CN111447599A - Robot communication method and system based on multilink multiplexing - Google Patents
Robot communication method and system based on multilink multiplexing Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/06—Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/70—Services for machine-to-machine communication [M2M] or machine type communication [MTC]
Abstract
The invention discloses a robot communication method and system based on multilink multiplexing, wherein the method comprises the following steps: the information sending end creates and broadcasts first state information through a near field communication link, and simultaneously sends the first state information to the cloud server through a far field communication link; the cloud server acquires an information receiving end from the information content of the first state information, and updates the current state information of the information receiving end according to the information version of the first state information to generate second state information; and the information receiving end receives the second state information and updates the current state information of the information receiving end through the information version of the second state information. According to the invention, far-field communication links such as public networks and private networks are added in near-field communication links of a plurality of robots and near-field communication links of the robots and the Internet of things equipment, and information fusion is carried out in the multi-link multiplexing communication process, so that the stability and accuracy of communication are improved, and the actual communication requirements of high timeliness and high accuracy are met.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the field of intelligent robots, in particular to a robot communication method and system based on multilink multiplexing.
[ background of the invention ]
With the development of the technology, the service mobile robot can help people to complete simple and repetitive work tasks, such as material transfer work on the same floor and across floors, night patrol work in buildings, or guest welcome work in entertainment places such as hotels and KTVs, so that the work content of people such as dish passers, couriers, security guards and guests is reduced, and people and units are helped to save manpower. The above specific affairs usually require cooperative work among a plurality of mobile robots and between the mobile robots and the internet of things devices, that is, it is necessary to ensure that the mobile robots and the internet of things devices timely and accurately acquire message contents with correct clocks and correct logical sequences, such as geographical positions, movement information, task states, task priorities, and the like, of the mobile robots and the internet of things devices, so that communication quality between the mobile robots and the internet of things devices is required to be ensured. In the prior art, a mobile robot and internet of things device usually adopt a near-field communication mode, such as a millimeter-hundred meter level radio communication mode based on a civil commercial frequency band, such as bluetooth, 2.4G and Zigbee, and the communication mode is unstable, packet loss is easy to occur, and actual communication requirements of high timeliness and high accuracy are difficult to meet.
[ summary of the invention ]
The invention provides a robot communication method and system based on multilink multiplexing, which solve the technical problems.
The technical scheme for solving the technical problems is as follows: a robot communication method based on multilink multiplexing comprises the following steps:
the method comprises the steps that an information sending end creates and broadcasts first state information through a near field communication link, and meanwhile the first state information is sent to a cloud server through a far field communication link, wherein the first state information comprises a device descriptor, first information content and a first information version of the information sending end;
the cloud server receives the first state information through a far-field communication link, acquires an information receiving end pointed by the first state information from first information content, and updates the current state information of the information receiving end according to a first information version to generate second state information to be sent to the information receiving end;
and the information receiving end receives the second state information through a far-field communication link and updates the current state information of the information receiving end through the information version of the second state information.
In a preferred embodiment, the cloud server obtains an information receiving end pointed by first state information from first information content, and updates current state information of the information receiving end according to a first information version to generate second state information, and sends the second state information to the information receiving end, including the following steps:
acquiring an information receiving end and target information content pointed by the first state information from first information content;
inquiring a database, and acquiring the current state information of an information receiving end according to an equipment descriptor of the information receiving end, wherein the current state information of the information receiving end comprises the equipment descriptor of the information receiving end, the current information content and the current information version;
judging whether the first information version is higher than the current information version of an information receiving end, if so, adding the target information content into the current information content of the information receiving end, updating the current information version of the information receiving end into the first information version, and generating second state information to be sent to the information receiving end; if not, keeping the current state information of the information receiving end unchanged.
In a preferred embodiment, the robot communication method based on multilink multiplexing further includes the steps of: the cloud server inquires a database, acquires the current state information of an information sending end according to an equipment descriptor of the information sending end, then judges whether the first information version is higher than the current information version of the information sending end, and if so, respectively updates the current information content and the current information version of the information sending end into the first information content and the first information version; if not, the current state information of the information sending end is kept unchanged.
In a preferred embodiment, the corresponding first information version is generated according to the creation time of the first state information, and the later the creation time is, the higher the first information version is.
