CN108698227B - Cloud-controlled information transmission method, robot and swarm robot system - Google Patents
Cloud-controlled information transmission method, robot and swarm robot system Download PDFInfo
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- CN108698227B CN108698227B CN201880001072.4A CN201880001072A CN108698227B CN 108698227 B CN108698227 B CN 108698227B CN 201880001072 A CN201880001072 A CN 201880001072A CN 108698227 B CN108698227 B CN 108698227B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
Abstract
The invention aims to provide a cloud-controlled information transmission method, a robot and a robot group system, so as to solve the problem that point-to-point information in a robot group is not safe enough to be transmitted mutually in the related technology. The method comprises the following steps: acquiring position distribution information of each robot in the robot group on a map from a cloud server, wherein each robot in the robot group is in communication connection with the cloud server; determining a robot set of a point-to-point communication link between an initiating terminal and a target terminal which participate in information transmission at least according to the position distribution information, wherein the initiating terminal is a robot which needs to transmit information to the target terminal in a robot group; and establishing a point-to-point communication link between the initiating terminal and the target terminal according to each robot in the robot set so as to transmit information between the initiating terminal and the target terminal based on the point-to-point communication link.
Description
Technical Field
The present disclosure relates to the field of communications technologies, and in particular, to a cloud-controlled information transmission method, a robot, and a swarm robot system.
Background
In the industrial field, large-scale robot equipment groups are commonly used, for example, in the logistics field, robot equipment groups are used for logistics sorting and conveying mechanisms, and in the automobile manufacturing field, robot equipment groups are used for mechanical arm mechanisms or mechanical conveying mechanisms for painting, assembling and the like of automobiles. In such applications, the robot device may directly feed back the state information to the control party after receiving the instruction from the control end. The application environment of the robot equipment group is relatively closed, and generally, if the robot equipment can transmit and transmit information through a local area network, the information security can be guaranteed. As various robot devices are gradually advanced to the civil field, information needs to be mutually transmitted among a plurality of robot devices under a wide area network, and the safety of information transmission among the plurality of robot devices cannot be effectively guaranteed due to the loophole of wide area network communication.
Disclosure of Invention
The present disclosure aims to provide a cloud-controlled information transmission method, a robot, and a group robot system, so as to solve the problem in the related art that the security of information transmitted through a cloud inside a robot group is not sufficient.
In order to achieve the above object, in a first aspect, an embodiment of the present disclosure provides a cloud-controlled information transmission method, where the method includes:
acquiring position distribution information of each robot in the robot group on a map from the cloud server, wherein each robot in the robot group is in communication connection with the cloud server;
determining a robot set of a point-to-point communication link between an initiating terminal and a target terminal which participate in information transmission at least according to the position distribution information, wherein the initiating terminal is a robot which needs to transmit information to the target terminal in the robot group;
and establishing a point-to-point communication link between the initiating terminal and the target terminal according to each robot in the robot set so that the initiating terminal and the target terminal can carry out information transmission on the basis of the point-to-point communication link.
In a second aspect, an embodiment of the present disclosure provides a robot, which is any robot in a robot group, each robot in the robot group being connected to a cloud server, and the robot including:
the acquisition module is used for acquiring the position distribution information of each robot in the robot group on a map from the cloud server when the robot is used as an initiating end to transmit information to a target end robot in the group;
a link information determining module, configured to determine, at least according to the position distribution information, a robot set that participates in establishing a point-to-point communication link between the initiator and the target, and generate communication link information according to an identifier of each robot in the robot set, where the communication link information includes a node sequence on a communication link to be established;
the communication module is used for acquiring the MAC address of the next-node robot indicated by the node sequence, establishing point-to-point communication with the next-node robot according to the MAC address and sending the communication link information to the next-node robot; and after the point-to-point communication link between the initiating terminal and the target terminal is established, sending the message to be sent to the target terminal based on the established communication link.
In a third aspect, an embodiment of the present disclosure provides a swarm robot system, which includes a cloud server, and a plurality of robots as described in the second aspect.
The technical scheme can at least achieve the following technical effects:
the method comprises the steps of obtaining position distribution information of each robot in the robot group on a map, determining a robot set participating in establishing a point-to-point communication link between an initiating terminal and a target terminal at least according to the position distribution information, and establishing a point-to-point communication link between the initiating terminal and the target terminal according to each robot in the robot set, so that information transmission is carried out between the initiating terminal and the target terminal. Therefore, the information sent by the initiating end can be transmitted to the target end through the robot in the group without passing through the cloud end, the privacy of data communication is guaranteed, the condition that the information in the group is leaked by the cloud end is avoided, and the safety performance of point-to-point information transmission in the group is improved.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic diagram of a scenario illustrated in an exemplary embodiment of the present disclosure.
