CN110113795A - It is the group machines people communication means driven and its application with service application - Google Patents
It is the group machines people communication means driven and its application with service application Download PDFInfo
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- CN110113795A CN110113795A CN201910457466.7A CN201910457466A CN110113795A CN 110113795 A CN110113795 A CN 110113795A CN 201910457466 A CN201910457466 A CN 201910457466A CN 110113795 A CN110113795 A CN 110113795A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W40/00—Communication routing or communication path finding
- H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W40/00—Communication routing or communication path finding
- H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
- H04W40/04—Communication route or path selection, e.g. power-based or shortest path routing based on wireless node resources
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
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- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
It is the group machines people communication means driven and its application with service application, the present invention is using Mesh network as a wireless multi-hop network, the mode being adjusted based on RSSI, by service application demand in conjunction with RSSI, the optimal link of link bandwidth is found for data transmission, realize network decentralization, have dynamic routing, network from the excellent characteristics such as healings, self-organizing, based on be in net distribution numerous wireless access point between cooperate with each other, synchronize.What the present invention used is the group machines people communication means driven and its application with service application, is carried out in robot group communication using with preferable applicability.
Description
Technical field
The present invention relates to robot communication field, the image data for acquiring group machines people be wirelessly transferred with
And long-range control group machines people completes a certain particular task, especially suitable for it is a kind of with service application be the group machines driven
People Mesh communication system and communication means.
Background technique
With the rapid development of Information and Communication Technology and sensing technology, robot is in danger zone prospecting, search and rescue, operation etc.
Aspect using more and more common, especially emergency management and rescue robot has played important work in armed conflict, the attack of terrorism
With.
Since the work surface of group machines people's application scenarios is big, task difficulty is also larger, a certain particular task is completed
Multiple robots are usually needed to cooperate, the Usefulness Pair of communication system plays certainly in the success or failure of task in this course
Qualitative effect, also just, movement synchronous to the data of group machines people's communication system synchronizes and proposes higher requirement for this.Traditional group
Group robot communication system is all based on greatly " star " network architecture, i.e., by a center to center communications control node and several communications
Terminal node is constituted, and communication coverage is determined by center to center communications control node in this network architecture, once communication terminal
Node exceeds the coverage area of center to center communications control node, will lead to communication disruption；Simultaneously under such network architecture, communication
It being separated with transmission services, data transmission is to occur in physical link layer, and business is generation in application layer, such as: it is carrying out
When video information transmission, center to center communications control node does not take into account that whether the capacity of network can satisfy business demand, as long as passing
Transmission link exists and will carry out data transmission automatically, this is easy to that network congestion occurs in the case where link bandwidth is limited, from
And also result in communication disruption.
Based on the above analysis, existing group machines people communication system has both sides drawback:
1) communication coverage is limited to the covering radius of communication controller node, communication terminal section and communication controller node it
Between only exist a communication link, link stability cannot ensure, be easy to happen communication disruption；
2) application model separated with business is communicated, due to communicating the application demand for the business that do not know about, a large amount of numbers are occurring
Easily occur according to when transmission because communicating paralysis caused by network congestion.
Summary of the invention
In view of the above-mentioned problems, the present invention provides it is a kind of with service application be driving group machines people communication means and its
Using the present invention is different from traditional " star-like " network architecture and is realized using Mesh network as a wireless multi-hop network
Network decentralization has dynamic routing, network from excellent characteristics such as healing, self-organizings, based on the numerous nothings for being in net distribution
Cooperating with each other, synchronizing between line access point is carried out in robot group communication using with preferable applicability.
To achieve the goals above, the technical solution that the invention uses are as follows: take service application as group's machine of driving
Device people's communication means, the steps include:
1) it is externally provided with manipulation center in group machines people's dangerous operation region, investigation machine is equipped in dangerous operation region
Crowd's group and rescue robot group；
2) the robot Mesh communication node in manipulation center Mesh communication node and dangerous operation region is established with more
The Radio Link of road link connects；Robot Mesh communication node and neighbouring robot Mesh communication node establish Radio Link company
It connects；
3) robot being located in dangerous operation region returns the live image respectively collected by scene Mesh link
To group machines people's remote control center, dynamic link adjustment is carried out according to service application demand in passback process；
4) image that manipulation center operations staff passes back according to each robot, judgement provide what robot operated in next step
Instruction；
5) it is complete to substitute the mankind in dangerous operation region for the operational order for receiving the outflow of group machines people remote control center
At job task；
It include Detecting Robot and rescue robot in the group machines people, Detecting Robot is used for field operation
Environment acquisition, and returned using on-site wireless network implementations image；It rescues class robot and is used for rescue task, execute group machines
All kinds of rescues instruction that people remote control center operations staff assigns；The communication service priority of Detecting Robot is higher than rescuing machine
Device people.
