CN115884196A - Mobile robot cluster scheduling communication system based on LoRa - Google Patents
Mobile robot cluster scheduling communication system based on LoRa Download PDFInfo
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Abstract
The invention discloses a mobile robot cluster scheduling communication system based on LoRa, wherein the system comprises: the system comprises a scheduling server, an LoRa gateway and a plurality of mobile robots, wherein the scheduling server is in wireless communication connection with the mobile robots by taking the LoRa gateway as a relay; the dispatching server is used for managing the docking interfaces of the mobile robots and the upper system; the system is also used for the scheduling data processing of a plurality of mobile robots and the management and configuration of LoRa gateways; the LoRa gateway is used for receiving and transmitting and temporarily storing the scheduling data in a multi-channel manner, configuring the number of the plurality of mobile robots and establishing a communication network; a plurality of mobile robots are used for uploading operation data to the LoRa gateway and receiving scheduling instructions from the LoRa gateway. In the embodiment of the invention, free networking is realized, the layout is flexible, and good communication stability can be kept in an electromagnetic interference environment; meanwhile, the method has the advantages of lower power consumption and the like.
Description
Technical Field
The invention relates to the technical field of communication, in particular to a mobile robot cluster scheduling communication system based on LoRa.
Background
The mobile robot has a large movement range and generally communicates with a rear console or a dispatching system in a wireless communication mode. At present, technologies mainly adopted by a communication network facing cluster scheduling of mobile robots include: 4G/5G cellular mobile communication network, bluetooth network, wiFi network, zigBee network, UWB network, LPWAN network, etc.; among them, the 4G/5G cellular mobile communication network has the following advantages: the speed is high, the time delay is low, the stability is high, and the reliability is high; the disadvantages are as follows: the equipment price is high, the cost is high, the power consumption is large, and the network operation is required to provide equipment support; advantages of Bluetooth networks: the speed is high, the power consumption is low, and the safety is high; the disadvantages are that: the network nodes are few, the networking scale is small, and the method is not suitable for multipoint deployment and control; the advantages of the WiFi network: the flexibility and the mobility are good, and the deployment is convenient; the disadvantages are as follows: the method is easy to interfere, low in transmission rate, short in transmission distance and poor in safety; the ZigBee network has the advantages that: the safety is high, the power consumption is low, the networking capability is strong, the capacity is large, and the service life of a battery is long; the disadvantages are as follows: the cost is high, the anti-interference performance is poor, and the communication distance is short; advantages of UWB networks: the anti-multipath capability is strong, the positioning accuracy is high, the timestamp accuracy is high, the electromagnetic compatibility is strong, and the energy efficiency is high; the disadvantages are as follows: the signal is easy to be shielded by obstacles, and the equipment cost is high; the LPWAN has the advantages of large network capacity, low power consumption, strong signal penetration capability, stable and positionable high-speed mobile signals and long communication distance; the disadvantages are that: the transmission rate is low;
LoRa (Long Range Radio) combines digital signal processing and fec coding techniques, and is a low power consumption and Long-distance wireless communication technique compared to other communication networks. By means of multi-objective parameter optimization, unification of low power consumption, long distance and robustness requirements is achieved. The network technology is easy to deploy and apply to a mobile robot cluster scheduling environment. According to the invention, a multi-node communication network is established on the multi-objective parameter optimization LoRa technology, so that the system can adapt to a severe industrial environment, effectively performs wireless remote transmission of control instructions and monitoring data, and realizes real-time interaction between the mobile robot and a rear dispatching server; however, the conventional LoRa technology has contradiction among characteristic parameters such as signal frequency, transmission distance, power consumption and the like, and cannot adjust network parameters according to application scenarios, so that network performance cannot be fully exerted.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a mobile robot cluster scheduling communication system based on LoRa, which realizes free networking based on a LoRa gateway, is flexible in layout and can keep good communication stability in an electromagnetic interference environment; meanwhile, the method has the advantages of lower power consumption, longer communication distance and the like.