Fig. 2 is a flowchart illustrating a method for transmitting information under cloud control according to an exemplary embodiment of the disclosure.
Fig. 3 is a flowchart illustrating another method for transmitting information under cloud control according to an exemplary embodiment of the disclosure.
Fig. 4 is a block diagram of another robot configuration shown in an exemplary embodiment of the present disclosure.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic diagram of a scenario illustrated in an exemplary embodiment of the present disclosure. As shown in fig. 1, the robot group may include a plurality of robots (robot 101, robot 102, robot 103, robot 104), and a robot management terminal 105. The robot management terminal 105 may be in the form of a central control computer, or may be in the form of a robot in a robot group. For simplicity of description, the robot referred to below may also be a robot management side, unless otherwise specified.
Typically, each robot or bot administrator is normally connected to the cloud server 106 (as shown by the solid line in fig. 1), that is, each robot or bot administrator can maintain an uninterrupted link with the cloud server as long as network conditions allow.
The communication connection between the robot and the robot or between the robot and the robot management terminal may be established in a case where the distance between the two parties is less than a certain distance range and there is no obstacle (as shown by a dotted line in fig. 1), for example, the robot 101 may be connected to the robot 104, and the robot 103 may be connected to the robot management terminal 105. If the communication connection is established, the two ends of the connection can transmit data to each other, for example, after the communication connection is established between the robot and the robot management end, the robot can receive a control instruction of the robot management end. On the contrary, if the distance between the two robots is too large or an obstacle building for weakening the communication signal exists between the two robots, the communication signal loss is large, and effective communication connection cannot be established between the robots.
If effective communication connection cannot be established among the robots, for some data information with low privacy density, the robot at the initiating end of the transmitted information can upload the data information to the cloud server, and then the cloud server transfers the data information to the robot at the target end (target receiving end).
However, for some data information with higher privacy, the security of data transmission is reduced by forwarding through the cloud server. In view of the above, the embodiment of the present disclosure provides an information transmission method controlled by a cloud to solve the problem of insufficient security of point-to-point information mutual transmission inside a robot group. The method is applied to transmitting information from an initiating terminal to a target terminal in a robot group. Referring to the implementation scenario shown in fig. 1, the initiating end or the target end may be a robot management end or any robot within a group. As shown in fig. 2, the method includes:
and S21, acquiring the position distribution information of each robot in the robot group on the map from the cloud server, wherein each robot in the robot group is connected with the cloud server in a communication mode.
Specifically, the acquiring the position distribution information of each robot in the robot group on the map includes: and acquiring real-time position information of each robot in the robot group on a three-dimensional map and obstacle information on the three-dimensional map from the cloud server.
As shown in fig. 1, each robot or robot manager is normally connected to the cloud server, that is, each robot or robot manager can keep an uninterrupted link with the cloud server as long as network conditions allow. Based on this, each robot or robot management end can upload the real-time position information of itself to the cloud server.
After the cloud server acquires the position information of the plurality of robots, the position information can be marked on the three-dimensional map, and therefore the position distribution information of each robot on the map is generated. In addition, the cloud server may mark position information of an obstacle on the three-dimensional map, for example, mark position information of a building that may block establishment of a communication link.
And S22, determining a robot set of the point-to-point communication link between the initiating terminal and the target terminal participating in information transmission at least according to the position distribution information.
The initiating end is a robot which needs to transmit information to the target end in the robot group.
If the distance between the initiating robot and the target robot is within the range of the direct connection preset distance and is not blocked by a barrier, the robot set can only comprise the initiating robot and the target robot, and the point-to-point communication link is the direct connection between the initiating robot and the target robot.
If the distance between the starting end robot and the target end robot is too large, or an obstacle blocks the starting end robot and the target end robot. A relay robot that establishes communication connections with the initiator and the target, respectively, is determined. According to the actual situation, there may be one or more relay robots.
In an optional embodiment, the determining, at least according to the location distribution information, a set of robots participating in establishing a point-to-point communication link between the initiating end and the target end includes: when the current position distribution of each robot in the robot group is determined not to meet the condition of establishing a point-to-point communication link according to the position distribution information, establishing a starting point-to-point communication link between the initiating terminal and the target terminal; determining a target position of a robot to be arranged to establish a communication link between the initiating end and the target end according to the relative position between the initiating end and the target end; and controlling robots adjacent to the target positions in the robot group to move to the target positions according to the position distribution information, and taking the robots at each target position as the robot set.
