CN110609504A - Transmission method and system for control information of intelligent robot - Google Patents
Transmission method and system for control information of intelligent robot Download PDFInfo
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- CN110609504A CN110609504A CN201910928702.9A CN201910928702A CN110609504A CN 110609504 A CN110609504 A CN 110609504A CN 201910928702 A CN201910928702 A CN 201910928702A CN 110609504 A CN110609504 A CN 110609504A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/23—Pc programming
- G05B2219/23051—Remote control, enter program remote, detachable programmer
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Abstract
The invention discloses a transmission method of control information for an intelligent robot, which comprises the following steps: collecting environmental information by a robot control module having a communication function; establishing RRC connection with the base station by the robot control module and keeping in an RRC connection state; when the robot control module determines that the inter-device communication is to be performed, the robot control module sends a resource request message to the base station; determining, by the base station, inter-device communication discovery phase time-frequency resources for the robot control module and inter-device communication discovery phase time-frequency resources for other communication devices within a cell served by the base station in response to receiving the resource request message; in response to receiving the resource request message, determining, by the base station, a number of communication devices establishing an RRC connection with the base station within a cell served by the base station; generating, by the base station, a discovery phase identifier dedicated to an inter-device communication discovery phase based on a number of communication devices establishing an RRC connection with the base station within a cell served by the base station.
Description
Technical Field
The present invention relates to the field of robot control technologies, and in particular, to a method and a system for transmitting control information for an intelligent robot.
Background
A Robot (Robot) is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The task of which is to assist or replace human work, such as production, construction, or dangerous work.
Prior art CN106175615B discloses a control method and a remote control device of a robot cleaner system including a robot cleaner and an external device having a camera and a display, the method including: generating image information about the robot cleaner and an area near the robot cleaner using the camera; mapping an actual area where the robot cleaner is located to a virtual area displayed on the display based on the image information; and performing a location-based service of the robot cleaner through a virtual area displayed on the display.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
The invention aims to provide a method and a system for transmitting control information of an intelligent robot, which can overcome the defects of the prior art.
In order to achieve the above object, the present invention provides a transmission method of control information for an intelligent robot, comprising the steps of: collecting environmental information by a robot control module having a communication function; establishing RRC connection between the robot control module and the base station, wherein the robot control module is in an RRC connection state; when the robot control module determines that the inter-device communication is to be performed, the robot control module sends a resource request message to the base station; determining, by the base station, inter-device communication discovery phase time-frequency resources for the robot control module and inter-device communication discovery phase time-frequency resources for other communication devices within a cell served by the base station in response to receiving the resource request message; in response to receiving the resource request message, determining, by the base station, a number of communication devices establishing an RRC connection with the base station within a cell served by the base station; generating, by the base station, a discovery phase identifier dedicated to an inter-device communication discovery phase based on a number of communication devices establishing an RRC connection with the base station within a cell served by the base station, wherein the discovery phase identifier is shorter in length than IMSIs of other communication devices within the cell served by the robot control module and the base station; assigning and transmitting, by the base station, a first discovery phase identifier to the robot control module, and assigning and transmitting, by the base station, a plurality of discovery phase identifiers to other communication devices within a cell served by the base station; and the base station informs the robot control module of the time-frequency resources in the inter-device communication discovery phase used for the robot control module, and informs the other communication devices of the time-frequency resources in the inter-device communication discovery phase used for the other communication devices in the cell served by the base station.
In a preferred embodiment, the transmission method of the control information for the intelligent robot includes the steps of: in response to receiving the inter-device communication discovery phase time frequency resources for the robot control module notified by the base station, transmitting, by the robot control module, an inter-device communication discovery message on the inter-device communication discovery phase time frequency resources for the robot control module, wherein the inter-device communication discovery message includes a first discovery phase identifier; in response to receiving the inter-device communication discovery message, transmitting, by a first communication device of the other communication devices within the cell served by the base station, an inter-device communication discovery response message, wherein the inter-device communication discovery response message includes a discovery phase identifier of the first communication device; in response to receiving the inter-device communication discovery response message, sending, by the robot control module, a discovery signal to the first communication device, wherein the discovery signal includes a first discovery phase identifier, a discovery phase identifier of the first communication device, and environmental information; in response to receiving the context information, sending, by the first communication device, a context message to the base station.
In a preferred embodiment, the transmission method of the control information for the intelligent robot includes the steps of: responding to the received environment message, and sending the environment message to the intelligent robot management center by the base station; generating robot control information by an intelligent robot management center based on the environment information; the intelligent robot management center sends the robot control information to the base station; and the base station sends the robot control information to the robot control module.