In order to solve the above technical problem, an embodiment of the present invention provides a mobile robot cluster scheduling communication system based on LoRa, where the system includes: the system comprises a scheduling server, an LoRa gateway and a plurality of mobile robots, wherein the scheduling server is in wireless communication connection with the mobile robots by taking the LoRa gateway as a relay;
the scheduling server is used for managing the docking interfaces of the mobile robots and the upper system; the system is also used for the scheduling data processing of the mobile robots and the management and configuration of the LoRa gateway;
the LoRa gateway is used for multi-channel receiving and sending and temporary storage of scheduling data, and is used for configuring the number of the mobile robots and establishing a communication network;
a plurality of mobile robot is used for uploading operating data to the loRa gateway and follows receive the scheduling instruction in the loRa gateway.
Optionally, data transmission is performed between the LoRa gateway and the scheduling server and between the LoRa gateway and the mobile robots based on MQTT and HTTPS protocols, and ID identification and connection processing are performed on the mobile robots based on TCP/IP protocols.
Optionally, the LoRa gateway and when a plurality of mobile robots are connected and networked, the LoRa gateway of a plurality of mobile robots frequency hopping to the same channel, forming the LoRa gateway and a plurality of mobile robots self-organizing communication network.
Optionally, the processing of the scheduling data between the scheduling server and the plurality of mobile robots includes:
downlink processing of scheduling data of the scheduling server and the plurality of mobile robots;
and the dispatching server and the dispatching data of the plurality of mobile robots are subjected to uplink processing.
Optionally, the downlink processing of the scheduling data of the scheduling server and the plurality of mobile robots includes:
after the dispatching server, the LoRa gateway and the plurality of mobile robots are started, the dispatching server sequentially initializes the LoRa gateway and the plurality of mobile robots;
after the initialization is finished, the dispatching server distributes and processes the channels and the work tasks of the mobile robots based on a preset algorithm;
the scheduling server plans the operation path of each mobile robot in the plurality of mobile robots based on an operation path planning algorithm;
generating a motion control instruction of each mobile robot corresponding to the plurality of mobile robots based on a work task allocation processing result and the running path, and encrypting the telecontrol instructions to form encrypted telecontrol control instructions;
sending the encrypted telecontrol command to the mobile robots through the LoRa gateway based on a channel distribution processing result;
and the mobile robots decrypt the encrypted motion control commands after receiving the encrypted motion control commands and input the decrypted motion control commands into the robot controller for execution.
Optionally, the scheduling server performs allocation processing on the channels and the work tasks of the plurality of mobile robots based on a preset algorithm, including:
the dispatching server performs allocation processing on the channels of the mobile robots based on a frequency hopping algorithm;
and the scheduling server performs allocation processing on the work tasks of the plurality of mobile robots based on an operation scheduling algorithm.
Optionally, the uplink processing of the scheduling data of the scheduling server and the plurality of mobile robots includes:
the mobile robots respectively acquire and process robot running data to obtain running state data;
the mobile robots encrypt the collected running state data to obtain encrypted running state data;
the mobile robots send the encrypted running state data to the LoRa gateway, and the LoRa gateway uploads the encrypted running state data to the dispatching server for dispatching based on a channel with specific frequency;
and the scheduling server schedules the encrypted running state data to be decrypted and performs scheduling decision processing based on the decryption processing result and the working tasks of the plurality of mobile robots.