It should be noted that if the distance between the robots in the group is too large or there is an obstacle between the robots, no effective communication connection can be established. In the above alternative embodiment, when an effective start point-to-point communication link from the initiating end to the target end is set out according to the current position distribution of each robot in the robot group without regulation, part of the robots are moved to the target positions. The distance between the robots located at the target position is short, and no obstacle blocks the establishment of the communication connection. In this way, an efficient start-to-point communication link from the initiating end to the target end can be established based on the robot moving to the target position.
Furthermore, in determining the set of robots involved in establishing a point-to-point communication link between the initiating peer and the target peer, other information may be considered in addition to location-based distribution information. For example, the determining, at least according to the position distribution information, a set of robots participating in establishing a point-to-point communication link between the initiating terminal and the target terminal may include: determining a set of robots participating in establishing a point-to-point communication link between the initiating terminal and the target terminal according to the position distribution information and at least one of the following information: the priority information of the information transmission service is carried out between the initiating terminal and the target terminal, and the timeliness information of the information transmission service is carried out between the initiating terminal and the target terminal.
In an optional implementation manner, determining, according to the location distribution information and timeliness information of an information transmission service performed between the initiator and the target, a set of robots participating in establishing a point-to-point communication link between the initiator and the target, includes: when the timeliness information specifies the deadline of the information sent by the initiating terminal, if the current position distribution of each robot in the robot group is determined according to the position distribution information to allow a plurality of point-to-point communication links to be established between the initiating terminal and the target terminal, the time for establishing each point-to-point communication link is estimated, and robots involved in communication links with the establishment time meeting the deadline requirement are used as the robot set.
That is, if the information transmitted from the originating terminal to the target terminal has a timeliness requirement, when planning the communication link, in addition to the position of each node robot on the communication link, the time required for establishing the communication link needs to be considered, so that the robot involved in the communication link whose establishment time meets the timeliness requirement is taken as the robot set.
However, there are also some messages whose transmission does not require timeliness. For this situation, when the timeliness information does not specify the deadline of the information sent by the initiating terminal, if it is determined according to the position distribution information that the current position distribution of each robot in the robot group does not meet the condition of establishing a point-to-point communication link, the information to be sent of the initiating terminal is broadcasted, and the robots, which are not the target terminal and receive the information to be sent, are instructed to continue to broadcast the information to be sent until the target terminal receives the information to be sent and then stops broadcasting the information to be sent.
That is, if the timeliness information can be determined currently, point-to-point communication broadcasting is performed on the information to be sent in the group, and the robot which is not the target end and receives the information to be sent continues to broadcast the information to be sent until the target end receives the information to be sent.
In addition, if the swarm robots have patrol tasks, the robot position carrying the message to be sent moves, and the message can be sent to a target end after being forwarded for multiple times.
Furthermore, after the target end receives the information, the target end can inform the cloud server, and the cloud server sends a message clearing instruction to each robot carrying the information, so that each robot carrying the information clears the information.
In another optional implementation manner, determining, according to the location distribution information and priority information of an information transmission service performed between the initiator and the target, a set of robots participating in establishing a point-to-point communication link between the initiator and the target, includes: when the current position distribution of each robot in the robot group is determined not to meet the condition of establishing a point-to-point communication link according to the position distribution information, establishing a starting point-to-point communication link between the initiating terminal and the target terminal; taking a robot with a current service priority lower than the priority of information transmission service between the initiating terminal and the target terminal as a candidate robot, and performing path planning on the candidate robot to obtain a target position of the candidate robot, wherein the target position allows the establishment of a point-to-point communication link between the initiating terminal and the target terminal; and controlling the candidate robots to move to corresponding target positions according to the path planning result, and taking the candidate robots at each target position as the robot set.
That is, when determining the set of robots, in addition to the current location distribution of each robot, it is also necessary to consider whether the priority of the service currently being processed by the robot is higher than the priority of the information transmission service between the originating terminal and the destination terminal. If the starting point-to-point communication link cannot be established between the initiating terminal and the target terminal according to the current position distribution, some robots with lower priority of the currently processed service can be informed to suspend executing the current service and move to the target position so as to establish the communication link.
And S23, establishing a point-to-point communication link between the initiating terminal and the target terminal according to each robot in the robot set, so that the initiating terminal and the target terminal can transmit information on the point-to-point communication link.
