CN110677891A - Method for connecting robot and mobile terminal - Google Patents
Method for connecting robot and mobile terminal Download PDFInfo
- Publication number
- CN110677891A CN110677891A CN201910919078.6A CN201910919078A CN110677891A CN 110677891 A CN110677891 A CN 110677891A CN 201910919078 A CN201910919078 A CN 201910919078A CN 110677891 A CN110677891 A CN 110677891A
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- robot
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W36/00—Hand-off or reselection arrangements
- H04W36/16—Performing reselection for specific purposes
- H04W36/18—Performing reselection for specific purposes for allowing seamless reselection, e.g. soft reselection
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04M—TELEPHONIC COMMUNICATION
- H04M1/00—Substation equipment, e.g. for use by subscribers
- H04M1/72—Mobile telephones; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selection
- H04M1/724—User interfaces specially adapted for cordless or mobile telephones
- H04M1/72403—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality
- H04M1/72409—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality by interfacing with external accessories
- H04M1/72415—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality by interfacing with external accessories for remote control of appliances
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W76/00—Connection management
- H04W76/10—Connection setup
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W76/00—Connection management
- H04W76/10—Connection setup
- H04W76/15—Setup of multiple wireless link connections
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The invention discloses a method for connecting a robot and a mobile terminal, which comprises a single-control connection mode and a multi-control connection mode. The single control connection mode is that after the mobile terminal is communicated with the robot, the robot is controlled, other connection channels can continue to try to connect, and the connection channel with the better signal state is replaced according to the signal state of each channel; the multi-control connection mode is that under the condition that a certain channel is connected with a robot and the robot is controlled, other connection channels can continue to try to connect, if various connection channels are successfully connected with the robot, various channels which are successfully connected are adopted at the moment, the same control instruction is sent to the robot, and the robot abandons the same instruction transmitted through other channels based on the channel instruction which is preferentially received. The single control connection mode can ensure the fluency, low time delay and data flow as low as possible of connection as far as possible; the multi-control connection mode can ensure the fluency and the lowest time delay to the greatest extent.
Description
Technical Field
The invention relates to the technical field of communication, in particular to a method for connecting a robot and a mobile terminal.
Background
More and more robots in life, a mobile terminal is necessary to control the robot like a mobile phone, at present, the mobile phone terminal is connected with the internet in two modes, one mode is through a cellular network and the other mode is through a local area network, the mobile phone terminal can be connected with the robot in a Bluetooth mode, when a mobile data terminal of the mobile phone is opened, the mobile phone is connected with the internet through the cellular network, and when the local area network terminal of the mobile phone is opened, the mobile phone is connected with the internet through WIFI. When only one network is connected with a channel, if the signal state of the channel is unstable, the connection between the two is intermittent, and the connection quality is seriously affected, so that when various networks exist, how the mobile phone terminal selects the network with the most stable signal from the various networks to realize the connection with the robot is an urgent problem to be solved at present.
Disclosure of Invention
The invention aims to provide a method for connecting a robot and a mobile terminal, which realizes connection through a single control connection mode or a multi-control connection mode, wherein the single control connection mode can ensure the smoothness and low time delay of connection as much as possible and can ensure the required data flow as low as possible; the multi-control connection mode can ensure the fluency and the lowest time delay to the greatest extent.
The above object of the present invention is achieved by the following technical solutions:
a robot and mobile terminal connection method comprises a single control connection mode and a multi-control connection mode.
In the single control connection mode, the robot can be controlled by only one of three connection channels of the mobile terminal and the robot; meanwhile, the mobile terminal continuously tries to connect other channels, periodically checks the state and stability of all the connected channels at present, collects the response time and response success rate parameters of the test data, and feeds back the parameter data to the channel signal decision module of the mobile terminal, and the channel signal decision module decides the channel to be used according to the signal state of each channel of the current mobile phone and the signal state of each channel of the robot. The signal states of the channels of the mobile terminal and the robot terminal include parameters such as signal strength, rate, time delay, packet loss rate and the like.
When the channel connection is successful, the mobile terminal continues to detect other channels, aims to find out all channels which can be normally used, and switches to a more optimal channel when the signal state of the channel which can be normally used is more stable and the delay is shorter than that of the channel which is currently used in the subsequent detection.
Under the condition that the signal state of the current connection channel is stable, the channel signal decision module obtains a channel capable of being connected through at least two rounds of data comparison and decision, and transmits the result to the connection module to realize the switching of the connection channel, and meanwhile, the connection channel which is not adopted continuously keeps connection and heartbeat.
If the current connection channel is unavailable or the stability is not good, the channel signal decision module is also triggered to retest the current states of all the channels, and the connection channel with the better signal state is replaced.