Optionally, when the LoRa gateway works, the power consumption of the LoRa network is optimized based on a multi-objective parameter optimization algorithm, wherein the power energy loss of the LoRa gateway is related to the data transmission rate and the air transmission time;
the method for optimizing the power consumption of the LoRa network based on the multi-objective parameter optimization algorithm comprises the following steps:
Q＝f Q (DR，T packet )＝f Q (SF，CR，BW，n preamble ，PL，DE，H)；
wherein Q represents power consumption, f Q (-) represents a power consumption function, and DR represents a data transfer rate; t is packet Indicating control transfer data; SF denotes a spreading factor; BW denotes a bandwidth; CR denotes a coding rate; n is preamble Indicating the preamble length of the data packet; PL represents the number of payload bytes; the DE indicates data speed optimization for service enablement, and when the DE is 0, the DE indicates disablement; h represents whether a header is enabled, and when the value is 1, the header does not exist;
wherein, the data structure is fixed as:
the above formula is simplified as:
Q＝f Q (DR，T packet )＝f Q (SF，CR，BW)；
if the data transmission distance is related to power consumption, the power supply voltage is a fixed value, the antenna gain is 5Dbi, and the transmission power is 20dbm, then the maximum distance for data transmission of the LoRa gateway is represented by the following formula:
D＝f D (L)＝f D (SF，CR，BW)；
where D denotes the maximum distance of data transmission, f D (-) represents a function of the farthest distance of data transmission; then, the approximate function of the robustness of the data transmission is:
R＝f R (SF，CR，BW)；
wherein R represents the robustness of the data transmission, f R (-) represents a data transmission robustness function; in the LoRa gateway, different combination settings of LoRa parametersThe data transmission distance, power consumption and robustness are affected, namely:
wherein, F represents an optimization objective function of LoRa network parameters, F Q ′、f D ′、f R ' means f Q 、f D 、f R Corresponding normalization factor, -w 1 +w 2 +w 3 =1; parameters SF, BW, CR in the optimization function are optimization parameters, w 1 、w 2 、w 3 Is a weighting coefficient; then the constraint is:
and changing the multi-objective optimization problem into a single-objective optimization problem based on a normalization method, wherein the optimization objective is the maximum value of the dimensionless numerical value F.
Optionally, the data is encapsulated into an LoRa data packet by the LoRa gateway, where the LoRa data packet is composed of a preamble, an optional header, and a mobile robot data payload; the transmission time of the LoRa packet is composed of the transmission time of the preamble and the payload transmission time.
Optionally, the LoRa gateway encrypts the transmitted data based on the LoRa WAN protocol security mechanism.
In the embodiment of the invention, the free networking is carried out in an automatic networking mode of the LoRa gateway, and the network distribution is flexible; the method can keep good communication stability in a weak signal environment and an electromagnetic interference environment, and is suitable for large-area scenes; by the aid of the parameter optimization LoRa gateway technology, transmission distance can be increased, power consumption of equipment is greatly reduced, and communication can be achieved with low cost; the requirement of large-scale scheduling is met through TCP/IP protocol connection; the security of the control communication is enhanced by utilizing a LoRa WAN protocol security mechanism.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural component diagram of a mobile robot cluster scheduling communication system based on LoRa in an embodiment of the present invention;
fig. 2 is a schematic diagram of a downlink flow of scheduling data in an embodiment of the present invention;
fig. 3 is a schematic diagram of an uplink flow of scheduling data in an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Examples
Referring to fig. 1, fig. 1 is a schematic structural component diagram of a mobile robot cluster scheduling communication system based on LoRa in an embodiment of the present invention.
As shown in fig. 1, a mobile robot cluster scheduling communication system based on LoRa includes: the system comprises a scheduling server, an LoRa gateway and a plurality of mobile robots, wherein the scheduling server is in wireless communication connection with the mobile robots by taking the LoRa gateway as a relay; the dispatching server is used for managing the docking interfaces of the mobile robots and the upper system; the system is also used for the scheduling data processing of the mobile robots and the management and configuration of the LoRa gateway; the LoRa gateway is used for multi-channel receiving and sending and temporary storage of scheduling data, and is used for configuring the number of the mobile robots and establishing a communication network; the mobile robots are used for uploading operation data to the LoRa gateway and receiving scheduling instructions from the LoRa gateway.