Specifically, if each robot in the robot group locally stores the identifiers and MAC addresses of all other robots, the establishing a point-to-point communication link between the initiating end and the target end according to each robot in the robot set includes: generating communication link information according to the identification of each robot in the robot set, wherein the communication link information comprises a node sequence on a communication link to be established; and starting from the initiating terminal, sequentially sending the communication link information to each robot in the robot set according to the node sequence, and after any robot except the target terminal in the robot set receives the communication link information, acquiring the MAC address of the robot at the next node indicated by the node sequence, and establishing point-to-point communication with the robot at the next node according to the MAC address.
For example, steps S11 and S12 may be performed by the originating robot. Namely, when an initiating terminal machine needs to send a message to a target terminal, the position distribution information of each robot in a robot group on a map is obtained from a cloud server, and a robot set participating in establishing a point-to-point communication link between the initiating terminal and the target terminal is determined at least according to the position distribution information.
The initiating robot stores the identification and MAC address of other robots in the group. Wherein the identification may be an ID number of the robot. After the robot set is determined, the initiating robot generates communication link information according to the ID number of each robot in the robot set, and establishes communication connection with the next node on the link through the MAC address. Then, the communication link information is transmitted to the subsequent node robot based on the communication connection. Similarly, after receiving the communication link information, the node robot establishes communication connection with the next node robot according to the sequence of the communication link information, and sends the communication link information to the next node robot based on the communication connection. And so on until the point-to-point communication link from the initiating end to the target end is established in sequence.
For example, the steps S11 and S12 may be executed by a robot at the management end, or by other robots with low workload or strong computing power in the group. That is, when there is an originating terminal that needs to send information in the group, the other robot may plan the communication link information from the originating terminal to the target terminal in advance, and then send the communication link information to the originating terminal robot.
Further, in an alternative embodiment, the communication link information may be sent to any robot on the communication link. As long as the robot is located on the communication link, theoretically, communication connection can be established with the front and rear node robots on the communication link, and communication link information is sent to the front and rear node robots. Further, the front and back node robots establish communication connection with the adjacent node robots according to the communication link information, and so on, and complete the establishment of the whole point-to-point communication link from the initiating end to the target end.
Optionally, the method further includes: if a failure robot with a current working state not meeting preset conditions exists in the established communication link, searching for a redundant robot meeting the conditions for replacing the failure robot in the robot group, and replacing the failure robot in the communication link by using the redundant robot.
Wherein the preset condition may be that the communication system occupancy of the robot is below a certain rate, or that the load is below a certain rate. For example, when a robot with an excessive workload currently exists in the established communication link, if the robot continues to be used as a transmission node of the communication link, the communication quality of the communication link may be poor, and even communication data may be lost. If the failure robot exists, the failure robot is replaced by other redundant robots to ensure the communication quality of the communication link.
The technical scheme can at least achieve the following technical effects:
the method comprises the steps of obtaining position distribution information of each robot in the robot group on a map, determining a robot set participating in establishing a point-to-point communication link between an initiating terminal and a target terminal at least according to the position distribution information, and establishing a point-to-point communication link between the initiating terminal and the target terminal according to each robot in the robot set, so that information transmission is carried out between the initiating terminal and the target terminal. Therefore, the information sent by the initiating end can be transmitted to the target end through the robot in the group without passing through the cloud end, the privacy of data communication is guaranteed, the condition that the information in the group is leaked by the cloud end is avoided, and the safety performance of point-to-point information transmission in the group is improved.
Fig. 3 is a flowchart illustrating another cloud-controlled information transmission method according to an exemplary embodiment of the disclosure, where the method is applied to an originating end of a robot group to transmit information to a target end, where each robot in the robot group is connected to a cloud server, and each robot in the robot group locally stores identifications and MAC addresses of all other robots, and the method includes:
and S31, acquiring real-time position information of each robot in the robot group on a three-dimensional map and obstacle information on the three-dimensional map from the cloud server.
As shown in fig. 1, each robot or robot manager is normally connected to the cloud server, that is, each robot or robot manager can keep an uninterrupted link with the cloud server as long as network conditions allow. Based on this, each robot or robot management end can upload the real-time position information of itself to the cloud server.
After the cloud server acquires the position information of the plurality of robots, the position information can be marked on the three-dimensional map, and therefore the position distribution information of each robot on the map is generated. In addition, the cloud server may mark position information of an obstacle on the three-dimensional map, for example, mark position information of a building that may block establishment of a communication link.
And S32, judging whether the current position distribution of each robot in the robot group is allowed to establish a starting point-to-point communication link between the initiating terminal and the target terminal according to the position distribution information.
If it is determined that the current position distribution of each robot in the robot group allows the establishment of the start point-to-point communication link between the initiating end and the target end according to the position distribution information, the steps S33-S37 are sequentially performed.
