CN105959981A - Remote control fire-fighting robot communication method and fire-fighting robot - Google Patents
Remote control fire-fighting robot communication method and fire-fighting robot Download PDFInfo
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- CN105959981A CN105959981A CN201610108032.2A CN201610108032A CN105959981A CN 105959981 A CN105959981 A CN 105959981A CN 201610108032 A CN201610108032 A CN 201610108032A CN 105959981 A CN105959981 A CN 105959981A
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- fighting robot
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W28/00—Network traffic management; Network resource management
- H04W28/16—Central resource management; Negotiation of resources or communication parameters, e.g. negotiating bandwidth or QoS [Quality of Service]
- H04W28/18—Negotiating wireless communication parameters
- H04W28/20—Negotiating bandwidth
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Quality & Reliability (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to the field of the rotor technology, especially to a remote control fire-fighting robot communication method and a fire-fighting robot. The communication method employs the distribution mode with the same frequency range and different bandwidths occupied by different information at the same frequency range to improve the wireless communication channel utilization efficiency. The present invention further provides a fire-fighting robot, and the fire-fighting robot sends information by employing the remote control fire-fighting robot communication method. Through adoption of the distribution mode with the same frequency range and different bandwidths occupied by different information at the same frequency range, the types of information of the remote control are integrated into the same communication frequency range through a reasonable data distribution method in the premise of ensuring the operation stability of the robot so as to effectively improve the channel resource utilization efficiency and reduce the making cost of the robot.
Description
Technical field
The present invention relates to robotics, particularly relate to the communication means of a kind of distance type fire-fighting robot
And fire-fighting robot.
Background technology
Robot (Robot) is the installations automatically performing work.It both can accept mankind commander, again
The program of layout in advance can be run, it is also possible to according to the principle guiding principle action formulated with artificial intelligence technology.
Its task is to assist or replace the work of human work, such as, produce the work of industry, building industry, or danger
Make.
Along with the development of society, robotics has had the development advanced by leaps and bounds.Fire-fighting robot conduct
The one of specialized robot, plays very important effect in fire extinguishing and rescue further.Fire-fighting machine
People more and more replaces fire fighter to enter into the scene of a fire one line carrying out fire fighting, significantly improve disappeared anti-
Efficiency, reduces personnel's injury.
At present, common fire-fighting robot is all the mode of operation using wireless remote control, by remote controller to machine
Device people sends operational order, and meanwhile, remote controller operation end also receives the wireless fire-fighting scene shape passed back of robot
State information and robot oneself state information, make operator can show with real-time operation robot and acquisition fire
Field information.
After fire-fighting robot enters scene of fire, the most reliable remote control of communication between operator and robot
Device contacts with the wireless data transmission of robotic end, and therefore, the stability of wireless data transmission directly determines
The stability of fire-fighting robot.
The communication means of existing known fire-fighting robot remote controller many employings two-band, i.e. the behaviour of remote controller end
Make status information two mutual independent communications bands of employing that director data returns with robotic end, this logical
Although letter mode ensure that the transmission of operational order does not interfere with each other with the collection of status information, but causes
The waste of channel resource, adds cost of manufacture.
Summary of the invention
It is an object of the invention to propose the communication means of a kind of distance type fire-fighting robot, same by using
The method of salary distribution that bandwidth shared by individual frequency range difference information is different, solves the two-band or many that prior art uses
The communication means of frequency range, the waste of caused channel resource, the problem that cost of manufacture increases, improves wireless
Communication channel utilization ratio.
Additionally provide a kind of fire-fighting robot, carried out by the communication means of described distance type fire-fighting robot
Information sends, on the premise of guaranteeing robot manipulation's stability, by rational data distributing method, and will
The information integration of remote controller multiple types is effectively increased channel resource utilization ratio in same communications band, fall
Di Liao robot cost of manufacture.
For reaching this purpose, the present invention by the following technical solutions:
The communication means of a kind of distance type fire-fighting robot, uses bandwidth shared by same frequency range difference information not
The same method of salary distribution, improves radio communication channel utilization ratio.
One of preferred version as the technical program, comprises the steps:
Step 1, the information of fire-fighting robot is carried out priority level classification according to importance and promptness；
Step 2, different set bandwidth stoichiometric factor according to priority level；
Step 3, according to bandwidth stoichiometric factor, adjust the different other communication cycle of priority.
One of preferred version as the technical program, in step 2, different priorities other information proportioning is different
Bandwidth, preferably rank are the highest, and proportioning bandwidth is the widest.
One of preferred version as the technical program, in step 1, the signal of fire-fighting robot includes grasping in real time
Making information and on-the-spot heat transfer agent, the priority level of described real-time operation information is higher than on-the-spot heat transfer agent, institute
The band stating real-time operation information is wider than on-the-spot heat transfer agent bandwidth.
One of preferred version as the technical program, described real-time operation information and the band of on-the-spot heat transfer agent
Wide stoichiometric factor is 4: 1.