Specifically, the system comprises a scheduling server, an LoRa gateway and a plurality of mobile robots, wherein the scheduling server is connected with the mobile robots through the LoRa gateway; the dispatching server is used as an upper layer, the mobile robots are used as a lower layer, and the LoRa gateway is used as a middle layer; the scheduling server is responsible for the management of the docking interface of the robot and the upper system, the processing of scheduling data of the robot, and the management and configuration of the LoRa gateway; the LoRa gateway is responsible for multi-channel receiving and transmitting and temporary storage of scheduling data, and one or more LoRa gateways can be configured according to the number of the scheduling robots; the mobile robot is responsible for uploading robot operation data to the LoRa gateway and receiving scheduling instructions from the LoRa gateway.
The system is provided with corresponding software modules, specifically an interface module, a scheduling module, an algorithm module, a LoRa communication module, a motion control module and a data acquisition module; the interface module, the scheduling module and the algorithm module run in the scheduling server; the LoRa communication module runs in the LoRa gateway; the motion control module and the data acquisition module run in the robot terminal.
In the specific implementation process of the invention, data transmission is carried out between the LoRa gateway and the dispatching server and among the mobile robots based on MQTT and HTTPS protocols, and ID identification and connection processing are carried out on the mobile robots based on TCP/IP protocols.
Specifically, data transmission is carried out between the LoRa gateway and the scheduling server and among the plurality of mobile robots by using an MQTT and HTTPS protocol; and performing ID identification and connection processing on the mobile robots through a TCP/IP protocol.
In the specific implementation process of the invention, when the LoRa gateway is connected with the plurality of mobile robots for networking, the LoRa frequency points of the plurality of mobile robots are subjected to frequency hopping to the same channel, so that a self-organized communication network of the LoRa gateway and the plurality of mobile robots is formed.
Specifically, when the LoRa gateway is connected to multiple mobile robots at the same time for networking, the respective LoRa frequency points of the multiple mobile robots need to be hopped to the same channel, so that frequency convergence among the mobile robots is realized, and a self-organized communication network is formed.
In a specific implementation process of the present invention, the processing of the scheduling data between the scheduling server and the plurality of mobile robots includes: downlink processing of scheduling data of the scheduling server and the plurality of mobile robots is performed; and the dispatching server and the dispatching data of the plurality of mobile robots are subjected to uplink processing.
Specifically, please refer to fig. 2 and 3; fig. 2 is a schematic downlink flow chart of scheduling data in the embodiment of the present invention; fig. 3 is a schematic uplink flow diagram of scheduling data in the embodiment of the present invention.
As shown in fig. 2, the downlink processing of the scheduling data between the scheduling server and the plurality of mobile robots includes:
s21: after the dispatching server, the LoRa gateway and the plurality of mobile robots are started, the dispatching server sequentially initializes the LoRa gateway and the plurality of mobile robots;
s22: after the initialization is finished, the dispatching server distributes and processes the channels and the work tasks of the mobile robots based on a preset algorithm;
s23: the scheduling server plans the operation path of each mobile robot in the plurality of mobile robots based on an operation path planning algorithm;
s24: generating a motion control instruction of each mobile robot corresponding to the plurality of mobile robots based on a work task allocation processing result and the operation path, and encrypting the telecontrol instructions to form encrypted telecontrol instructions;
s25: sending the encrypted telecontrol command to the mobile robots through the LoRa gateway based on a channel distribution processing result;
s26: and the mobile robots carry out decryption processing after receiving the encrypted motion control command and input the decrypted motion control command into the robot controller for execution.
Meanwhile, when the dispatching server distributes and processes the channels and the work tasks of the plurality of mobile robots based on a preset algorithm, the dispatching server distributes and processes the channels of the plurality of mobile robots based on a frequency hopping operation algorithm; and the scheduling server distributes the work tasks of the mobile robots based on the operation scheduling algorithm.
