CN112261575A - Data transmission method, device, equipment and medium - Google Patents
Data transmission method, device, equipment and medium Download PDFInfo
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- CN112261575A CN112261575A CN202011125958.5A CN202011125958A CN112261575A CN 112261575 A CN112261575 A CN 112261575A CN 202011125958 A CN202011125958 A CN 202011125958A CN 112261575 A CN112261575 A CN 112261575A
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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]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W16/00—Network planning, e.g. coverage or traffic planning tools; Network deployment, e.g. resource partitioning or cells structures
- H04W16/18—Network planning tools
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W24/00—Supervisory, monitoring or testing arrangements
- H04W24/02—Arrangements for optimising operational condition
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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
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The embodiment of the application discloses a data transmission method, a device, equipment and a medium, wherein the method comprises the following steps: acquiring historical communication signal data of each candidate communication point of at least one candidate robot in a working environment; determining a communication signal distribution diagram of the working environment according to the historical communication signal data; selecting at least one candidate communication point as a target communication point according to the communication signal distribution map; controlling at least one target robot to transmit data to other equipment at the target communication point; through the technical scheme, the purpose that the robot can transmit data in time under the condition that the network environment is unstable is achieved.
Description
Technical Field
The embodiment of the application relates to the technical field of communication, in particular to a data transmission method, a data transmission device, data transmission equipment and a data transmission medium.
Background
With the rapid development and popularization of information technology and the internet, the intelligent robot technology is developed rapidly and rapidly. Because the intelligent robot can replace human beings to carry out some repetitive, boring, even dangerous works to rely on artificial intelligence can also promote work efficiency, intelligent robot has received vast attention.
Generally, in the process of working, an intelligent robot continuously receives resource information of other devices in a working environment, and also transmits various running data generated by the intelligent robot to other devices with data requirements, such as a background management server of the robot. The data of the robot are transmitted, so that the robot can be used for further data mining and application. However, in the course of the work of the intelligent robot, a situation in which the network environment is unstable may occur. For example, each time the food delivery robot completes a food delivery task, the food delivery robot uploads the generated food delivery record to the management server. And the food delivery robot finishes the kitchen at the position point of each task, the network signal is generally poor, and the generated food delivery record cannot be uploaded in time, so that the condition that the data uploading is delayed or cannot be uploaded for a long time is caused.
When the network environment is unstable in the working environment, the intelligent robot may delay data transmission or fail to transmit data.
Disclosure of Invention
The application provides a data transmission method, a data transmission device, data transmission equipment and a data transmission medium, so that the purpose that a robot can transmit data in time under the condition that a network environment is unstable is achieved.
In a first aspect, an embodiment of the present application provides a data transmission method, where the method includes:
acquiring historical communication signal data of each candidate communication point of at least one candidate robot in a working environment;
determining a communication signal distribution diagram of the working environment according to the historical communication signal data;
selecting at least one candidate communication point as a target communication point according to the communication signal distribution map;
and controlling at least one target robot to transmit data to other equipment at the target communication point.
In a second aspect, an embodiment of the present application further provides a data transmission apparatus, where the apparatus includes:
the data acquisition module is used for acquiring historical communication signal data of each candidate communication point of at least one candidate robot in the working environment;
the signal determining module is used for determining a communication signal distribution diagram of the working environment according to the historical communication signal data;
the communication point selection module is used for selecting at least one candidate communication point as a target communication point according to the communication signal distribution map;
and the data transmission module is used for controlling at least one target robot to transmit data to other equipment at the target communication point.
In a third aspect, an embodiment of the present application further provides an electronic device, where the device includes:
one or more processors;
a storage device for storing one or more programs,
when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement a data transmission method as provided in an embodiment of the first aspect.
In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a data transmission method as provided in the embodiments of the first aspect.
The embodiment of the application represents the communication condition of each candidate communication point in the operation environment through introducing the communication signal distribution diagram, and then carry out the selection of target communication point according to the communication signal distribution diagram, make under the unstable condition of communication network, in different communication periods, the target robot can be at the better target communication point of the selected communication condition, carry out data transmission with other equipment, avoided the fixed single emergence that leads to the relatively poor condition that leads to data transmission untimely of communication point communication quality of communication point, avoided the emergence of the condition such as data delay or data loss when the target robot carries out data upload, the timeliness that the target robot carries out data download or data update has been improved to the while.
Drawings
Fig. 1 is a flowchart of a data transmission method according to an embodiment of the present application;
fig. 2 is a flowchart of a data transmission method according to a second embodiment of the present application;
fig. 3 is a flowchart of a data transmission method according to a third embodiment of the present application;
fig. 4 is a flowchart of a data transmission method according to a fourth embodiment of the present application;
fig. 5 is a schematic structural diagram of a data transmission device according to a fifth embodiment of the present application;
fig. 6 is a schematic structural diagram of an apparatus provided in a sixth embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some of the structures related to the present application are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a data transmission method according to an embodiment of the present application. The present embodiment is applicable to a case where data transmission is performed between robots or between a robot and another device in the same work environment in a case where a network environment is unstable. The method can be executed by a data transmission device, which can be implemented by software and/or hardware, and is specifically configured in an electronic device, which can be a mobile terminal or a fixed terminal.
Referring to fig. 1, a data transmission method provided in an embodiment of the present application includes:
and S110, acquiring historical communication signal data of each candidate communication point of at least one candidate robot in the working environment.