The step 2) -3) in, the Mesh routing algorithm of Mesh communication node specifically:
1. setting group machines people's remote control center Mesh node as AP(Des), rescue robot Mesh node is AP(1~n)；
2. with some Mesh node AP(i)For center node, the power of RSSI signal is received according to it, establishes the node
Connection routing table, all Mesh nodes of order traversal, establish the connection routing table of all nodes later；
3. using group machines people's remote control center Mesh node as source address, Xiang Suoyou rescue robot Mesh node hair
A packet test data is sent, according to the deadline, obtains network throughput and the response time of each rescue robot Mesh node,
Establish Mesh node throughput and response time sequencing table；
4. being formed from AP(i)To AP(Des)Data traffic transmission link；
4.1. business demand application is received, first determines whether type of service priority, establishes set C, C={ }；
4.2. setting data transmission service as from AP(i)To AP(Des)Data traffic transmission, classified according to service priority；
4.2.1) if it is bandwidth requirement height, then AP is found first(i)Routing connection table, gulped down according to handling capacity sequencing table
The amount of spitting sequence number resequences to table；The node AP that routing number is 1 is found after routing connection table rearrangement(j), judgement
AP(j)Whether ∈ C, if be not belonging to C set, record lower node AP(j), C=C+ { AP(j)}；If belonging to C set, sequence
The node AP that routing number is 2 is found downwards(j), until finding AP(j)It is not belonging to C set；It proceeds as described above, until finding routing
Number be 1 node AP(Des), ultimately form from AP(i)To AP(Des)Data traffic transmission link C；
4.2.2) if it is requirement of real-time height, then AP is found first(i)Routing connection table, sort according to the response time
The sequence number of table handling capacity resequences to table, finds the node AP that routing number is 1 after routing connection table rearrangement(j), sentence
Disconnected AP(j)Whether ∈ C, if be not belonging to C set, record lower node AP(j), C=C+ { AP(j)}；If belonging to C set, sequence
The node AP that routing number is 2 is found downwards(j), until finding AP(j)It is not belonging to C set, the above process is then proceeded to, until finding
The node AP that routing number is 1(Des), ultimately form from AP(i)To AP(Des)Data traffic transmission link C, C={ AP(i)... ...,
AP(Des)}。
Use it is above-mentioned with service application be driving group machines people communication means uplink service processing in application,
Step are as follows:
Second step, dangerous operation region robot are sent by affiliated Mesh node to group machines people's remote control center
Uplink service application；
Third step, group machines people's remote control center receives application, no to turn second step, is to turn the 4th step；
4th step, group machines people's remote control center parse business application, are classified according to service priority, rebuild connection
Routing table, handling capacity sequencing table；
5th step show that optimal transmission link C gathers according to Mesh routing algorithm；
Transmission link C set is sent to business application Mesh node by the 6th step；
7th step, business application Mesh node is gathered according to transmission link C carries out business data transmission；
8th step terminates.
Use it is above-mentioned with service application be driving group machines people communication means downlink business processing in application,
It is characterized in that:
The first step starts；
Second step, group machines people's remote control center, which obtains, is located at dangerous operation region robot Mesh node；
Third step, group machines people's remote control center determine transmission services type, rebuild connection routing table, response time
Sequencing table；
4th step show that optimal transmission link C gathers according to Mesh routing algorithm；
5th step, group machines people's remote control center is gathered according to transmission link C carries out business data transmission；
8th step terminates.
The invention has the beneficial effect that
It is provided by the invention with service application be driving group machines people communication means and its application, be different from existing skill
Driving method of the art using the power of RSSI value as route handoff, the present invention is used count between network for driving with service application
According to the routing switching at runtime of transmission, it is capable of the unimpeded of effective guarantee Various types of data transmission services, improves the application performance of network,
Image data especially suitable for acquiring group machines people is wirelessly transferred and long-range control group machines people completes certain
One particular task.