In a preferred embodiment, the transmission method of the control information for the intelligent robot includes the steps of: if no data transmission between the robot control module and the base station reaches a certain time, the robot control module enters an RRC idle state; discarding, by the robot control module, the first discovery phase identifier in response to the robot control module entering the RRC idle state; after the robot control module enters an RRC idle state, the robot control module determines that the communication between the devices is required, and the robot control module firstly returns to an RRC connected state; responding to the return of the RRC connection state of the robot control module, and sending a resource request message to the base station by the robot control module; determining, by the base station, inter-device communication discovery phase time-frequency resources for the robot control module and inter-device communication discovery phase time-frequency resources for other communication devices within a cell served by the base station in response to receiving the resource request message; in response to receiving the resource request message, determining, by the base station, a number of communication devices establishing an RRC connection with the base station within a cell served by the base station; generating, by the base station, a discovery phase identifier dedicated to an inter-device communication discovery phase based on a number of communication devices establishing an RRC connection with the base station within a cell served by the base station, wherein the discovery phase identifier is shorter in length than IMSIs of other communication devices within the cell served by the robot control module and the base station; assigning and transmitting, by the base station, a second discovery phase identifier to the robot control module, and assigning and transmitting, by the base station, a plurality of discovery phase identifiers to other communication devices within a cell served by the base station; and the base station informs the robot control module of the time-frequency resources in the inter-device communication discovery phase used for the robot control module, and informs other communication devices of the time-frequency resources in the inter-device communication discovery phase used for other communication devices in the cell served by the base station.
In a preferred embodiment, the transmission method of the control information for the intelligent robot includes the steps of: if no data transmission between the first communication equipment and the base station reaches a certain time, the first communication equipment enters an RRC idle state; discarding, by the first communication device, the discovery phase identifier of the first communication device in response to the first communication device entering the RRC idle state; the first communication equipment returns to an RRC (radio resource control) connection state in response to receiving the inter-equipment communication discovery message sent by the robot control module; requesting, by a first communication device, discovery phase time-frequency resources for inter-device communication and a discovery phase identifier for the first communication device from a base station; re-allocating, by the base station, to the first communication device, in response to receiving the request of the first communication device, new discovery phase identifiers for the first communication device and time-frequency resources for an inter-device communication discovery phase; in response to receiving the time-frequency resource for the inter-device communication discovery phase and the new discovery phase identifier for the first communication device, sending, by the first communication device, an inter-device communication discovery response message to the robot control module on the time-frequency resource for the inter-device communication discovery phase, the inter-device communication discovery response message including the new discovery phase identifier for the first communication device.
The present invention also provides a transmission system of control information for an intelligent robot, including: a unit for collecting environmental information by a robot control module having a communication function; means for establishing, by the robot control module, an RRC connection with the base station, and the robot control module being in an RRC connected state; means for transmitting, by the robot control module, a resource request message to the base station when the robot control module determines that inter-device communication is to be performed; means for determining, by the base station, inter-device communication discovery phase time-frequency resources for the robot control module and inter-device communication discovery phase time-frequency resources for other communication devices within a cell served by the base station in response to receiving the resource request message; means for determining, by the base station, a number of communication devices establishing an RRC connection with the base station within a cell served by the base station in response to receiving the resource request message; means for generating, by the base station, a discovery phase identifier dedicated to an inter-device communication discovery phase based on a number of communication devices establishing RRC connections with the base station within a cell served by the base station, wherein the discovery phase identifier is shorter in length than IMSIs of other communication devices within the cell served by the robot control module and the base station; means for assigning and transmitting, by the base station, a first discovery phase identifier to the robot control module, and assigning and transmitting, by the base station, a plurality of discovery phase identifiers to other communication devices within a cell served by the base station; means for notifying, by the base station, the robot control module of the inter-device communication discovery phase time-frequency resources for the robot control module, and notifying the other communication devices of the inter-device communication discovery phase time-frequency resources for the other communication devices within the cell served by the base station.
In a preferred embodiment, a transmission system of control information for an intelligent robot includes: means for transmitting, by the robot control module, an inter-device communication discovery message on the inter-device communication discovery phase time-frequency resources for the robot control module in response to receiving the inter-device communication discovery phase time-frequency resources for the robot control module notified by the base station, wherein the inter-device communication discovery message includes a first discovery phase identifier; means for transmitting, by a first communication device of other communication devices within a cell served by a base station, an inter-device communication discovery response message in response to receiving the inter-device communication discovery message, wherein the inter-device communication discovery response message includes a discovery phase identifier of the first communication device; means for transmitting, by the robot control module, a discovery signal to the first communication device in response to receiving the inter-device communication discovery response message, wherein the discovery signal includes a first discovery phase identifier, a discovery phase identifier of the first communication device, and environmental information; means for transmitting, by the first communication device, an environment message to the base station in response to receiving the environment information.