If the multiple connecting channels are unstable or the time delay has large fluctuation, the multiple connecting channels are adopted to simultaneously control the instructions of the robot, and the same instructions transmitted by other channels are abandoned by the robot end based on the channel instructions received preferentially.
The single control connection mode can ensure the smoothness and low time delay of connection as far as possible, and simultaneously can ensure that the required data flow is as low as possible.
In the multi-control connection mode, the robot can be controlled by only one of the three connection channels of the mobile terminal and the robot, and meanwhile, the mobile terminal continues to try to connect the other channels.
Under the condition that a certain channel is connected with the robot, if other connecting channels are connected with the robot successfully, various channels which are connected successfully are adopted at the moment, the same control instruction is sent to the robot, and the same instruction transmitted by other channels is abandoned by the robot end based on the channel instruction which is received preferentially.
Each link channel has a heartbeat to maintain and detect the availability of the link, and if it is detected that a link channel is not available, the mobile terminal attempts to connect the robot using the link channel again.
The multi-control connection mode can ensure the fluency and the lowest time delay to the greatest extent.
Compared with the prior art, the invention has the beneficial technical effects that:
1. the method realizes the connection of the mobile end and the robot end through two connection modes, namely a multi-control connection mode and a single-control connection mode, and performs other channel connection and switching control according to signal states when one channel is communicated;
2. further, in the single-control connection mode, when the current connection channel is stable or unstable, different methods are adopted to realize the connection between the mobile terminal and the robot terminal, so that the connection smoothness and low time delay are ensured;
3. further, the multi-control connection mode of the application adopts the principle of first-come first-connect for all channels which are connected simultaneously, so that the lowest time delay of connection is realized.
Drawings
FIG. 1 is a flow chart illustrating a single control connection mode according to an embodiment of the present invention;
FIG. 2 is a flow chart of a multi-control connection mode according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The robot and the mobile phone end can establish connection through connection modes such as a cellular network (3G, 4G, 5G), Bluetooth, WiFi and the like, and communication and control of the robot by the mobile phone are achieved. During connection, a plurality of connection modes coexist or one of the connection modes is selected to connect two modes according to specific conditions; under the two modes, when the currently used connection mode is unstable or other connection modes are smoother and more stable, the connection mode can be switched to a better connection mode without feeling.
The mobile phone end is connected with the robot through 3 channels, namely a first internet connection channel, a second local area network connection channel and a third Bluetooth connection channel. The mobile phone simultaneously attempts to connect the robot by using one or more channels according to the current network situation.
If the mobile phone can access the Internet, a first Internet connection channel is adopted, the robot is connected through a server according to a protocol, and the network environment of the robot is detected; if the robot is in the local area network, a second local area network connection channel is adopted, and the searching robot is broadcasted in the whole local area network; the mobile phone matches and searches peripheral Bluetooth equipment through a third connecting channel Bluetooth.
The invention relates to a method for connecting a robot and a mobile terminal, which comprises a single control connection mode and a multi-control connection mode, wherein the single control connection mode is that after the mobile terminal is communicated with the robot, the robot is controlled, other connection channels can continuously try to connect, and the connection channel with a better signal state is replaced according to the signal state of each channel; the multi-control connection mode is that under the condition that a certain channel is connected with a robot and the robot is controlled, other connection channels can continue to try to connect, if various connection channels are successfully connected with the robot, various channels which are successfully connected are adopted at the moment, the same control instruction is sent to the robot, and the robot abandons the same instruction transmitted through other channels based on the channel instruction which is preferentially received.
Specifically, in the single control connection mode, under the condition that the current connection channel signal state is stable, the states of all channels are periodically checked, and a channel signal decision module decides a switched channel through comparison; under the condition that the current connecting channel is unavailable or poor in stability, triggering a channel signal decision module to test the current states of all channels again to decide a switched channel; under the condition that various connecting channels are unstable or the time delay fluctuation is larger than a threshold value, the various connecting channels are adopted to simultaneously control the instructions of the robot, and the same instructions transmitted by other channels are abandoned by the robot end based on the channel instructions received preferentially.
In a specific embodiment of the present invention, as shown in fig. 1, in the single control connection mode, the mobile terminal starts to operate to realize connection with a channel, including the following steps:
s1, the mobile terminal starts to detect the connection condition of the mobile terminal;
s2, selecting at least one of the connection modes of the Internet, the local area network and the Bluetooth to connect according to the self condition;
s3, connecting the robot by a plurality of channels;
s4, receiving a connection signal fed back by the robot to obtain a channel to successfully connect the robot;
and S5, judging whether the situation that the robot is successfully connected with various channels exists, if so, determining which channel is communicated with by the channel decision module, and if not, turning to S3.
