CN106685666B - Robot communication method and robot - Google Patents
Robot communication method and robot Download PDFInfo
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- CN106685666B CN106685666B CN201710065144.9A CN201710065144A CN106685666B CN 106685666 B CN106685666 B CN 106685666B CN 201710065144 A CN201710065144 A CN 201710065144A CN 106685666 B CN106685666 B CN 106685666B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L9/00—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols
- H04L9/32—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols including means for verifying the identity or authority of a user of the system or for message authentication, e.g. authorization, entity authentication, data integrity or data verification, non-repudiation, key authentication or verification of credentials
- H04L9/321—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols including means for verifying the identity or authority of a user of the system or for message authentication, e.g. authorization, entity authentication, data integrity or data verification, non-repudiation, key authentication or verification of credentials involving a third party or a trusted authority
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
- H04W12/06—Authentication
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/70—Services for machine-to-machine communication [M2M] or machine type communication [MTC]
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Abstract
The present invention provides a communication method for each of a plurality of robots. In an identification process, an identification signal is transmitted in a first at least one time slot, the identification signal being capable of identifying the robot, the identification signal of each different robot being different from each other, the identification signals from the other robots of the plurality of robots are received, and the other robots are identified according to the received identification signals of the other robots. After the multiple robots finish mutual identification, an information transceiving process is started, and information signals are transmitted and received with any one of the multiple robots according to a preset rule. In the identification process and/or the information transceiving process, the time slots of the identification signals sent by different robots are not overlapped with each other, and the information signals sent by different robots are not overlapped with each other.
Description
Technical Field
The present invention relates to a communication method for each of a plurality of robots and a robot.
Background
With the rapid development of artificial intelligence, automatic control, communication and computer technologies, robots are increasingly used in many fields such as industrial and agricultural production, buildings, logistics, and daily life. Due to the increasing complexity of application environments and functions to be implemented, a single robot is often not capable of completing tasks, and interaction or cooperation of multiple robots is required. When a plurality of robots interact and cooperate, it is inevitable to communicate with each other.
Disclosure of Invention
One aspect of the present invention provides a communication method for each of a plurality of robots, comprising:
in the process of identity recognition:
transmitting an identification signal in a first at least one time slot, the identification signal being capable of identifying the robot, the identification signals of different robots being different from each other;
receiving identification signals from other robots of the plurality of robots; and
according to the received identity recognition signals of other robots, recognizing the other robots; and
in the process of information transceiving:
entering an information transceiving process after the plurality of robots finish mutual identification, and performing information signal transceiving with any one of the plurality of robots according to a predetermined rule,
wherein the identification signals sent by different robots are not overlapped with each other, and the information signals sent by different robots are not overlapped with each other.
Optionally, the identification signal and/or the information signal comprises: a middle portion, and a fixed pattern of leading and trailing portions having a duty cycle different from a duty cycle of the middle portion; and/or the identification signal and the information signal have different heads and/or tails; and/or different types of information signals have different headers and/or trailers.
Optionally, the method further comprises, during the identification process and/or the information transceiving process: transmitting a presence detection signal having a fixed duty cycle in a second at least one time slot, the presence detection signal and the identification signal and/or the information signal transmitted by each robot not overlapping each other; and receiving the presence detection signals from the other robots, and restarting the identification process when the received presence detection signals are abnormal.
Optionally, the method further comprises: during the exit, an exit signal is sent to indicate that the current communication is to be exited, the intensity and duration of the exit signal being such as to cause an anomaly in the presence detection signal received by the other robot.
Optionally, in the identification process and/or the information transceiving process, the signal is cyclically transmitted with a plurality of time slots as a period, where the number of time slots included in the period satisfies any one of the following conditions: greater than or equal to N; greater than or equal to N + 1; greater than or equal to N + 2; greater than or equal to 2N; or greater than or equal to 3N, where N is a total number of the plurality of robots.
Optionally, the method further comprises, in the identification process: in a third at least one time slot of each period, transmitting a hand lifting signal, wherein the hand lifting signal and the identification signal transmitted by each robot are not overlapped with each other, the hand lifting signals transmitted by different robots are not overlapped with each other, and/or the hand lifting signal is a signal with the duty ratio smaller than or equal to 1/N; and when the number of the recognized robots is matched with the number of the hand lifting signals received in each period, the multiple robots finish recognizing each other.
