016-08-03 | Method and system for synchronizing robot with server |
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| CN201610008091.2A CN105610553A (en) | 2016-01-04 | 2016-01-04 | Robot terminal and server instruction synchronization control method, device and system |
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| CN105610553A true CN105610553A (en) | 2016-05-25 |
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