CN106454861B - A kind of AP switching method that mobile robot is configured based on path - Google Patents

A kind of AP switching method that mobile robot is configured based on path Download PDF

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Publication number
CN106454861B
CN106454861B CN201610876948.2A CN201610876948A CN106454861B CN 106454861 B CN106454861 B CN 106454861B CN 201610876948 A CN201610876948 A CN 201610876948A CN 106454861 B CN106454861 B CN 106454861B
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China
Prior art keywords
mobile robot
route
signal strength
highest
signal
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CN201610876948.2A
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Chinese (zh)
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CN106454861A (en
Inventor
朱思怡
陶熠昆
朱玲芬
郑洪波
王霞
杜鑫峰
宓旭东
沈继中
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Zhejiang Guozi Robot Technology Co Ltd
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Zhejiang Guozi Robot Technology Co Ltd
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Classifications

    • 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
    • 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 the AP switching method that a kind of mobile robot is configured based on path, include the following steps: that AP is installed in mobile robot application environment；It controls the mobile robot and is moved along route is formulated, record the signal strength of the mobile robot each AP on every route, determine the highest AP of signal strength on every route；Configure the MAC Address of the AP the to be connected when mobile robot is run on every route；Whether the AP that the mobile robot constantly monitors the AP of existing connection during the motion and current route configures is consistent, if inconsistent, is directly switch to the AP of configuration.The present invention can effectively avoid AP from switching excessively frequent problem, and method is simple and effective, and uncertainty can be effectively reduced in signal strength threshold that no setting is required, have certain value in mobile robot application environment.

Description

A kind of AP switching method that mobile robot is configured based on path
Technical field
The present invention relates to the AP switching methods that field of communication technology more particularly to a kind of mobile robot path configure.
Background technique
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, usually only 50-300m, for terminal mobility Support it is extremely limited, it is therefore desirable to be switched fast between different AP, with reduce switch between AP caused by network interruption when Between.
Existing AP handoff technique, switching principle is broadly divided into two classes: the first kind, by constantly comparing local area network The signal strength of interior multiple AP, and select to establish connection with the strongest AP of signal.A letter is arranged in second class in AC controller Number intensity threshold disconnects, and higher in signal strength automatically after the signal strength of the AP connected at present is lower than the threshold value AP establish new connection.These handoff techniques there are the shortcomings that include: unstability due to wireless network signal, Yi Fasheng The case where frequent switching and operation difficulty are big.It is switched over by threshold value setting, it is higher to the setting requirements of threshold value, if together One moment, multiple AP were below the threshold value, then network will disconnect.
Summary of the invention
In view of the above drawbacks of the prior art, the present invention provides a kind of AP switching that mobile robot is configured based on path Method, signal strength threshold that no setting is required, it is ensured that mobile robot can have preferable network to believe during whole service Number intensity, the problems such as solving the problem of when wireless network signal is unstable between more AP frequent switching and big operation difficulty.
The technical scheme adopted by the invention is that: a kind of AP switching method that mobile robot is configured based on path, including Following steps:
Step 1, AP is installed in mobile robot application environment；
Step 2, it controls the mobile robot and is moved along route is formulated, record the mobile robot in every route The signal strength of upper each AP, determines the highest AP of signal strength on every route；
Step 3, the MAC Address for the AP to be connected when the mobile robot is run on every route is configured；
Step 4, the AP that the mobile robot constantly monitors existing connection during the motion matches with current route Whether the AP set is consistent, if inconsistent, is directly switch to the AP of configuration.
In better embodiment of the present invention, the method for the AP is installed in the step 1 are as follows:
The appropriate number of AP, the AP is selected to pass through cable or optical fiber according to the mobile robot running environment Mode group in the same network, AP described in every two covering range have overlapping region.
In another better embodiment of the present invention, the quantity of the AP is two.
In better embodiment of the present invention, the highest AP of signal strength on every route is determined in the step 2 Method are as follows:
It controls the mobile robot to move along mapping out a route, it is each on every route to record the mobile robot The signal strength of the AP repeats 3-5 times；It determines the highest AP of signal strength on every route, while determining the letter of the AP Whether number intensity meets the requirement of lowest signal intensity, if met the requirements, signal strength is highest described on every route AP can confirm；If the requirements are not met, then the decorating position for changing the AP or the quantity for increasing the AP are solved, Until the highest AP of signal strength is determined on route.
In another better embodiment of the present invention, work is configured by the route of the mobile robot in the step 3 Tool configures the MAC Address.
In better embodiment of the present invention, when configuring the MAC Address of the wireless aps in the step 3 while examining Minimum switching times are considered, if the strongest AP of signal, which exists, to be become on the route of the overlapping region of the different AP coverings Change, can choose signal strength on the basis of meeting lowest signal intensity not is that the highest AP is attached.
The present invention can effectively avoid AP from switching excessively frequent problem, while calculate compared to the switching based on signal strength Method, this method is simple and effective, and uncertainty can be effectively reduced in signal strength threshold that no setting is required, in mobile robot application ring There is certain value in border.
Detailed description of the invention
Fig. 1 is the AP switching method process signal that mobile robot is configured based on path in a preferred embodiment of the present invention Figure.
Specific embodiment
The preferred embodiments of the present invention will be described in detail below so that advantages and features of the invention can be easier to by It will be appreciated by those skilled in the art that so as to make a clearer definition of the protection scope of the present invention.
The AP switching method that a kind of mobile robot of the present invention is configured based on path, detailed process as shown in Figure 1, Include the following steps:
Step 1, AP is installed in mobile robot application environment.
Select appropriate number of AP according to mobile robot running environment, preferably two, the AP by cable or For the mode group of optical fiber in the same network, the range of every two AP covering has overlapping region.
Step 2, control mobile robot is moved along route is formulated, and records mobile robot each AP on every route Signal strength, determine the highest AP of signal strength on every route.
The process of above-mentioned record AP signal strength repeats 3-5 times, determines the highest AP of signal strength on every route, simultaneously Determine whether the signal strength of the AP meets the requirement of lowest signal intensity, if met the requirements, signal is strong on every route Spending highest AP can confirm；If the requirements are not met, then the decorating position for changing AP or the quantity for increasing AP are solved, Until the highest AP of signal strength is determined on route.
Step 3, the MAC Address for the AP to be connected when configuration mobile robot is run on every route.
By being run on the route for every line configuring mobile robot in mobile robot route configuration tool When the wireless aps to be connected MAC Address.The smallest switching times are considered simultaneously, if in the overlay region of different AP covering On the route in domain, there is variation in the strongest AP of signal, can choose signal strength on the basis of meeting lowest signal intensity not It is that highest AP is attached.
Step 4, the AP that the AP that mobile robot constantly monitors existing connection during the motion is configured with current route is It is no consistent, if inconsistent, it is directly switch to the AP of configuration.
Ensure that mobile robot there can be preferable network signal intensity for moving machine during whole service The data communication of people and scheduling system or background monitoring client.
The AP switching method that mobile robot disclosed in the present embodiment is configured based on path, effectively can avoid AP from switching Excessively frequent problem.The handoff algorithms based on signal strength are compared simultaneously, and this method is simple and effective, can be effectively reduced uncertain Property, there are certain values in mobile robot application environment.
The above description is only an embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair Equivalent structure or equivalent flow shift made by bright description is applied directly or indirectly in other relevant technology necks Domain is included within the scope of the present invention.