Optionally, the method further includes, during the information transceiving: in a third at least one time slot of each period, transmitting a hand lifting signal, wherein the hand lifting signal and the information signal transmitted by each robot are not overlapped with each other, the hand lifting signals transmitted by different robots are not overlapped with each other, and/or the hand lifting signal is a signal with the duty ratio smaller than or equal to 1/N; and restarting the identification process or sending a prompt alarm when the number of the hand-lifting signals received in one period is not matched with the number of the robots identified in the identification process.
Optionally, the method further comprises: sending self-position information and receiving position information of other robots, and determining an information receiving and sending means to be adopted according to the self-position information and the position information of other robots; and/or monitoring the positions of other robots, and determining the information transceiving means to be adopted according to the monitoring result.
Another aspect of the present invention provides a robot, including an identification signal transmitting module, an identification signal receiving module, an identification module, and an information signal transceiving module:
in the process of identity recognition:
the identification signal sending module sends identification signals in a first at least one time slot, the identification signals can identify the robots, and the identification signals of different robots are different from each other;
the identification signal receiving module receives identification signals from other robots in the plurality of robots; and
the identity recognition module recognizes the other robots according to the received identity recognition signals of the other robots; and
in the process of information transceiving:
entering an information transceiving process after the plurality of robots finish recognizing each other, the information signal transceiving module transmitting information signals between the plurality of robots according to a predetermined rule,
wherein the identification signals transmitted by each robot do not overlap with each other, and the information signals transmitted by each robot do not overlap with each other.
Another aspect of the present invention provides a robot comprising a signal transmitter, a signal receiver, and a processor, wherein the processor runs a program to perform the method as described above using the signal transmitter and the signal receiver.
Another aspect of the invention provides a non-volatile storage medium storing computer-executable instructions for implementing the method as described above when executed.
Another aspect of the invention provides a computer program comprising computer executable instructions for implementing a method as described above when executed.
Drawings
For a more complete understanding of the present invention, and the advantages thereof, reference is now made to the following descriptions taken in conjunction with the accompanying drawings, in which:
fig. 1 schematically shows an application scenario of a communication method and a robot according to an embodiment of the invention;
FIG. 2 schematically illustrates a flow chart of a communication method for each of a plurality of robots, in accordance with an embodiment of the present invention;
FIG. 3A schematically illustrates time slot settings for an identification process according to an embodiment of the invention;
FIG. 3B schematically illustrates time slot settings for an identification process according to another embodiment of the invention;
FIG. 3C schematically illustrates time slot settings for an identification process according to another embodiment of the invention;
FIG. 3D schematically illustrates time slot settings for an information transceiving process according to an embodiment of the present invention;
FIG. 4 schematically shows a block diagram of a robot according to an embodiment of the invention; and
fig. 5 schematically shows a block diagram of a robot according to another embodiment of the invention.
Detailed Description
Other aspects, advantages and salient features of the invention will become apparent to those skilled in the art from the following detailed description, which, taken in conjunction with the annexed drawings, discloses exemplary embodiments of the invention.
In the present invention, the terms "include" and "comprise," as well as derivatives thereof, mean inclusion without limitation; the term "or" is inclusive, meaning and/or.
In this specification, the various embodiments described below which are meant to illustrate the principles of this invention are illustrative only and should not be construed in any way to limit the scope of the invention. The following description with reference to the accompanying drawings is provided to assist in a comprehensive understanding of exemplary embodiments of the invention as defined by the claims and their equivalents. The following description includes various specific details to aid understanding, but such details are to be regarded as illustrative only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Moreover, descriptions of well-known functions and constructions are omitted for clarity and conciseness. Moreover, throughout the drawings, the same reference numerals are used for similar functions and operations.
Embodiments of the present invention provide a communication method for each of a plurality of robots and a robot to which the method can be applied. The method comprises an identity identification process and an information transceiving process. In the identification process, each robot sends identification signals for identifying the robot at different time slots and receives identification signals from other robots. Based on the received identification signals, the plurality of robots can recognize each other. After the identification is completed, an information transceiving process is entered, and the plurality of robots can communicate with each other according to a predetermined rule.
Fig. 1 schematically shows an application scenario of a robot and a communication method according to an embodiment of the present invention.