Detailed description of the invention:
Fig. 1 is invention system composition figure.
Fig. 2 is invention Mesh communication node module composition figure.
Fig. 3 is that inventive method applies the process in uplink service processing.
Fig. 4 is that inventive method applies the process in downlink business processing.
Specific embodiment
It take service application as group machines people's communication means of driving,
1) it is externally provided with manipulation center in group machines people's dangerous operation region, investigation machine is equipped in dangerous operation region
Crowd's group and rescue robot group；
2) the robot Mesh communication node in manipulation center Mesh communication node and dangerous operation region is established with more
The Radio Link of road link connects；Robot Mesh communication node and neighbouring robot Mesh communication node establish Radio Link company
It connects；
3) robot being located in dangerous operation region returns the live image respectively collected by scene Mesh link
To group machines people's remote control center, dynamic link adjustment is carried out according to service application demand in passback process；
4) image that manipulation center operations staff passes back according to each robot, judgement provide what robot operated in next step
Instruction；
5) it is complete to substitute the mankind in dangerous operation region for the operational order for receiving the outflow of group machines people remote control center
At job task.
It is specific:
One, system structure:
As shown in Figure 1, a kind of be located at dangerous make by 1 with the group machines people Mesh communication system that service application is driving
Group machines people's remote control center outside industry region and several rescue robots positioned at dangerous operation region are constituted.
Group machines people's remote control center is located at except group machines people's dangerous operation region, manipulates center operations staff
The image that can be passed back according to each robot, judgement provide the instruction that robot operates in next step.Manipulation center Mesh communication
Node remotely can establish Radio Link and connect with the rescue robot Mesh communication node that closes in dangerous operation region, and chain
Road has multichannel.
Several rescue robots are located in dangerous operation region, the live image respectively collected can be passed through scene
Mesh link passes back to group machines people's remote control center, passback Mesh link have it is a plurality of, can be according to service application need
It asks and carries out dynamic link adjustment；The operational order that the outflow of group machines people's remote control center can be received simultaneously is made in danger
The mankind are substituted in industry region to fulfil assignment task.Rescue robot Mesh communication node can be logical with neighbouring rescue robot Mesh
Letter node establishes Radio Link connection.
Two, Mesh communication node module forms:
Mesh communication node is by air feedback unit module, power amplifier unit module, control unit module, routing unit module and defeated
Enter output unit module composition.
Air feedback unit functions of modules: carrying out uplink amplification for the wireless signal received by antenna and will be by power amplifier list
The wireless signal of element module amplification is exported by antenna.
Power amplifier unit functions of modules: amplifying the wireless signal of downlink, is exported by air feedback unit module.
Control unit functions of modules: carrying software algorithm, and communication between modules is controlled.
Routing unit functions of modules: in conjunction with RSSI and business demand, being dynamically adjusted routing table, realizes number between node
According to exchange.
Input-output unit functions of modules: establishing wired connection with group machines people's remote control center, rescue robot,
Realize the data exchange with respective control system；And it is defeated by the power supply of group machines people remote control center and rescue robot
Enter, provides power supply for module.
Three, service priority
Robot group communication service is different from traditional audio-video and data communication service, and rescue site robot is according to function
Can mainly include: two classes of investigation and rescue, Detecting Robot mainly undertakes site work environment acquisition, and utilizes on-site wireless net
Network realizes image passback, manipulates all kinds of robots according to image remote for group machines people's remote control center operations staff and carries out
Comprehensive rescue, the data of such robotic transfer are mainly image information, data transfer direction master more demanding to transmission bandwidth
If uplink；Rescue class robot mainly undertakes rescue task, executes under group machines people remote control center operations staff
All kinds of rescues instruction reached, such robotic transfer data volume is smaller, and higher to requirement of real-time, data transfer direction is mainly
Downlink.