In a preferred embodiment, the receiving end receives the second state information through the far-field communication link, and updates its current state information through the information version of the second state information specifically includes the following steps:
receiving the second state information through a far-field communication link and receiving first state information broadcasted by at least one information sending end through a near-field communication link;
and acquiring own current state information, and updating the own current state information through the second state information and/or the information version of the first state information.
A second aspect of the embodiments of the present invention provides a robot communication system based on multilink multiplexing, including a cloud server, an information sending end and an information receiving end,
the information sending end is used for creating and broadcasting first state information through a near field communication link, and sending the first state information to the cloud server through a far field communication link, wherein the first state information comprises an equipment descriptor, first information content and a first information version of the information sending end;
the cloud server is used for receiving the first state information through a far-field communication link, acquiring an information receiving end pointed by the first state information from first information content, and updating current state information of the information receiving end according to a first information version to generate second state information and send the second state information to the information receiving end;
the information receiving end is used for receiving the second state information through a far-field communication link and updating the current state information of the information receiving end through the information version of the second state information.
In a preferred embodiment, the cloud server comprises an information processing module, a query module and a cloud fusion module,
the information processing module is used for acquiring an information receiving end and target information content pointed by the first state information from first information content;
the query module is used for querying a database and acquiring the current state information of the information receiving end according to the equipment descriptor of the information receiving end, wherein the current state information of the information receiving end comprises the equipment descriptor of the information receiving end, the current information content and the current information version;
the cloud fusion module is used for judging whether the first information version is higher than the current information version of an information receiving end, if so, adding the target information content into the current information content of the information receiving end, updating the current information version of the information receiving end into the first information version, and generating second state information to be sent to the information receiving end; if not, keeping the current state information of the information receiving end unchanged.
In a preferred embodiment, the cloud server further includes an information updating module, where the information updating module is configured to query a database, obtain current state information of an information sending end according to a device descriptor of the information sending end, and determine whether the first information version is higher than a current information version of the information sending end, and if so, update the current information content and the current information version of the information sending end to the first information content and the first information version, respectively; if not, the current state information of the information sending end is kept unchanged.
In a preferred embodiment, the far-field communication link comprises a public network and/or a private network based on a tcp request, an udp request, and an http request, and the near-field communication link comprises any one or more of a 2.4G network, a Bluetooth network, an RFID network, an NFS network, a ZigBee network, a UWB network, and an L IFI network.
In a preferred embodiment, the information receiving end comprises an information receiving module and a local fusion module,
the information receiving module is used for receiving the second state information through a far-field communication link and receiving first state information broadcasted by at least one information sending end through a near-field communication link;
the local fusion module is used for acquiring the current state information of the local fusion module and updating the current state information of the local fusion module through the second state information and/or the information version of the first state information.
The invention provides a multilink multiplexing robot communication method and system, wherein far-field communication links such as public networks, private networks and the like are added in near-field communication links of a plurality of robots, robots and Internet of things equipment, and information fusion is carried out in the multilink multiplexing communication process, so that the stability and accuracy of communication are improved, and the actual communication requirements of high timeliness and high accuracy are met.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic flowchart of a robot communication method based on multilink multiplexing provided in embodiment 1;
fig. 2 is a schematic structural diagram of a robot communication system based on multilink multiplexing according to embodiment 2.
[ detailed description ] embodiments
In order to make the objects, technical solutions and advantageous effects of the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and the detailed description. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
Fig. 1 is a schematic flowchart of a robot communication method based on multilink multiplexing provided in embodiment 1, and as shown in fig. 1, the method includes the following steps:
the information sending method includes the steps that an information sending end creates and broadcasts first state information through a near-field communication link, and simultaneously sends the first state information to a cloud server through a far-field communication link, specifically, the information sending end comprises a mobile robot and an internet of things device, such as an elevator, a gate, a door opening and closing device and the like, near-field network communication hardware and far-field network communication hardware are arranged in the mobile robot and the internet of things device, the first state information can be broadcast to other information sending ends through the near-field network communication hardware, and after the cloud server is connected through the far-field network communication hardware, the content of near-field communication (namely first state information) can be distributed to the cloud server together.