As shown in fig. 1, a robot a, a robot B, a robot C, a robot D, and a robot E can communicate with each other by the communication method according to the present invention. It will be appreciated that although five robots are shown here, embodiments of the present invention may be applied to more or fewer robots. In addition, although any robot is shown here as communicating with four other robots, any robot may communicate with one, two, or three other robots. By the embodiment of the invention, information interaction, information sharing, cooperative work and the like among a plurality of robots can be realized.
Referring to fig. 2, a communication method according to an embodiment of the present invention will be described below by taking an example in which three robots (e.g., robot a, robot B, and robot C shown in fig. 1) communicate with each other. It will be appreciated that the method of embodiments of the invention is also applicable to scenarios involving more or fewer robots.
Fig. 2 schematically shows a flow chart of a communication method for each of a plurality of robots according to an embodiment of the invention.
As shown in fig. 2, in the identification process, each robot transmits an identification signal in a first at least one time slot, and the identification signal identifies the identity of the robot in step S201. Each robot also receives identification signals from other robots to identify the other robots. The identification signals sent by each robot do not overlap with each other. For example, different robots may transmit identification signals at different time slots.
According to an embodiment of the present invention, the identification signals of different robots are different, so that the robot that transmits the identification signal can be uniquely identified. For example, the identification signal may include, but is not limited to, a manufacturer, a model number, a serial number, etc. of the robot. The purpose of the identification signal is to identify different robots, and is not limited to specific content.
In step S202, it is determined whether the plurality of robots have completed the recognition of each other, and if so, step S203 is performed, otherwise, step S201 is returned to.
In step S203, after the plurality of robots have completed recognizing each other, an information transmission and reception process is entered, and transmission and reception of information signals are performed with any one of the plurality of robots according to a predetermined rule, and the information signals transmitted by each robot do not overlap each other. For example, different robots may transmit information signals at different time slots.
According to an embodiment of the present invention, the information signal may include any information that the robot wants to communicate to other robots, such as, but not limited to, geographical location information, ambient environment information, information that requires operations performed by other robots, and the like.
According to an embodiment of the present invention, the predetermined rule may include setting an order in which the information signals are transmitted to each robot according to a predetermined sort rule, the information signals being transmitted by each robot in the order. For example, each robot may transmit information signals in turn in the order of serial numbers from small to large. It is to be understood that the predetermined rule according to the embodiment of the present invention is not limited thereto as long as it is ensured that the information signals of different robots do not overlap each other.
According to the embodiment of the invention, each robot in the plurality of robots can receive the identification signals from other robots by transmitting the identification signals without overlapping, so that the identification of the identities of each robot can be completed through the identification process. The process does not need to transmit information by means of external equipment (such as a base station) or register self identity to the external equipment, simplifies the identification process, shortens the identification time, and saves communication, network and computing resources. After the identification is completed, the transmission of information signals between each other can be started.
According to an embodiment of the invention, the identification signal and/or the information signal may comprise: a middle portion, and a fixed pattern of leading and trailing portions, the duty cycle of the leading and trailing portions being different from the duty cycle of the middle portion. The different duty cycles may be used to distinguish the middle portion from the head and tail portions. The head and tail are present to provide redundancy in the transmission of information, and since the clocks of the robots may drift, precise synchronization may not be achieved and there may be overlap between signals transmitted in adjacent time slots. The reception of the middle part can be protected from being influenced by the redundancy of the head and the tail.
According to embodiments of the present invention, the identification signal and the information signal may have different headers and/or trailers, thereby distinguishing the identification signal from the information signal.
According to embodiments of the present invention, different types of information signals may have different headers and/or trailers, thereby distinguishing the different types of information signals.
The method shown in fig. 2 is further described with reference to fig. 3A-3D in conjunction with specific embodiments.
Fig. 3A schematically shows a time slot arrangement of an identification process according to an embodiment of the invention.
Nine time slots in the identification process are shown in fig. 3A: slot 1, slot 2, slot 3, slot 4, slot 5, slot 6, slot 7, slot 8, and slot 9. Robot a sends identification signal ID _ a in time slot 1, robot B sends identification signal ID _ B in time slot 4, and robot C sends identification signal ID _ C in time slot 7.
Accordingly, robot a receives identification signal ID _ B transmitted by robot B in time slot 4 and receives identification signal ID _ C transmitted by robot C in time slot 7. Robot B receives identification signal ID _ a transmitted by robot a in time slot 1, and receives identification signal ID _ C transmitted by robot C in time slot 7. Robot C receives identification signal ID _ a transmitted by robot a in time slot 1, and receives identification signal ID _ B transmitted by robot B in time slot 4.
