WO2017114129A1

WO2017114129A1 - Robot cluster communication method and system

Info

Publication number: WO2017114129A1
Application number: PCT/CN2016/109110
Authority: WO
Inventors: 刘若鹏; 胡滨
Original assignee: 深圳光启合众科技有限公司
Priority date: 2015-12-31
Filing date: 2016-12-09
Publication date: 2017-07-06
Also published as: CN106936886B; CN106936886A

Abstract

Disclosed are a robot cluster communication method and system. The robot cluster communication method comprises: obtaining record data within a network database, the record data being recorded data of visible light communication between a plurality of robots, the network database being used for storing the record data; via the record data, determining an optimum information transmission path for performing optical communication between the plurality of robots; controlling the plurality of robots to transmit information via optical communication means according to the optimum information transmission path. The present invention achieves the effect of timely information transmission in a case wherein robots cannot perform WIFI transmission.

Description

Specification Name of Invention: Robot Cluster Communication Method and System Technical Field

[0001] The present invention relates to the field of robots, and in particular to a robot cluster communication method and system.

Background technique

[0002] Currently, each robot in a cluster robot has wireless fidelity (Wireless

Fidelity, referred to as WIFI) communication function. The communication between the robots can be directly connected with the WIFI base station, and the sensor data and the information identification data that the robot needs to process during the communication process are uploaded to the server, and the server performs the learning and learning on the sensor data and the information identification data. Evolutionary related calculations. However, in a specific environment, for example, when the robot cannot establish a direct connection with the WIFI base station, or there is no base station around the robot, the robot cannot transmit the information to the server.

technical problem

[0003] In the prior art, in the case where the robot cannot perform WIFI transmission, the problem of inability to transmit information cannot be solved, and an effective solution has not been proposed yet.

Problem solution

Technical solution

[0004] A main object of the present invention is to provide a robot cluster communication method and system, which at least solves the problem that the information cannot be transmitted in the case where the robot cannot perform WIFI transmission.

In order to achieve the above object, according to an aspect of the present invention, a robot cluster communication method is provided. The robot cluster communication method includes: acquiring record data in a network database, wherein the record data is data for recording visible light communication of a plurality of robots, the network database is used for storing record data; and the plurality of robots are determined by recording data. The best information transmission path for visible light communication; controlling multiple robots to transmit information in optical communication according to the optimal information transmission path.

[0006] Further, the record data includes position record data and data of the communication identification record data, wherein the position record data is data for recording position information of the robot, and the communication identification record data is used for recording the communication by the robot in an optical communication manner. Identify the encoded data of 吋.

[0007] Further, in controlling multiple robots to transmit information in an optical communication manner according to an optimal information transmission path Afterwards, the robot cluster communication method further includes: acquiring record update data of the plurality of robots, wherein the record update data is used for updating the record data; and updating the record data in the network database by recording the update data.

[0008] Further, determining, by recording data, an optimal information transmission path for performing visible light communication between the plurality of robots includes: determining a first node, wherein the first node is a first one of the plurality of robots that performs information transmission; Determining a motion rule of the robot other than the first node by recording data; controlling the first node to emit visible light information according to a robot motion rule other than the first node, and the robot other than the first node receives the visible light information and transmits the pair Receiving confirmation information of the visible light information to the first node; detecting a length of the robot transmitting and receiving the confirmation information to the first node other than the first node; transmitting the confirmation information to the first node according to the robot other than the first node Long determines the transmission distance between the first node and the robot other than the first node.

[0009] Further, the robot other than the first node includes a plurality of robots. After determining the first node, the robot cluster communication method further includes: according to the first node and the plurality of robots other than the first node The transmission distance determines the second node, and determines a transmission path between the first node and the second node as the first best information transmission path; and optically communicates the information according to the first best information transmission path via the first node The mode is transmitted to the second node.

