CN111447599B - 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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- 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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Abstract
The application discloses a robot communication method and a 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 a 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; 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 application, far field communication links such as public network and private network are added in near field communication links of a plurality of robots and 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
[ field of technology ]
The application relates to the field of intelligent robots, in particular to a robot communication method and system based on multilink multiplexing.
[ background Art ]
With the development of technology, the service mobile robot can help human beings to complete some simple and repetitive work tasks, such as carrying out material transfer work on the same floor and across floors, carrying out night patrol work in a building, or carrying out welcome work on entertainment places such as hotels, KTVs and the like, so that the work contents of staff such as dish transfer staff, express delivery staff, security personnel, welcome staff and the like are reduced, and the staff is helped to save manpower. The above specific transaction generally needs to perform cooperative work between a plurality of mobile robots and between the mobile robots and the internet of things device, that is, needs to ensure that the mobile robots and the internet of things device timely and accurately acquire message contents with correct clocks and correct logic sequences, such as geographic positions, mobile information, task states, task priorities and the like of each other, so that communication quality between the mobile robots and the internet of things device needs to be ensured. In the prior art, a mobile robot and an internet of things device generally simply adopt a near field communication mode, such as a millimeter-hundred-meter radio communication mode based on civil commercial frequency bands, such as Bluetooth, 2.4G and Zigbee, and the like, so that the communication mode is unstable, packet loss is easy to occur, and the practical communication requirements of high timeliness and high accuracy are difficult to meet.
[ application ]
The application provides a robot communication method and a 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 the first information content, updates the current state information of the information receiving end according to a first information version, and generates second state information to be sent to the information receiving end;
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 the information receiving end pointed by the first status information from the first information content, and updates the current status information of the information receiving end according to the first information version, so as to generate the second status information, and the second status information is sent to the information receiving end, which specifically includes the following steps:
acquiring an information receiving end pointed by the first state information and target information content from first information content;
inquiring a database, and acquiring current state information of an information receiving end according to the device descriptor of the information receiving end, wherein the current state information of the information receiving end comprises the device 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 the information receiving end, if so, adding the target information content into the current information content of the information receiving end, and 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.
In a preferred embodiment, the method for robot communication based on multi-link multiplexing further comprises the steps of: the cloud server queries a database, acquires 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, 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 respectively; if not, keeping the current state information of the information sending end 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 information receiving end receives the second state information through the far-field communication link, and updates the current state information of the information receiving end 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 broadcast by at least one information transmitting 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 application provides a robot communication system based on multi-link multiplexing, including a cloud server, an information transmitting end and an information receiving end,
the information sending end is used for creating and broadcasting first state information through the near field communication link, and simultaneously sending the first state information to the cloud server through the 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 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 the first information content, updating the current state information of the information receiving end according to a first information version, and generating second state information to be sent 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 pointed by the first state information and target information content from first information content;
the query module is used for querying the database, and acquiring the current state information of the information receiving end according to the device descriptor of the information receiving end, wherein the current state information of the information receiving end comprises the device 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 the information receiving end, if so, adding the target information content into the current information content of the information receiving end, and 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.
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 status information of the information sending end according to a device descriptor of the information sending end, and determine whether the first information version is higher than the current information version of the information sending end, and if yes, 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, keeping the current state information of the information sending end unchanged.
In a preferred embodiment, the far field communication link comprises a public network and/or a private network based on tcp requests, udp requests, and http requests; the near field communication link includes 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 a LIFI 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 broadcast by at least one information transmitting 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 application provides a multi-link multiplexing robot communication method and a system, wherein far-field communication links such as public networks and private networks are added in near-field communication links of a plurality of robots and Internet of things equipment, and meanwhile, 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.
In order to make the above objects, features and advantages of the present application more 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 application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flow chart of a robot communication method based on multi-link multiplexing provided in embodiment 1;
fig. 2 is a schematic structural diagram of a robot communication system based on multi-link multiplexing according to embodiment 2.
[ detailed description ] of the application
In order to make the objects, technical solutions and advantageous technical effects of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and detailed description. It should be understood that the detailed description is intended to illustrate the application, and not to limit the application.