According to the embodiment of the invention, in the identification process, the identification signal can be sent circularly by taking a plurality of time slots as a period. For example, assuming that 9 time slots shown in fig. 3A are one cycle, robot a may transmit identification signal ID _ a again in time slot 1 of the next cycle, robot B may transmit identification signal ID _ B again in time slot 4 of the next cycle, and robot C may transmit identification signal ID _ C again in time slot 7 of the next cycle. The identification signal is periodically sent until each robot can identify the identity of the other robots.
It will be appreciated that nine time slots need not be provided per cycle, but more or fewer time slots may be provided. For example, each cycle may have only three time slots, and each of robot a, robot B, and robot C may transmit its own identification signal in one of the time slots and receive identification signals from other robots in the other time slots. In general, the number of time slots per cycle may be greater than or equal to the total number N of multiple robots to allow the identification signals transmitted by each robot to not overlap with each other.
In addition, each robot is not limited to transmitting the identification signal in only one time slot in one cycle, but may transmit the identification signal in a plurality of time slots as long as the identification signals transmitted by the plurality of robots do not overlap with each other. For example, in the example shown in fig. 3A, robot a may transmit identification signal ID _ a in both time slot 1 and time slot 8, robot B may transmit identification signal ID _ B in both time slot 4 and time slot 9, and robot C may transmit identification signal ID _ C in both time slot 7 and time slot 3. This has the advantage that when the number of time slots per cycle is set higher and the total number of robots is smaller, the free time slots can be fully utilized. In addition, if the content to be transmitted in the identification signal is large and the transmission cannot be completed in one time slot, the transmission may be performed by using two or more time slots.
Fig. 3B schematically shows a time slot arrangement of an identification process according to another embodiment of the invention.
As shown in fig. 3B, in the identification process, a presence detect signal with a fixed duty cycle may be transmitted in the second at least one time slot. For example, robot a transmits presence detect signal PRST _ a in time slot 3, robot B transmits presence detect signal PRST _ B in time slot 6, and robot C transmits presence detect signal PRST _ C in time slot 9.
Accordingly, robot a receives presence detection signal PRST _ B transmitted from robot B in time slot 6 and receives presence detection signal PRST _ C transmitted from robot C in time slot 9. Robot B receives presence detection signal PRST _ a transmitted from robot a in time slot 3, and receives presence detection signal PRST _ C transmitted from robot C in time slot 9. Robot C receives presence detection signal PRST _ a transmitted from robot a in time slot 3, and receives presence detection signal PRST _ B transmitted from robot B in time slot 6.
The presence detection signal is used to determine whether a new robot is to join the communication and/or whether a robot is to exit the communication.
According to an embodiment of the invention, a gatekeeper robot may be provided for supervising whether a new robot is to join the communication. If a new robot is found to be joining the communication, the gatekeeper robot sends a prompt signal of sufficient strength and duration to cause each robot to receive an anomaly in the presence detect signal. When the presence detection signal received by at least one robot is abnormal, the identification process is restarted, so that the new robot can be identified and joined in communication. According to an embodiment of the present invention, the function of the door robot may also be implemented by any detection device capable of detecting a new robot and transmitting the above-described cue signal, or may also be implemented using any of a plurality of robots.
According to an embodiment of the invention, the exit procedure is entered when the robot wants to exit the communication. During the exit process, the robot sends an exit signal to indicate that the current communication is to be exited, the intensity and duration of the exit signal being such that the presence detect signal received by the other robot is anomalous. And when the existence detection signal received by at least one robot is abnormal, restarting the identity recognition process so as to re-recognize the robots participating in the communication.
It will be appreciated that although fig. 3B shows each robot transmitting a presence detect signal in one time slot, it is also possible to transmit a presence detect signal in multiple time slots, but neither the presence detect signal nor the identification signal transmitted by each robot overlap one another.
According to the embodiment of the invention, the identification signal and the existence detection signal can be sent circularly by taking a plurality of time slots as a period. For example, the number of time slots per cycle may be greater than or equal to 2N to allow each robot to transmit identification signals and presence detection signals that do not overlap each other.