The robot refers to an intelligent robot capable of autonomously or interactively executing various anthropomorphic tasks in various environments. Specific types of robots generally include, but are not limited to, meal delivery robots, warehouse robots, lead advertising robots, and the like.
The candidate robot is any robot capable of acquiring historical communication signal data in a working environment.
The candidate communication point refers to a position point set in a work path followed in the robot work environment, and the robot can perform operations such as data upload or download with other robots or devices at the position point or in an area to which the position point belongs. Generally, in the working environment of the robot, the number and specific positions of the communication points can be set by a technician according to actual working requirements.
The communication signal data may include, but is not limited to, a signal type, a signal strength, a data transmission speed of a communication network to which the robot is connected, and data information such as a time point at which the communication signal data is monitored. The signal type may include at least one of a mobile communication network (3G/4G/5G), a bluetooth signal, a Wi-Fi (Wireless Fidelity) network, and the like.
The signal strength may be a signal strength value of the communication network monitored by the signal monitoring device, or may be a strength level obtained by monitoring the signal strength, for example, three levels including an ideal signal strength, a medium signal strength, and a weak signal strength, and the specific division rule may divide the signal strength value into corresponding levels according to the signal strength value. The signal monitoring device may be a device that monitors the signal strength of each signal type, which is not limited in this application.
The data transmission speed comprises a data uploading speed and/or a data downloading speed when data transmission is carried out through a communication network.
The historical communication signal data can be understood as communication signal data collected in a set historical time period before the current time. Wherein at least one of the time length, the start time point, and the end time point of the setting history time period may be set by a technician as needed or an empirical value.
Optionally, the current time may be used as a termination time point of the set historical time period, and the set historical time period may be determined according to a preset time length, so as to obtain the historical communication signal data in real time.
Or alternatively, the working time of the candidate robot may be divided into time segments according to a set time length in advance, and the historical communication signal data of the time segment before the time segment to which the current time belongs may be acquired at the current time.
In an alternative embodiment, for simplicity, only the signal strength and/or data transmission speed information in the historical communication signal data may be obtained to determine the subsequent communication signal distribution map, so as to achieve the purpose of monitoring the network signal strength and/or data transmission speed of each communication point in different time periods. Other data information in the historical communication signal data can be acquired according to requirements. This embodiment is not particularly limited thereto.
It can be understood that each robot has abundant historical communication signal data at different communication points, and the historical communication signal data can be acquired to count and analyze the communication conditions in the operating environment, so that a foundation is laid for selecting a subsequent target communication point.
And S120, determining a communication signal distribution diagram of the working environment according to the historical communication signal data.
The communication signal distribution map is used for representing the distribution situation of the communication signals of each candidate communication point in the working environment, and distinguishing the specific communication situation of each candidate communication point through a statistical value obtained by counting the historical communication signals of each candidate communication point.
In this embodiment, the communication signal distribution map in the work environment is determined according to the acquired historical communication signal data.
In an alternative embodiment, if the historical communication signal data includes signal strength, then the corresponding communication signal profile includes a signal strength profile, and the target communication point may be subsequently identified based on the signal strength profile.
In another alternative embodiment, if the historical communication signal may include a data transmission rate, the communication signal profile may include a transmission rate profile, and the target communication point may be determined based on the transmission rate profile.
It can be understood that the communication signal distribution diagram determined by the historical communication signal data with large data volume can more intuitively and comprehensively understand the distribution situation of the communication signals, further give a comprehensive evaluation result of the network condition in the working environment, and provide good guidance suggestion for the subsequent determination of the target communication point with good communication signals for the robot.
Optionally, for each candidate communication point, determining a communication signal heat value according to historical communication signal data of the candidate communication point; and determining a candidate communication signal distribution diagram of the working environment according to the communication signal heat value of each candidate communication point.
Or optionally, each candidate communication point in the working environment can be grouped, and the heat value of the communication signal is determined according to historical communication signal data of the associated communication point in each group of the candidate communication points; and determining a candidate communication signal distribution diagram of the working environment according to the communication signal heat value of each candidate communication point. The grouping mode when grouping each candidate communication point can be determined according to the position condition of the candidate communication point or can be automatically adjusted according to the requirement.
If the historical communication signal data includes data of different signal types, the communication signal distribution map may be determined for each historical communication signal data of each signal type.
S130, selecting at least one candidate communication point as a target communication point according to the communication signal distribution diagram.
The target communication point is a communication point where communication signals around the communication point perform well.
For example, at least one candidate communication point with a better communication condition may be selected according to the thermal value of the communication signal of each candidate communication point in the communication signal distribution map, and the selected candidate communication point may be used as the target communication point.
It should be noted that, when there are at least two signal types of communication signal profiles, the determination of at least one initial target communication point may be performed respectively for each signal type of communication signal profile; and selecting the target communication point according to the initial target communication point corresponding to each signal type.
Alternatively, each initial target communication point corresponding to a signal type with a larger number of initial target communication points may be used as a target communication point.
Or optionally, at least one candidate communication signal can be selected as a target communication signal according to the preset signal type priority; correspondingly, each initial target communication point corresponding to the signal type of the target communication signal is used as a target communication point.
In order to improve the data transmission efficiency, optionally, at least one target communication point can be preferably selected according to the communication signal heat value of each initial target communication point, and correspondingly, the signal type adaptive to the target communication point is adopted to perform data transmission in the selected target communication point.