In a preferred embodiment, a transmission system of control information for an intelligent robot includes: means for transmitting, by the base station, an environmental message to the intelligent robot management center in response to receiving the environmental message; a unit for generating, by the intelligent robot management center, robot control information based on the environment message; a unit for transmitting robot control information to the base station by the intelligent robot management center; means for transmitting, by the base station, the robot control information to the robot control module.
In a preferred embodiment, a transmission system of control information for an intelligent robot includes: a unit for entering the RRC idle state by the robot control module if there is no data transmission between the robot control module and the base station for a certain time; means for discarding, by the robot control module, the first discovery phase identifier in response to the robot control module entering the RRC idle state; a unit for the robot control module to determine that the inter-device communication is to be performed after the robot control module enters the RRC idle state, and then the robot control module first returns to the RRC connected state; a unit for responding to the robot control module returning to the RRC connection state, and sending a resource request message to the base station by the robot control module; means for determining, by the base station, inter-device communication discovery phase time-frequency resources for the robot control module and inter-device communication discovery phase time-frequency resources for other communication devices within a cell served by the base station in response to receiving the resource request message; means for determining, by the base station, a number of communication devices establishing an RRC connection with the base station within a cell served by the base station in response to receiving the resource request message; means for generating, by the base station, a discovery phase identifier dedicated to an inter-device communication discovery phase based on a number of communication devices establishing an RRC connection with the base station within a cell served by the base station, wherein the discovery phase identifier is shorter in length than IMSIs of other communication devices within the cell served by the robot control module and the base station; means for assigning and transmitting, by the base station, a second discovery phase identifier to the robot control module, and assigning and transmitting, by the base station, a plurality of discovery phase identifiers to other communication devices within a cell served by the base station; means for notifying, by the base station, the robot control module of the inter-device communication discovery phase time-frequency resources for the robot control module, and notifying the other communication devices of the inter-device communication discovery phase time-frequency resources for the other communication devices within the cell served by the base station.
In a preferred embodiment, a transmission system of control information for an intelligent robot includes: means for entering an RRC idle state by the first communication device if there is no data transmission between the first communication device and the base station for a certain time; means for discarding, by the first communication device, the discovery phase identifier of the first communication device in response to the first communication device entering the RRC idle state; means for returning, by the first communication device, an RRC connected state in response to receiving the inter-device communication discovery message sent by the robot control module; means for requesting, by a first communication device, discovery phase time-frequency resources for inter-device communication and a discovery phase identifier for the first communication device from a base station; means for reallocating, by the base station, to the first communication device, a new discovery phase identifier for the first communication device and time-frequency resources for an inter-device communication discovery phase in response to receiving the request of the first communication device; means for transmitting, by the first communication device, an inter-device communication discovery response message to the robot control module on the time-frequency resources for the inter-device communication discovery phase in response to receiving the new discovery phase identifier for the first communication device and the inter-device communication discovery phase time-frequency resources, the inter-device communication discovery response message including the new discovery phase identifier for the first communication device.
Compared with the prior art, the invention has the following advantages: mechanical devices similar to sweeping robots have become increasingly popular. However, the floor sweeping robots actually entering the home and realizing mass production are basically robots requiring human supervision, and the basic reason for the human supervision is that algorithm units inside the robots cannot be complex (the complex algorithm units mean high cost and high energy consumption, which are all disadvantages that the housekeeping robots do not need), so that the robots can only realize the simplest avoidance functions. According to the teaching of some prior arts, the floor sweeping robot can achieve the optimal cleaning effect when the human is not beside and the air conditioner or the fresh air system is closed, and meanwhile, the cleaning degree of each room in a set of apartment is different, and the whole apartment does not need to be cleaned every time. In this case, it is desirable that the sweeping robot be able to determine when to turn on, when to turn off, which room to sweep, and which room to not sweep, etc. all on its own. The invention provides a transmission method of control information for an intelligent robot, which enables the robot to transmit environment information to a remote computer, then realizes more complex control commands by running a more accurate algorithm through the large computer, and then transmits the control commands to the intelligent robot, thereby realizing remote and fine control of the robot.
Drawings
Fig. 1 is a flowchart of a transmission method of control information for an intelligent robot according to an embodiment of the present invention.