And S33, determining a robot set participating in establishing the point-to-point communication link between the initiating terminal and the target terminal.
S34, generating communication link information according to the identification of each robot in the robot set, wherein the communication link information comprises the node sequence on the communication link to be established.
And S35, starting from the initiating terminal, sequentially sending the communication link information to each robot in the robot set according to the node sequence, and after any robot except the target terminal in the robot set receives the communication link information, acquiring the MAC address of the robot at the next node indicated by the node sequence, and establishing point-to-point communication with the robot at the next node according to the MAC address.
And S36, completing information transmission between the initiating terminal and the target terminal based on the point-to-point communication link.
And S37, after the target end receives the information, the target end informs the cloud server, and the cloud server sends a message clearing instruction to each robot carrying the information, so that each robot carrying the information clears the information.
In addition, if there is a failed robot whose current operating state does not meet the preset condition in the established communication link, step S38 is executed.
And S38, searching for redundant robots in the robot group, wherein the redundant robots meet the condition of replacing the failed robot, and replacing the failed robot in the communication link by using the redundant robots.
If it is determined according to the location distribution information that the current location distribution of each robot in the robot group does not satisfy the condition for establishing the peer-to-peer communication link, step S39 is executed.
And S39, judging whether the information transmission service appoints the deadline of the information transmission from the initiating terminal according to the timeliness information of the information transmission service between the initiating terminal and the target terminal.
If the timeliness information does not specify the deadline of the initiator transmission information, step S40 and step S37 are sequentially executed.
S40, broadcasting the information to be sent of the initiating terminal, and instructing the non-target terminal robots which receive the information to be sent to continue broadcasting the information to be sent until the target terminal receives the information to be sent and then stopping broadcasting the information to be sent.
After the target receives the information, step S37 is executed.
If the timeliness information specifies the deadline of the initiator transmission information, step S41 is executed.
And S41, taking the robot with the current service priority lower than the priority of the information transmission service between the initiating terminal and the target terminal as a candidate robot, and planning the path of the candidate robot to obtain the target position of the candidate robot, which allows the establishment of the point-to-point communication link between the initiating terminal and the target terminal.
And S42, estimating the time of the candidate robot moving to the target position and establishing the point-to-point communication link, and judging whether a communication link with the establishment time meeting the deadline requirement exists.
If there is a communication link whose setup time meets the deadline requirement, step S43 is executed.
And S43, controlling the robots involved by the communication links with the set-up time meeting the deadline requirement to move to the target positions according to the position distribution information, and taking the robots at each target position as the robot set.
After the step S43 is performed, steps S33-S37 are sequentially performed.
And if no communication link with the establishment time meeting the deadline requirement exists. Step S44 is executed.
S44, adjusting the priority of information transmission service between the initiating terminal and the target terminal.
In specific implementation, the priority of the information transmission service can be increased. In this way, more robots can be made to meet the conditions as candidate robots, thereby increasing the likelihood of planning communication links whose setup times meet the deadline requirements.
After the step S44 is performed, the steps S41-S43 are re-performed.
In the embodiment, the internal point-to-point communication link of the group is completed without being forwarded by the cloud server, and the private data transmission from the initiating terminal to the target terminal is completed point-to-point, so that the data security is further ensured, and information leakage possibly caused by forwarding of the private data by the cloud server in the wide area network is avoided.
It should be noted that, for simplicity of description, the above-mentioned method embodiments are all expressed as a series of action combinations, but those skilled in the art should understand that the present invention is not limited by the described action sequence. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Fig. 4 is a block diagram of another robot configuration shown in an exemplary embodiment of the present disclosure. The robot is any robot in a robot group, each robot in the robot group is connected with a cloud server, and the robot comprises:
an obtaining module 410, configured to obtain, from the cloud server, location distribution information of each robot in the robot group on a map when the robot serves as an initiating end and transmits information to a target robot in the group;
a link information determining module 420, configured to determine, according to at least the position distribution information, a robot set that participates in establishing a point-to-point communication link between the initiator and the target, and generate communication link information according to an identifier of each robot in the robot set, where the communication link information includes a node sequence on a communication link to be established;
the communication module 430 is configured to obtain an MAC address of a subsequent-node robot indicated by the node sequence, establish point-to-point communication with the subsequent-node robot according to the MAC address, and send the communication link information to the subsequent-node robot; and after the point-to-point communication link between the initiating terminal and the target terminal is established, sending the message to be sent to the target terminal based on the established communication link.