Service priority is classified as follows:
Table 1: service priority table
| Priority type | Description |
| 1 | Bandwidth requirement is high |
| 2 | Requirement of real-time is high |
Four, Mesh routing algorithm
The first step, it is assumed that group machines people's remote control center Mesh node is AP(Des), rescue robot Mesh node is
AP(1~n)；
Second step
, with some Mesh node AP(i)Central node receives the power of RSSI signal according to it, establishes the company of the node
Routing table is connect, all Mesh nodes of order traversal establish the connection routing table of all nodes；
Table 2: routing connection table
Third step, using group machines people's remote control center Mesh node as source address, Xiang Suoyou rescue robot Mesh
Node sends a packet test data (test bag size is customized), according to the deadline, obtains each rescue robot Mesh section
The network throughput of point and response time, Mesh node throughput and response time sequencing table are established,
Table 3: handling capacity sequencing table
| Node | Handling capacity sequence number |
| AP(1) | 1 |
| AP(2) | 2 |
| . | … |
| . | … |
| AP(n) | n |
4 response time of table sequencing table
4th step receives business demand application, first determines whether type of service priority, establishes set C, C={ }.Assuming that number
It is from AP according to transmission services(i)To AP(Des)Data traffic transmission, classified according to service priority, if it is bandwidth requirement height,
AP is then found first(i)Routing connection table 2, number resequence to table 2 according to the sequence of 3 handling capacity of handling capacity sequencing table, table
The node AP that routing number is 1 is found after 2 rearrangements(j), judge AP(j)Whether ∈ C, if be not belonging to C set, record lower node
AP(j), C=C+ { AP(j)}；If belonging to C set, sequence finds downwards the node AP that routing number is 2(j), until finding AP(j)
It is not belonging to C set, then proceedes to the above process, the node AP for being 1 until finding routing number(Des), ultimately form from AP(i)It arrives
AP(Des)Data traffic transmission link C.If it is requirement of real-time height, then AP is found first(i)Routing connection table 2, according to
The sequence number of 4 handling capacity of response time sequencing table resequences to table 2, and table 2 finds the node that routing number is 1 after resequencing
AP(j), judge AP(j)Whether ∈ C, if be not belonging to C set, record lower node AP(j), C=C+ { AP(j)}；If belonging to C collection
It closes, then sequence finds downwards the node AP that routing number is 2(j), until finding AP(j)It is not belonging to C set, then proceedes to above-mentioned mistake
Journey, the node AP for being 1 until finding routing number(Des), ultimately form from AP(i)To AP(Des)Data traffic transmission link C, C=
{AP(i)... ..., AP(Des)}。
Use it is above-mentioned with service application be driving group machines people communication means uplink service processing in application, stream
Journey is as shown in figure 3, the steps include:
Second step, dangerous operation region robot are sent by affiliated Mesh node to group machines people's remote control center
Uplink service application；
Third step, group machines people's remote control center receives application, no to turn second step, is to turn the 4th step；
4th step, group machines people's remote control center parse business application, are classified according to service priority, rebuild connection
Routing table, handling capacity sequencing table；
5th step show that optimal transmission link C gathers according to Mesh routing algorithm；
Transmission link C set is sent to business application Mesh node by the 6th step；
7th step, business application Mesh node is gathered according to transmission link C carries out business data transmission；
8th step terminates.
Use it is above-mentioned with service application be driving group machines people communication means downlink business processing in application, stream
Journey is as shown in figure 4, the steps include:
The first step starts；
Second step, group machines people's remote control center, which obtains, is located at dangerous operation region robot Mesh node；
Third step, group machines people's remote control center determine transmission services type, rebuild connection routing table, response time
Sequencing table；
4th step show that optimal transmission link C gathers according to Mesh routing algorithm；
5th step, group machines people's remote control center is gathered according to transmission link C carries out business data transmission；
8th step terminates.
In the invention patent:
Mesh network are as follows: wireless mesh network；
RSSI is Received Signal Strength Indication, indicates the instruction of received signal intensity.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (5)
1. taking service application as group machines people's communication means of driving, which is characterized in that the steps include:
1) it is externally provided with manipulation center in group machines people's dangerous operation region, is equipped with Detecting Robot group in dangerous operation region
Group and rescue robot group；
2) the robot Mesh communication node in manipulation center Mesh communication node and dangerous operation region, which is established, has multichannel chain
The Radio Link on road connects；Robot Mesh communication node is established Radio Link with neighbouring robot Mesh communication node and is connect；
3) live image respectively collected is passed back to group by scene Mesh link by the robot being located in dangerous operation region
Group robot remote manipulates center, carries out dynamic link adjustment according to service application demand in passback process；
4) image that manipulation center operations staff passes back according to each robot, judgement provide the finger that robot operates in next step
It enables；
5) operational order for receiving the outflow of group machines people remote control center substitutes the mankind in dangerous operation region and completes to make
Industry task；
2. it is according to claim 1 with service application be driving group machines people's communication means, it is characterised in that: it is described
Group machines people in include Detecting Robot and rescue robot, Detecting Robot is acquired for site work environment, and
It is returned using on-site wireless network implementations image；It rescues class robot and is used for rescue task, execute group machines people remote control
All kinds of rescues instruction that center operations staff assigns；The communication service priority of Detecting Robot is higher than rescue robot.