When the mobile terminal has a channel to be successfully connected, the control of the robot terminal can be realized, and the mobile terminal enters the operation process, which comprises the following steps:
a1, connecting the mobile terminal and the robot terminal through a channel;
a2, periodically detecting the stability of each channel;
a3, feeding back the collected test data to a channel signal decision module;
a4, receiving the connection channel information sent by the channel decision module;
a5, switching connection channels, and keeping the connection mode of other channels normal and the heartbeat normal;
and A6, seamlessly switching to a new channel mode to control the robot.
When in the single control connection mode, the operation of the channel signal decision module of the mobile terminal comprises the following steps:
b1, receiving information of simultaneous connection of multiple channel connection modes of the mobile terminal;
b2, respectively carrying out quality detection on the local area network, the Internet and the Bluetooth;
b3, receiving test data of each channel;
b4, receiving feedback data of the robot end;
b5, judging whether the current connection is stable according to the data in the steps from B2 to B4, if not, turning to B9, and if so, entering the next step;
b6, judging whether at least three detection rounds are performed, if so, turning to B8, and if not, entering the next step;
b7, recording the current detection result, and turning to B1;
b8, deciding a connecting channel according to the detection result, and turning to B10;
b9, decision connecting channel;
b10, B1.
When the single control connection mode is adopted, the operation of the robot end comprises the following steps:
d1, the robot receives request information of one or more connection modes sent by the mobile terminal;
d2, the robot replies the received connection request to the mobile terminal;
d3, respectively carrying out quality detection on the local area network, the Internet and the Bluetooth;
d4, collecting signal data of each module;
d5, feeding back data to a communication signal decision module of the mobile terminal;
d6, turn to D1.
Each module comprises a WiFi detection module, a cellular network detection module, a Bluetooth detection module and a robot self detection data receiving and processing module.
In an embodiment of the present invention, as shown in fig. 2, in the multi-control connection mode, the mobile terminal starts to operate to realize connection with one channel, including the following steps:
e1, detecting the connection condition of the user;
e2, according to the self condition, selecting at least one of the connection modes of the internet, the local area network and the Bluetooth for connection;
e3, connecting the robot by trying all available channels and sending instructions to the robot;
e4, receiving a connection request signal returned by the robot;
e5, successfully connecting the robot through a channel connection mode to control the robot;
e6, continuing to try connection of other channel connection modes, and turning to E3.
Under the mode is connected to many accuses, remove the end and realized being connected with robot end through a passageway, remove the end and get into the operation process, include the following step:
f1, the mobile terminal and the robot are connected through a channel, and a channel successful connection signal is received;
f2, sending control instructions to the robot through all the available connecting channels simultaneously;
f3, sending heartbeats regularly to detect the connection availability;
f4, heartbeat detection, and if a connecting channel is detected to be unavailable, the robot is tried to be connected again through the channel.
When the robot end starts to operate, the method comprises the following steps:
g1, the robot receives the request information of one or more connection modes of the mobile terminal;
g2, the robot replies the received connection request information to the mobile terminal.
The operation process of the robot end comprises the following steps:
h1, the robot and the mobile terminal have a successful connection mode;
h2, after receiving a new connection mode request, the robot replies the connection request to the mobile terminal;
h3, the robot receives the control commands transmitted by a plurality of connecting channels, adopts the control command received firstly, and abandons the same commands transmitted by other channels.
The embodiments of the present invention are preferred embodiments of the present invention, and the scope of the present invention is not limited by these embodiments, so: all equivalent changes made according to the structure, shape and principle of the invention are covered by the protection scope of the invention.
Claims (10)
1. A method for connecting a robot and a mobile terminal is characterized in that: the method comprises a single-control connection mode and a multi-control connection mode, wherein the single-control connection mode is that after a mobile terminal is communicated with a robot, the robot is controlled, other connection channels can continue to try to connect, and the connection channel with a better signal state is replaced according to the signal state of each channel; the multi-control connection mode is that under the condition that a certain channel is connected with a robot and the robot is controlled, other connection channels can continue to try to connect, if various connection channels are successfully connected with the robot, various channels which are successfully connected are adopted at the moment, the same control instruction is sent to the robot, and the robot abandons the same instruction transmitted through other channels based on the channel instruction which is preferentially received.
2. The method of claim 1, wherein the method further comprises: in the single control connection mode, under the condition that the current connection channel signal state is stable, the states of all channels are periodically checked, and a channel signal decision module decides a switched channel through comparison; under the condition that the current connecting channel is unavailable or poor in stability, triggering a channel signal decision module to test the current states of all channels again to decide a switched channel; under the condition that various connecting channels are unstable or the time delay fluctuation is larger than a threshold value, the various connecting channels are adopted to simultaneously control the instructions of the robot, and the same instructions transmitted by other channels are abandoned by the robot end based on the channel instructions received preferentially.
