CN106454861A - AP switching method of mobile robot based on path configuration - Google Patents
AP switching method of mobile robot based on path configuration Download PDFInfo
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- CN106454861A CN106454861A CN201610876948.2A CN201610876948A CN106454861A CN 106454861 A CN106454861 A CN 106454861A CN 201610876948 A CN201610876948 A CN 201610876948A CN 106454861 A CN106454861 A CN 106454861A
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- mobile robot
- signal intensity
- route
- signal strength
- highest
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W16/00—Network planning, e.g. coverage or traffic planning tools; Network deployment, e.g. resource partitioning or cells structures
- H04W16/18—Network planning tools
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W36/00—Hand-off or reselection arrangements
- H04W36/0005—Control or signalling for completing the hand-off
- H04W36/0055—Transmission or use of information for re-establishing the radio link
- H04W36/0077—Transmission or use of information for re-establishing the radio link of access information of target access point
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W36/00—Hand-off or reselection arrangements
- H04W36/0005—Control or signalling for completing the hand-off
- H04W36/0083—Determination of parameters used for hand-off, e.g. generation or modification of neighbour cell lists
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W36/00—Hand-off or reselection arrangements
- H04W36/08—Reselecting an access point
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W36/00—Hand-off or reselection arrangements
- H04W36/24—Reselection being triggered by specific parameters
- H04W36/26—Reselection being triggered by specific parameters by agreed or negotiated communication parameters
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L2101/00—Indexing scheme associated with group H04L61/00
- H04L2101/60—Types of network addresses
- H04L2101/618—Details of network addresses
- H04L2101/622—Layer-2 addresses, e.g. medium access control [MAC] addresses
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The invention discloses an AP switching method of a mobile robot based on path configuration. The method comprises the following steps of installing an AP in a mobile robot application environment; making the mobile robot move along a making line, recording signal intensity of each AP of the mobile robot on each line and determining the AP with the highest signal intensity on each line; configuring a MAC address of the AP which is connected to the mobile robot when operating to each line; continuously monitoring whether the currently connected AP is consistent with an AP configured by a current line by the mobile robot during a moving process, and if the AP is not consistent with the AP configured by the current line, directly switching to the configured AP. In the invention, a frequent AP switching problem can be effectively avoided, the method is simple and effect, a signal intensity threshold does not need to be set, uncertainty can be effectively reduced and a certain value is possessed in the mobile robot application environment.
Description
Technical field
The present invention relates to communication technical field, particularly relate to the AP changing method of a kind of mobile robot path configuration.
Background technology
In the wireless network, mobile terminal (STA) is realized by access point AP (WirelessAccessPoint)
The access of Internet, due to the limited coverage area of an AP access point, generally only 50-300m, for terminal mobility
Support extremely limited, it is therefore desirable to be switched fast between different AP, with reduce switch between AP the network that causes interrupt when
Between.
Existing AP handoff technique, its switching principle is broadly divided into two classes：The first kind, by constantly contrasting LAN
The signal strength signal intensity of interior multiple AP, and select the AP foundation the strongest with signal to be connected.Equations of The Second Kind, arranges a letter in AC controller
Number intensity threshold, when the signal strength signal intensity of the current AP connecting less than this threshold value after, automatically disconnect, and higher in signal strength signal intensity
AP set up new connection.The shortcoming that these handoff techniques exist includes：Due to the unstability of wireless network signal, easily occur
The frequently situation of switching, and operation easier is big.Being arranged by threshold value and switching over, the setting to threshold value requires higher, if with
One moment multiple AP is below this threshold value, then network will lose connection.
Content of the invention
Because the drawbacks described above of prior art, the present invention provides the AP switching that a kind of mobile robot configures based on path
Method, it is not necessary to signal strength threshold is set, it is ensured that mobile robot can have preferable network to believe during whole service
Number intensity, solves when wireless network signal is unstable, the problem of frequently switching and the problem such as operation easier is big between many AP.
The technical solution adopted in the present invention is：The AP changing method that a kind of mobile robot configures based on path, including
Following steps：
Step 1, in mobile robot, applied environment installs AP；
Step 2, controls described mobile robot and moves along formulating circuit, record described mobile robot at every route
The signal strength signal intensity of each described AP upper, determines the described AP that on every route, signal strength signal intensity is the highest；
Step 3, configures the MAC Address of described AP to be connected when described mobile robot runs on every route；
Step 4, described mobile robot described AP of the constantly existing connection of monitoring in motion process joins with current route
Whether the described AP putting is consistent, if inconsistent, is directly switch to the described AP of configuration.