3. it is according to claim 1 with service application be driving group machines people's communication means, it is characterised in that: it is described
Step 2) -3) in, the Mesh routing algorithm of Mesh communication node specifically:
1. setting group machines people's remote control center Mesh node as AP(Des), rescue robot Mesh node is AP(1~n)；
2. with some Mesh node AP(i)For center node, the power of RSSI signal is received according to it, establishes the company of the node
Routing table is connect, later all Mesh nodes of order traversal, establishes the connection routing table of all nodes；
3. Xiang Suoyou rescue robot Mesh node sends one using group machines people's remote control center Mesh node as source address
Packet test data obtains network throughput and the response time of each rescue robot Mesh node according to the deadline, establishes
Mesh node throughput and response time sequencing table；
4. being formed from AP(i)To AP(Des)Data traffic transmission link；
4.1. business demand application is received, first determines whether type of service priority, establishes set C, C={ }；
4.2. data transmission service is set as from AP(i)To AP(Des)Data traffic transmission, classified according to service priority；
4.2.1) if it is bandwidth requirement height, then AP is found first(i)Routing connection table, according to handling capacity sequencing table handling capacity
Sequence number resequences to table；The node AP that routing number is 1 is found after routing connection table rearrangement(j), judge AP(j)It is
No ∈ C records lower node AP if being not belonging to C set(j), C=C+ { AP(j)}；If belonging to C set, sequence is looked for downwards
The node AP for being 2 to routing number(j), until finding AP(j)It is not belonging to C set；It proceeds as described above, is 1 until finding routing number
Node AP(Des), ultimately form from AP(i)To AP(Des)Data traffic transmission link C；
4.2.2) if it is requirement of real-time height, then AP is found first(i)Routing connection table, gulped down according to response time sequencing table
The amount of spitting sequence number resequences to table, finds the node AP that routing number is 1 after routing connection table rearrangement(j), judgement
AP(j)Whether ∈ C, if be not belonging to C set, record lower node AP(j), C=C+ { AP(j)}；If belong to C set, sequence to
Under find routing number be 2 node AP(j), until finding AP(j)It is not belonging to C set, the above process is then proceeded to, until finding road
By number node AP for being 1(Des), ultimately form from AP(i)To AP(Des)Data traffic transmission link C, C={ AP(i)...,
AP(Des)}。
It is handled with the group machines people communication means that service application is driving in uplink service described in claim 1-3 4. using
In application, which is characterized in that the steps include:
Second step, dangerous operation region robot send uplink to group machines people's remote control center by affiliated Mesh node
Business application；
Third step, group machines people's remote control center receives application, no to turn second step, is to turn the 4th step；
4th step, group machines people's remote control center parse business application, classified according to service priority, rebuild link road by
Table, handling capacity sequencing table；
5th step show that optimal transmission link C gathers according to Mesh routing algorithm；
Transmission link C set is sent to business application Mesh node by the 6th step；
7th step, business application Mesh node is gathered according to transmission link C carries out business data transmission；
8th step terminates.
It is handled with the group machines people communication means that service application is driving in downlink business described in claim 1-3 5. using
In application, which is characterized in that the steps include:
The first step starts；
Second step, group machines people's remote control center, which obtains, is located at dangerous operation region robot Mesh node；
Third step, group machines people's remote control center determine transmission services type, rebuild connection routing table, response time sequence
Table；
4th step show that optimal transmission link C gathers according to Mesh routing algorithm；
5th step, group gathers at thin robot remote manipulation center according to transmission link C carries out business data transmission；
8th step terminates.
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| CN110661789A (en) * | 2019-09-09 | 2020-01-07 | 腾讯科技（深圳）有限公司 | Address resetting method, device, equipment and computer readable storage medium |
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