Detailed Description
The following detailed description of the present invention is provided in conjunction with the accompanying drawings, but it should be understood that the scope of the present invention is not limited to the specific embodiments.
Throughout the specification and claims, unless explicitly stated otherwise, the word "comprise", or variations such as "comprises" or "comprising", will be understood to imply the inclusion of a stated element or component but not the exclusion of any other element or component.
Fig. 1 is a flowchart of a transmission method of control information for an intelligent robot according to an embodiment of the present invention. As shown in the figure, the transmission method of the control information for the intelligent robot of the present invention includes the steps of:
step 101: collecting environmental information (the environmental information includes indoor temperature, humidity, obstacle information, room pattern information, personnel information, etc.) by a robot control module having a communication function;
step 102: establishing RRC connection between the robot control module and the base station, wherein the robot control module is in an RRC connection state;
step 103: when the robot control module determines that the inter-device communication is to be performed, the robot control module sends a resource request message to the base station;
step 104: determining, by the base station, inter-device communication discovery phase time-frequency resources for the robot control module and inter-device communication discovery phase time-frequency resources for other communication devices within a cell served by the base station in response to receiving the resource request message;
step 105: in response to receiving the resource request message, determining, by the base station, a number of communication devices establishing an RRC connection with the base station within a cell served by the base station;
step 106: generating, by the base station, a discovery phase identifier dedicated to an inter-device communication discovery phase based on a number of communication devices establishing an RRC connection with the base station within a cell served by the base station, wherein the discovery phase identifier is shorter in length than IMSIs of other communication devices within the cell served by the robot control module and the base station;
step 107: assigning and transmitting, by the base station, a first discovery phase identifier to the robot control module, and assigning and transmitting, by the base station, a plurality of discovery phase identifiers to other communication devices within a cell served by the base station; and
step 108: and the base station informs the robot control module of the time-frequency resources in the inter-device communication discovery phase used for the robot control module, and informs other communication devices of the time-frequency resources in the inter-device communication discovery phase used for other communication devices in the cell served by the base station.
In a preferred embodiment, the transmission method of the control information for the intelligent robot includes the steps of: in response to receiving the inter-device communication discovery phase time frequency resources for the robot control module notified by the base station, transmitting, by the robot control module, an inter-device communication discovery message on the inter-device communication discovery phase time frequency resources for the robot control module, wherein the inter-device communication discovery message includes a first discovery phase identifier; in response to receiving the inter-device communication discovery message, transmitting, by a first communication device of the other communication devices within the cell served by the base station, an inter-device communication discovery response message, wherein the inter-device communication discovery response message includes a discovery phase identifier of the first communication device; in response to receiving the inter-device communication discovery response message, sending, by the robot control module, a discovery signal to the first communication device, wherein the discovery signal includes a first discovery phase identifier, a discovery phase identifier of the first communication device, and environmental information; in response to receiving the context information, sending, by the first communication device, a context message to the base station.
In a preferred embodiment, the transmission method of the control information for the intelligent robot includes the steps of: responding to the received environment message, and sending the environment message to the intelligent robot management center by the base station; the intelligent robot management center generates robot control information based on the environment information (the algorithm for generating the control information according to the environment information is the prior art, for example, the prior art mentioned in the background of the application and other prior arts cited by the prior art all relate to the algorithm, the algorithm is not the key point of the application, and the application is not described again); the intelligent robot management center sends the robot control information to the base station; and the base station sends the robot control information to the robot control module.
In a preferred embodiment, the transmission method of the control information for the intelligent robot includes the steps of: if no data transmission between the robot control module and the base station reaches a certain time, the robot control module enters an RRC idle state; discarding, by the robot control module, the first discovery phase identifier in response to the robot control module entering the RRC idle state; after the robot control module enters an RRC idle state, the robot control module determines that the communication between the devices is required, and the robot control module firstly returns to an RRC connected state; responding to the return of the RRC connection state of the robot control module, and sending a resource request message to the base station by the robot control module; determining, by the base station, inter-device communication discovery phase time-frequency resources for the robot control module and inter-device communication discovery phase time-frequency resources for other communication devices within a cell served by the base station in response to receiving the resource request message; in response to receiving the resource request message, determining, by the base station, a number of communication devices establishing an RRC connection with the base station within a cell served by the base station; generating, by the base station, a discovery phase identifier dedicated to an inter-device communication discovery phase based on a number of communication devices establishing an RRC connection with the base station within a cell served by the base station, wherein the discovery phase identifier is shorter in length than IMSIs of other communication devices within the cell served by the robot control module and the base station; assigning and transmitting, by the base station, a second discovery phase identifier to the robot control module, and assigning and transmitting, by the base station, a plurality of discovery phase identifiers to other communication devices within a cell served by the base station; and the base station informs the robot control module of the time-frequency resources in the inter-device communication discovery phase used for the robot control module, and informs other communication devices of the time-frequency resources in the inter-device communication discovery phase used for other communication devices in the cell served by the base station.