Of course, other manners may also be used to assist in determining the target communication point, which is not limited in this embodiment of the present application.
In one embodiment, the communication signal priority may be set to Wi-Fi network >5G network >4G network >3G network. If two communication points with different signal types meet the requirement of the target communication point, at least one candidate communication signal with high priority is selected as the target communication signal according to the preset signal type priority. For example, when the communication points of the 3G network and the wireless Wi-Fi network meet the requirements simultaneously among the candidate communication points, the robot selects the communication point with the signal type of the wireless Wi-Fi network to perform data transmission according to the preset signal type priority.
Optionally, if the stability requirement of the data transmission by the operating environment is high, the priority of the mobile data communication network may be adjusted to the front of the wireless Wi-Fi network.
And S140, controlling at least one target robot to transmit data to other equipment at the target communication point.
The target robot is a robot that has a data transmission demand with other devices in the working environment.
The target robot may be different from or partially cross the candidate robot in S110.
The other device refers to another robot included in the work environment and/or a management server of each robot.
Alternatively, if the execution subject of S140 is the management server, the management server notifies the at least one target robot to control the at least one target robot to perform data transmission to other devices at the target communication point.
Data transfer may include the uploading and downloading of data. In order to guarantee that other robots in time know shared data such as the positional information of target robot to carry out the route planning of self, perhaps in order to facilitate the operation condition that management server can continue to learn the target robot, be convenient for carry out operation control to the target robot, in this embodiment, preferentially carry out the uploading of data, wait to carry out the downloading of data again after the data upload finishes.
In order to ensure the data transmission amount of the target robot when the target robot transmits data to other equipment at a single target communication point, the control of at least one target robot to transmit data to other equipment at the target communication point can be as follows: and controlling at least one target robot to transmit data to other equipment in the area to which the target communication point belongs. The area to which the target communication point belongs may be an area within a set range with the target communication point as a center, for example, a circular area with a set length as a radius. The set length can be determined by technicians according to needs or empirical values, and can be dynamically adjusted according to actual requirements in the specific implementation process. For example, the set length may be 5 meters.
Optionally, in the process of transmitting data to other devices at the target communication point, the target robot splits the data into several parts by using a breakpoint continuous transmission technology, each part transmits the data by using a separate thread, and if a network fault is encountered, the target robot can continue to upload or download the unfinished part from the already transmitted part without uploading or downloading from the beginning, so as to achieve the effects of saving time and improving the data transmission speed. For example, when the robot is within 5m of the target communication point, the transmission of data is automatically started; when the robot leaves the communication point and exceeds the distance of 5m, the transmission is automatically suspended; when the robot reaches the next communication point, the uploading or downloading is continued from the already transmitted part.
Optionally, considering that the robot may continuously generate tens of thousands of mass data in the actual operation process, before performing breakpoint continuous transmission on the raw data, the raw data may be transmitted in segments, so as to fully utilize the network bandwidth and accelerate the data transmission speed. For example, the data to be transmitted is split into file packets with the size within 1M for fragment transmission.
It can be understood that after at least one target communication point with good communication signals is found, the candidate robot can be controlled to enter the target communication point to transmit the operation data, so as to achieve the purpose of data transmission and sharing to other robots and the management server.
It should be noted that the number of target communication points may be at least one. When the number of the target communication points is one, correspondingly, the target robot only transmits data with other equipment at the target communication points; when the number of the target communication points is at least two, correspondingly, the target robot can alternately perform data transmission with other equipment at each target communication point. And determining the sequence of data transmission at each target communication point according to the sequence of each target communication point in the operation path of the target robot.
Optionally, the data transmission method of the present application may be executed by the target robot, or may also be executed by a management server of the target robot, that is, the data transmission method of the present application may be implemented at both the target robot side and the management server side.
Alternatively, if the data transmission method of the present application is executed by a target robot, controlling at least one target robot to perform data transmission to other devices at a target communication point includes at least one of:
controlling at least one target robot to upload work data to a management server at a target communication point;
controlling at least one target robot to transmit shared data to other robots in the working environment at a target communication point;
controlling at least one target robot to be at a target communication point, and acquiring shared data from other robots in the working environment;
and controlling at least one target robot to download the shared data and/or the additional function data of other robots from the management server at the target communication point.
The shared data may include log data of the robot, path planning data, historical job data, and the like. The path planning data is data for assisting the robot in navigating or moving a route.
The additional function data includes voice, music, video data and other data, and is used for increasing the functionality and entertainment of the robot. For the additional function data, the robot can complete the necessary tasks of uploading data and downloading data, and then correspondingly download the data.
Alternatively, the additional function data may be downloaded in a manually triggered or preset manner, such as downloading the additional function data in a preset time period.
It can be understood that, at the target communication point, the target robot can share and transmit data with the management server and other robots in the working environment, so that information sharing is realized, and data support is provided for further providing an excellent task scheme. Through shared transmission of data, the target robot can acquire data required by the target robot, for example, obtain path planning data of other robots, and is used for assisting the target robot to plan a driving path of the target robot; the management server can carry out overall planning and scheduling according to the data uploaded by each robot, and new job tasks are distributed to each robot according to the overall planning and scheduling.