[0010] Further, after determining the second node, the robot cluster communication method further includes: determining, by recording data, a motion rule of the plurality of robots other than the first node and the second node; controlling the second node according to the first The motion rule of the plurality of robots other than the node and the second node emits visible light information, and the plurality of robots other than the first node and the second node receive the visible light information and transmit the confirmation information of the visible light information to the second node; a plurality of robots other than the first node and the second node transmit a confirmation message to the second node; and send and receive confirmation information to the second node according to the plurality of robots other than the first node and the second node吋 acquiring a transmission distance between the second node and a plurality of robots other than the first node and the second node; and transmitting according to the second node and the plurality of robots other than the first node and the second node Determining a third node, and determining a transmission path between the second node and the third node as a second best information transmission path; Transmit information to a second node via a third node information in accordance with the second preferred embodiment optical communication transmission path.

[0011] further, between the plurality of robots other than the first node and the second node according to the second node After the transmission distance determines the third node, the robot cluster communication method further includes: transmitting the reception confirmation information transmitted to the second node via the third node to the first node.

[0012] Further, determining the second node includes: separately acquiring pheromone values of the transmission path corresponding to the transmission distance between the first node and the plurality of robots other than the first node, where the pheromone value is used Determining a degree of preference for selecting a transmission path; calculating a probability that each robot other than the first node is determined to be the second node by a transmission distance and a pheromone value between the first node and a plurality of robots other than the first node The robot with the highest probability is determined as the second node, and the transmission path between the first node and the second node is determined as the first best information transmission path.

[0013] Further, after controlling the plurality of robots to transmit information in an optical communication manner according to the optimal information transmission path, the robot cluster communication method further includes: calculating power consumption and optimal information of transmitting information on the optimal information transmission path. The total distance of the transmission path; adjusting the pheromone value of the first best information transmission path according to the power consumption and the total distance, and obtaining the adjusted pheromone value of the first best information transmission path; passing the first optimal information transmission path The pheromone value after the adjustment is re-determined by the second node.

[0014] Further, the pheromone value is decremented according to a preset value.

[0015] Further, after the second node is re-determined by the pheromone value after the adjustment of the first best information transmission path, the optimal information transmission path is updated to obtain an updated optimal information transmission path, where multiple The robot transmits information by optical communication according to the optimal information transmission path, including: controlling a plurality of robots to transmit information by optical communication according to the updated optimal information transmission path.

In order to achieve the above object, according to another aspect of the present invention, a robot cluster communication system is also provided. The robot cluster communication system includes a visible light communication module, configured to acquire record data in a network database, wherein the record data is data for recording visible light communication of a plurality of robots, the network database is used for storing record data; and the data analysis module is used for The optimal information transmission path for performing visible light communication between the plurality of robots is recorded by recording data; and the transmission module is configured to control the plurality of robots to transmit information in an optical communication manner according to the optimal information transmission path.

[0017] Further, the system further includes: an acquiring module, configured to acquire record update data of the plurality of robots after controlling the plurality of robots to transmit the information in an optical communication manner according to the optimal information transmission path, where the update data is recorded And data for updating the record data; and a first update module, configured to update the record data in the network database by recording the update data. [0018] Further, the data analysis module includes: a first determining submodule, configured to determine a first node, where the first node is a robot that performs information transmission in a first one of the plurality of robots; and a second determining submodule, a motion rule for determining a robot other than the first node by recording data; a control submodule, configured to control the first node to emit visible light information according to a motion rule of the robot other than the first node, except for the first node The external robot receives the visible light information and transmits the confirmation information of the visible light information to the first node; the detection submodule is configured to detect the length of the robot sending and receiving the confirmation information to the first node other than the first node; and the third And a determining submodule, configured to determine a transmission distance between the first node and a robot other than the first node according to a length of the first node to send the confirmation information to the first node.

[0019] Further, the data analysis module further includes: a fourth determining submodule, configured to determine, according to a transmission distance between the first node and a plurality of robots other than the first node, after determining the first node a second node, and determining a transmission path between the first node and the second node as a first best information transmission path, where the transmission module is further configured to use the first best information transmission path to light the information via the first node The communication method is transmitted to the second node.