In another optional implementation manner, if the robot is not the initiator of the message, the acquiring module 410 of the robot may acquire the position distribution information of each robot in the robot group on the map after receiving the request for assisting the operation of the robot at the initiator in the group; then, the link information determining module 420 of the robot determines a robot set participating in establishing a point-to-point communication link between the initiating end and the target end at least according to the position distribution information, and generates communication link information according to the identifier of each robot in the robot set, where the communication link information includes a node sequence on a communication link to be established; and returning the generated communication link information to the initiating terminal robot.
Optionally, the link information determining module 420 is configured to:
when the current position distribution of each robot in the robot group is determined not to meet the condition of establishing a point-to-point communication link according to the position distribution information, establishing a starting point-to-point communication link between the initiating terminal and the target terminal;
determining a target position of a robot to be arranged to establish a communication link between the initiating end and the target end according to the relative position between the initiating end and the target end;
and controlling robots adjacent to the target positions in the robot group to move to the target positions according to the position distribution information, and taking the robots at each target position as the robot set.
Optionally, the link information determining module 420 is configured to:
determining a set of robots participating in establishing a point-to-point communication link between the initiating terminal and the target terminal according to the position distribution information and at least one of the following information:
the priority information of the information transmission service is carried out between the initiating terminal and the target terminal, and the timeliness information of the information transmission service is carried out between the initiating terminal and the target terminal.
Optionally, the link information determining module 420 is configured to:
when timeliness information of information transmission service between the initiating terminal and the target terminal specifies the deadline time of information transmission of the initiating terminal, if the current position distribution of each robot in the robot group is determined according to the position distribution information to allow a plurality of point-to-point communication links to be established between the initiating terminal and the target terminal, the time for establishing each point-to-point communication link is estimated, and robots involved in communication links with the establishment time meeting the deadline time requirement are used as the robot set;
the robot further includes:
when the timeliness information does not specify the deadline of the information sent by the starting end, if the current position distribution of each robot in the robot group is determined to not meet the condition of establishing a point-to-point communication link according to the position distribution information, broadcasting the information to be sent of the starting end, and indicating the robots which are not the target end and receive the information to be sent to continue broadcasting the information to be sent until the target end receives the information to be sent and then stops broadcasting the information to be sent.
Optionally, the link information determining module 420 is configured to:
when the current position distribution of each robot in the robot group is determined not to meet the condition of establishing a point-to-point communication link according to the position distribution information, establishing a starting point-to-point communication link between the initiating terminal and the target terminal;
taking a robot with a current service priority lower than the priority of information transmission service between the initiating terminal and the target terminal as a candidate robot, and performing path planning on the candidate robot to obtain a target position of the candidate robot, wherein the target position allows the establishment of a point-to-point communication link between the initiating terminal and the target terminal;
and controlling the candidate robots to move to corresponding target positions according to the path planning result, and taking the candidate robots at each target position as the robot set.
Each robot in the robot group is connected with a cloud server, and the acquisition module is used for acquiring real-time position information of each robot in the robot group on a three-dimensional map and obstacle information on the three-dimensional map from the cloud server.
Optionally, the robot further includes a link updating module, configured to search for a redundant robot in the robot group that meets a condition for replacing the failed robot when a failed robot whose current working state does not meet a preset condition exists in the established communication link, and replace the failed robot in the communication link with the redundant robot.
With regard to the robot in the above embodiments, the specific manner in which each module performs operations has been described in detail in the embodiments of the information transmission method related to the cloud control, and will not be described in detail here.
In addition, the embodiment of the present disclosure also provides a swarm robot system, which includes a cloud server, and a plurality of robots as described above.
Generally, each robot is normally connected to the cloud server, that is, each robot or the robot management end can keep an uninterrupted link with the cloud server as long as network conditions allow.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (12)
1. A cloud-controlled information transmission method is characterized by comprising the following steps:
acquiring position distribution information of each robot in a robot group on a map from a cloud server, wherein each robot in the robot group is in communication connection with the cloud server;
determining a robot set of a point-to-point communication link between an initiating terminal and a target terminal which participate in information transmission at least according to the position distribution information, wherein the initiating terminal is a robot which needs to transmit information to the target terminal in the robot group;
establishing a point-to-point communication link between the initiating terminal and the target terminal according to each robot in the robot set so that the initiating terminal and the target terminal can carry out information transmission on the basis of the point-to-point communication link;
the robot set for determining the point-to-point communication link between the initiating terminal and the target terminal participating in establishing information transmission according to at least the position distribution information comprises the following steps:
determining a robot set participating in establishing a point-to-point communication link between the initiating terminal and the target terminal for information transmission according to the position distribution information and timeliness information of information transmission service between the initiating terminal and the target terminal;
determining a robot set participating in establishing a point-to-point communication link between the initiating terminal and the target terminal for information transmission according to the position distribution information and timeliness information of information transmission service between the initiating terminal and the target terminal, wherein the robot set comprises:
when the timeliness information specifies the deadline of the information sent by the initiating terminal, if the current position distribution of each robot in the robot group is determined according to the position distribution information to allow a plurality of point-to-point communication links to be established between the initiating terminal and the target terminal, the time for establishing each point-to-point communication link is estimated, and robots involved in communication links with the establishment time meeting the deadline requirement are used as the robot set.
