CN108521422A - Common communication protocol based on intelligent inspection robot - Google Patents
Common communication protocol based on intelligent inspection robot Download PDFInfo
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- CN108521422A CN108521422A CN201810312645.7A CN201810312645A CN108521422A CN 108521422 A CN108521422 A CN 108521422A CN 201810312645 A CN201810312645 A CN 201810312645A CN 108521422 A CN108521422 A CN 108521422A
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- Prior art keywords
- data
- data packet
- personal computer
- industrial personal
- packet
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/03—Protocol definition or specification
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/004—Arrangements for detecting or preventing errors in the information received by using forward error control
- H04L1/0056—Systems characterized by the type of code used
- H04L1/0061—Error detection codes
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/06—Notations for structuring of protocol data, e.g. abstract syntax notation one [ASN.1]
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/22—Parsing or analysis of headers
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/26—Special purpose or proprietary protocols or architectures
Abstract
The present invention discloses a kind of common communication protocol based on intelligent inspection robot, applied to the communications field, a certain unified interface is directed to mostly for current communication protocol to be defined, include the low problem of multiple interfaces communication efficiency rate at the same time, the application designs Uniform data format, it determines data source, data flow and data type, and increases data check position；By defining data source and data flow, and reception affirmation mechanism, ensure that, in cross-communication, data can accurately be sent to target location, while prevent loss of data；The application agreement is applicable in wifi communications, serial communication etc., no longer needs to process packet structure, realizes the efficient communication between a variety of different interfaces；The application only need to determine data flow according to field is flowed to, and then directly forward；Reduce and unpack, then organize the process of packet, reduce the error rate of data, reduces packet loss；And reduce the power consumption of intelligent inspection robot system.
Description
Technical field
The invention belongs to the communications field, more particularly to a kind of common communication technique.
Background technology
What existing communication protocol was defined both for a certain unified interface mostly.But in intelligent inspection machine
In people's system, the interface being related to is varied, in this case, if each interface respectively uses existing communication protocols
View, can make the communication efficiency of entire robot system low, and then task execution efficiency is low, and power consumption increases.
Invention content
In order to solve the above technical problems, the application proposes a kind of common communication protocol based on intelligent inspection robot, lead to
Cross Uniform data format；Explicit data source, data flow, data type；Increase data check position simultaneously.It effectively increases logical
Believe efficiency and accuracy rate, and reduces the power consumption of robot system.
The technical solution adopted by the present invention is：Common communication protocol based on intelligent inspection robot, including：
S1, server transmission data packet；The data packet includes：Flow to field, data type field and check bit；
S2, industrial personal computer received data packet carry out what judgement received according to the check bit of the data packet by CRC check position
Whether data packet is correct；If correctly thening follow the steps S3；Otherwise the data packet is abandoned；
S3, industrial personal computer parse the data packet received；And to the feedback coefficient of server feedback corresponding data type
According to packet, the notification server data packet has been properly received；
S4, industrial personal computer shunt the data packet of parsing according to the field that flows in data packet；If the middle stream of data packet
It is that 0x01 thens follow the steps S5 to field, if it is that 0x02 thens follow the steps S6 to flow to field；
S5, data packet is handed down to bottom layer driving system；Bottom layer driving system, will be to industrial personal computer after received data packet
The feedback data packet for sending corresponding data type, informs that the industrial personal computer data have been properly received；
S6, industrial personal computer voluntarily handle the data will be to the corresponding result treatment state of server feedback after processing is completed
Packet, the notification server data it is processed at.
Further, data packet described in step S1 further includes：It is directed toward the data source field of server.
Further, further include before step S5：The data source field that industrial personal computer changes data packet is to be directed toward industry control
Machine.
Further, data packet described in step S1 is elongated, and value range is 1byte~65535byte.