[0020] Further, the second determining submodule is further configured to: after the determining the second node, determine, by using the record data, a motion rule of the multiple robots other than the first node and the second node; the control submodule is further used to: Controlling the second node to emit visible light information according to motion rules of the plurality of robots other than the first node and the second node, and the plurality of robots other than the first node and the second node receive the visible light information and transmit the visible light information Confirming the information to the second node; the detecting sub-module is further configured to detect that the plurality of robots other than the first node and the second node send and receive the confirmation information to the second node; the third determining sub-module is further configured to perform a plurality of robots other than the first node and the second node transmit a confirmation message to the second node to obtain a transmission distance between the second node and a plurality of robots other than the first node and the second node; The fourth determining submodule is further configured to determine the third node according to a transmission distance between the second node and the plurality of robots other than the first node and the second node, Determining a transmission path between the second node and the third node as a second best information transmission path; and the transmission module is further configured to transmit the information to the first optical communication manner according to the second best information transmission path via the second node Three nodes.

[0021] Further, the system further includes a sending module, configured to send the receiving confirmation information sent to the second node via the third node to the first node after determining the third node. [0022] Further, the fourth determining submodule includes: an acquiring submodule, configured to respectively acquire a pheromone value of a transmission path corresponding to a transmission distance between the first node and a plurality of robots other than the first node, among them

a pheromone value for indicating a degree of preference for selecting a transmission path; a calculation submodule for calculating a transmission distance and a pheromone value between the first node and a plurality of robots other than the first node a probability that each of the external robots is determined to be the second node; and a fifth determining submodule for determining the robot with the highest probability as the second node, and determining the transmission path between the first node and the second node as the first An optimal information transmission path.

[0023] Further, the system further includes: a calculating module, configured to calculate power consumption of transmitting information on the optimal information transmission path after controlling the plurality of robots to transmit information in an optical communication manner according to the optimal information transmission path a total distance of the best information transmission path; an adjustment module, configured to adjust a pheromone value of the first best information transmission path according to the power consumption and the total distance, to obtain a pheromone value after the adjustment of the first best information transmission path; And a determining module, configured to re-determine the second node by adjusting the pheromone value of the first best information transmission path.

[0024] Further, the system further includes a second update module, configured to update the optimal information transmission path after the second node is re-determined by the adjusted pheromone value of the first best information transmission path, and obtain an updated The best information transmission path, wherein the transmission module is further configured to control the plurality of robots to transmit information in an optical communication manner according to the updated optimal information transmission path.

[0025] Further, the visible light communication module is further configured to emit visible light information to the plurality of robots, and receive confirmation information of the plurality of robots for receiving the visible light information.

[0026] Further, the visible light communication module is an LED visible light communication module.

Advantageous effects of the invention

Beneficial effect

[0027] According to the present invention, the record data in the network database is acquired, the record data is data for recording visible light communication of a plurality of robots, the network database is used for storing the record data; and then the plurality of robots are determined by recording the data. The best information transmission path for visible light communication; finally, controlling multiple robots to transmit information in the optical communication mode according to the optimal information transmission path, and solving the problem that the robot cannot transmit information under the condition that the robot cannot perform W IFI transmission, thereby achieving The effect of transmitting information when the robot is unable to perform WI FI transmission. Brief description of the drawing

DRAWINGS

The accompanying drawings, which are incorporated in the claims of the claims In the drawings: [0029] FIG. 1 is a schematic diagram of a robot cluster communication system according to a first embodiment of the present invention;

2 is a schematic diagram of a robot cluster communication system according to a second embodiment of the present invention;

3 is a schematic diagram of a robot cluster communication system according to a third embodiment of the present invention;

4 is a schematic diagram of a robot cluster communication system according to a fourth embodiment of the present invention;

5 is a schematic diagram of a robot cluster communication system according to a fifth embodiment of the present invention;

6 is a schematic diagram of a robot cluster communication system according to a sixth embodiment of the present invention;

7 is a schematic diagram of a robot cluster communication system according to a seventh embodiment of the present invention;

8 is a schematic diagram of a robot cluster communication system according to an eighth embodiment of the present invention;

9 is a flowchart of a robot cluster communication method according to an embodiment of the present invention;

10 is a schematic diagram of an ant colony algorithm according to an embodiment of the present invention.

Embodiments of the invention

[0039] It should be noted that, in the case of no conflict, the features in the embodiments and the embodiments in the present application may be combined with each other. The invention will be described in detail below with reference to the drawings in conjunction with the embodiments.