In a preferred embodiment, the transmission method of the control information for the intelligent robot includes the steps of: if no data transmission between the first communication equipment and the base station reaches a certain time, the first communication equipment enters an RRC idle state; discarding, by the first communication device, the discovery phase identifier of the first communication device in response to the first communication device entering the RRC idle state; the first communication equipment returns to an RRC (radio resource control) connection state in response to receiving the inter-equipment communication discovery message sent by the robot control module; requesting, by a first communication device, discovery phase time-frequency resources for inter-device communication and a discovery phase identifier for the first communication device from a base station; re-allocating, by the base station, to the first communication device, in response to receiving the request of the first communication device, new discovery phase identifiers for the first communication device and time-frequency resources for an inter-device communication discovery phase; in response to receiving the time-frequency resource for the inter-device communication discovery phase and the new discovery phase identifier for the first communication device, sending, by the first communication device, an inter-device communication discovery response message to the robot control module on the time-frequency resource for the inter-device communication discovery phase, the inter-device communication discovery response message including the new discovery phase identifier for the first communication device.
The present invention also provides a transmission system of control information for an intelligent robot, including: a unit for collecting environmental information by a robot control module having a communication function; means for establishing, by the robot control module, an RRC connection with the base station, and the robot control module being in an RRC connected state; means for transmitting, by the robot control module, a resource request message to the base station when the robot control module determines that inter-device communication is to be performed; means for determining, by the base station, inter-device communication discovery phase time-frequency resources for the robot control module and inter-device communication discovery phase time-frequency resources for other communication devices within a cell served by the base station in response to receiving the resource request message; means for determining, by the base station, a number of communication devices establishing an RRC connection with the base station within a cell served by the base station in response to receiving the resource request message; means for generating, by the base station, a discovery phase identifier dedicated to an inter-device communication discovery phase based on a number of communication devices establishing RRC connections with the base station within a cell served by the base station, wherein the discovery phase identifier is shorter in length than IMSIs of other communication devices within the cell served by the robot control module and the base station; means for assigning and transmitting, by the base station, a first discovery phase identifier to the robot control module, and assigning and transmitting, by the base station, a plurality of discovery phase identifiers to other communication devices within a cell served by the base station; means for notifying, by the base station, the robot control module of the inter-device communication discovery phase time-frequency resources for the robot control module, and notifying the other communication devices of the inter-device communication discovery phase time-frequency resources for the other communication devices within the cell served by the base station.
In a preferred embodiment, a transmission system of control information for an intelligent robot includes: means for transmitting, by the robot control module, an inter-device communication discovery message on the inter-device communication discovery phase time-frequency resources for the robot control module in response to receiving the inter-device communication discovery phase time-frequency resources for the robot control module notified by the base station, wherein the inter-device communication discovery message includes a first discovery phase identifier; means for transmitting, by a first communication device of other communication devices within a cell served by a base station, an inter-device communication discovery response message in response to receiving the inter-device communication discovery message, wherein the inter-device communication discovery response message includes a discovery phase identifier of the first communication device; means for transmitting, by the robot control module, a discovery signal to the first communication device in response to receiving the inter-device communication discovery response message, wherein the discovery signal includes a first discovery phase identifier, a discovery phase identifier of the first communication device, and environmental information; means for transmitting, by the first communication device, an environment message to the base station in response to receiving the environment information.
In a preferred embodiment, a transmission system of control information for an intelligent robot includes: means for transmitting, by the base station, an environmental message to the intelligent robot management center in response to receiving the environmental message; a unit for generating, by the intelligent robot management center, robot control information based on the environment message; a unit for transmitting robot control information to the base station by the intelligent robot management center; means for transmitting, by the base station, the robot control information to the robot control module.