Alternatively, it is also possible to allow for an overlap of presence detection signals transmitted by a plurality of robots, e.g. all transmitting presence detection signals in the same at least one time slot. The presence detection signal itself does not carry information and the robot simply determines from its changes whether a new robot is to join the communication and/or whether a robot is to exit the communication. Therefore, even if there is an overlap of the presence detection signals of multiple robots, as long as the presence detection signals received by the robots each time are normal, e.g., there is no change or no significant change in duty cycle, intensity, etc., indicating that no new robot is to join the communication, no robot is to exit the communication, i.e., there is no need to restart the identification process. In contrast, if the presence detection signal is abnormal, for example, the duty ratio or the intensity changes, it indicates that a new robot is to join the communication or that a robot is to exit the communication. At this point, the identification process needs to be restarted. According to an embodiment of the invention, the number of time slots per cycle may be greater than or equal to N +1 to allow each robot to transmit identification signals without overlapping within N time slots, and at least 1 further time slot to allow each robot to transmit presence detection signals with or without overlapping.
Fig. 3C schematically shows a time slot arrangement of an identification process according to another embodiment of the invention.
As shown in fig. 3C, in the identification process, a hand-lifting signal with a fixed duty ratio may be transmitted in the third at least one time slot, where the hand-lifting signal and the identification signal transmitted by each robot do not overlap with each other and the hand-lifting signals transmitted by different robots do not overlap with each other. For example, robot a transmits HAND raising signal HAND _ a in time slot 2, robot B transmits HAND raising signal HAND _ B in time slot 2, and robot C transmits HAND raising signal HAND _ C in time slot 2. The duty cycles of the three hand lifting signals are all less than 1/N, in this embodiment less than 1/3, so that the hand lifting signals are allowed to not overlap each other even though the three robots all transmit the hand lifting signals in time slot 2.
Accordingly, robot a receives HAND-raising signals HAND _ B and HAND _ C in time slot 2, robot B receives HAND-raising signals HAND _ a and HAND _ C in time slot 2, and robot C receives HAND-raising signals HAND _ a and HAND _ B in time slot 2.
According to an embodiment of the invention, the hand-up signal may be used as another way of confirming the presence of the robot. For example, in step S202 shown in fig. 2, it may be determined whether the robots have completed their identification by the hand-lifting signal. For example, in the identification process, when the number of recognized robots matches the number of hand lifting signals received in each cycle, the plurality of robots finish recognizing each other. Due to the fact that the duty ratio of the hand-lifting signals is small, all the hand-lifting signals can be sent in one time slot, and time slot resources are saved. For example, of course, the hand-up signal may be transmitted in more time slots, and thus fewer hand-up signals may be transmitted in each time slot.
According to the embodiment of the invention, the identification signal and the hand lifting signal can be sent circularly by taking a plurality of time slots as a period. For example, the number of time slots per cycle may be greater than or equal to N +1 to allow the identification signals transmitted by each robot to be non-overlapping with each other and at least 1 more time slot for transmitting the hand lift signal. For example, the number of time slots per cycle may be greater than or equal to N +2 to allow the identification signals transmitted by each robot to be non-overlapping with each other, at least 1 more time slot for transmitting the hand lift signal, and at least 1 more time slot for transmitting the presence detect signal described with reference to fig. 3B. For example, the number of time slots per cycle may be greater than or equal to 3N to allow each robot to transmit identification signals, hand lift signals, and presence detection signals that do not overlap each other.
It will be appreciated that although fig. 3C shows each robot transmitting an identification signal, a hand-lifting signal and a presence detection signal, each robot may transmit only one of the hand-lifting signal and the presence detection signal and the identification signal.
Fig. 3D schematically shows time slot setting of an information transceiving process according to an embodiment of the present invention.
As described above, after the plurality of robots finish recognizing each other, an information transceiving process may be entered to communicate with each other according to a predetermined rule. In the present embodiment, the predetermined rule is that the information signals are transmitted in the order of robot a, robot B, and robot C. It will be appreciated that other predetermined rules may be employed.
According to the embodiments of the present invention, each robot may transmit an information signal in a transmission cycle allocated to itself in a predetermined rule with a plurality of time slots as a cycle. According to an embodiment of the present invention, the period of the information transceiving process may have the same number of slots as the period of the identification process.
In the present embodiment, as shown in fig. 3D, it is specified that each robot transmits a hand raising signal in time slot 2, a presence detection signal in time slot 3, and an information signal in time slots 4 to 8 of its own transmission cycle. It is understood that other specifications may be made according to actual needs. According to the embodiment of the invention, the information signals sent by each robot are not overlapped, and the hand lifting signal of each robot is not overlapped with the hand lifting signals, the existence detection signals and the information signals of other robots.