S02, the cloud server receives the first status information through the far-field communication link. The cloud server has a network service which can be accessed by using a public or private network, so that the first state information sent by the information sending end is received. The first state information includes a device descriptor, first information content, and a first information version of the information sending end, and in a specific embodiment, the corresponding first information version may be generated according to creation time of the first state information, where the later the creation time is, the higher the first information version is. Meanwhile, different types of information sending ends have different device descriptors and first information contents, for example, the first information contents of the mobile robot include geographic position information, door opening and closing information, door entering and exiting information, environment information, task information and the like; the first information content of the internet of things equipment comprises floor information, direction information, door opening and closing information, carried robot information and the like. And the device descriptor includes the device type and the device ID number, so that it can determine which terminal transmits the status information through the device descriptor.
And then the cloud server acquires the information receiving end pointed by the first state information from the first information content, updates the current state information of the information receiving end according to the first information version to generate second state information and sends the second state information to the information receiving end, wherein the formed second state information is the latest state information obtained by fusing the first state information sent by a plurality of associated information sending ends. The method specifically comprises the following steps:
s201, the cloud server acquires an information receiving end and target information content pointed by the first state information from the first information content. For example, when the information sending end is a mobile robot, the first information content sent by the information sending end includes riding a 03-numbered elevator, the information receiving end at this time is the 03-numbered elevator, and the target information content is that the 03-numbered elevator is ridden to the target floor at the starting floor.
S202, then, querying the database, and obtaining the current state information of the information receiving end according to the device descriptor of the information receiving end, that is, the latest state information recorded by the information receiving end on the cloud server. The current state information of the information receiving end comprises a device descriptor, current information content and a current information version of the information receiving end.
S203, judging whether the first information version is higher than the current information version of an information receiving end, if so, adding the target information content into the current information content of the information receiving end, updating the current information version of the information receiving end into the first information version to generate second state information and sending the second state information to the information receiving end; if not, keeping the current state information of the information receiving end unchanged. For example, the information sending terminal is a robot, and the robot needs to take the elevator, the content taking the elevator in the robot information is taken out and fused into the current information content of the target elevator, and is sent to the target elevator.
Then, step S03 is executed, and the information receiving end receives the second state information through the far-field communication link, and updates its current state information by the information version of the second state information. Specifically, when the information version of the second state information is higher than the information version of the current state information, the second state information is added to the current state information, the information version of the current state information is replaced with the information version of the second state information, and otherwise, the second state information is deleted. Therefore, when the near field communication hardware of the information receiving end or the information sending end is damaged, messages can still be mutually transmitted and received through the far field communication hardware, and the communication quality is guaranteed.
In another embodiment, the information receiving end may still receive the first state information through the near field communication hardware, and only the reception quality is poor and the phenomena such as packet loss may occur, where the fusion process of the information receiving end includes the following steps:
s301, an information receiving end receives the second state information through a far-field communication link and receives first state information broadcasted by at least one information sending end through a near-field communication link;
s302, obtaining the current state information of the user, and updating the current state information of the user through the second state information and/or the information version of the first state information. Therefore, the information receiving end receives data packets sent by the near-field communication link (a plurality of information sending ends) and the far-field communication link (the cloud server) at the same time, the data are fused locally through the information version of each data packet, namely the latest information content is obtained through comparing the information versions, therefore, when any one communication link cannot be communicated or the communication condition is not good and the packet loss is serious, the other link can complete communication, for example, even if a robot is not in front of an elevator (namely 2.4G cannot communicate), the elevator can be called remotely.
The following description will be made by specific examples.
In one embodiment, the robot a and the robot B perform tour tasks on the same floor together, and after moving to a certain place, the two robots are required to exchange the tour tasks, so that the task execution efficiency is improved. However, the near field network communication hardware of the two robots is damaged, and communication cannot be performed through the near field network link or the communication quality is poor. At the moment, the robot A sends first state information to the cloud server, the cloud server finds that task content pointing to the robot B exists in the first state information after receiving the first state information of the robot A, so that a database is inquired to obtain current state information of the robot B, then the task content pointing to the robot B in the first state information of the robot A is added to the current state information of the robot B to complete an information fusion process, and the fused second state information is sent to the robot B in a far field mode, so that communication between the robot A and the robot B is achieved.
And then the cloud server finds that response content pointing to the robot A exists in the first state information after receiving the first state information of the robot B as a response, so that the database is inquired to obtain the current state information of the robot A, the response content is added into the current state information of the robot A to complete fusion and update of the current state information of the robot A, and the second state information after fusion and update is sent to the robot A, so that remote communication between the robot A and the robot B is realized.