In better embodiment of the present invention, the method installing described AP in described step 1 is：
Selecting appropriate number of described AP according to described mobile robot running environment, described AP passes through netting twine or optical fiber
Mode group in same network, described in each two AP cover scope have overlapping region.
In another better embodiment of the present invention, the quantity of described AP is two.
In better embodiment of the present invention, described step 2 determines the described AP that on every route, signal strength signal intensity is the highest
Method be：
Control described mobile robot to move along mapping out a route, record described mobile robot on every route each
The signal strength signal intensity of described AP, repeats 3-5 time；Determine the AP that on every route, signal strength signal intensity is the highest, determine the letter of described AP simultaneously
Whether number intensity meets the requirement of lowest signal intensity, requires if met, then the highest described of signal strength signal intensity on every circuit
AP i.e. can confirm that；If being unsatisfactory for requiring, then the decorating position changing described AP or the quantity increasing described AP solve,
Until the described AP that on circuit, signal strength signal intensity is the highest determines.
In another better embodiment of the present invention, by the route configuration work of described mobile robot in described step 3
Described MAC Address is configured by tool.
In better embodiment of the present invention, examine during the described MAC Address configuring described wireless aps in described step 3 simultaneously
Considering minimum switching times, if on the route of the overlapping region that different described AP cover, there is change in signal described AP the strongest
Change, the described AP that signal strength signal intensity is not the highest can be selected on the basis of meeting lowest signal intensity to be attached.
The present invention can effectively avoid AP switching problem excessively frequently, compares the switching based on signal strength signal intensity simultaneously and calculates
Method, the method is simply effective, it is not necessary to arrange signal strength threshold, can effectively reduce uncertainty, at mobile robot application ring
Border has certain value.
Brief description
Fig. 1 is the AP changing method flow process signal that in a preferred embodiment of the present invention, mobile robot configures based on path
Figure.
Detailed description of the invention
Below presently preferred embodiments of the present invention is described in detail so that advantages and features of the invention can be easier to by
It will be appreciated by those skilled in the art that thus protection scope of the present invention is made and apparent clearly define.
The AP changing method that a kind of mobile robot of the present invention configures based on path, idiographic flow as it is shown in figure 1,
Comprise the steps：
Step 1, in mobile robot, applied environment installs AP.
Select appropriate number of AP according to mobile robot running environment, preferably two, described AP pass through netting twine or
The mode group of optical fiber is in same network, and the scope that each two AP covers has overlapping region.
Step 2, the mobile robot of control moves along formulating circuit, mobile robot each AP on every route of record
Signal strength signal intensity, determine the AP that on every route, signal strength signal intensity is the highest.
The process of above-mentioned record AP signal strength signal intensity repeats 3-5 time, determines the AP that on every route, signal strength signal intensity is the highest, simultaneously
Determining whether the signal strength signal intensity of this AP meets the requirement of lowest signal intensity, requiring if met, then on every circuit, signal is strong
Spend AP the highest i.e. to can confirm that；If being unsatisfactory for requiring, then the quantity of the decorating position or increase AP of changing AP solves,
Until the AP that on circuit, signal strength signal intensity is the highest determines.
Step 3, the MAC Address of configuration mobile robot AP to be connected when running on every route.
By, in the route configuration tool of mobile robot, moving robot for every line configuring and running on this route
When wireless aps to be connected MAC Address.Simultaneously take account of the switching times of minimum, if the overlay region covering at different AP
On the route in territory, there is change in signal AP the strongest, can select signal strength signal intensity not on the basis of meeting lowest signal intensity
The AP being the highest is attached.
Step 4, mobile robot AP and the AP that current route configures of the constantly existing connection of monitoring in motion process are
No unanimously, if inconsistent, be directly switch to configuration AP.
Guarantee that mobile robot can have preferable network signal intensity for moving machine during whole service
People and the data communication of dispatching patcher or background monitoring client.
The AP changing method that mobile robot disclosed in the present embodiment configures based on path, can effectively avoid AP to switch
Problem excessively frequently.Comparing the handoff algorithms based on signal strength signal intensity, the method is simply effective, can effectively reduce uncertain simultaneously
Property, in mobile robot applied environment, there is certain values.