Fig. 1 is a flow chart of a robot communication method based on multi-link multiplexing provided in embodiment 1, as shown in fig. 1, including the following steps:
and S01, the information transmitting end creates and broadcasts the first state information through the near field communication link, and simultaneously transmits the first state information to the cloud server through the far field communication link. Specifically, the information transmitting end comprises a mobile robot and internet of things equipment, such as an elevator, a gate, a door opening and closing device and the like. The mobile robot and the Internet of things equipment are both provided with near-field network communication hardware and far-field network communication hardware, first state information can be broadcast to other information sending terminals through the near-field network communication hardware, and after the cloud server is connected through the far-field network communication hardware, near-field communication contents (namely the first state information) can be sent to the cloud server together. In a preferred embodiment, the far field communication link comprises a public network and/or a private network based on tcp requests, udp requests, and http requests, such as 3G, 4G, narrowband internet of things (NB-IoT), wifi, and/or the like. Near field communication links include 2.4G networks, bluetooth networks, RFID networks, NFS networks, zigBee networks, UWB networks, and/or visible Light (LIFI) wireless communication networks, among others.
And S02, the cloud server receives the first state information through a far-field communication link. The cloud server is provided with a network service which can be accessed by using a public or private network, so that first state information sent by the information sending end is received. The first state information includes a device descriptor, a 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 a creation time of the first state information, where the creation time is later, and the first information version is higher. Meanwhile, different types of information sending terminals have different equipment descriptors and first information contents, such as 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 a device type and a device ID number so that it can be determined 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 the plurality of associated information sending ends. The method specifically comprises the following steps:
s201, the cloud server acquires an information receiving end pointed by the first state information and target information content from the first information content. For example, when the information sending end is a mobile robot, the first information content sent by the mobile robot includes taking the number 03 elevator, the information receiving end at the moment is the number 03 elevator, and the target information content is taking the number 03 elevator at the starting floor to the target floor.
S202, a database is queried, and the current state information of the information receiving end is obtained according to the device descriptor of the information receiving end, namely the latest state information recorded on the cloud server by the information receiving end. The current state information of the information receiving end comprises a device descriptor, current information content and current information version of the information receiving end.
S203, judging whether the first information version is higher than the current information version of the information receiving end, if so, adding the target information content into the current information content of the information receiving end, and 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 end is a robot, and the robot needs to take an elevator, so that the content of the elevator taken in the robot information is taken out and fused into the current information content of the target elevator, and the content is sent to the target elevator.
Then, step S03 is executed, where 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, 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 by the information version of the second state information, and otherwise, the second state information is deleted. Therefore, when near field communication hardware of the information receiving end or the information sending end is damaged, messages can still be mutually received and transmitted through far field communication hardware, and communication quality is guaranteed.
In another embodiment, the information receiving end may still receive the first state information through the near field communication hardware, but the receiving quality is poor, and may have a packet loss phenomenon, 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 broadcast by at least one information transmitting end through a near-field communication link;
s302, 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. In this way, 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 (a cloud server) simultaneously, and fuses the data locally through the information version of each data packet, namely, the latest information content is obtained through comparing the information versions, so that when any one of the communication links cannot be communicated or the communication condition is bad and packet loss is serious, the other link can complete communication, for example, a robot can call an elevator remotely even if the robot is not in front of the elevator (namely, 2.4G cannot communicate).
The following is a description of specific examples.
In one embodiment, robot a and robot B perform tour tasks on the same floor together, and after moving to a certain place, two robots are required to exchange respective tour tasks, thereby improving task execution efficiency. However, near field network communication hardware of the two robots is damaged, and communication cannot be performed through a near field network link or communication quality is poor. At this time, the robot a sends first state information to the cloud server, and the cloud server discovers 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 as to query the database to obtain current state information of the robot B, then adds the task content pointing to the robot B in the first state information of the robot a to the current state information of the robot B to complete an information fusion process, and far-field sends the fused second state information to the robot B, so that communication between the robot a and the robot B is realized.
Then, the cloud server receives the first state information of the robot B as a response, and discovers that response content pointing to the robot A exists in the first state information, so that a database is queried to acquire the current state information of the robot A, then the response content is added into the current state information of the robot A to finish fusion updating of the current state information of the robot A, and the second state information after fusion updating is sent to the robot A, so that remote communication of 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 queries a database, acquires 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, 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 respectively; if not, keeping the current state information of the information sending end unchanged. Thus, after the cloud server acquires the first state information of the same information transmitting end through various approaches, such as through various 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 number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present application.
