Specific implementation mode
The specific implementation mode of the disclosure is described in detail below in conjunction with attached drawing.It should be understood that this place is retouched
The specific implementation mode stated is only used for describing and explaining the disclosure, is not limited to the disclosure.
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without creative efforts
Embodiment shall fall within the protection scope of the present invention.
Fig. 1 is a kind of schematic diagram of a scenario shown in one exemplary embodiment of the disclosure.As shown in Figure 1, the robot group
May include multiple robots (robot 101, robot 102, robot 103, robot 104) and robot pipe in group
Manage end 105.Wherein, which can be that the form of cruise Control Module exists, can also be with the shape of robot
There are in robot group for formula.It is described to simplify, if not particularly pointing out, robot hereinafter referred to as can also be robot management
End.
Under normal circumstances, each robot or robot management end are connect with 106 normality of cloud server (in such as Fig. 1
It is shown in solid), that is to say, that as long as network condition allows, each robot or robot management end can take with high in the clouds
Business device keeps continual link.
Communication connection between robot and robot or between robot and robot management end, can two sides away from
From the range less than with a certain distance from and without establishing (as shown in phantom in Figure 1) in the case of barrier, for example, robot 101
It can be connect with robot 104, robot 103 can be connect with robot management end 105.If the communication connection is established, connection
Both ends can mutual transmission data, for example, between robot and robot management end establish communication connection after, robot can connect
By the control instruction of robot management end.If subtracting conversely, having between spacing is excessive between Liang Ge robots or Liang Ge robots
The obstacle building of weak signal of communication, then signal of communication loss is larger, and effective communication connection can not be established between robot.
If effective communication connection can not be established between robot, for the not high data information of some secret degree, transmission
The data information can be uploaded to Cloud Server by the originating end robot of information, then be forwarded the data information by Cloud Server
It send to destination end (intended recipient end) robot.
However, for some higher data informations of secret degree, the peace of data transmission is reduced by Cloud Server forwarding
Quan Xing.In this regard, the embodiment of the present disclosure provides a kind of information transferring method of high in the clouds control, to solve robot group internal point pair
Point information mutually passes the inadequate problem of safety.The method is applied to the originating end in robot group and transmits letter to destination end
Breath.With reference to implement scene as shown in Figure 1, either destination end can be appointing in robot management end or group to the originating end
One robot.As shown in Fig. 2, the method includes:
S21 obtains location distribution information of each robot on map in robot group from cloud server,
In, each machine in the robot group is connected with cloud server communication per capita.
Specifically, location distribution information of each robot obtained in the robot group on map, packet
It includes:From the cloud server obtain in the robot group real-time position information of each robot on three-dimensional map with
And the obstacle information on the three-dimensional map.
As shown in Figure 1, each robot or robot management end are connect with cloud server normality, that is to say, that only
Network condition is wanted to allow, each robot or robot management end can keep continual with cloud server and link.
Based on this, the real-time position information of itself can be uploaded to cloud server by each robot or robot management end.
After cloud server obtains the location information of multiple robots, which can be marked on three-dimensional map,
Location distribution information of each robot on map is generated as a result,.In addition, cloud server can mark on three-dimensional map
Locate the location information of barrier, for example, marking the location information for the building that communication link may be hindered to establish.
S22 determines the point between the originating end and destination end that participate in information transmission according at least to the location distribution information
The collection of bots of point protocol communication link.
Wherein, the originating end is the robot for needing to transmit information in the robot group to the destination end.
If spacing is in direct-connected default spacing range and no barrier between originating end robot and destination end robot
Blocking, the collection of bots can only include originating end robot and destination end robot, which initiates
It is directly connected between end robot and destination end robot.
If having barrier obstruction between spacing is excessive, or both between originating end robot and destination end robot.Then
Determine the relaying robot for establishing communication connection with originating end and destination end respectively.According to actual conditions, relaying robot can be with
There are one or it is multiple.
In a kind of optional embodiment, described determined according at least to the location distribution information participates in establishing the hair
The collection of bots of point-to-point communication link between origin or beginning and the destination end, including:It is true according to the location distribution information
When the current position distribution of each robot is unsatisfactory for establishing the condition of point-to-point communication link in the fixed robot group,
Point-to-point communication link is set up between the originating end and the destination end;According between the originating end and the destination end
Relative position determination need placement machine people to establish the target position of the communication link between the originating end and the destination end
It sets;Robot adjacent with the target location in the robot group, which is controlled, according to the location distribution information is moved to institute
Target location is stated, and using the robot on each target location as the collection of bots.