3. The method of claim 1, wherein the method further comprises: when the single control connection mode is adopted, the mobile terminal starts to operate, and the method comprises the following steps:
s1, the mobile terminal starts to detect the connection condition of the mobile terminal;
s2, selecting at least one of the connection modes of the Internet, the local area network and the Bluetooth to connect according to the self condition;
s3, connecting the robot by a plurality of channels;
s4, receiving a connection signal fed back by the robot to obtain a channel to successfully connect the robot;
and S5, judging whether the situation that the robot is successfully connected with various channels exists, if so, determining which channel is communicated with by the channel decision module, and if not, turning to S3.
4. The method of claim 3, wherein the method further comprises: the method comprises the following steps in the operation process of the mobile terminal:
a1, connecting the mobile terminal and the robot terminal through a channel;
a2, periodically detecting the stability of each channel;
a3, feeding back the collected test data to a channel signal decision module;
a4, receiving the connection channel information sent by the channel decision module;
a5, switching connection channels, and keeping the connection mode of other channels normal and the heartbeat normal;
and A6, seamlessly switching to a new channel mode to control the robot.
5. The method of claim 4, wherein the method further comprises: when in the single control connection mode, the operation of the channel signal decision module of the mobile terminal comprises the following steps:
b1, receiving information of simultaneous connection of multiple channel connection modes of the mobile terminal;
b2, respectively carrying out quality detection on the local area network, the Internet and the Bluetooth;
b3, receiving test data of each channel;
b4, receiving feedback data of the robot end;
b5, judging whether the current connection is stable according to the data in the steps from B2 to B4, if not, turning to B9, and if so, entering the next step;
b6, judging whether at least three (MOU 1) detections are carried out, if so, turning to B8, and if not, entering the next step;
b7, recording the current detection result, and turning to B1;
b8, deciding a connecting channel according to the detection result, and turning to B10;
b9, decision connecting channel;
b10, B1.
6. The method of claim 1, wherein the method further comprises: when the single control connection mode is adopted, the operation of the robot comprises the following steps:
d1, the robot receives request information of one or more connection modes sent by the mobile terminal;
d2, the robot replies the received connection request to the mobile terminal;
d3, respectively carrying out quality detection on the local area network, the Internet and the Bluetooth;
d4, collecting signal data of each module;
d5, feeding back data to a communication signal decision module of the mobile terminal;
d6, turn to D1.
7. The method of claim 1, wherein the method further comprises: when the multi-control connection mode is adopted, the mobile terminal starts to operate, and the method comprises the following steps:
e1, detecting the connection condition of the user;
e2, according to the self condition, selecting at least one of the connection modes of the internet, the local area network and the Bluetooth for connection;
e3, connecting the robot by trying all available channels and sending instructions to the robot;
e4, receiving a connection request signal returned by the robot;
e5, successfully connecting the robot through a channel connection mode to control the robot;
e6, continuing to try connection of other channel connection modes, and turning to E3.
8. The method of claim 7, wherein the method further comprises: when the multi-control connection mode is adopted, the operation process of the mobile terminal comprises the following steps:
f1, the mobile terminal and the robot are connected through a channel, and a channel successful connection signal is received;
f2, sending control commands to the robot simultaneously through all the connection modes;
f3, sending heartbeats regularly to detect the connection availability;
f4, heartbeat detection, and if a connecting channel is detected to be unavailable, the robot is tried to be connected again through the channel.
9. The method of claim 1, wherein the method further comprises: when the multi-control connection mode is adopted, the robot end starts to operate and comprises the following steps:
g1, the robot receives the request information of one or more connection modes of the mobile terminal;
g2, the robot replies the received connection request information to the mobile terminal.
10. The method of claim 9, wherein the method further comprises: the operation process of the robot end comprises the following steps:
h1, the robot and the mobile terminal have a successful connection mode;
h2, after receiving a new connection mode request, the robot replies the connection request to the mobile terminal;
h3, the robot receives the control commands transmitted by a plurality of connecting channels, adopts the control command received firstly, and abandons the same commands transmitted by other channels.
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| CN201910919078.6A CN110677891A (en) | 2019-09-26 | 2019-09-26 | Method for connecting robot and mobile terminal |
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| CN201910919078.6A CN110677891A (en) | 2019-09-26 | 2019-09-26 | Method for connecting robot and mobile terminal |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113721528A (en) * | 2021-09-02 | 2021-11-30 | 北京伊拜科技有限责任公司 | Industrial detonator blasting operation safety initiation control system and control method thereof |
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| CN109560959A (en) * | 2018-10-28 | 2019-04-02 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | The more net redundant transmission methods of isomery time trigger |
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| US20150312350A1 (en) * | 2012-11-30 | 2015-10-29 | Metso Automation Oy | Multi-channel sensor measurement method and system |
| CN107318173A (en) * | 2016-04-26 | 2017-11-03 | 腾讯科技（深圳）有限公司 | The data transmission method and system of mobile terminal and onboard system |
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Application publication date: 20200110 |