Through the downlink data processing, the control instruction issued by the scheduling server is transmitted to the mobile robot through the LoRa gateway, and the mobile robot executes corresponding action after receiving the scheduling instruction.
As shown in fig. 3, the uplink processing of the scheduling data between the scheduling server and the plurality of mobile robots includes:
s31: the mobile robots respectively acquire and process robot running data to obtain running state data;
s32: the mobile robots encrypt the collected running state data to obtain encrypted running state data;
s33: the mobile robots send encrypted running state data to the LoRa gateway, and the LoRa gateway uploads the encrypted running state data to the dispatching server for dispatching based on a channel with specific frequency;
s34: and the scheduling server schedules the encrypted running state data to be decrypted and performs scheduling decision processing based on the decrypted result and the work tasks of the plurality of mobile robots.
Through the uplink data processing, the mobile robot running data collected by the mobile robot terminal is sent to the dispatching server through the LoRa gateway, and after the dispatching server receives the collected data, the state of the mobile robot is displayed in real time through the control interface of the display, and the next action of the mobile robot is determined according to the working state of the mobile robot.
In the specific implementation process of the invention, when the LoRa gateway works, the power consumption of the LoRa network is optimized based on a multi-objective parameter optimization algorithm, wherein the power energy loss of the LoRa gateway is related to the data transmission rate and the air transmission time;
the method for optimizing the power consumption of the LoRa network based on the multi-objective parameter optimization algorithm comprises the following steps:
Q＝f Q (DR，T packet )＝f Q (SF，CR，BW，n preamble ，PL，DE，H)；
wherein Q represents power consumption, f Q (-) represents a power consumption function, and DR represents a data transfer rate; t is packet Indicating control transfer data; SF denotes a spreading factor; BW denotes a bandwidth; CR denotes a coding rate; n is preamble Indicating the preamble length of the data packet; PL represents the number of payload bytes; DE represents service-enabled data speed optimization, and when 0, it represents disabling; h represents whether the header is enabled, and when the value is 1, the header does not exist;
wherein, the data structure is fixed as:
the above formula is simplified as:
Q＝f Q (DR，T packet )＝f Q (SF，CR，BW)；
if the data transmission distance is related to power consumption, the power supply voltage is a fixed value, the antenna gain is 5Dbi, and the transmission power is 20dbm, then the maximum distance for data transmission of the LoRa gateway is represented by the following formula:
D＝f D (L)＝f D (SF，CR，BW)；
where D represents the maximum distance of data transmission, f D (-) represents a function of the farthest distance of data transmission; then, the approximate function of the robustness of the data transmission is:
R＝f R (SF，CR，BW)；
in the LoRa gateway, different combinations of LoRa parameters affect data transmission distance, power consumption, and robustness, that is,:
wherein, F represents an optimization objective function of LoRa network parameters, F Q ′、f D ′、f R ' means f Q 、f D 、f R Corresponding normalization factor, -w 1 +w 2 +w 3 =1; parameters SF, BW, CR in the optimization function are optimization parameters, w 1 、w 2 、w 3 Is a weighting coefficient; the constraint is then:
and changing the multi-objective optimization problem into a single-objective optimization problem based on a normalization method, wherein the optimization objective is the maximum value of the dimensionless numerical value F.
Specifically, in order to reduce the power consumption of the communication system, the power consumption of the LoRa network is optimized by using a multi-objective parameter optimization means, and the power energy loss of the LoRa terminal is actually related to the data transmission rate and the air transmission time.