It is worth noting that if between group inner machine people and robot spacing it is excessive or between have barrier,
Effective communication connection can not be established.In above-mentioned alternative embodiment, when according to the current position of each robot in robot group
When setting distribution and can not cook up effectively by originating end to starting point point protocol communication link between destination end, partial robotic is moved
It moves to target location.Spacing is shorter between the robot of the target location, and clear block communication establishment of connection.
In this way, can be established effectively by originating end to point-to-point communication between destination end based on the robot for moving to target location
Link.
In addition, determining the robot for participating in establishing the point-to-point communication link between the originating end and the destination end
When set, in addition to being based on location distribution information, it is also contemplated that other information.For example, described according at least to the position distribution
Information determines that the collection of bots for the point-to-point communication link for participating in establishing between the originating end and the destination end can wrap
It includes:It determines according to the location distribution information and following at least one information and participates in establishing the originating end and the destination end
Between point-to-point communication link collection of bots:Information transfer service is carried out between the originating end and the destination end
Precedence information carries out the timeliness information of information transfer service between the originating end and the destination end.
In a kind of optional embodiment, according to the location distribution information and the originating end and the destination end
Between carry out the timeliness information of information transfer service, determine and participate in establishing point pair between the originating end and the destination end
The collection of bots of point communication link, including:When the timeliness information specifies the originating end and sends the cut-off of information
Between when, if determining that each robot is current in the robot group position distribution allows to exist according to the location distribution information
A plurality of point-to-point communication link is set up between the originating end and the destination end, then estimates and set up point pair described in each
Settling time is met robot that the communication link that deadline requires is related to as institute by the time of point communication link
State collection of bots.
That is, if the information time-effectiveness requirement of destination end is transmitted to from originating end, in planning communication link
When, the position in addition to needing each node machine people on consideration communication link, it is also necessary to which consideration is established needed for the communication link
Settling time is met the robot that is related to of communication link of timeliness requirement as the collection of bots by the time.
However, there are also the transmission failed call timeliness of message.In this case, do not refer in the timeliness information
When the fixed originating end sends the deadline of information, if being determined according to the location distribution information every in the robot group
The current position distribution of one robot is unsatisfactory for establishing the condition of point-to-point communication link, then delivers letters the pending of the originating end
Breath is broadcasted, and it is described to be sent to indicate that the robot for the non-destination end for receiving the information to be sent continues to broadcast
Information, the information to be sent of going off the air after the destination end receives the information to be sent.
That is, if being currently able to determine timeliness information, information to be sent is carried out in group point-to-point
Communication broadcast, the robot for receiving the non-destination end of the information to be sent continues to broadcast the information to be sent,
Until destination end receives information to be sent.
In addition, if group group robot has patrol mission, robot location's movement of the message to be sent is carried, through multiple
The message can be transmitted to destination end after forwarding.
Further, it after destination end receives the information, can inform cloud server, be taken from cloud server to each
Robot with the information sends message erasing instruction, so that each robot for carrying the information is by the erasing of information.
In another optional embodiment, according to the location distribution information and the originating end and the destination end
Between carry out the precedence information of information transfer service, determine and participate in establishing point pair between the originating end and the destination end
The collection of bots of point communication link, including:Each machine in the robot group is determined according to the location distribution information
When the current position distribution of people is unsatisfactory for establishing the condition of point-to-point communication link, between the originating end and the destination end
Set up point-to-point communication link;Current business priority is less than between the originating end and the destination end and is passed into row information
The robot of the priority of defeated business carries out path planning as candidate robot, and to the candidate robot, obtains described
The target location for allowing to establish the point-to-point communication link between the originating end and the destination end of candidate robot;According to
The route programming result control candidate robot is moved to corresponding target location, and will be on each target location
The candidate robot as the collection of bots.
That is, when determining above-mentioned collection of bots, in addition to needing to consider the position distribution that each robot is current,
Also need to consider robot be presently processing business priority whether higher than between the originating end and the destination end into
The priority of row information transmission services.If with current position distribution can not establish the originating end and the destination end it
Between set up point-to-point communication link, it is current can to notify that the lower robots pause of some currently processed service priority executes
Business, target location is moved to, in order to build above-mentioned communication link.
S23 is established according to each robot in the collection of bots between the originating end and the destination end
Point-to-point communication link, so that the originating end and the destination end are based on the point-to-point communication link and are transmitted into row information.