The robot communication method of another preferred embodiment further comprises the steps of: the cloud server inquires a database, acquires the current state information of an information sending end according to an equipment descriptor of the information sending end, then judges whether the first information version is higher than the current information version of the information sending end, and if so, respectively updates the current information content and the current information version of the information sending end into the first information content and the first information version; if not, the current state information of the information sending end is kept unchanged. Therefore, after the cloud server acquires the first state information of the same information sending end through multiple ways, such as multiple far-field communication links, the stored current state information can be ensured to be the latest state information according to the information version of the first state information.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
Fig. 2 is a schematic structural diagram of a robot communication system based on multilink multiplexing according to embodiment 2, as shown in fig. 2, including a cloud server 200, an information sending end 100 and an information receiving end 300,
the information sending end 100 is configured to create and broadcast first state information through a near field communication link, and send the first state information to a cloud server through a far field communication link, where the first state information includes a device descriptor, first information content, and a first information version of the information sending end;
the cloud server 200 is configured to receive the first state information through a far-field communication link, acquire an information receiving end pointed by the first state information from first information content, and update current state information of the information receiving end according to a first information version to generate second state information and send the second state information to the information receiving end;
the information receiving end 300 is configured to receive the second state information through a far-field communication link, and update its current state information through an information version of the second state information.
In a preferred embodiment, the cloud server 200 includes an information processing module 201, a query module 202 and a cloud fusion module 203,
the information processing module 201 is configured to obtain an information receiving end and target information content pointed by the first status information from first information content;
the query module 202 is configured to query a database, and obtain current state information of an information receiving end according to a device descriptor of the information receiving end, where the current state information of the information receiving end includes the device descriptor of the information receiving end, current information content, and a current information version;
the cloud fusion module 203 is configured to determine whether the first information version is higher than a current information version of an information receiving end, and if so, add the target information content to the current information content of the information receiving end, and update the current information version of the information receiving end to the first information version to generate second state information and send the second state information to the information receiving end; if not, keeping the current state information of the information receiving end unchanged.
In a preferred embodiment, the cloud server 200 further includes an information updating module 204, where the information updating module 204 is configured to query a database, obtain current state information of an information sending end according to a device descriptor of the information sending end, and determine whether the first information version is higher than a current information version of the information sending end, and if so, update the current information content and the current information version of the information sending end to the first information content and the first information version, respectively; if not, the current state information of the information sending end is kept unchanged.
In a preferred embodiment, the far-field communication link comprises a public network and/or a private network based on a tcp request, an udp request and an http request, and the near-field communication link comprises any one or more of a 2.4G network, a Bluetooth network, an RFID network, an NFS network, a ZigBee network, a UWB network and an L IFI network.
In another preferred embodiment, the information receiving end 300 includes an information receiving module 301 and a local fusion module 302,
the information receiving module 301 is configured to receive the second status information through a far-field communication link and receive first status information broadcast by at least one information sending end through a near-field communication link;
the local fusion module 302 is configured to obtain current state information of itself, and update the current state information of itself through the information version of the second state information and/or the first state information.
The multilink multiplexing robot communication system of the embodiment adds far field communication links such as public networks and private networks in near field communication links of a plurality of robots, the robots and the internet of things equipment, and performs information fusion in the multilink multiplexing communication process, so that the stability and accuracy of communication are improved, and the actual communication requirements of high timeliness and high accuracy are met.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and method steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The invention is not limited solely to that described in the specification and embodiments, and additional advantages and modifications will readily occur to those skilled in the art, so that the invention is not limited to the specific details, representative apparatus, and illustrative examples shown and described herein, without departing from the spirit and scope of the general concept as defined by the appended claims and their equivalents.
Claims (10)
1. A robot communication method based on multilink multiplexing is characterized by comprising the following steps:
the method comprises the steps that an information sending end creates and broadcasts first state information through a near field communication link, and meanwhile the first state information is sent to a cloud server through a far field communication link, wherein the first state information comprises a device descriptor, first information content and a first information version of the information sending end;
the cloud server receives the first state information through a far-field communication link, acquires an information receiving end pointed by the first state information from first information content, and updates the current state information of the information receiving end according to a first information version to generate second state information to be sent to the information receiving end;
and the information receiving end receives the second state information through a far-field communication link and updates the current state information of the information receiving end through the information version of the second state information.