The embodiment of the application represents the communication condition of each candidate communication point in the operation environment through introducing the communication signal distribution diagram, and then carry out the selection of target communication point according to the communication signal distribution diagram, make under the unstable condition of communication network, in different communication periods, the target robot can be at the better target communication point of the selected communication condition, carry out data transmission with other equipment, avoided the fixed single emergence that leads to the relatively poor condition that leads to data transmission untimely of communication point communication quality of communication point, avoided the emergence of the condition such as data delay or data loss when the target robot carries out data upload, the timeliness that the target robot carries out data download or data update has been improved to the while.
Example two
Fig. 2 is a flowchart of a data transmission method according to a second embodiment of the present application, where the present embodiment is an extension of the foregoing scheme based on the foregoing embodiment.
Further, the operation of determining the communication signal distribution diagram of the working environment according to the historical communication signal data is refined into the operation of determining the heat value of the communication signal according to the historical communication signal data of each candidate communication point aiming at each candidate communication point; and determining a communication signal distribution diagram' of the working environment according to the communication signal heat value of each candidate communication point so as to perfect a determination mechanism of the communication signal distribution diagram.
Further, the operation of controlling at least one target robot to transmit data to other equipment at the target communication point is refined into the operation of determining the moving speed of the robot according to the number of the target communication points; when at least one target robot enters the region where the target communication point belongs, the robot is controlled to move according to the moving speed of the robot, and the at least one target robot is controlled to perform data transmission to other equipment, so that a control mechanism of the target robot is perfected.
Referring to fig. 2, a data transmission method provided in this embodiment includes:
s210, acquiring historical communication signal data of each candidate communication point of at least one candidate robot in the working environment.
S220, aiming at each candidate communication point, determining a communication signal heat value according to historical communication signal data of the candidate communication point.
It can be understood that the heat value of the communication signal of each candidate communication point, which is obtained according to the historical communication signal data of each candidate communication point, provides a basis for further constructing the communication signal distribution map in the whole working environment.
Optionally, for each candidate communication point, determining a communication signal heat value according to the historical communication signal data of the candidate communication point may be: aiming at each candidate communication point, drawing a time sequence chart of the communication signal data of the candidate communication point; predicting the communication signal data of the candidate communication point based on a time series prediction method; determining a predicted value of the communication signal data of the candidate communication point according to the prediction result; and taking the predicted value as the communication signal heat value of the candidate communication point.
In order to reduce the data computation amount when determining the thermal value of the communication signal, optionally, for each candidate communication point, determining the thermal value of the communication signal according to the historical communication signal data of the candidate communication point may be: aiming at each candidate communication point, determining the average value of the historical communication signal data of the candidate communication point; and taking the average value as the communication signal heat value of the candidate communication point.
For example, for each candidate communication point, the average value of the historical communication signal data of the candidate communication point is determined, which may be a weighted average or an arithmetic average method to find the average value of the historical communication signal data of each candidate communication point, and the determination result of the average value is used as the communication signal heat value of the corresponding candidate communication point. The specific communication signal heat value determining method can determine according to actual historical communication signal data of a communication point. This embodiment is not particularly limited thereto.
Alternatively, the determination methods of the thermal values of the communication signals of different communication points may be the same or different. The specific communication signal heat value determining method can determine according to actual historical communication signal data of each communication point. This embodiment is not particularly limited thereto.
And S230, determining a communication signal distribution diagram of the working environment according to the communication signal heat value of each candidate communication point.
It can be understood that the communication signal heat value determined by performing statistical analysis on historical communication signal data can comprehensively represent a network environment condition of the communication point.
S240, selecting at least one candidate communication point as a target communication point according to the communication signal heat value and the preset heat threshold value of each candidate communication point in the communication signal distribution map.
The preset thermal threshold is a preset threshold value used for measuring the network condition of the communication point. The preset thermal threshold value may be an empirical value preset according to a network condition of an actual operating environment. In addition, the empirical value can be dynamically adjusted at any time to adapt to actual operation requirements.
It should be noted that, if the signal types of the data included in the historical communication signal data are different, the categories included in the corresponding preset thermal thresholds are also different.
In an alternative embodiment, if the historical communication signal data includes signal strength, the communication signal profile may include a signal strength profile and the predetermined thermal threshold may include a signal strength thermal threshold.
In a specific implementation manner, for the preset thermal threshold of the signal strength, a communication signal with the signal strength of-78 dBm to-88 dBm in the mobile communication 3G network and the signal strength of-50 dBm to-70 dBm in the Wi-Fi network can be defined as a medium signal strength; communication signals with the signal intensity of a mobile communication 3G network being more than-78 dBm and the signal intensity of a Wi-Fi network being more than-50 dBm can be defined as ideal signal intensity; communication signals with signal strength of the mobile communication 3G network less than-88 dBm and signal strength of the Wi-Fi network less than-70 dBm can be defined as signal strength of weak signals.
In another alternative embodiment, if the historical communication signal may include a data transfer rate, the communication signal profile may include a transfer rate profile and the predetermined thermal threshold may include a data transfer rate thermal threshold.
For the preset thermal threshold of the data transmission speed, the downloading speed is greater than 100kB/s and/or the uploading speed is greater than 50kB/s, which can be used as a standard for judging the stability of the data transmission speed of the communication point.
Optionally, according to the communication signal distribution map, selecting at least one candidate communication point as a target communication point may be: and selecting the candidate communication points with the communication signal heat value meeting the preset heat threshold value as target communication points according to the communication signal heat value of each candidate communication point in the communication signal distribution map.