Specifically, in the robot group each robot be locally stored other all robots mark and
MAC Address, then each robot according in the collection of bots establish between the originating end and the destination end
Point-to-point communication link, including:Communication link information is generated according to the mark of each robot in the collection of bots,
The communication link information includes the node sequence of communication to be established chain road;By the originating end, according to the section
The communication link information is sent to each robot in the collection of bots, also, the machine by dot sequency successively
Except any robot of the destination end is after receiving the communication link information in people's set, obtains the node sequence and refer to
The MAC Address of the latter robot shown, and point-to-point communication is established according to the MAC Address and its latter robot.
Illustratively, step S11 and step S12 can be executed by originating end robot.I.e. originating end machine is being needed to target
When end sends message, location distribution information of each robot on map in robot group is obtained from cloud server,
And it is determined according at least to the location distribution information and participates in establishing the point-to-point communication between the originating end and the destination end
The collection of bots of link.
The initiation hot junction robot stores the mark and MAC Address of other robot in group.Wherein, which can be with
It is the ID number of robot.After determining the collection of bots, originating end robot is according to each robot in collection of bots
ID number generates communication link information, and is established and communicated to connect by MAC Address and chain road later section point.Then, logical based on this
Communication link information is sent to latter node robot by letter connection.Similar, node machine people receives the communication link
After information, establishes and communicate to connect with latter node robot further according to the sequence on communication link information, be based on the communication connection
Communication link information is sent to latter node robot.And so on, until sequentially establishing the point by originating end to destination end
Point protocol communication link.
Illustratively, step S11 and step S12 can also be executed by management end robot, or by other work in group
The robot that load is low or operational capability is strong executes.That is, when there is the originating end for needing to send information in group,
This can in advance be cooked up by other robot by the communication link information of originating end to destination end, then by the communication link information
It is sent to originating end robot.
In addition, in a kind of optional embodiment, which can be sent to appointing on communication link
Anticipate robot.As long as the robot on communication link, theoretically can be with the front and back node machine on the communication link
People establishes communication connection, and communication link information is sent to the front and back node machine people.Further, front and back node machine people
It is communicated to connect according to being established with adjacent node machine people in the communication link information, and so on, it completes whole by originating end
To the foundation of the point-to-point communication link of destination end.
Optionally, the method further includes:If in the established communication link, there are current working statuses not to be inconsistent
When closing the failure robot of preset condition, then searches to meet in the robot group and replace the superfluous of failure robot condition
Remaining robot, and the failure robot is replaced in the communication link using the redundant robot.
Wherein, which can be that the communication system channel occupancy of robot is less than certain ratio or load
Less than certain ratio.For example, there are when the overweight robot of current work load in the established communication link, if continuing
Using the robot as the transmission node of communication link, the communication quality of communication link may be caused bad, or even cause to lead to
Letter data is lost.If there are such failure robots, which is replaced with into other redundant robots, to ensure
The communication quality of communication link.
Above-mentioned technical proposal can at least reach following technique effect:
By location distribution information of each robot in the acquisition robot group on map, then according at least to
The location distribution information determines the machine for participating in establishing the point-to-point communication link between the originating end and the destination end
People gathers, and the point pair between the originating end and the destination end is established according to each robot in the collection of bots
Point communication link, to be transmitted into row information between the originating end and the destination end.In this way, the information that originating end is sent out can
To be transmitted to destination end through group internal robot without being subjected to high in the clouds, it ensure that the privacy of data communication, avoid group
The case where group's internal information is divulged a secret by high in the clouds improves the security performance of point-to-point information transmission inside group.
Fig. 3 is the information transferring method flow chart of another high in the clouds control shown in one exemplary embodiment of the disclosure, institute
It states method and transmits information, each robot in the robot group to destination end applied to the originating end in robot group
Be connected with cloud server, in the robot group each robot be locally stored the mark of other all robots with
And MAC Address, the method includes:
It is real-time on three-dimensional map to obtain each robot in the robot group from the cloud server by S31
Obstacle information on location information and the three-dimensional map.
As shown in Figure 1, each robot or robot management end are connect with cloud server normality, that is to say, that only
Network condition is wanted to allow, each robot or robot management end can keep continual with cloud server and link.
Based on this, the real-time position information of itself can be uploaded to cloud server by each robot or robot management end.
After cloud server obtains the location information of multiple robots, which can be marked on three-dimensional map,
Location distribution information of each robot on map is generated as a result,.In addition, cloud server can mark on three-dimensional map
Locate the location information of barrier, for example, marking the location information for the building that communication link may be hindered to establish.
S32 judges to determine each robot is current in the robot group position according to the location distribution information
Whether distribution allows to set up point-to-point communication link between the originating end and the destination end.