One of preferred version as the technical program, communication cycle is 1s, then real-time operation information interval
100ms sends once, and on-the-spot heat transfer agent interval 500ms sends an
One of preferred version as the technical program, also includes that data storage and bandwidth proportioning analyze module,
The information of the Different Optimization rank of described fire-fighting robot is stored and carries out quantitative analysis, with proportion optimizing system
Number.
One of preferred version as the technical program, according to the other height of priority, to by real time data institute
The data base of composition carries out quantitative analysis, when the ratio of quantity of information and bandwidth proportioning is more than the threshold value setmaxTime,
Bandwidth is reduced according to the increase and decrease interval set；When the ratio of quantity of information and bandwidth proportioning is less than or equal to the threshold set
ValueminTime, increase bandwidth according to the increase and decrease interval set；When the ratio of quantity of information and bandwidth proportioning is less than threshold valuemax, more than threshold valueminTime, bandwidth is constant.
One of preferred version as the technical program, described threshold valuemaxAnd threshold valueminNumerical value can be according to fortune
Row environment and communication network, carry out real-time adjustment.
Present invention also offers a kind of fire-fighting robot, the communication party of the distance type fire-fighting robot described in employing
Method carries out information transmission.
Beneficial effect: by using the method for salary distribution that bandwidth shared by same frequency range difference information is different, really
On the premise of protecting robot manipulation's stability, by rational data distributing method, by remote controller multiple types
Information integration is effectively increased channel resource utilization ratio in same communications band, reduces robot and makes
Cost.
Detailed description of the invention
Technical scheme is further illustrated below by detailed description of the invention.
Embodiment 1
At present, common fire-fighting robot is all the mode of operation using wireless remote control, makes operator permissible
Real-time operation robot and acquisition scene of fire information.The stability of wireless data transmission directly determines fire-fighting
The stability of robot.The communication means of existing fire-fighting robot remote controller many employings two-band is this logical
Although letter mode ensure that the transmission of operational order does not interfere with each other with the collection of status information, but causes
The waste of channel resource, adds cost of manufacture.
Therefore the invention provides the communication means of a kind of distance type fire-fighting robot, use same frequency range not
With the method for salary distribution that bandwidth shared by information is different, by the classification of inhomogeneity information and bandwidth proportioning are adjusted,
Ensure that the priority treatment of the information of importance and promptness, maintain the normal process of general information, carry
High radio communication channel utilization ratio.
The communication means of described distance type fire-fighting robot, comprises the steps:
Step 1, the information of fire-fighting robot is carried out priority level classification according to importance and promptness；At tool
When body is implemented, i.e. simply the information of fire-fighting robot can be divided into the real-time operation letter that priority level is higher
The on-the-spot heat transfer agent that breath is relatively low with priority level；Can also on the basis of above-mentioned two category informations further
Segmentation.
Step 2, different set bandwidth stoichiometric factor according to priority level；Described bandwidth stoichiometric factor can root
Preset according to working environment, and in application later, carry out adaptive adjustment according to concrete task.,
Different priorities other information proportioning different bandwidth in step 2, preferably rank is the highest, and proportioning bandwidth is the widest.
Step 3, according to bandwidth stoichiometric factor, adjust the different other communication cycle of priority.Practical communication process
In, improve remote-controller data call duration time and i.e. increase remote-controller data occupied bandwidth.Therefore, by difference
The adjustment of the call duration time of priority level, can redistribute bandwidth occupancy rate；Accordingly, priority level is more
Height, its call duration time is the longest.
Concrete, fire-fighting robot, as the transfer robot of a kind of fire water monitor, should first ensure that fire monitor
The realizability of function, thus remote control end for fire-fighting robot operation real-time should as the highest preferentially
Level, robotic end sensor remotely obtains the means of field data as a kind of assist operators, and it is preferential
Level is relatively low.Therefore, in step 1, the signal of fire-fighting robot includes real-time operation information and on-the-spot sensing
Information, the priority level of described real-time operation information is higher than on-the-spot heat transfer agent, described real-time operation information
Band is wider than on-the-spot heat transfer agent bandwidth.
Concrete, the bandwidth stoichiometric factor of described real-time operation information and on-the-spot heat transfer agent is 4: 1.Enter one
Step, communication cycle is 1s, then real-time operation information interval 100ms sends once, on-the-spot heat transfer agent interval
500ms sends once.
Further, join for the most rational information adjusted between different priority levels according to timely information
Ratio, also includes that data storage and bandwidth proportioning analyze module, by the Different Optimization rank of described fire-fighting robot
Information store and carry out quantitative analysis, with proportion optimizing coefficient.