Fig. 3D shows a situation where robot a is the sender of an information signal and robot B and/or robot C is the receiver of an information signal. As shown in fig. 3D, the robot a transmits the HAND raising signal HAND _ a in the time slot 2, the presence detection signal PRST _ a in the time slot 3, and the information signal DATA _ a in the time slots 4 to 8. Robot B transmits the HAND raising signal HAND _ B in time slot 2, transmits the presence detection signal PRST _ B in time slot 3, and receives the information signal from another robot (robot a in this example) in time slots 4 to 8. Robot C transmits HAND raising signal HAND _ C in time slot 2, presence detection signal PRST _ C in time slot 3, and receives information signals from another robot (robot a in this example) in time slots 4 to 8.
According to the embodiment of the invention, under a normal condition, the number of hand-lifting signals received by each robot in one period is matched with the number of robots identified in the identity identification process, if the hand-lifting signals are not matched with the number of robots identified in the identity identification process, an abnormal condition is indicated, for example, a certain robot is abnormally powered off, and the identity identification process can be restarted at the moment.
According to an embodiment of the invention, a gatekeeper robot may be provided for supervising whether a new robot is to join the communication. If a new robot is found to be joining the communication, the gatekeeper robot sends a prompt signal of sufficient strength and duration to cause each robot to receive an anomaly in the presence detect signal. When the presence detection signal received by at least one robot is abnormal, the identification process is restarted, so that the new robot can be identified and joined in communication. According to an embodiment of the present invention, the function of the door robot may also be implemented by any detection device capable of detecting a new robot and transmitting the above-described cue signal, or may also be implemented using any of a plurality of robots.
According to an embodiment of the invention, the exit procedure is entered when the robot wants to exit the communication. During the exit process, the robot sends an exit signal to indicate that the current communication is to be exited, the intensity and duration of the exit signal being such that the presence detect signal received by the other robot is anomalous. And when the existence detection signal received by at least one robot is abnormal, restarting the identity recognition process so as to re-recognize the robots participating in the communication.
Although fig. 3D shows robot a, robot B, and robot C all transmitting hand-up signals in time slot 2 and all transmitting presence detect signals in time slot 3, it is to be understood that robot a, robot B, and robot C may also transmit hand-up signals in different and/or other time slots and/or transmit presence detect signals in different and/or other time slots. According to an embodiment of the present invention, robot a, robot B, and robot C also do not send a hand lift signal. According to an embodiment of the present invention, robot a, robot B, and robot C may not transmit the presence detection signal.
In the embodiment shown in fig. 3D, the hand-lifting signal is sent in the same time slot, so that the characteristic of small duty ratio of the hand-lifting signal can be fully utilized, the time slot resource is saved, and more time slots are used for transmitting other information. In addition, the existence detection signal is sent in the same time slot, the characteristic that whether the coming robot or the robot needs to quit the communication or not is represented by the change of the existence detection signal rather than an accurate value can be fully utilized, the time slot resource is saved, and more time slots are used for transmitting other information.
According to an embodiment of the present invention, each robot may transmit its own position information to other robots. Each robot may have a shared map, and the information transmission and reception means to be employed may be determined based on the own position information and the position information of the other robots. According to the embodiment of the invention, each robot can also monitor the positions of other robots by technologies such as infrared rays, radar or image recognition, and determine the information transceiving means to be adopted according to the monitoring result. For example, if one robot determines that another robot to communicate is within its own line of sight, a laser communication method may be employed. On the contrary, if the other robot is not within the visual range of the other robot, other communication means such as ultrasonic waves may be used. Because the laser communication mode is more suitable for transmitting large data volume information, the robot can also inform other robots to move to the sight range of the robot in an ultrasonic mode, and then the laser communication mode is used for receiving and transmitting information with the robot.
According to the embodiment of the invention, when the quality of the received signal of the robot is not good, the robot can reduce the rotation speed of the motor of the robot so as to reduce noise. Alternatively, the robot may change its own time slot for transmitting a signal in a predetermined time slot sequence, and the time slot change sequence may be different for different robots. Alternatively, the robot may send only the hand-up signal without sending other signals. The above-described operations of decreasing the motor rotation speed, changing the transmission time slot, and transmitting only the hand-lifting signal may be performed sequentially, and when the previous operation is insufficient to improve the received signal quality, the next operation is performed. Alternatively, these several operations may be performed in parallel in any combination.