In a preferred embodiment, a transmission system of control information for an intelligent robot includes: a unit for entering the RRC idle state by the robot control module if there is no data transmission between the robot control module and the base station for a certain time; means for discarding, by the robot control module, the first discovery phase identifier in response to the robot control module entering the RRC idle state; a unit for the robot control module to determine that the inter-device communication is to be performed after the robot control module enters the RRC idle state, and then the robot control module first returns to the RRC connected state; a unit for responding to the robot control module returning to the RRC connection state, and sending a resource request message to the base station by the robot control module; means for determining, by the base station, inter-device communication discovery phase time-frequency resources for the robot control module and inter-device communication discovery phase time-frequency resources for other communication devices within a cell served by the base station in response to receiving the resource request message; means for determining, by the base station, a number of communication devices establishing an RRC connection with the base station within a cell served by the base station in response to receiving the resource request message; means for generating, by the base station, a discovery phase identifier dedicated to an inter-device communication discovery phase based on a number of communication devices establishing an RRC connection with the base station within a cell served by the base station, wherein the discovery phase identifier is shorter in length than IMSIs of other communication devices within the cell served by the robot control module and the base station; means for assigning and transmitting, by the base station, a second discovery phase identifier to the robot control module, and assigning and transmitting, by the base station, a plurality of discovery phase identifiers to other communication devices within a cell served by the base station; means for notifying, by the base station, the robot control module of the inter-device communication discovery phase time-frequency resources for the robot control module, and notifying the other communication devices of the inter-device communication discovery phase time-frequency resources for the other communication devices within the cell served by the base station.
In a preferred embodiment, a transmission system of control information for an intelligent robot includes: means for entering an RRC idle state by the first communication device if there is no data transmission between the first communication device and the base station for a certain time; means for discarding, by the first communication device, the discovery phase identifier of the first communication device in response to the first communication device entering the RRC idle state; means for returning, by the first communication device, an RRC connected state in response to receiving the inter-device communication discovery message sent by the robot control module; means for requesting, by a first communication device, discovery phase time-frequency resources for inter-device communication and a discovery phase identifier for the first communication device from a base station; means for reallocating, by the base station, to the first communication device, a new discovery phase identifier for the first communication device and time-frequency resources for an inter-device communication discovery phase in response to receiving the request of the first communication device; means for transmitting, by the first communication device, an inter-device communication discovery response message to the robot control module on the time-frequency resources for the inter-device communication discovery phase in response to receiving the new discovery phase identifier for the first communication device and the inter-device communication discovery phase time-frequency resources, the inter-device communication discovery response message including the new discovery phase identifier for the first communication device.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The foregoing descriptions of specific exemplary embodiments of the present invention have been presented for purposes of illustration and description. It is not intended to limit the invention to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain certain principles of the invention and its practical application to enable one skilled in the art to make and use various exemplary embodiments of the invention and various alternatives and modifications as are suited to the particular use contemplated. It is intended that the scope of the invention be defined by the claims and their equivalents.
Claims (10)
1. A transmission method of control information for an intelligent robot is characterized in that: the transmission method of the control information for the intelligent robot comprises the following steps:
collecting environmental information by a robot control module having a communication function;
establishing RRC connection between the robot control module and a base station, wherein the robot control module is in an RRC connection state;
when the robot control module determines that inter-device communication is to be performed, the robot control module sends a resource request message to the base station;
determining, by the base station, inter-device communication discovery phase time-frequency resources for the robot control module and inter-device communication discovery phase time-frequency resources for other communication devices within a cell served by the base station in response to receiving the resource request message;
determining, by the base station, a number of communication devices establishing an RRC connection with the base station within a cell served by the base station in response to receiving the resource request message;
generating, by the base station, a discovery phase identifier dedicated to an inter-device communication discovery phase based on a number of communication devices within a cell served by the base station that establish an RRC connection with the base station, wherein the discovery phase identifier is shorter in length than IMSIs of the robot control module and other communication devices within the cell served by the base station;
assigning and transmitting, by the base station, a first discovery phase identifier to the robot control module, and assigning and transmitting, by the base station, a plurality of discovery phase identifiers to other communication devices within a cell served by the base station; and
and the base station informs the robot control module of the time-frequency resources in the inter-device communication discovery phase used for the robot control module, and informs the other communication devices of the time-frequency resources in the inter-device communication discovery phase used for the other communication devices in the cell served by the base station.
2. The transmission method of control information for an intelligent robot according to claim 1, wherein: the transmission method of the control information for the intelligent robot comprises the following steps:
in response to receiving the inter-device communication discovery phase time-frequency resources for the robot control module as notified by the base station, transmitting, by the robot control module, an inter-device communication discovery message on the inter-device communication discovery phase time-frequency resources for the robot control module, wherein the inter-device communication discovery message includes the first discovery phase identifier;
in response to receiving the inter-device communication discovery message, transmitting, by a first communication device of other communication devices within a cell served by the base station, an inter-device communication discovery response message, wherein the inter-device communication discovery response message includes a discovery phase identifier of the first communication device;
in response to receiving the inter-device communication discovery response message, transmitting, by the robot control module, a discovery signal to the first communication device, wherein the discovery signal includes the first discovery phase identifier, a discovery phase identifier of the first communication device, and the environmental information;
transmitting, by the first communication device, the environment message to the base station in response to receiving the environment information.