2. The method of claim 1, wherein determining a set of robots involved in establishing a peer-to-peer communication link between an originating peer and a target peer of an information transfer based on at least the location distribution information further comprises:
when the current position distribution of each robot in the robot group is determined to not meet the condition of establishing a point-to-point communication link according to the position distribution information, determining a target position of a robot to be arranged according to the relative position between the initiating terminal and the target terminal so as to establish a communication link between the initiating terminal and the target terminal; and controlling the robots adjacent to the target positions in the robot group to move to the target positions according to the position distribution information so as to establish a starting point-to-point communication link between the initiating end and the target ends, and taking the robots at each target position as the robot set.
3. The method of claim 1, further comprising:
when the timeliness information does not specify the deadline of the information sent by the starting end, if the current position distribution of each robot in the robot group is determined to not meet the condition of establishing a point-to-point communication link according to the position distribution information, broadcasting the information to be sent of the starting end, and indicating the robots which are not the target end and receive the information to be sent to continue broadcasting the information to be sent until the target end receives the information to be sent and then stops broadcasting the information to be sent.
4. The method according to any one of claims 1 to 3, wherein the obtaining the position distribution information of each robot in the robot group on the map from the cloud server comprises:
and acquiring real-time position information of each robot in the robot group on a three-dimensional map and obstacle information on the three-dimensional map from the cloud server.
5. The method according to any one of claims 1 to 3, wherein each robot in the robot group locally stores the identification and MAC address of all other robots, and the establishing a point-to-point communication link between the initiating end and the target end according to each robot in the robot set comprises:
generating communication link information according to the identification of each robot in the robot set, wherein the communication link information comprises a node sequence on a communication link to be established;
and starting from the initiating terminal, sequentially sending the communication link information to each robot in the robot set according to the node sequence, and after any robot except the target terminal in the robot set receives the communication link information, acquiring the MAC address of the next-node robot indicated by the node sequence, and establishing point-to-point communication with the next-node robot according to the MAC address.
6. The method according to any one of claims 1 to 3, further comprising:
if a failure robot with a current working state not meeting preset conditions exists in the established communication link, searching for a redundant robot meeting the conditions for replacing the failure robot in the robot group, and replacing the failure robot in the communication link by using the redundant robot.
7. A robot comprising any of a group of robots, each robot of the group of robots being connected to a cloud server, the robot comprising:
the system comprises an acquisition module, a processing module and a control module, wherein the acquisition module is used for acquiring the position distribution information of each robot in the robot group on a map when the robot is used as an initiating end to transmit information to a target end robot in the group;
a link information determining module, configured to determine, at least according to the position distribution information, a robot set that participates in establishing a point-to-point communication link between the initiator and the target, and generate communication link information according to an identifier of each robot in the robot set, where the communication link information includes a node sequence on a communication link to be established;
the communication module is used for acquiring the MAC address of the next-node robot indicated by the node sequence, establishing point-to-point communication with the next-node robot according to the MAC address and sending the communication link information to the next-node robot; after a point-to-point communication link between the initiating terminal and the target terminal is established, sending a message to be sent to the target terminal based on the established communication link;
the link information determination module is configured to: determining a robot set participating in establishing a point-to-point communication link between the initiating terminal and the target terminal for information transmission according to the position distribution information and timeliness information of information transmission service between the initiating terminal and the target terminal; the link information determination module is specifically configured to: when the timeliness information specifies the deadline of the information sent by the initiating terminal, if the current position distribution of each robot in the robot group is determined according to the position distribution information to allow a plurality of point-to-point communication links to be established between the initiating terminal and the target terminal, the time for establishing each point-to-point communication link is estimated, and robots involved in communication links with the establishment time meeting the deadline requirement are used as the robot set.
8. The robot of claim 7, wherein the link information determination module is further configured to:
when the current position distribution of each robot in the robot group is determined to not meet the condition of establishing a point-to-point communication link according to the position distribution information, determining a target position of a robot to be arranged according to the relative position between the initiating terminal and the target terminal so as to establish a communication link between the initiating terminal and the target terminal; and controlling the robots adjacent to the target positions in the robot group to move to the target positions according to the position distribution information so as to establish a starting point-to-point communication link between the initiating end and the target ends, and taking the robots at each target position as the robot set.