Fig. 2 is a schematic structural diagram of a robot communication system based on multi-link multiplexing provided in embodiment 2, as shown in fig. 2, including a cloud server 200, an information transmitting 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, a first information content, and a first information version of the information sending end;
the cloud server 200 is configured to receive the first status information through a far-field communication link, obtain an information receiving end pointed by the first status information from the first information content, and update current status information of the information receiving end according to a first information version, so as to generate second status information, and send the second status information to the information receiving end;
the information receiving end 300 is configured to receive the second status information through a far-field communication link, and update its current status information through an information version of the second status 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, from a first information content, an information receiving end to which the first status information points and a target information content;
the query module 202 is configured to query a database, and obtain current status information of an information receiving end according to a device descriptor of the information receiving end, where the current status information of the information receiving end includes the device descriptor of the information receiving end, a 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 the information receiving end, if yes, 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 status information and send the second status 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 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 yes, update a current information content and a current information version of the information sending end to the first information content and the first information version, respectively; if not, keeping the current state information of the information sending end unchanged.
In a preferred embodiment, the far field communication link comprises a public network and/or a private network based on tcp requests, udp requests, and http requests; the near field communication link includes 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 a LIFI 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 transmitting end through a near field communication link;
the local fusion module 302 is configured to obtain current state information of the user, and update the current state information of the user through the second state information and/or the information version of the first state information.
According to the multi-link multiplexing robot communication system, far-field communication links such as public networks and private networks are added in near-field communication links of a plurality of robots and the Internet of things equipment, and meanwhile information fusion is carried out in a 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.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the elements and method steps of the examples described in connection with the embodiments disclosed herein can be implemented as electronic hardware, or as a combination 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 solution. 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 application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other manners. For example, the apparatus/terminal device embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical function division, and there may be additional divisions in actual implementation, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown 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 may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The present application is not limited to the details and embodiments described herein, and thus additional advantages and modifications may readily be made by those skilled in the art, without departing from the spirit and scope of the general concepts defined in the claims and the equivalents thereof, and the application is not limited to the specific details, representative apparatus and illustrative examples shown and described herein.
Claims (8)
1. The robot communication method based on the multilink multiplexing is characterized by comprising the following steps of:
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 the first information content, updates the current state information of the information receiving end according to a first information version, and generates second state information to be sent to the information receiving end;
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 an information version of the second state information;
the cloud server acquires an 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, and the cloud server specifically comprises the following steps:
acquiring an information receiving end pointed by the first state information and target information content from first information content;
inquiring a database, and acquiring current state information of an information receiving end according to the device descriptor of the information receiving end, wherein the current state information of the information receiving end comprises the device 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 the information receiving end, if so, adding the target information content into the current information content of the information receiving end, and 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.
2. The method of claim 1, further comprising the steps of: the cloud server queries a database, acquires 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, 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 respectively; if not, keeping the current state information of the information sending end unchanged.
3. The robot communication method according to claim 2, wherein 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.
4. The robot communication method based on the multi-link multiplexing as claimed in claim 3, wherein the information receiving terminal receives the second state information through the far-field communication link, and updates the current state information of itself through the information version of the second state information, specifically comprising the steps of:
receiving the second state information through a far-field communication link and receiving first state information broadcast by at least one information transmitting 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.
5. A robot communication system based on multi-link 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 the near field communication link, and simultaneously sending the first state information to the cloud server through the 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 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 the first information content, updating the current state information of the information receiving end according to a first information version, and generating second state information to be sent 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 an information version of the second state information;
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 pointed by the first state information and target information content from first information content;
the query module is used for querying the database, and acquiring the current state information of the information receiving end according to the device descriptor of the information receiving end, wherein the current state information of the information receiving end comprises the device 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 the information receiving end, if so, adding the target information content into the current information content of the information receiving end, and 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.
6. The system of claim 5, wherein the cloud server further comprises an information update module, the information update module is configured to query a database, obtain current status information of the information sending end according to a device descriptor of the information sending end, and determine whether the first information version is higher than the current information version of the information sending end, and if yes, 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, keeping the current state information of the information sending end unchanged.
7. The robotic communication system of claim 6, wherein the far field communication link comprises a public network and/or a private network based on tcp requests, udp requests, and http requests; the near field communication link includes 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 a LIFI network.
8. The robot communication system based on multi-link multiplexing as claimed in claim 7, wherein the information receiving terminal 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 broadcast by at least one information transmitting 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.
Priority Applications (1)
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