3. The transmission method of control information for an intelligent robot according to claim 2, wherein: the transmission method of the control information for the intelligent robot comprises the following steps:
sending, by the base station, the environmental message to an intelligent robot management center in response to receiving the environmental message;
generating, by the intelligent robot management center, robot control information based on the environmental message;
sending, by the intelligent robot management center, the robot control information to the base station;
and sending the robot control information to the robot control module by the base station.
4. The transmission method of control information for an intelligent robot according to claim 3, wherein: the transmission method of the control information for the intelligent robot comprises the following steps:
if no data transmission between the robot control module and the base station reaches a certain time, the robot control module enters an RRC idle state;
discarding, by the robot control module, the first discovery phase identifier in response to the robot control module entering an RRC idle state;
after the robot control module enters an RRC idle state, the robot control module determines that equipment communication is required to be carried out, and the robot control module firstly returns to an RRC connection state;
responding to the robot control module returning to an RRC connection state, and sending a resource request message to the base station by the robot control module;
determining, by the base station, inter-device communication discovery phase time-frequency resources for the robot control module and inter-device communication discovery phase time-frequency resources for other communication devices within a cell served by the base station in response to receiving the resource request message;
determining, by the base station, a number of communication devices establishing an RRC connection with the base station within a cell served by the base station in response to receiving the resource request message;
generating, by the base station, a discovery phase identifier dedicated to an inter-device communication discovery phase based on a number of communication devices within a cell served by the base station that establish an RRC connection with the base station, wherein the discovery phase identifier is shorter in length than IMSIs of the robot control module and other communication devices within the cell served by the base station;
assigning and transmitting, by the base station, a second discovery phase identifier to the robot control module, and assigning and transmitting, by the base station, a plurality of discovery phase identifiers to other communication devices within a cell served by the base station;
and the base station informs the robot control module of the time-frequency resources in the inter-device communication discovery phase used for the robot control module, and informs the other communication devices of the time-frequency resources in the inter-device communication discovery phase used for the other communication devices in the cell served by the base station.
5. The transmission method of control information for an intelligent robot according to claim 4, wherein: the transmission method of the control information for the intelligent robot comprises the following steps:
if no data transmission between the first communication equipment and the base station reaches a certain time, the first communication equipment enters an RRC idle state;
discarding, by the first communication device, a discovery phase identifier of the first communication device in response to the first communication device entering an RRC idle state;
returning, by the first communication device, an RRC connected state in response to receiving the inter-device communication discovery message sent by the robot control module;
requesting, by the first communication device, discovery phase time-frequency resources for inter-device communication and a discovery phase identifier for the first communication device from the base station;
re-allocating, by the base station, to the first communication device, new discovery phase identifiers for the first communication device and inter-device communication discovery phase time-frequency resources in response to receiving the request of the first communication device;
in response to receiving the time-frequency resource for the inter-device communication discovery phase and the new discovery phase identifier for the first communication device, sending, by the first communication device, an inter-device communication discovery response message to the robot control module on the time-frequency resource for the inter-device communication discovery phase, the inter-device communication discovery response message including the new discovery phase identifier for the first communication device.
6. A transmission system of control information for an intelligent robot, characterized in that: the transmission system of control information for an intelligent robot includes:
a unit for collecting environmental information by a robot control module having a communication function;
means for establishing, by the robot control module, an RRC connection with a base station, and the robot control module being in an RRC connected state;
means for transmitting, by the robot control module, a resource request message to the base station when the robot control module determines to perform inter-device communication;
means for determining, by the base station, inter-device communication discovery phase time-frequency resources for the robot control module and inter-device communication discovery phase time-frequency resources for other communication devices within a cell served by the base station in response to receiving the resource request message;
means for determining, by the base station, a number of communication devices establishing an RRC connection with the base station within a cell served by the base station in response to receiving the resource request message;
means for generating, by the base station, a discovery phase identifier dedicated to an inter-device communication discovery phase based on a number of communication devices within a cell served by the base station that establish an RRC connection with the base station, wherein the discovery phase identifier is shorter in length than IMSIs of the robot control module and other communication devices within the cell served by the base station;
means for assigning and transmitting, by the base station, a first discovery phase identifier to the robot control module, and assigning and transmitting, by the base station, a plurality of discovery phase identifiers to other communication devices within a cell served by the base station; and
means for notifying, by the base station, the robot control module of inter-device communication discovery phase time-frequency resources for the robot control module, and notifying, by the base station, the other communication devices of inter-device communication discovery phase time-frequency resources for the other communication devices in a cell served by the base station.