The foregoing is only embodiments of the invention, not thereby limit the scope of the claims of the present invention, every utilize this
Equivalent structure or equivalence flow process that bright description is made convert, or are directly or indirectly used in other related technology necks
Territory, all in like manner includes in the scope of patent protection of the present invention.
Claims (6)
1. one kind is moved the AP changing method that robot configures based on path, it is characterised in that comprise the steps：
Step 1, in mobile robot, applied environment installs AP；
Step 2, controls described mobile robot and moves along formulating circuit, records described mobile robot every on every route
The signal strength signal intensity of individual described AP, determines the described AP that on every route, signal strength signal intensity is the highest；
Step 3, configures the MAC Address of described AP to be connected when described mobile robot runs on every route；
Step 4, the described AP of described mobile robot constantly existing connection of monitoring in motion process and current route configuration
Whether described AP is consistent, if inconsistent, is directly switch to the described AP of configuration.
2. the AP changing method that mobile robot according to claim 1 configures based on path, it is characterised in that described step
The method installing described AP in rapid 1 is：
Selecting appropriate number of described AP according to described mobile robot running environment, described AP passes through the side of netting twine or optical fiber
Formula group is in same network, and the scope that AP described in each two covers has overlapping region.
3. the AP changing method that mobile robot according to claim 2 configures based on path, it is characterised in that described AP
Quantity be two.
4. the AP changing method that mobile robot according to claim 1 configures based on path, it is characterised in that described step
The method determining the described AP that signal strength signal intensity is the highest on every route in rapid 2 is：
Control described mobile robot to move along mapping out a route, record described mobile robot on every route described in each
The signal strength signal intensity of AP, repeats 3-5 time；Determine the AP that on every route, signal strength signal intensity is the highest, determine that the signal of described AP is strong simultaneously
Whether degree meets the requirement of lowest signal intensity, requires if met, then the described AP that on every circuit, signal strength signal intensity is the highest is
Can confirm that；If being unsatisfactory for requiring, then the decorating position changing described AP or the quantity increasing described AP solve, until
Till the described AP that on circuit, signal strength signal intensity is the highest determines.
5. the AP changing method that mobile robot according to claim 1 configures based on path, it is characterised in that described step
By the route configuration tool of described mobile robot, described MAC Address is configured in rapid 3.
6. the AP changing method that mobile robot according to claim 5 configures based on path, it is characterised in that described step
Consider minimum switching times during the described MAC Address configuring described wireless aps in rapid 3 simultaneously, if cover at different described AP
On the route of overlapping region, there is change in signal described AP the strongest, can select on the basis of meeting lowest signal intensity
The described AP that signal strength signal intensity is not the highest is attached.
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| CN201610876948.2A CN106454861B (en) | 2016-10-08 | 2016-10-08 | A kind of AP switching method that mobile robot is configured based on path |
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| CN201610876948.2A CN106454861B (en) | 2016-10-08 | 2016-10-08 | A kind of AP switching method that mobile robot is configured based on path |
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| CN106454861B CN106454861B (en) | 2019-10-22 |
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| CN107734583A (en) * | 2017-10-16 | 2018-02-23 | 中国恩菲工程技术有限公司 | Control method, device and the mobile device that access point AP switches in sub-terrain mines |
| WO2018064818A1 (en) * | 2016-10-08 | 2018-04-12 | 浙江国自机器人技术有限公司 | Route configuration based ap switching method for mobile robot |
| CN109089218A (en) * | 2018-11-09 | 2018-12-25 | 浙江国自机器人技术有限公司 | Robot AP connection method, system, control centre and readable storage medium storing program for executing |
| CN109699008A (en) * | 2017-10-24 | 2019-04-30 | 广达电脑股份有限公司 | Improve the method and Radio Network System of connecting wireless network |
| CN111769942A (en) * | 2020-09-02 | 2020-10-13 | 杭州海康威视数字技术股份有限公司 | Industrial intelligent robot safety communication method and device and electronic equipment |
| CN114980227A (en) * | 2022-05-11 | 2022-08-30 | 牧原食品股份有限公司 | Wireless network roaming control method and related product thereof |
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| CN106454861B (en) | 2019-10-22 |
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