Concrete, according to the other height of priority, carry out the data base being made up of real time data quantifying to divide
Analysis, when the ratio of quantity of information and bandwidth proportioning is more than the threshold value setmaxTime, subtract according to the increase and decrease interval set
Few bandwidth；When the ratio of quantity of information and bandwidth proportioning is less than or equal to the threshold value setminTime, according to the increasing set
Subtract interval increase bandwidth；When the ratio of quantity of information and bandwidth proportioning is less than threshold valuemax, more than threshold valueminTime, band
Wide constant.Described threshold valuemaxAnd threshold valueminNumerical value can carry out in real time according to running environment and communication network
Adjustment.
Present invention also offers a kind of fire-fighting robot, the communication party of the distance type fire-fighting robot described in employing
Method carries out information transmission.
In sum, by using the method for salary distribution that bandwidth shared by same frequency range difference information is different, really
On the premise of protecting robot manipulation's stability, by rational data distributing method, by remote controller multiple types
Information integration is effectively increased channel resource utilization ratio in same communications band, reduces robot and makes
Cost.
The know-why of the present invention is described above in association with specific embodiment.These describe and are intended merely to explain this
The principle of invention, and limiting the scope of the invention can not be construed to by any way.Based on herein
Explaining, those skilled in the art need not pay performing creative labour can associate other tool of the present invention
Body embodiment, within these modes fall within protection scope of the present invention.
Claims (9)
1. the communication means of a distance type fire-fighting robot, it is characterised in that use same frequency range different
The method of salary distribution that bandwidth shared by information is different, improve radio communication channel utilization ratio, described method include as
Lower step:
Step 1, the information of fire-fighting robot is carried out priority level classification according to importance and promptness；
Step 2, different set bandwidth stoichiometric factor according to priority level；
Step 3, according to bandwidth stoichiometric factor, adjust the different other communication cycle of priority.
The communication means of distance type fire-fighting robot the most according to claim 1, it is characterised in that step
Different priorities other information proportioning different bandwidth in rapid 2, preferably rank is the highest, and proportioning bandwidth is the widest.
The communication means of distance type fire-fighting robot the most according to claim 1, it is characterised in that step
In rapid 1, the signal of fire-fighting robot includes real-time operation information and on-the-spot heat transfer agent, and described real-time operation is believed
The priority level of breath is higher than on-the-spot heat transfer agent, and the band of described real-time operation information is wider than on-the-spot heat transfer agent
Bandwidth.
The communication means of distance type fire-fighting robot the most according to claim 3, it is characterised in that institute
The bandwidth stoichiometric factor stating real-time operation information and on-the-spot heat transfer agent is 4: 1.
The communication means of distance type fire-fighting robot the most according to claim 4, it is characterised in that logical
The letter cycle is 1s, then real-time operation information interval 100ms sends once, on-the-spot heat transfer agent interval 500ms
Send once.
6. according to the communication means of the distance type fire-fighting robot described in any one of claim 1-5, its feature
It is, also includes that data storage and bandwidth proportioning analyze module, by the Different Optimization level of described fire-fighting robot
Other information stores and carries out quantitative analysis, with proportion optimizing coefficient.
The communication means of distance type fire-fighting robot the most according to claim 6, it is characterised in that press
According to the other height of priority, the data base being made up of real time data is carried out quantitative analysis, when quantity of information and
When the ratio of bandwidth proportioning is more than threshold value max set, reduce bandwidth according to the increase and decrease interval set；Work as information
When the ratio of amount and bandwidth proportioning is less than or equal to threshold value min set, increase bandwidth according to the increase and decrease interval set；
When the ratio of quantity of information and bandwidth proportioning is less than threshold value max, and during more than threshold value min, bandwidth is constant.
The communication means of distance type fire-fighting robot the most according to claim 7, it is characterised in that institute
The numerical value stating threshold value max and threshold value min can adjust in real time according to running environment and communication network.
9. a fire-fighting robot, it is characterised in that use the remote control as described in any one of claim 1-8
The communication means of formula fire-fighting robot carries out information transmission.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610108032.2A CN105959981A (en) | 2016-02-29 | 2016-02-29 | Remote control fire-fighting robot communication method and fire-fighting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610108032.2A CN105959981A (en) | 2016-02-29 | 2016-02-29 | Remote control fire-fighting robot communication method and fire-fighting robot |
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| Publication Number | Publication Date |
|---|---|
| CN105959981A true CN105959981A (en) | 2016-09-21 |
Family
ID=56917240
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201610108032.2A Pending CN105959981A (en) | 2016-02-29 | 2016-02-29 | Remote control fire-fighting robot communication method and fire-fighting robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106789694A (en) * | 2016-11-12 | 2017-05-31 | 驭联智能科技发展（上海）有限公司 | Novel on-vehicle equipment communication control method and system |
| CN108572626A (en) * | 2017-03-14 | 2018-09-25 | 发那科株式会社 | Conveying control system |
| CN109142556A (en) * | 2018-06-04 | 2019-01-04 | 南京铁道职业技术学院 | A kind of gas monitoring apparatus and method |
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Application publication date: 20160921 |
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