2. The robot communication method based on multilink multiplexing of claim 1, wherein the cloud server obtains an information receiving end pointed by first status information from first information content, and updates current status information of the information receiving end according to a first information version to generate second status information to be sent to the information receiving end, specifically comprising the following steps:
acquiring an information receiving end and target information content pointed by the first state information from first information content;
inquiring a database, and acquiring the current state information of an information receiving end according to an equipment descriptor of the information receiving end, wherein the current state information of the information receiving end comprises the equipment descriptor of the information receiving end, the current information content and the current information version;
judging whether the first information version is higher than the current information version of an information receiving end, if so, adding the target information content into the current information content of the information receiving end, updating the current information version of the information receiving end into the first information version, and generating second state information to be sent to the information receiving end; if not, keeping the current state information of the information receiving end unchanged.
3. The robot communication method based on multilink multiplexing according to claim 1 or 2, further comprising the steps of: the cloud server inquires a database, acquires the current state information of an information sending end according to an equipment descriptor of the information sending end, then judges whether the first information version is higher than the current information version of the information sending end, and if so, respectively updates the current information content and the current information version of the information sending end into the first information content and the first information version; if not, the current state information of the information sending end is kept unchanged.
4. The method according to claim 3, wherein the corresponding first information version is generated according to the creation time of the first status information, and the later the creation time is, the higher the first information version is.
5. The robot communication method based on multilink multiplexing of claim 4, wherein the information receiving end receives the second status information through the far field communication link, and updates its current status information through the information version of the second status information specifically includes the following steps:
receiving the second state information through a far-field communication link and receiving first state information broadcasted by at least one information sending end through a near-field communication link;
and acquiring own current state information, and updating the own current state information through the second state information and/or the information version of the first state information.
6. A robot communication system based on multilink multiplexing is characterized by comprising a cloud server, an information sending end and an information receiving end,
the information sending end is used for creating and broadcasting first state information through a near field communication link, and sending the first state information to the cloud server through a far field communication link, wherein the first state information comprises an equipment descriptor, first information content and a first information version of the information sending end;
the cloud server is used for receiving the first state information through a far-field communication link, acquiring an information receiving end pointed by the first state information from first information content, and updating current state information of the information receiving end according to a first information version to generate second state information and send the second state information to the information receiving end;
the information receiving end is used for receiving the second state information through a far-field communication link and updating the current state information of the information receiving end through the information version of the second state information.
7. The multi-link multiplexing-based robot communication system of claim 6, wherein the cloud server comprises an information processing module, a query module and a cloud fusion module,
the information processing module is used for acquiring an information receiving end and target information content pointed by the first state information from first information content;
the query module is used for querying a database and acquiring the current state information of the information receiving end according to the equipment descriptor of the information receiving end, wherein the current state information of the information receiving end comprises the equipment descriptor of the information receiving end, the current information content and the current information version;
the cloud fusion module is used for judging whether the first information version is higher than the current information version of an information receiving end, if so, adding the target information content into the current information content of the information receiving end, updating the current information version of the information receiving end into the first information version, and generating second state information to be sent to the information receiving end; if not, keeping the current state information of the information receiving end unchanged.
8. The multilink multiplexing-based robot communication system according to claim 6 or 7, wherein the cloud server further includes an information updating module, the information updating module is configured to query a database, obtain current status information of an information sending end according to a device descriptor of the information sending end, and determine whether the first information version is higher than a current information version of the information sending end, and if so, update the current information content and the current information version of the information sending end to the first information content and the first information version, respectively; if not, the current state information of the information sending end is kept unchanged.
9. The multi-link multiplexing-based robot communication system of claim 8, wherein the far-field communication link comprises a public network and/or a private network based on tcp request, udp request and http request, and the near-field communication link comprises any one or more of a 2.4G network, a Bluetooth network, an RFID network, an NFS network, a ZigBee network, a UWB network and an L IFI network.
10. The multi-link multiplexing-based robot communication system of claim 9, wherein the information receiving end comprises an information receiving module and a local fusion module,
the information receiving module is used for receiving the second state information through a far-field communication link and receiving first state information broadcasted by at least one information sending end through a near-field communication link;
the local fusion module is used for acquiring the current state information of the local fusion module and updating the current state information of the local fusion module through the second state information and/or the information version of the first state information.
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