If determining that the position distribution that each robot is current in the robot group permits according to the location distribution information
Perhaps point-to-point communication link is set up between the originating end and the destination end, then sequentially carries out step S33-S37.
S33 determines the robot collection for participating in establishing the point-to-point communication link between the originating end and the destination end
It closes.
S34 generates communication link information, the communication chain according to the mark of each robot in the collection of bots
Road information includes the node sequence of communication to be established chain road.
S35, by the originating end, the communication link information is sent to successively according to the node sequence described
Each robot in collection of bots, also, any robot in the collection of bots except the destination end is receiving
To after the communication link information, the MAC Address of the latter robot of the node sequence instruction is obtained, and according to the MAC
Point-to-point communication is established in address with its latter robot.
S36 completes the information between originating end and the destination end based on the point-to-point communication link and transmits.
S37 informs cloud server after destination end receives the information, from cloud server to each carrying information
Robot send message erasing instruction so that each robot for carrying the information is by the erasing of information.
If in addition, there are the failure machines that current working status does not meet preset condition in the established communication link
When device people, step S38 is executed.
S38 searches the redundant robot for meeting in the robot group and replacing failure robot condition, and utilizes
The redundant robot replaces the failure robot in the communication link.
If determining each robot is current in the robot group position distribution not according to the location distribution information
Meet the condition for establishing point-to-point communication link, thens follow the steps S39.
S39 judges institute according to the timeliness information for carrying out information transfer service between the originating end and the destination end
State the deadline whether information transfer service specifies the originating end to send information.
If the not specified originating end of timeliness information sends the deadline of information, step S40 is sequentially carried out
And step S37.
S40 broadcasts the information to be sent of the originating end, and indicates to receive the non-institute of the information to be sent
The robot for stating destination end continues to broadcast the information to be sent, stops after the destination end receives the information to be sent
Only broadcast the information to be sent.
After destination end receives the information, step S37 is executed.
If the timeliness information specifies the originating end to send the deadline of information, S41 is thened follow the steps.
S41, by current business priority less than progress information transfer service between the originating end and the destination end
The robot of priority carries out path planning as candidate robot, and to the candidate robot, obtains the candidate machine
The target location for allowing to establish the point-to-point communication link between the originating end and the destination end of people.
S42 estimates the candidate robot and is moved to the target location and sets up the point-to-point communication link
Time judges whether that settling time meets the communication link of the deadline requirement.
If meeting the communication link of the deadline requirement there are settling time, S43 is thened follow the steps.
S43 meets the communication link that the deadline requires according to location distribution information control settling time and relates to
And to robot be moved to the target location, and the robot on each target location is collected as the robot
It closes.
After executing the step S43, step S33-S37 is sequentially carried out.
If meeting the communication link of the deadline requirement there is no settling time.Then follow the steps S43.
S44 adjusts the priority that information transfer service is carried out between the originating end and the destination end.
When it is implemented, the priority of the information transfer service can be turned up.Make in such manner, it is possible to which more multirobot is made to meet
For the condition of candidate robot, the possibility that settling time meets the communication link that the deadline requires is cooked up to improve
Property.
After executing the step S44, step S41-S43 is re-executed.
The present embodiment completes group internal point point protocol communication link by establishing to forward without cloud server, and point-to-point
It completes originating end to transmit to the private data of destination end, further ensures Information Security, avoid private data by being in
Information-leakage caused by the cloud server forwarding possibility of wide area network.
It is worth noting that for above method embodiment, for simple description, therefore it is all expressed as a series of dynamic
It combines, but those skilled in the art should understand that, the present invention is not limited by the described action sequence.Secondly, originally
Field technology personnel should also know that embodiment described in this description belongs to preferred embodiment, and involved action is simultaneously
It is not necessarily necessary to the present invention.
Fig. 4 is another robot architecture's block diagram shown in one exemplary embodiment of the disclosure.The artificial machine of machine
Arbitrary robot in people's group, each machine in the robot group are connected with cloud server per capita, the machine
People includes:
Acquisition module 410 is used for when the robot is as originating end destination end robotic transfer information into group,
Location distribution information of each robot on map in the robot group is obtained from the cloud server;
Link information determining module 420 participates in establishing the initiation for determining according at least to the location distribution information
The collection of bots of point-to-point communication link between end and the destination end, and according to each machine in the collection of bots
The mark of device people generates communication link information, and the communication link information includes the node sequence of communication to be established chain road;
Communication module 430, the MAC Address of the latter robot for obtaining the node sequence instruction, and according to described
MAC Address establishes point-to-point communication with its latter robot, and the communication link information is sent to the latter Node station
Device people;After establishing the point-to-point communication link establishment between the originating end and the destination end, the communication chain based on foundation
Message to be sent is sent to destination end by road.