In a specific implementation manner, if the preset thermal threshold includes a preset thermal threshold including a signal strength thermal threshold and/or a data transmission speed thermal threshold, selecting a candidate communication point meeting the preset thermal threshold as a target communication point, which may be: and taking the candidate communication point meeting the signal intensity thermal threshold as a target communication point, and/or selecting the candidate communication point meeting the data transmission speed thermal threshold as the target communication point.
It can be understood that, through the preset thermal threshold, a basis is provided for selecting a target communication point with a good communication signal.
And S250, determining the moving speed of the robot according to the number of the target communication points.
And S260, when at least one target robot enters the region to which the target communication point belongs, controlling the robot to move according to the moving speed of the robot, and controlling the at least one target robot to perform data transmission to other equipment.
The moving speed of the robot is a speed at which the robot keeps moving in the working environment. Generally, a robot sets a normal moving speed in a working environment.
It can be understood that in the working environment, the larger the number of target communication points, the better the current network condition is represented. Alternatively, the moving speed of the robot is adjusted according to the number of target communication points, and the moving speed can be determined according to the network condition of the actual working environment. The embodiments of the present application do not limit this.
Optionally, when the number of the target communication points is smaller than the preset number threshold, when the target robot enters the area to which the target communication points belong, the moving speed of the target robot is reduced by a certain multiplying factor. The setting of the multiplying power can be comprehensively determined according to the actual network environment and the data packet size condition. Wherein the preset number threshold may be 3.
Optionally, when the number of the target communication points is not less than the preset number threshold, when the target robot enters the area to which the target communication points belong, the target robot keeps a normal moving speed when passing through the target communication points. Wherein the preset number threshold may be 3.
It can be understood that the number of target communication points has an influence on data transmission of the target robot. When the number of the target communication points is determined, the moving speed of the target robot can be correspondingly adjusted, so that the robot can be further ensured to transmit data in time.
Alternatively, when the number of target communication points is zero, the robot temporarily stores the data to the local. The target number of the communication points is zero, which means that the communication signals of all the communication points can not meet the communication requirement in the current operating environment.
Optionally, an alarm is set in the working environment of the robot to display the network condition in the current working environment. For example, when the communication signal of the communication point in the working environment can not meet the communication requirement, the alarm can prompt the communication point with poor network condition. According to the prompt of the warning indicator, the operation and maintenance personnel can check and overhaul the network equipment of the related communication point. The alarm can warn through at least one of sound, light, vibration, voice information and other modes, and can remind the operation and maintenance personnel through a remote signal transmission mode.
According to the method and the device, the communication signal thermodynamic diagrams of the whole working environment are drawn through the solved communication signal heat force values of the candidate communication points, the communication signal heat force values of the candidate communication points are compared with the preset thermodynamic threshold value, the target communication points with good communication signals are selected, the moving speed of the robot around the target communication points is adjusted according to the number of the target communication points, and the purpose of better transmitting data of the robot is achieved. The embodiment of the application is further extended to the embodiment, so that the effect that the robot can upload operation data in time and synchronize other equipment resources under the condition that the network environment is unstable is achieved, further, the risk of data loss is reduced, and the timeliness of data updating and responding of the robot is improved.
EXAMPLE III
Fig. 3 is a flowchart of a data transmission method provided in the third embodiment of the present application, and the third embodiment of the present application provides a preferred implementation manner based on the technical solutions of the foregoing embodiments, so as to implement that the robot and the management server interact together to complete data transmission. Referring to fig. 3, a data transmission method provided in this embodiment includes:
s301, monitoring the communication signal strength and the transmission speed of each signal type of each candidate communication point when each robot works in the working environment.
S302, the communication signal intensity and the transmission speed of each candidate communication point in the set historical time period are uploaded to a management server.
Alternatively, the size of the historical period may be preset based on the accuracy requirements for the uploaded communication signal strength and transmission speed data.
In this embodiment, the management server is used as a background management server of the robot, and stores a large amount of data uploaded by each robot in the working environment, including log data, working data, and the like, and communication signal data of each communication point of the robot in the working environment is also uploaded to the management server. For example, the food delivery robot records the signal strength, the transmission speed of the connection with the management server, the signal type (3G/4G/5G/Wi-Fi) and the time information of all communication points on the food delivery route, and uploads the recorded communication signal data to the management server.
The set historical time period may be a set historical time period corresponding to a set time length before the current time, and the set time length may be 2 hours and may be set or adjusted by a technician as needed.
S303, aiming at each candidate communication point, the management server determines a signal strength heat value according to the average value of the communication signal strengths of the candidate communication points; and determining the transmission speed heat value according to the average value of the transmission speeds of the candidate communication points.
Optionally, the management server stores a pre-written automatic generation algorithm of the heat value of the communication signal. Based on the automatic generation algorithm of the communication signal heat value, the signal strength heat value and the data transmission speed heat value can be determined in real time according to the historical communication signal data of each candidate communication point.
S304, the management server constructs a signal strength thermodynamic diagram according to the signal strength heat value of each candidate communication point and constructs a transmission speed thermodynamic diagram according to the transmission speed heat value of each candidate communication point aiming at each signal type.
In this embodiment, the management server performs statistics on the acquired historical communication signal data of each communication point, and summarizes and averages the data of each communication point every two hours to obtain a communication signal heat value of each communication point; further, according to the communication signal heat value of each communication point, the management server draws a signal strength thermodynamic diagram and a transmission speed thermodynamic diagram under each network signal type (including 3G/4G/5G/Wi-Fi) in the background.