The technical solutions in the embodiments of the present application are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present application. The embodiments are only a part of the embodiments of the present application, and not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the scope of the present application.

[0041] It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or Prioritization. It should be understood that the data so used may be interchanged where appropriate to enable the embodiments of the present application described herein. In addition, the terms "comprises" and "comprising" and "comprising" and "the" are intended to cover a non-exclusive inclusion, for example, a process, method, system, product, or device that comprises a series of steps or units is not necessarily limited Those steps or units that are clearly listed may include other steps or units that are not explicitly listed or inherent to such processes, methods, products, or devices.

[0042] Embodiments of the present invention provide a robot cluster communication system.

1 is a schematic diagram of a robot cluster communication system according to a first embodiment of the present invention. As shown in FIG. 1, the robot cluster communication system includes: a visible light communication module 10, a data analysis module 20, and a transmission module 30.

[0044] The visible light communication module 10 is configured to acquire record data in a network database, wherein the record data is data recorded for visible light communication of a plurality of robots, and the network database is used to store record data.

[0045] In the visible light network communication of the robot cluster, a plurality of robots in the robot cluster communicate, generate communication data through visible light communication, record the communication data, obtain the recorded data, and then store the recorded data in the network database. Recording data, that is, data exchange records generated by a robot performing visible light communication, optionally, in a robot cluster in which optical communication can be established, each robot stores a similar data exchange record, and the data exchange record is called each Network database of robots. The data exchange record can detect the spatial position, direction, type of data transmitted, size of data, encoding format of data, and decoding key for data of other robots connected to the surrounding visible light communication.

[0046] The recorded data in the network database is acquired by the visible light communication module 10. Optionally, location record data and communication identification record data of a plurality of robots are acquired from a network database. The position record data is data for recording the position information of the robot, for example, position range information of the robot activity, position information of the activity, specific position information, and the like; the communication identification record data is used to record the robot in the light The communication method performs the identification data of the communication identification, for example, the communication identification (ID) information, and the visible light communication module 10 can also acquire the size of the data, the encoding format of the data, and the decoding key of the data.

[0047] The visible light communication module 10 is further configured to emit visible light information to a plurality of robots, and receive confirmation confirmation information of the plurality of robots for the visible light information. Optionally, the visible light communication module 10 includes a receiving device and a transmitting device. The visible light communication module 10 diffuses visible light emitted by the transmitting device in the visible light communication range, so that the visible light communication module 10 transmits visible light information transmitted by the transmitting device to the plurality of robots. After receiving the visible light information, the plurality of robots confirm the received visible light information. The receiving confirmation information is obtained, and the visible light information is transmitted and received to the visible light communication module 10. The visible light communication module 10 receives the receiving confirmation information of the visible light information by the plurality of robots through the receiving device. The visible light communication module 10 can receive information of different frequency spectrums, and filter the received information to obtain effective information of the visible light communication module 10 in the communication process, and save, encode, and record the valid information.

[0048] Optionally, the visible light communication module 10 is a (Light Emitting Diode, abbreviated as LED) visible light communication module. The LED visible light communication module improves the transmission distance and transmission rate of communication data by converting light energy into electrical energy, thereby improving the reliability of communication data transmission. The visible light communication module 10 can be installed in the eye position of the robot. The installation and working process of the visible light communication module 10 does not affect the installation and working process of the robot's eye camera.

[0049] Optionally, the visible light communication module 10 is powered by the power source, thereby ensuring that the visible light communication module 10 can continuously transmit information between long and short.

[0050] The data analysis module 20 is configured to determine, by using the recorded data, an optimal information transmission path for performing visible light communication between the plurality of robots.

[0051] A plurality of robots have various information transmission paths while performing visible light communication. After acquiring the recorded data in the network database through the visible light communication module 10, the data analyzing module 20 determines the optimal information transmission path for the visible light communication between the plurality of robots by recording the data.

[0052] Optionally, the data analysis module 20 determines the optimal information transmission path for optical communication between the plurality of robots through the location record data and the communication identification record data.