Fig. 4 schematically shows a block diagram of a robot according to an embodiment of the invention.
As shown in fig. 4, the robot 400 includes an identification signal transmitting module 410, an identification signal receiving module 420, an identification module 430, and an information signal transceiving module 440. The robot 400 may perform the methods described above with reference to fig. 2-3D to enable communication between multiple robots.
Specifically, in the identification process, the identification signal sending module 410 sends an identification signal in the first at least one time slot, the identification signal can identify the robot, and the identification signals of different robots are different from each other. The identification signal receiving module 420 receives identification signals from other robots of the plurality of robots. The identification module 430 identifies other robots according to the received identification signals of other robots. After the plurality of robots finish recognizing each other, an information transceiving process is entered, and the information signal transceiving module 440 transmits information signals between the plurality of robots according to a predetermined rule. According to an embodiment of the invention, the identification signals transmitted by each robot do not overlap each other, and the information signals transmitted by each robot do not overlap each other. For the transmission and reception of the identification signal, the identification based on the identification signal, and the transmission and reception of the information signal, reference may be made to the description above with reference to fig. 2 to 3D, and this is not repeated here.
Fig. 5 schematically shows a block diagram of a robot according to another embodiment of the invention.
As shown in fig. 5, the robot 500 includes a processor 510, a computer-readable storage medium 520, a signal transmitter 530, and a signal receiver 540. The robot 500 may perform the methods described above with reference to fig. 2-3D to enable communication between multiple robots.
In particular, processor 510 may include, for example, a general purpose microprocessor, an instruction set processor and/or related chip set and/or a special purpose microprocessor (e.g., an Application Specific Integrated Circuit (ASIC)), and/or the like. The processor 510 may also include on-board memory for caching purposes. Processor 510 may be a single processing unit or a plurality of processing units for performing the different actions of the method flows according to embodiments of the present disclosure described with reference to fig. 2-3D.
Computer-readable storage medium 520 may be, for example, any medium that can contain, store, communicate, propagate, or transport the instructions. For example, a readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, device, or propagation medium. Specific examples of the readable storage medium include: magnetic storage devices, such as magnetic tape or Hard Disk Drives (HDDs); optical storage devices, such as compact disks (CD-ROMs); a memory, such as a Random Access Memory (RAM) or a flash memory; and/or wired/wireless communication links.
The computer-readable storage medium 520 may include a computer program 521, which computer program 521 may include code/computer-executable instructions that, when executed by the processor 510, cause the processor 510 to perform a method flow such as that described above in connection with fig. 2-3D and any variations thereof.
The computer program 521 may be configured with, for example, computer program code comprising computer program modules. For example, in an example embodiment, code in computer program 521 may include one or more program modules, including for example 521A, modules 521B, … …. It should be noted that the division and number of modules are not fixed, and those skilled in the art may use suitable program modules or program module combinations according to actual situations, which when executed by the processor 510, enable the processor 510 to perform the method flows described above in connection with fig. 2-3D, for example, and any variations thereof.
In accordance with an embodiment of the present disclosure, processor 510 may use signal transmitter 530 and signal receiver 540 to perform the method flows described above in conjunction with fig. 2-3D and any variations thereof.
While the invention has been shown and described with reference to certain exemplary embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents. Accordingly, the scope of the present invention should not be limited to the above-described embodiments, but should be defined not only by the appended claims, but also by equivalents thereof.
Claims (10)
1. A communication method for each of a plurality of robots, comprising:
in the process of identity recognition:
transmitting an identification signal in a first at least one time slot, the identification signal being capable of identifying the robot, the identification signals of different robots being different from each other;
receiving identification signals from other robots of the plurality of robots; and
according to the received identity recognition signals of other robots, recognizing the other robots; and
in the process of information transceiving:
after the multiple robots finish mutual identification, entering an information transceiving process, and performing information signal transceiving with any one of the multiple robots according to a preset rule;
transmitting a presence detection signal having a fixed duty cycle in a second at least one time slot, the presence detection signal and the identification signal and/or the information signal transmitted by each robot not overlapping each other; and
receiving presence detection signals from the other robots, restarting the identification process when the received presence detection signals are abnormal,
the identity recognition signals sent by different robots are not overlapped with each other, and the information signals sent by different robots are not overlapped with each other; the presence detection signal is used to determine whether a new robot is to join the communication and/or whether a robot is to exit the communication.