Claims (4)

1. the AP switching method that a kind of mobile robot is configured based on path, which comprises the steps of:
Step 1, AP is installed in mobile robot application environment；
Step 2, it controls the mobile robot to move along fixed route, it is every on every route to record the mobile robot The signal strength of a AP determines the highest AP of signal strength on every route；
Step 3, the MAC Address for the AP to be connected when the mobile robot is run on every route is configured；
Step 4, the mobile robot constantly monitors the AP and the current route configuration of existing connection during the motion Whether the AP is consistent, if inconsistent, is directly switch to the AP of configuration；
The MAC Address is configured by the route configuration tool of the mobile robot in the step 3；
In the step 3, on the route of the overlapping region of different AP coverings, when the strongest AP of signal has variation, meeting On the basis of lowest signal intensity, can choose signal strength not is that highest AP is attached；
The method of the highest AP of signal strength on every route is determined in the step 2 are as follows:
It controls the mobile robot to move along mapping out a route, it is each described on every route to record the mobile robot The signal strength of AP repeats 3-5 times；It determines the highest AP of signal strength on every route, while determining that the signal of the AP is strong Whether degree meets the requirement of lowest signal intensity, if met the requirements, the highest AP of signal strength is on every route It can confirm；If the requirements are not met, then the decorating position for changing the AP or the quantity for increasing the AP are solved, until Until the highest AP of signal strength is determined on route.
2. the AP switching method that mobile robot according to claim 1 is configured based on path, which is characterized in that the step The method of the AP is installed in rapid 1 are as follows:
The appropriate number of AP, the side that the AP passes through cable or optical fiber are selected according to the mobile robot running environment For formula group in the same network, the range of the covering of AP described in every two has overlapping region.
3. the AP switching method that mobile robot according to claim 2 is configured based on path, which is characterized in that the AP Quantity be two.
4. the AP switching method that mobile robot according to claim 1 is configured based on path, which is characterized in that the step When configuring the MAC Address of the AP in rapid 3 while minimum switching times are considered, if in the overlapping of the different AP coverings On the route in region, there is variation in the strongest AP of signal, can choose signal on the basis of meeting lowest signal intensity Intensity is not that the highest AP is attached.
CN201610876948.2A 2016-10-08 2016-10-08 A kind of AP switching method that mobile robot is configured based on path Active CN106454861B (en)

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US10425842B2 (en) 2016-10-08 2019-09-24 Zhejiang Guozi Robot Technology Co., Ltd. Access point roaming method of wireless network for mobile robots based on path setting
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
TWI643517B (en) * 2017-10-24 2018-12-01 廣達電腦股份有限公司 Method and wireless network system for improving wireless network connection
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
CN111769942B (en) * 2020-09-02 2021-01-08 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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CN104154922A (en) * 2014-08-05 2014-11-19 华为技术有限公司 Route navigating method, server and mobile terminal
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