S305, the management server compares the signal strength heat force value of each candidate communication point in the signal strength thermodynamic diagram corresponding to each signal type with a preset signal strength threshold value, compares the transmission speed heat force value of each candidate communication point in the transmission speed thermodynamic diagram with a preset transmission speed threshold value, and selects at least one candidate communication point as a target communication point according to the comparison result.
In this embodiment, the thermal power value of the communication signal of each communication point is compared with a preset thermal threshold, and the management server finds out the communication points with the signal strength of 3G being more than or equal to (-78dBm to-88 dBm) and the signal strength of Wi-Fi being more than or equal to (-50dBm to-70 dBm) in the working environment in the background. Meanwhile, the management server finds out communication points with the downloading speed (>100KB/s) and the uploading speed (>50KB/s) meeting the requirements in the operating environment in the background. Further, the management server takes a point where the signal intensity and the data transmission speed simultaneously satisfy the above requirements as a target communication point.
S306, the management server determines the signal type of each target communication point, and determines the target signal type according to the preset signal type priority.
For example, a certain path point exists on the operation route of the robot, and the 3G signal and the Wi-Fi signal simultaneously meet the communication signal requirement. At this time, according to the preset signal type priority, the management server further confirms the signal type of the data transmission of the robot.
And S307, the management server sends the target signal type and the target communication point corresponding to the target signal type to each robot.
And S308, determining the target moving speed of the robot during data transmission according to the number of the target communication points corresponding to the target signal types by the robots.
It is understood that there are a plurality of target communication points that satisfy the communication signal requirements at the same time through the communication signal evaluation performed in the background by the management server.
In this embodiment, when the number of the target communication points is less than 3, it may be determined that the current network environment is poor, and when each robot enters a certain set range (for example, 5m) of the target communication points, the motion state, that is, the moving speed of the robot is reduced, for example, the moving speed is reduced by 25%.
And S309, when the robot moves to the region to which the target communication point corresponding to the target signal type belongs, moving at the target moving speed, and transmitting data to the management server.
The transmitted data may be log data, job data, etc. of the robot itself, or the robot may download data from the management server to update its data resource, such as downloading voice, music, and path planning data from the management server.
In this embodiment, considering that the magnitude of data transmitted by the robot is large, before transmitting the original data to be transmitted, the original data may be split into file packets with a size within 1M for fragment transmission. When the robot is within the range of 5m from the communication point, data transmission is automatically carried out on the robot to the management server; when the robot leaves the communication point and exceeds the distance of 5m, the transmission is automatically suspended; when the robot reaches the next communication point, the uploading or downloading is continued from the already transmitted part.
According to the embodiment of the application, the robot can upload the operation data in time under the condition that the network environment is unstable, the effect of synchronously managing the server resources is achieved, further, the risk of data loss is reduced, and the timeliness of updating and responding of robot data is improved.
Example four
Fig. 4 is a flowchart of a data transmission method provided in a fourth embodiment of the present application, and this embodiment provides a preferred implementation manner based on the foregoing embodiments, so that the robot interacts with other robots to complete data transmission. Referring to fig. 4, a data transmission method provided in this embodiment includes:
s401, when each robot works in the working environment, the communication signal strength and the transmission speed of each signal type of each candidate communication point are monitored.
S402, the other robots send the communication signal strength and the transmission speed of each candidate communication point in the set historical period to the target robot.
The target robot is a robot having a data transmission demand in an operation environment. The other robot means a robot other than the target robot.
It will be appreciated that in a common work environment, where there are multiple robots working simultaneously, different robots may exchange data with each other.
Alternatively, the target robot may acquire the communication signal strength and the transmission speed from other robots in a network-based manner, or in a bluetooth-based manner.
S403, aiming at each candidate communication point, determining a signal strength heat value according to the average value of the communication signal strengths of the candidate communication points; and determining the transmission speed heat value according to the average value of the transmission speeds of the candidate communication points.
It should be noted that the communication signal strength and transmission speed of each signal type of each candidate communication point monitored by the target robot itself in the working environment can be taken into account when determining the communication signal heat value of each candidate communication point.
S404, aiming at each signal type, the target robot constructs a signal strength thermodynamic diagram according to the signal strength heat value of each candidate communication point and constructs a transmission speed thermodynamic diagram according to the transmission speed heat value of each candidate communication point.
In this embodiment, each robot in the working environment stores a pre-written automatic generation algorithm for the thermal value of the communication signal. Based on the automatic generation algorithm of the communication signal heat value, the signal strength heat value and the data transmission speed heat value can be determined in real time according to the historical communication signal data of each candidate communication point; according to the signal strength thermodynamic value and the data transmission speed thermodynamic value, the target robot can further determine a signal strength thermodynamic diagram and a transmission speed thermodynamic diagram of the working environment.
S405, the target robot compares the signal strength heat force value of each candidate communication point in the signal strength thermodynamic diagram corresponding to each signal type with a preset signal strength threshold value, compares the transmission speed heat force value of each candidate communication point in the transmission speed thermodynamic diagram with a preset transmission speed threshold value, and selects at least one candidate communication point as a target communication point according to the comparison result.
S406, the target robot determines the signal type of each target communication point, and determines the target signal type according to the preset signal type priority.
And S407, the target robot sends the target signal type and the target communication point corresponding to the target signal type to each robot.
And S408, determining the target moving speed of the robot during data transmission according to the number of the target communication points corresponding to the target signal types by the robots.