2. The method of claim 1, wherein:
the identification signal and/or information signal comprises: a middle portion, and a fixed pattern of leading and trailing portions having a duty cycle different from a duty cycle of the middle portion; and/or
The identification signal and the information signal have different heads and/or tails; and/or
Different types of information signals have different headers and/or trailers.
3. The method of claim 1, further comprising, during the identification process:
transmitting a presence detection signal having a fixed duty cycle in a second at least one time slot, the presence detection signal and the identification signal and/or the information signal transmitted by each robot not overlapping each other; and
and receiving the existence detection signals from the other robots, and restarting the identification process when the received existence detection signals are abnormal.
4. The method of claim 3, further comprising:
during the exit, an exit signal is sent to indicate that the current communication is to be exited, the intensity and duration of the exit signal being such as to cause an anomaly in the presence detection signal received by the other robot.
5. The method of claim 1, further comprising:
in the identification process and/or the information transceiving process, a plurality of time slots are taken as a period, signals are sent in a circulating mode, and the number of the time slots contained in the period meets any one of the following conditions:
greater than or equal to N;
greater than or equal to N + l;
greater than or equal to N + 2;
greater than or equal to 2N; or
Is greater than or equal to 3N, and,
wherein N is a total number of the plurality of robots.
6. The method of claim 5, further comprising, during the identification process:
in a third at least one time slot of each period, transmitting a hand lifting signal, wherein the hand lifting signal and the identification signal transmitted by each robot are not overlapped with each other, the hand lifting signals transmitted by different robots are not overlapped with each other, and/or the hand lifting signal is a signal with the duty ratio smaller than or equal to 1/N; and
when the number of recognized robots matches the number of hand lifting signals received in each cycle, the plurality of robots finish recognizing each other.
7. The method of claim 5, further comprising, during the transceiving:
in a third at least one time slot of each period, transmitting a hand lifting signal, wherein the hand lifting signal and the information signal transmitted by each robot are not overlapped with each other, the hand lifting signals transmitted by different robots are not overlapped with each other, and/or the hand lifting signal is a signal with the duty ratio smaller than or equal to 1/N; and
and when the number of the hand-lifting signals received in one period is not matched with the number of the robots identified in the identification process, restarting the identification process or sending a prompt alarm.
8. The method of claim 1, further comprising:
sending self-position information and receiving position information of other robots, and determining an information receiving and sending means to be adopted according to the self-position information and the position information of other robots; and/or
And monitoring the positions of other robots, and determining an information transceiving means to be adopted according to the monitoring result.
9. A robot comprises an identification signal sending module, an identification signal receiving module, an identification module and an information signal transceiving module:
in the process of identity recognition:
the identification signal sending module sends identification signals in a first at least one time slot, the identification signals can identify the robots, and the identification signals of different robots are different from each other;
the identification signal receiving module receives identification signals from other robots in the plurality of robots; and
the identity recognition module recognizes the other robots according to the received identity recognition signals of the other robots; and
in the process of information transceiving:
after the multiple robots finish mutual identification, entering an information transceiving process, and transmitting information signals among the multiple robots by an information signal transceiving module according to a preset rule;
transmitting a presence detection signal having a fixed duty cycle in a second at least one time slot, the presence detection signal and the identification signal and/or the information signal transmitted by each robot not overlapping each other; and
receiving presence detection signals from the other robots, restarting the identification process when the received presence detection signals are abnormal,
wherein the identification signals sent by each robot are not overlapped with each other, and the information signals sent by each robot are not overlapped with each other; the presence detection signal is used to determine whether a new robot is to join the communication and/or whether a robot is to exit the communication.
10. A robot comprising a signal transmitter, a signal receiver, and a processor, wherein the processor runs a program to perform the method of any one of claims 1-8 using the signal transmitter and the signal receiver.
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| CN115249110A (en) * | 2021-09-10 | 2022-10-28 | 达闼科技（北京）有限公司 | Wireless signal detection method, robot, electronic device, and storage medium |
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| US20130278441A1 (en) * | 2012-04-24 | 2013-10-24 | Zetta Research and Development, LLC - ForC Series | Vehicle proxying |
| CN105290838B (en) * | 2015-11-25 | 2018-03-09 | 安徽合力股份有限公司 | A kind of special tooling for being used to process support cap end face |
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