In another optional embodiment, if the robot is not the originating end of message, the acquisition of the robot
Module 410 can obtain each in the robot group after receiving the computation assistance request of Zu Nei originating ends robot
Location distribution information of the robot on map;Again by the link information determining module 420 of robot, according at least to the position
Distributed intelligence determines the collection of bots for participating in establishing the point-to-point communication link between the originating end and the destination end, and
Communication link information is generated according to the mark of each robot in the collection of bots, the communication link information includes waiting for
Node sequence on the communication link of foundation;The communication link information of generation is returned into the originating end robot again.
Optionally, the link information determining module 420 is used for:
Determine that the position distribution that each robot is current in the robot group is discontented according to the location distribution information
When foot establishes the condition of point-to-point communication link, point-to-point communication chain is set up between the originating end and the destination end
Road;
Placement machine people is needed to establish the hair according to the relative position determination between the originating end and the destination end
The target location of communication link between origin or beginning and the destination end;
Robot adjacent with the target location in the robot group is controlled according to the location distribution information to move
The target location is moved, and using the robot on each target location as the collection of bots.
Optionally, the link information determining module 420 is used for:
Determined according to the location distribution information and following at least one information participate in establishing the originating end with it is described
The collection of bots of point-to-point communication link between destination end:
The precedence information of information transfer service, the originating end and institute are carried out between the originating end and the destination end
State the timeliness information that information transfer service is carried out between destination end.
Optionally, the link information determining module 420 is used for:
The timeliness information that information transfer service is carried out between the originating end and the destination end specifies the hair
When origin or beginning sends the deadline of information, if determining each robot in the robot group according to the location distribution information
A plurality of point-to-point communication link is set up in current position distribution permission between the originating end and the destination end, then is estimated
Settling time is met the communication link of the deadline requirement by the time for setting up point-to-point communication link described in each
The robot being related to is as the collection of bots;
The robot further includes:
When the not specified originating end of the timeliness information sends the deadline of information, if according to the position point
Cloth information determines that the position distribution that each robot is current in the robot group is unsatisfactory for establishing point-to-point communication link
Condition then broadcasts the information to be sent of the originating end, and indicates to receive the non-mesh of the information to be sent
The robot at mark end continues to broadcast the information to be sent, stops after the destination end receives the information to be sent wide
Broadcast the information to be sent.
Optionally, the link information determining module 420 is used for:
Determine that the position distribution that each robot is current in the robot group is discontented according to the location distribution information
When foot establishes the condition of point-to-point communication link, point-to-point communication chain is set up between the originating end and the destination end
Road;
Current business priority is less than between the originating end and the destination end and carries out the preferential of information transfer service
The robot of grade carries out path planning as candidate robot, and to the candidate robot, obtains the candidate robot
Allow to establish the target location of the point-to-point communication link between the originating end and the destination end;
It is moved to corresponding target location according to the route programming result control candidate robot, and by each institute
The candidate robot on target location is stated as the collection of bots.
Each machine in the robot group is connected with cloud server per capita, and the acquisition module is used for from described
Cloud server obtains real-time position information and described three of each robot on three-dimensional map in the robot group
Tie up the obstacle information on map.
Optionally, the robot further includes link update module, for existing in the established communication link
When current working status does not meet the failure robot of preset condition, searches to meet in the robot group and replace the failure
The redundant robot of robot condition, and the failure machine is replaced in the communication link using the redundant robot
People.
About the robot in above-described embodiment, wherein modules execute the concrete mode of operation in the related cloud
It holds in the embodiment of the information transferring method of control and is described in detail, explanation will be not set forth in detail herein.
In addition, the embodiment of the present disclosure also provides a kind of group of group grey relational grade, the system comprises cloud servers, and
Multiple robots described above.
Under normal circumstances, each robot is connect with cloud server normality, that is to say, that as long as network condition allows,
Each robot or robot management end can keep continual with cloud server and link.
The preferred embodiment of the disclosure is described in detail above in association with attached drawing, still, the disclosure is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the disclosure, a variety of letters can be carried out to the technical solution of the disclosure
Monotropic type, these simple variants belong to the protection domain of the disclosure.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case of shield, can be combined by any suitable means, in order to avoid unnecessary repetition, the disclosure to it is various can
The combination of energy no longer separately illustrates.
In addition, arbitrary combination can also be carried out between a variety of different embodiments of the disclosure, as long as it is without prejudice to originally
Disclosed thought equally should be considered as disclosure disclosure of that.