And S408, when each robot moves to the region to which the target communication point corresponding to the target signal type belongs, the robot moves at the target moving speed and transmits data to other equipment.
Optionally, each robot may perform data transmission to other robots in the working environment through the target communication point network, such as obtaining path planning data and working data of other robots; each robot can also transmit data to a background management server of the robot through a target communication point network so as to upload data and update resources.
It can be understood that, in the process of data transmission between the robot and other robots, the intermediate management server may be set as an intermediate medium for data transmission between the robots. And the robot and other robots realize data transmission and sharing through the intermediate management server.
According to the embodiment of the application, the robot can upload the operation data in time under the condition that the network environment is unstable, the effect of synchronously managing the server resources is achieved, further, the risk of data loss is reduced, and the timeliness of updating and responding of robot data is improved.
EXAMPLE five
Fig. 5 is a schematic structural diagram of a data transmission device according to an embodiment of the present application. Referring to fig. 5, a data transmission apparatus provided in an embodiment of the present application includes: a data acquisition module 510, a signal determination module 520, a communication point selection module 530 and a data transmission module 540.
A data obtaining module 510, configured to obtain historical communication signal data of each candidate communication point of at least one candidate robot in a working environment;
a signal determining module 520, configured to determine a communication signal distribution diagram of the working environment according to the historical communication signal data;
a communication point selecting module 530, configured to select at least one candidate communication point as a target communication point according to the communication signal distribution map;
and a data transmission module 540, configured to control at least one target robot to perform data transmission to other devices at the target communication point.
The embodiment of the application represents the communication condition of each candidate communication point in the operation environment through introducing the communication signal distribution diagram, and then carry out the selection of target communication point according to the communication signal distribution diagram, make under the unstable condition of communication network, in different communication periods, the target robot can be at the better target communication point of the selected communication condition, carry out data transmission with other equipment, avoided the fixed single emergence that leads to the relatively poor condition that leads to data transmission untimely of communication point communication quality of communication point, avoided the emergence of the condition such as data delay or data loss when the target robot carries out data upload, the timeliness that the target robot carries out data download or data update has been improved to the while.
Further, the historical communication signal data comprises signal strength, and the communication signal profile comprises a signal strength profile; and/or the historical communication signal comprises a data transmission speed, and the communication signal distribution diagram comprises a transmission speed distribution diagram.
Further, the signal determination module 520 includes:
the heat value determining unit is used for determining the heat value of the communication signal according to the historical communication signal data of each candidate communication point;
and the distribution diagram determining unit is used for determining the communication signal distribution diagram of the working environment according to the communication signal heat value of each candidate communication point.
Further, the thermal value determination unit includes:
the average value determining subunit is used for determining the average value of the historical communication signal data of each candidate communication point;
and the thermal value determining subunit is used for taking the average value as the thermal value of the communication signal of the candidate communication point.
Further, the communication point selecting module 530 includes:
and the communication point selecting unit is used for selecting at least one candidate communication point as a target communication point according to the communication signal heat value and a preset heat threshold value of each candidate communication point in the communication signal distribution map.
Further, the data transmission module 540 includes:
the speed determining unit is used for determining the moving speed of the robot according to the number of the target communication points;
and the control transmission unit is used for controlling the robot to move according to the moving speed of the robot when at least one target robot enters the region to which the target communication point belongs, and controlling at least one target robot to transmit data to other equipment.
Further, the historical communication signal data includes a signal type of each candidate communication signal; correspondingly, if the number of the target communication points is at least two, the data transmission module 540 includes:
the selection unit is used for selecting at least one candidate communication signal as a target communication signal according to the preset signal type priority;
and the data transmission unit is used for controlling at least one target robot to adopt the target communication signal and transmit data to other equipment at the target communication point.
Further, the data transmission device is disposed in the target robot or in a management server of the target robot.
Further, if the data transmission device is configured in the target robot, the data transmission module 540 includes at least one of the following units:
the uploading unit is used for controlling at least one target robot to upload working data to the management server at the target communication point;
the sharing unit is used for controlling at least one target robot to send shared data to other robots in the working environment at the target communication point;
the acquisition unit is used for controlling at least one target robot to acquire shared data from other robots in the working environment at the target communication point;
and the downloading unit is used for controlling at least one target robot to download the shared data and/or the additional function data of other robots from the management server at the target communication point.
The data transmission device provided by the embodiment of the application can execute the data transmission method provided by any embodiment of the application, and has corresponding functional modules and beneficial effects of the execution method.
EXAMPLE six
Fig. 6 is a schematic structural diagram of an electronic device according to a sixth embodiment of the present application, and as shown in fig. 6, the electronic device includes a processor 610, a memory 620, an input device 630, and an output device 640.
The number of processors 610 in the device may be one or more, and one processor 610 is taken as an example in fig. 6; the processor 610, the memory 620, the input device 630 and the output device 640 in the apparatus may be connected by a bus or other means, and fig. 6 illustrates an example of a connection by a bus.
The input device 630 is used for receiving historical communication signal data of each communication point of each robot in the working environment;
the output device 640 is used for outputting a control instruction so as to control the robot to transmit data to other equipment at the selected communication point;
the processor 610 may determine a communication signal distribution map of the working environment according to the historical communication signal data of each communication point of each robot in the working environment, which is input by the input device 630; at least one communication point with good communication signals can be selected as a target communication point according to the communication signal distribution diagram; the output device 640 may also be controlled to send a control command to at least one robot to control the robot to perform data transmission to other devices at the selected target communication point.