Beneficial effects of the present invention：A kind of common communication protocol based on intelligent inspection robot of the present invention, by setting
Unified data format is counted, determines data source, data flow and data type, and increases data check position, it is ensured that data
The accuracy of transmission；By defining data source and data flow, and reception affirmation mechanism, ensure in cross-communication, number
According to can accurately be sent to target location, while data source side is able to confirm that data have been properly received, and prevents loss of data；This Shen
Please agreement for wifi communications, serial communication etc. be applicable in, no longer need to process packet structure, realize a variety of different
Efficient communication between interface；When server is to bottom layer driving system transmission data, industrial personal computer is after receiving data, due to logical
Believe that agreement is consistent, so fractionation and recombination of the industrial personal computer without the data packet that tries again, only need to determine flow direction according to field is flowed to
Then bottom layer driving system directly forwards；Reduce industrial personal computer layer to unpack, then organize the process of packet, reduces the error rate of data,
Reduce packet loss；And reduce the power consumption of intelligent inspection robot system.
Description of the drawings
Fig. 1 is system block diagram provided by the embodiments of the present application；
Fig. 2 is protocol procedures figure provided by the embodiments of the present application.
Specific implementation mode
For ease of those skilled in the art understand that the present invention technology contents, below in conjunction with the accompanying drawings to the content of present invention into one
Step is illustrated.
As shown in Figure 1, the communication protocol of the application is applied to intelligent inspection robot system, it can only robot inspection system
Include mainly：Industrial personal computer, bottom layer driving system, motion control client and server；Industrial personal computer is logical with bottom layer driving system
The serial ports such as uart are crossed to be communicated；Industrial personal computer is communicated with server by WIFI；Bottom layer driving system and motion control client
It is communicated by LAN WIFI.
The communication for coordination of multiple interfaces is designed in the course of work of entire intelligent inspection robot system, as shown in Figure 2
The application designs a kind of common communication protocol based on intelligent inspection robot, ensures the subsystems of intelligent inspection robot
Between can compatible communication improve communication efficiency and accuracy rate not by Interface limits；Include the following steps：
S1, server transmission data packet；The application use unified data packet format for：2byte data packet heads, 2byte
Data length, 2byte data sources and flow direction, 2byte data types, data content, 2byte check bit；Data packet is variable
It is long, it disclosure satisfy that various Content of Communication, most short support 1byte data, longest support 65535byte data；
S2, industrial personal computer received data packet carry out what judgement received according to the check bit of the data packet by CRC check position
Whether data packet is correct；If correctly thening follow the steps S3；Otherwise the data packet is abandoned；Affirmation mechanism, data are received by design
Source, which is put, is able to confirm that data have been properly received, and places loss of data.
S3, industrial personal computer parse the data packet received；And to the feedback coefficient of server feedback corresponding data type
According to packet, the notification server data packet has been properly received；
S4, industrial personal computer shunt the data packet of parsing according to the field that flows in data packet；If the middle stream of data packet
It is that 0x01 thens follow the steps S5 to field, if it is that 0x02 thens follow the steps S6 to flow to field；
The data source field that S5, industrial personal computer change data packet is to be directed toward industrial personal computer, and data packet is handed down to bottom and is driven
Dynamic system；Bottom layer driving system will send the feedback data packet of corresponding data type after received data packet to industrial personal computer, accuse
Know that the industrial personal computer data have been properly received；
S6, industrial personal computer voluntarily handle the data will be to the corresponding result treatment state of server feedback after processing is completed
Data packet, the notification server data it is processed at.The result treatment state data packets contain data processing success or lose
The mark lost, for example, 0x00 expressions are handled successfully, 0x01 indicates processing failure.
Communication protocol provided by the present application is applicable in wifi communications, serial communication etc., no longer needs to packet structure
It processes.Using this communication protocol, communication efficiency and accuracy rate are effectively increased, and reduces the power consumption of robot system.
The application is by defining data traffic field, it can be achieved that intelligent inspection robot is in different communication interface efficient communication
While reduce packet loss, when server is to bottom layer driving system transmission data, industrial personal computer is after receiving data, due to logical
Believe that agreement is consistent, so fractionation and recombination of the industrial personal computer without the data packet that tries again, only need to determine flow direction according to field is flowed to
Then bottom layer driving system directly forwards；Reduce industrial personal computer layer to unpack, then organize the process of packet, reduces the error rate of data,
And then reduce packet loss.
The application is ensured by defining data source field, data flow field and a set of reception affirmation mechanism of design
In cross-communication, data can accurately be sent to target location, while data source side is able to confirm that data have been properly received, and prevent
Only loss of data.