9. The robot of claim 7, further comprising:
when the timeliness information does not specify the deadline of the information sent by the starting end, if the current position distribution of each robot in the robot group is determined to not meet the condition of establishing a point-to-point communication link according to the position distribution information, broadcasting the information to be sent of the starting end, and indicating the robots which are not the target end and receive the information to be sent to continue broadcasting the information to be sent until the target end receives the information to be sent and then stops broadcasting the information to be sent.
10. A robot as claimed in any one of claims 7 to 9, wherein the acquiring module is configured to acquire real-time position information of each robot in the robot group on a three-dimensional map and obstacle information on the three-dimensional map from the cloud server.
11. A robot according to any one of claims 7 to 9, further comprising a link updating module configured to, when there is a failed robot in the established communication link whose current operating state does not meet a preset condition, search for a redundant robot in the robot group that meets a condition for replacing the failed robot, and replace the failed robot in the communication link with the redundant robot.
12. A swarm robotic system comprising a cloud server, a plurality of robots as claimed in any one of claims 7 to 9.
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| PCT/CN2018/084282 WO2019204987A1 (en) | 2018-04-24 | 2018-04-24 | Information transmission method controlled by cloud, robot, and group robot system |
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| CN108698227B true CN108698227B (en) | 2021-07-09 |
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| CN109495314B (en) * | 2018-12-07 | 2020-12-18 | 达闼科技（北京）有限公司 | Communication method, device and medium of cloud robot and electronic equipment |
| US20220234211A1 (en) * | 2019-06-24 | 2022-07-28 | Telefonaktiebolaget Lm Ericsson (Publ) | Technique for Selecting a Transmission Mode for Wirelessly Transmitting a Message Comprising Control Information for Robotic Device Control |
| CN111405495A (en) * | 2020-03-26 | 2020-07-10 | 上海有个机器人有限公司 | Asynchronous communication method, medium, terminal and device based on cross-type communication link |
| CN111447599B (en) * | 2020-03-26 | 2023-09-12 | 上海有个机器人有限公司 | Robot communication method and system based on multilink multiplexing |
| CN111405496A (en) * | 2020-03-26 | 2020-07-10 | 上海有个机器人有限公司 | Communication method and system based on cross-type communication link |
| CN114442636B (en) * | 2022-02-10 | 2024-03-29 | 上海擎朗智能科技有限公司 | Control method and device of following robot, robot and storage medium |
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| US6856628B1 (en) * | 2000-10-26 | 2005-02-15 | Motorola, Inc. | Method and apparatus for tunneling packets in a packet data system |
| CN100536588C (en) * | 2007-05-30 | 2009-09-02 | 东南大学 | An active sensor network system and mobile node device for monitoring the dangerous environment conditions |
| CN101217488B (en) * | 2008-01-16 | 2010-09-08 | 中南大学 | A reconstructible multiple mobile robot communication means |
| CN101562564A (en) * | 2009-05-27 | 2009-10-21 | 西安电子科技大学 | Route selecting method in intermittently connected network |
| CN102263800A (en) * | 2010-05-26 | 2011-11-30 | 四川大学 | Geographic information internet of things system constructed based on cloud computing, and application |
| CN103096502B (en) * | 2011-11-03 | 2016-03-09 | 华为技术有限公司 | Apparatus for establishing is to the methods, devices and systems of equipment connection |
| JP6264294B2 (en) * | 2012-11-05 | 2018-01-24 | 日本電気株式会社 | Information transmission system, mobile communication terminal, and information transmission method |
| CN103874224B (en) * | 2014-04-09 | 2017-10-27 | 大连大学 | A kind of information transceiving method based on information timeliness analysis method |
| US9420741B2 (en) * | 2014-12-15 | 2016-08-23 | Irobot Corporation | Robot lawnmower mapping |
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| CN106054875B (en) * | 2016-05-25 | 2019-01-04 | 北京航空航天大学 | A kind of distributed robots dynamic network connectivity control method |
| WO2018086042A1 (en) * | 2016-11-10 | 2018-05-17 | 深圳达闼科技控股有限公司 | Aerial vehicle, control method and device thereof, electronic device |
| CN106899991B (en) * | 2017-03-08 | 2020-02-14 | 哈尔滨工业大学深圳研究生院 | Self-adaptive optimal self-networking method based on multiple robots and Gaussian signal models |
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