[0053] The data analysis module 20 determines the first one of the plurality of robots that performs information transmission as the first node of the optimal information transmission path. The data analysis module 20 determines the motion rules of the robots other than the first node by recording the data. For example, the data analysis module 20 determines the position record data and the communication identification record data recorded in the network database, and then determines according to the self analysis. In addition to the motion rules of other robots other than the first node, the motion rules include the range of positions of the robot activity and the motion rules between the activities. The first node transmits the visible light information according to the motion rule of the robot other than the first node through the visible light communication module 10, and the robot other than the first node receives the visible light information, and sends the confirmation information of the visible light information to the first node; Detecting, by the robot other than the first node, sending and receiving confirmation information to the first node, sending a confirmation message to the first according to the robot other than the first node The length of the node determines the transmission distance between the first node and the robot other than the first node.

[0054] Optionally, the robot other than the first node includes a plurality of robots. After determining the first node, the data analysis module 20 determines a motion rule of the plurality of robots other than the first node by recording data, and the first node emits visible light information according to a motion rule of the plurality of robots other than the first node, The plurality of robots other than the first node receive the visible light information, and send the confirmation information of the visible light information to the first node; and detect the plurality of robots other than the first node to send and receive the confirmation information to the first node Determining a transmission distance between the first node and a plurality of robots other than the first node according to a length of the plurality of robots other than the first node transmitting and receiving the confirmation information to the first node; according to the first node and dividing The transmission distance between the plurality of robots other than the first node determines the second node. The pheromone value of the transmission path corresponding to the transmission distance between the first node and the plurality of robots other than the first node may be separately obtained, where the pheromone value is used to indicate the degree of selecting the transmission path, that is, Determining a degree of preference of the information transmission path, the degree of preference determining the probability that each robot selects the next receiving area, which may be determined by calculating a probability of selecting the next receiving area; passing the first node and the first node The transmission distance and the pheromone value between the plurality of robots calculate the probability that each of the robots other than the first node is determined to be the second node; the robot with the highest probability is determined as the second node. After determining the second node, the transmission path between the first node and the second node is determined as the first best information transmission path.

[0055] determining, by the data transmission module 20 of the second node according to the transmission distance between the first node and the plurality of robots other than the first node, determining, by the recording data, a plurality of the first node and the second node a motion rule of the robot; the second node transmits visible light information according to a motion rule of the plurality of robots other than the first node and the second node, and the plurality of robots other than the first node and the second node receive the visible light information, and send Receiving confirmation information of the visible light information to the second node; detecting, by the plurality of robots other than the first node and the second node, sending and receiving the confirmation information to the second node; according to the first node and the second node The plurality of robots send and receive the confirmation information to the second node to obtain a transmission distance between the second node and the plurality of robots other than the first node and the second node; according to the second node and the first node and The transmission distance between the plurality of robots other than the second node determines the third node, and the second node can be acquired separately from the first node and the second node respectively The pheromone value of the transmission path corresponding to the transmission distance between the robots, through the second node and more than the first node and the second node The transmission distance between the robots and the pheromone value calculate the probability that each robot other than the first node and the second node is determined as the third node; the robot with the highest probability is determined as the third node. After determining the third node, the transmission path between the second node and the third node is determined as the second best information transmission path.

[0056] after determining the third node according to the transmission distance between the second node and the plurality of robots other than the first node and the second node, sending the confirmation confirmation message sent to the second node via the third node to The first node until the information is transmitted to the node corresponding to the robot that ultimately receives the information.

[0057] after the information is completely transmitted, the data analysis module 20 calculates the power consumption of the information transmitted on the optimal information transmission path and the total distance of the optimal information transmission path; and adjusts according to the power consumption and the total distance. a pheromone value of an optimal information transmission path, obtaining a pheromone value after adjustment of the first best information transmission path; re-determining the second node by adjusting the pheromone value of the first best information transmission path, that is, Obtaining a pheromone value of the transmission path corresponding to the transmission distance between the first node and the plurality of robots other than the first node, respectively, including the first best information transmission path between the first node and the second node a pheromone value after adjustment; calculating, by the first node and a plurality of robots other than the first node, a trajectory distance and a pheromone value, each robot other than the first node is determined to be a new second node Probability; The robot with the highest probability is determined as the new second node.