Those of ordinary skill in the art will understand that the embodiments described herein, which is to help reader, understands this hair
Bright principle, it should be understood that protection scope of the present invention is not limited to such specific embodiments and embodiments.For ability
For the technical staff in domain, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made by
Any modification, equivalent substitution, improvement and etc. should be included within scope of the presently claimed invention.
Claims (4)
1. the common communication protocol based on intelligent inspection robot, which is characterized in that including：
S1, server transmission data packet；The data packet includes：Flow to field, data type field and check bit；
S2, industrial personal computer received data packet, the data for carrying out judging to receive by CRC check position according to the check bit of the data packet
Whether packet is correct；If correctly thening follow the steps S3；Otherwise the data packet is abandoned；
S3, industrial personal computer parse the data packet received；And to the feedback data packet of server feedback corresponding data type,
The notification server data packet has been properly received；
S4, industrial personal computer shunt the data packet of parsing according to the field that flows in data packet；If flowing to word in data packet
Section is that 0x01 thens follow the steps S5, if it is that 0x02 thens follow the steps S6 to flow to field；
S5, data packet is handed down to bottom layer driving system；Bottom layer driving system will be sent after received data packet to industrial personal computer
The feedback data packet of corresponding data type informs that the industrial personal computer data have been properly received；
S6, industrial personal computer voluntarily handle the data, after processing is completed, will to the corresponding result treatment state packet of server feedback,
The notification server data it is processed at.
2. the common communication protocol according to claim 1 based on intelligent inspection robot, which is characterized in that step S1 institutes
Stating data packet further includes：It is directed toward the data source field of server.
3. the common communication protocol according to claim 2 based on intelligent inspection robot, which is characterized in that step S5 it
Before further include：It is to be directed toward industrial personal computer that industrial personal computer, which changes data source field,.
4. the common communication protocol according to claim 1 based on intelligent inspection robot, which is characterized in that step S1 institutes
It is elongated to state data packet, and value range is 1byte~65535byte.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810312645.7A CN108521422A (en) | 2018-04-09 | 2018-04-09 | Common communication protocol based on intelligent inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810312645.7A CN108521422A (en) | 2018-04-09 | 2018-04-09 | Common communication protocol based on intelligent inspection robot |
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| CN108521422A true CN108521422A (en) | 2018-09-11 |
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| CN201810312645.7A Pending CN108521422A (en) | 2018-04-09 | 2018-04-09 | Common communication protocol based on intelligent inspection robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109756503A (en) * | 2019-01-15 | 2019-05-14 | 浙江广播电视大学萧山学院(萧商学院) | A kind of communications protocol design method of fire-fighting robot |
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| CN104991488A (en) * | 2015-05-27 | 2015-10-21 | 华北电力大学（保定） | Intelligent robot inspection system used for cable tunnel |
| CN105929223A (en) * | 2016-04-07 | 2016-09-07 | 华电电力科学研究院 | Measurement system enabling centralized acquisition and distributed display and measurement method |
| KR20170098113A (en) * | 2016-02-19 | 2017-08-29 | 삼성전자주식회사 | Method for creating image group of electronic device and electronic device thereof |
| CN107147657A (en) * | 2017-05-31 | 2017-09-08 | 飞智控（天津）科技有限公司 | Suitable for the communication protocol of multimachine reliable communication, decoding method and communication apparatus |
-
2018
- 2018-04-09 CN CN201810312645.7A patent/CN108521422A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104991488A (en) * | 2015-05-27 | 2015-10-21 | 华北电力大学（保定） | Intelligent robot inspection system used for cable tunnel |
| KR20170098113A (en) * | 2016-02-19 | 2017-08-29 | 삼성전자주식회사 | Method for creating image group of electronic device and electronic device thereof |
| CN105929223A (en) * | 2016-04-07 | 2016-09-07 | 华电电力科学研究院 | Measurement system enabling centralized acquisition and distributed display and measurement method |
| CN107147657A (en) * | 2017-05-31 | 2017-09-08 | 飞智控（天津）科技有限公司 | Suitable for the communication protocol of multimachine reliable communication, decoding method and communication apparatus |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109756503A (en) * | 2019-01-15 | 2019-05-14 | 浙江广播电视大学萧山学院(萧商学院) | A kind of communications protocol design method of fire-fighting robot |
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Application publication date: 20180911 |