The formula constructed during optimization is as follows:
Q＝f Q (DR，T packet )＝f Q (SF，CR，BW，n preamble ，PL，DE，H)；
wherein Q represents power consumption, f Q (-) represents a power consumption function, and DR represents a data transmission rate; t is packet Indicating control transfer data; SF denotes a spreading factor; BW denotes a bandwidth; CR denotes a coding rate; n is preamble Indicating the preamble length of the data packet; PL represents the payload byte count; DE represents service-enabled data speed optimization, and when 0, it represents disabling; h represents whether a header is enabled, and when the value is 1, the header does not exist;
wherein, the data structure is fixed as:
the above formula is simplified as:
Q＝f Q (DR，T packet )＝f Q (SF，CR，BW)；
the data transmission distance is related to power consumption, the influence factors of the transmission distance are more, the influence of the transmission rate and the receiving sensitivity on the transmission distance is mainly considered, the voltage of a power supply is a fixed value, the antenna gain is 5Dbi, the transmitting power is 20dbm, and then the maximum distance of data transmission of the LoRa gateway is represented by the following formula:
D＝f D (L)＝f D (SF，CR，BW)；
where D denotes the maximum distance of data transmission, f D (-) represents a function of the farthest distance of data transmission; then, the approximate function of the robustness of the data transmission is:
R＝f R (SF，CR，BW)；
wherein R represents the robustness of data transmission, f R (-) represents a data transmission robustness function; in combination with the above analysis, in the LoRa gateway, different combinations of LoRa parameters set up the data transmission distance, power consumption, and robustness to affect the optimization of the system performance, and it is necessary to realize the lowest power consumption, the farthest transmission distance, and the strongest robustness, that is:
wherein F represents an optimization objective function of LoRa network parameters, F Q ′、f D ′、f R ' means f Q 、f D 、f R Corresponding normalization factor, -w 1 +w 2 +w 3 =1; parameters SF, BW, CR in the optimization function are optimization parameters, w 1 、w 2 、w 3 Is a weighting coefficient; then the constraint is:
and changing the multi-objective optimization problem into a single-objective optimization problem based on a normalization method, wherein the optimization objective is the maximum value of the dimensionless numerical value F. There are various algorithms for solving the multi-objective optimal parameter selection problem, such as an ant colony algorithm, a simulated annealing algorithm, a grayish wolf algorithm, an improved genetic algorithm and the like.
In the specific implementation process of the invention, the data is encapsulated into an LoRa data packet through the LoRa gateway, wherein the LoRa data packet consists of a lead code, an optional header and a mobile robot payload; the transmission time of the LoRa packet is composed of the transmission time of the preamble and the payload transmission time.
The LoRa data packet structure mainly comprises a Preamble (Preamble), an optional Header (Header) and a mobile robot data Payload (Payload), and the transmission time of the LoRa data packet is composed of the transmission time of the Preamble and the transmission time of the Payload. (1) The preamble is used to keep the data synchronization of the receiver, and the length of the preamble contained in each data packet can be set by a register, which is typically 12 characters in length, or can be extended by programming. The setting range of the lead code is wide, can reach 85535bytes, and lead codes with different lengths can be set according to system requirements. When the sequencer polling detects a preamble of the same length as the set value, it starts sending an interrupt signal, turns off the sequencer, and turns on and maintains the reception mode. (2) The header contains two different modes, one is an explicit mode and the other is an implicit mode, and a user can select different header forms through setting a register. The explicit header includes payload information, preamble error correction coding rate, CRC check, etc., and if such information is known by both parties during development, the implicit header may be selected to reduce the transmission time of the data. (3) Setting the value of the register Packet Format can change the Length of the data Packet, and when the register is set to be 0 and the value of the Payload Length is not 0, the Length of the data Packet is fixed; when the Packet Format is set to 1, the Packet is a variable length Packet.
In the specific implementation process of the present invention, the LoRa gateway encrypts the transmitted data based on the LoRa WAN protocol security mechanism.