The memory 620 is used as a computer-readable storage medium for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the data transmission method in the embodiment of the present application (for example, the data acquisition module 510, the signal determination module 520, the communication point selection module 530, and the data transmission module 540 in the data transmission device). The processor 610 executes various functional applications of the device and data processing by executing software programs, instructions and modules stored in the memory 620, that is, implements the data transmission method described above.
The memory 620 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, etc. (such as the historical communication signal data, the communication signal profile, and the control instructions in the above-described embodiments). Further, the memory 620 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 620 can further include memory located remotely from the processor 610, which can be connected to the device over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input means 630 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function controls of the device. The output device 640 may include a display device such as a display screen.
EXAMPLE seven
A seventh embodiment of the present application further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, perform a data transmission method, including:
acquiring historical communication signal data of each candidate communication point of at least one candidate robot in a working environment;
determining a communication signal distribution diagram of the working environment according to the historical communication signal data;
selecting at least one candidate communication point as a target communication point according to the communication signal distribution map;
and controlling at least one target robot to transmit data to other equipment at the target communication point.
Of course, the storage medium provided in the embodiments of the present application contains computer-executable instructions, and the computer-executable instructions are not limited to the method operations described above, and may also perform related operations in the data transmission method provided in any embodiment of the present application.
From the above description of the embodiments, it is obvious for those skilled in the art that the present application can be implemented by software and necessary general hardware, and certainly can be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods described in the embodiments of the present application.
It should be noted that, in the embodiment of the data transmission apparatus, the included units and modules are merely divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be implemented; in addition, specific names of the functional units are only used for distinguishing one functional unit from another, and are not used for limiting the protection scope of the application.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present application and the technical principles employed. It will be understood by those skilled in the art that the present application is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the application. Therefore, although the present application has been described in more detail with reference to the above embodiments, the present application is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present application, and the scope of the present application is determined by the scope of the appended claims.
Claims (12)
1. A method of data transmission, comprising:
acquiring historical communication signal data of each candidate communication point of at least one candidate robot in a working environment;
determining a communication signal distribution diagram of the working environment according to the historical communication signal data;
selecting at least one candidate communication point as a target communication point according to the communication signal distribution map;
and controlling at least one target robot to transmit data to other equipment at the target communication point.
2. The method of claim 1, wherein determining a communication profile for the work environment based on the historical communication data comprises:
aiming at each candidate communication point, determining a communication signal heat value according to historical communication signal data of the candidate communication point;
and determining a communication signal distribution diagram of the working environment according to the communication signal heat value of each candidate communication point.
3. The method of claim 2, wherein determining, for each of the candidate communication points, a communication signal heat value based on historical communication signal data for the candidate communication point comprises:
aiming at each candidate communication point, determining the average value of the historical communication signal data of the candidate communication point;
and taking the average value as the heat value of the communication signal of the candidate communication point.
4. The method of claim 2, wherein selecting at least one of the candidate communication points as a target communication point according to the communication signal profile comprises:
and selecting at least one candidate communication point as a target communication point according to the communication signal heat value and a preset heat threshold value of each candidate communication point in the communication signal distribution map.
5. The method of claim 1, wherein controlling the at least one target robot to transmit data to other devices at the target communication point comprises:
determining the moving speed of the robot according to the number of the target communication points;
and when at least one target robot enters the region to which the target communication point belongs, controlling the robot to move according to the moving speed of the robot, and controlling the at least one target robot to perform data transmission to other equipment.
6. The method of claim 1, wherein the historical communication signal data comprises signal strength, and the communication signal profile comprises a signal strength profile; and/or the presence of a gas in the gas,
the historical communication signal comprises a data transmission speed, and the communication signal distribution diagram comprises a transmission speed distribution diagram.
7. The method of claim 1, wherein the historical communication signal data includes a signal type for each candidate communication signal; correspondingly, if the number of the target communication points is at least two, the controlling at least one target robot to transmit data to other equipment at the target communication points includes:
selecting at least one candidate communication signal as a target communication signal according to the preset signal type priority;
and controlling at least one target robot to adopt the target communication signal to transmit data to other equipment at the target communication point.
8. The method according to any one of claims 1 to 7, wherein the data transmission method is performed by a target robot or by a management server of the target robot.
9. The method of claim 8, wherein if the data transmission method is performed by a target robot, the controlling at least one target robot to perform data transmission to other devices at the target communication point comprises at least one of:
controlling at least one target robot to upload working data to the management server at the target communication point;
controlling at least one target robot to transmit shared data to other robots in the working environment at the target communication point;
controlling at least one target robot to be at the target communication point, and acquiring shared data from other robots in the working environment;
and controlling at least one target robot to download shared data and/or additional function data of other robots from the management server at the target communication point.
10. A data transmission apparatus, comprising:
the data acquisition module is used for acquiring historical communication signal data of each candidate communication point of at least one candidate robot in the working environment;
the signal determining module is used for determining a communication signal distribution diagram of the working environment according to the historical communication signal data;
the communication point selection module is used for selecting at least one candidate communication point as a target communication point according to the communication signal distribution map;
and the data transmission module is used for controlling at least one target robot to transmit data to other equipment at the target communication point.
11. An electronic device, comprising:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement a data transmission method as claimed in any one of claims 1-9.
12. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a data transmission method according to any one of claims 1 to 9.
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