7. The transmission system of control information for an intelligent robot according to claim 6, wherein: the transmission system of control information for an intelligent robot includes:
means for transmitting, by the robot control module, an inter-device communication discovery message on the inter-device communication discovery phase time-frequency resource for the robot control module in response to receiving the inter-device communication discovery phase time-frequency resource for the robot control module notified by the base station, wherein the inter-device communication discovery message includes the first discovery phase identifier;
means for transmitting, by a first communication device of other communication devices within a cell served by the base station, an inter-device communication discovery response message in response to receiving the inter-device communication discovery message, wherein the inter-device communication discovery response message includes a discovery phase identifier of the first communication device;
means for transmitting, by the robot control module, a discovery signal to the first communication device in response to receiving the inter-device communication discovery response message, wherein the discovery signal includes the first discovery phase identifier, a discovery phase identifier of the first communication device, and the environmental information;
means for transmitting, by the first communication device, the environment message to the base station in response to receiving the environment information.
8. The transmission system of control information for an intelligent robot according to claim 7, wherein: the transmission system of control information for an intelligent robot includes:
means for transmitting, by the base station, the environmental message to an intelligent robot management center in response to receiving the environmental message;
means for generating, by an intelligent robot management center, robot control information based on the environmental message;
a unit for transmitting the robot control information to the base station by an intelligent robot management center;
means for transmitting, by the base station, the robot control information to the robot control module.
9. The transmission system of control information for an intelligent robot according to claim 8, wherein: the transmission system of control information for an intelligent robot includes:
a unit configured to enter an RRC idle state by the robot control module if there is no data transmission between the robot control module and the base station for a certain time;
means for discarding, by the robot control module, the first discovery phase identifier in response to the robot control module entering an RRC idle state;
a unit configured to, after the robot control module enters an RRC idle state, determine that inter-device communication is to be performed by the robot control module, and return to an RRC connected state by the robot control module;
means for sending, by the robot control module, a resource request message to the base station in response to the robot control module returning to an RRC connected state;
means for determining, by the base station, inter-device communication discovery phase time-frequency resources for the robot control module and inter-device communication discovery phase time-frequency resources for other communication devices within a cell served by the base station in response to receiving the resource request message;
means for determining, by the base station, a number of communication devices establishing an RRC connection with the base station within a cell served by the base station in response to receiving the resource request message;
means for generating, by the base station, a discovery phase identifier dedicated to an inter-device communication discovery phase based on a number of communication devices within a cell served by the base station that establish an RRC connection with the base station, wherein the discovery phase identifier is shorter in length than IMSIs of the robot control module and other communication devices within the cell served by the base station;
means for assigning and transmitting, by the base station, a second discovery phase identifier to the robot control module, and assigning and transmitting, by the base station, a plurality of discovery phase identifiers to other communication devices within a cell served by the base station;
means for notifying, by the base station, the robot control module of inter-device communication discovery phase time-frequency resources for the robot control module, and notifying, by the base station, the other communication devices of inter-device communication discovery phase time-frequency resources for the other communication devices in a cell served by the base station.
10. The transmission system of control information for an intelligent robot according to claim 9, wherein: the transmission system of control information for an intelligent robot includes:
means for entering an RRC idle state by the first communication device if there is no data transmission between the first communication device and the base station for a certain time;
means for discarding, by the first communication device, a discovery phase identifier of the first communication device in response to the first communication device entering an RRC idle state;
means for returning, by the first communication device, an RRC connected state in response to receiving the inter-device communication discovery message sent by the robot control module;
means for requesting, by the first communication device, discovery phase time-frequency resources for inter-device communication and a discovery phase identifier for the first communication device from the base station;
means for reallocating, by the base station, to the first communication device, new discovery phase identifiers for the first communication device and inter-device communication discovery phase time-frequency resources in response to receiving the request of the first communication device;
means for transmitting, by the first communication device, an inter-device communication discovery response message to the robot control module on the inter-device communication discovery phase time-frequency resources in response to receiving the new discovery phase identifier for the first communication device and the inter-device communication discovery phase time-frequency resources, the inter-device communication discovery response message including the new discovery phase identifier for the first communication device.
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