Specifically, the data transmission security mechanism is represented as: when the LoRa terminal needs to access the network, it needs to have the following security information, i.e., a global terminal device ID (Dev EUI) for uniquely identifying the terminal device, a global application unique application ID (APP EUI) stored in the terminal device, and a 128-bit application session key (APP key) encrypted by AES. The application session key is distributed to the terminal equipment by the program owner, and is derived from an independent key controlled by the program provider or directly distributed by the program provider according to different network access modes. In transmission, the LoRa WAN uses a static root key and a dynamically generated session key, and the LoRa has different access methods and different encryptions. When the network access mode is OTAA (Over-the-Air-Ac termination), a dynamic session key is generated by a root key existing during network connection, and the continuously updated session key enables the network access mode to have higher security and better protect Over-the-Air communication; and when the network access mode is ABP (Ac Tlva Tlon-by-personaza Tlon), the device will not be equipped with the root key, and will only be allocated a group of fixed and unchangeable session keys, and its security performance is lower than that of the OTAA mode.
In the embodiment of the invention, the free networking is carried out in an automatic networking mode of the LoRa gateway, and the network distribution is flexible; the method can keep good communication stability in a weak signal environment and an electromagnetic interference environment, and is suitable for large-area scenes; by the parameter optimization LoRa gateway technology, the transmission distance can be increased, the power consumption of equipment is greatly reduced, and communication can be realized with low cost; the requirement of large-scale scheduling is met through TCP/IP protocol connection; the security of the control communication is enhanced by utilizing a LoRa WAN protocol security mechanism.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable storage medium, and the storage medium may include: read Only Memory (ROM), random Access Memory (RAM), magnetic or optical disks, and the like.
In addition, the above detailed description is given to the mobile robot cluster scheduling communication system based on LoRa according to the embodiment of the present invention, and a specific example should be adopted herein to explain the principle and the implementation manner of the present invention, and the description of the above embodiment is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A LoRa-based mobile robot cluster scheduling communication system, the system comprising: the system comprises a scheduling server, an LoRa gateway and a plurality of mobile robots, wherein the scheduling server is in wireless communication connection with the mobile robots by taking the LoRa gateway as a relay;
the dispatching server is used for managing the docking interfaces of the mobile robots and the upper system; the system is also used for the scheduling data processing of the mobile robots and the management and configuration of the LoRa gateway;
the LoRa gateway is used for multi-channel receiving and sending and temporary storage of scheduling data, and is used for configuring the number of the mobile robots and establishing a communication network;
the mobile robots are used for uploading operation data to the LoRa gateway and receiving scheduling instructions from the LoRa gateway.
2. The clustered mobile robot scheduling communication system of claim 1, wherein the LoRa gateway performs data transmission based on MQTT and HTTPS protocols with the scheduling server and the plurality of mobile robots, and performs ID identification and connection processing on the plurality of mobile robots based on TCP/IP protocols.
3. The dispatching communication system of mobile robot cluster according to claim 1, wherein when said LoRa gateway is connected and networked with said plurality of mobile robots, frequency hopping LoRa frequency points of said plurality of mobile robots to the same channel, forming a self-organized communication network of said LoRa gateway and said plurality of mobile robots.
4. The system of claim 1, wherein the scheduling server processes the scheduling data with the plurality of mobile robots including:
downlink processing of scheduling data of the scheduling server and the plurality of mobile robots is performed;
and the dispatching server and the dispatching data of the plurality of mobile robots are subjected to uplink processing.
5. The clustered mobile robot scheduling communication system of claim 4, wherein the downlink processing of the scheduling data between the scheduling server and the plurality of mobile robots comprises:
after the dispatching server, the LoRa gateway and the mobile robots are started, the dispatching server sequentially initializes the LoRa gateway and the mobile robots;
after the initialization is finished, the dispatching server distributes and processes the channels and the work tasks of the mobile robots based on a preset algorithm;
the scheduling server plans the operation path of each mobile robot in the plurality of mobile robots based on an operation path planning algorithm;
generating a motion control instruction of each mobile robot corresponding to the plurality of mobile robots based on a work task allocation processing result and the operation path, and encrypting the telecontrol instructions to form encrypted telecontrol instructions;
sending the encrypted telecontrol command to the mobile robots through the LoRa gateway based on a channel distribution processing result;
and the mobile robots carry out decryption processing after receiving the encrypted motion control command and input the decrypted motion control command into the robot controller for execution.
6. The clustered mobile robot scheduling communication system of claim 5, wherein the scheduling server performs the assignment process of the channels and the work tasks of the plurality of mobile robots based on a preset algorithm, including:
the dispatching server performs allocation processing on the channels of the mobile robots based on a frequency hopping algorithm;
and the scheduling server performs allocation processing on the work tasks of the plurality of mobile robots based on an operation scheduling algorithm.
7. The mobile robot cluster scheduling communication system of claim 4, wherein the uplink processing of the scheduling data between the scheduling server and the plurality of mobile robots comprises:
the mobile robots respectively acquire and process robot running data to obtain running state data;
the mobile robots encrypt the collected running state data to obtain encrypted running state data;
the mobile robots send encrypted running state data to the LoRa gateway, and the LoRa gateway uploads the encrypted running state data to the dispatching server for dispatching based on a channel with specific frequency;
and the scheduling server schedules the encrypted running state data to be decrypted and performs scheduling decision processing based on the decryption processing result and the work tasks of the plurality of mobile robots.
8. The clustered mobile robot scheduling communication system of claim 1, wherein the LoRa gateway optimizes power consumption of the LoRa network based on a multi-objective parameter optimization algorithm during operation, wherein power energy loss of the LoRa gateway is related to data transmission rate and air transmission time;
the method for optimizing the power consumption of the LoRa network based on the multi-objective parameter optimization algorithm comprises the following steps:
Q＝f Q (DR,T packet )＝f Q (SF,CR,BW,n preanmble ,PL,DE,H)；
wherein f represents power consumption, f D (-) represents a power consumption function, and DR represents a data transmission rate; t is a unit of packet Indicating control transfer data; SF denotes a spreading factor; BW denotes a bandwidth; CR denotes a coding rate; n is preamble Indicates the preamble length of the data packet; PL represents the number of payload bytes; the DE indicates data speed optimization for service enablement, and when the DE is 0, the DE indicates disablement; h represents whether the header is enabled, and when the value is 1, the header does not exist;
wherein, the data structure is fixed as:
the above formula is simplified as:
Q＝f Q (DR,T packet )＝f Q (SF,CR,BW)；
if the data transmission distance is related to power consumption, the power supply voltage is a fixed value, the antenna gain is 5Dbi, and the transmission power is 20dbm, then the maximum distance for data transmission of the LoRa gateway is represented by the following formula:
D＝f D (L)＝f D (SF,CR,BW)；
where D denotes the maximum distance of data transmission, f D (-) represents a function of the farthest distance of data transmission; then, the approximate function of the robustness of the data transmission is:
R＝f R (SF,CR,BW)；
wherein R represents the robustness of the data transmission, f R (-) represents a data transmission robustness function; in the LoRa gatewayIn the method, different combination settings of the LoRa parameters have an influence on data transmission distance, power consumption and robustness, namely:
wherein, F represents an optimization objective function of LoRa network parameters, F Q ′、f D ′、f R ' means f Q 、f D 、f R Corresponding normalization factor, -w 1 +w 2 +w 3 =1; parameters SF, BW, CR in the optimization function are optimization parameters, w 1 、w 2 、w 3 Is a weighting coefficient; the constraint is then:
and changing the multi-objective optimization problem into a single-objective optimization problem based on a normalization method, wherein the optimization target is the maximum value of the dimensionless numerical value F.
9. The clustered mobile robot dispatch communication system of claim 1, wherein the data packets passing through the LoRa gateway are encapsulated as LoRa packets consisting of a preamble, an optional header, a mobile robot data payload; the transmission time of the LoRa packet is composed of the transmission time of the preamble and the payload transmission time.
10. The clustered mobile robot scheduling communication system of claim 1, wherein the LoRa gateway encrypts the transmitted data based on LoRa WAN protocol security mechanism.
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