[0058] Optionally, the data analysis module 20 adjusts the pheromone value of the second best information transmission path according to the power consumption and the total distance, and obtains the adjusted pheromone value of the second best information transmission path; The transmission distance between the node and the third node and the adjusted pheromone value of the second best information transmission path re-determine the second node, that is, acquire the second node separately from the first node and the second node, respectively a pheromone value of the transmission path corresponding to the transmission distance between the plurality of robots, including a pheromone value after the adjustment of the second best information transmission path between the second node and the third node; The transmission distance and the pheromone value between the plurality of robots other than the first node and the second node calculate the probability that each of the robots other than the first node and the second node is determined to be the new third node; The robot is determined to be the new third node.

[0059] The pheromone value decreases with time according to a preset value. If the number of times the transmission path transmits information is reduced, the probability that the node corresponding to the transmission path is selected is correspondingly reduced.

[0060] In the robot cluster, information is transmitted through nodes corresponding to the transmission path, and the data analysis module 20 is transmitting The method for selecting each node on the path is the same as the method for selecting the first node and the second node. The transmission path between the nodes constitutes the best information transmission path for transmitting information by optical communication, and details are not described herein.

[0061] The transmission module 30 is configured to control the plurality of robots to transmit information in an optical communication manner according to the optimal information transmission path.

The transmission module 30 is configured to control the plurality of robots to transmit information in an optical communication manner according to the optimal information transmission path, including transmitting the information to the second node in an optical communication manner according to the first best information transmission path via the first node.

[0063] The data analysis module 20 controls the plurality of robots to transmit information in an optical communication manner according to the optimal information transmission path, including transmitting the information to the third node in a visible light communication manner according to the second best information transmission path via the second node.

[0064] After the transmission module 30 controls the plurality of robots to transmit information in an optical communication manner according to the optimal information transmission path, the record update data of the plurality of robots is acquired, and the update data is used to update the data of the record data, for example, recording The update data is a pheromone value after adjustment of the transmission path between the respective nodes, and the record data in the network database is updated by recording the update data, for example, by adjusting the pheromone on the transmission path between the respective nodes. The value updates the location record data in the network database.

[0065] After the second node is re-determined by the pheromone value after the adjustment of the first best information transmission path, the optimal information transmission path is updated to obtain the updated optimal information transmission path. Optionally, the data analysis module 20 re-determines the node by adjusting the pheromone value of the transmission path between each two nodes, updates the optimal information transmission path, and obtains the updated optimal information transmission path. The transmission module 30 controls the plurality of robots to transmit information in an optical communication manner in accordance with the updated optimal information transmission path.

[0066] Optionally, the robot cluster communication system includes a visible light communication module, a data analysis module of a soul model, and a transmission network data record library. Among them, the soul model has a complete learning module and emotion module for recognition, prediction, judgment, reasoning and optimization decision. The visible light communication module is an LED visible light communication module, which improves the transmission distance and transmission rate of information, increases the reliability of information transmission, and can be installed and used in the eye of the robot, and has no influence on the position of the robot eye camera. The visible light communication module can also receive and filter information of different spectrums, and can effectively save and edit visible light information. Code and record. Visible light communication requires powerful power support to ensure uninterrupted transmission of information over a long period of time.

[0067] This embodiment acquires the record data in the network database through the visible light communication module 10, the record data is data for recording visible light communication of a plurality of robots, and the network database is used for storing the record data; the data analysis module 20 determines by recording the data. The best information transmission path for optical communication between multiple robots; the transmission module 30 controls a plurality of robots to transmit information in an optical communication manner according to the optimal information transmission path, and achieves transmission of information when the robot cannot perform WIFI transmission. Effect.

2 is a schematic diagram of a robot cluster communication system according to a second embodiment of the present invention. As shown in FIG. 2, the robot cluster communication system includes: a visible light communication module 10, a data analysis module 20, a transmission module 30, an acquisition module 40, and a first update module 50.

The visible light communication module 10, the data analysis module 20, and the transmission module 30 of the embodiment have the same functions as those of the robot cluster communication system of the first embodiment of the present invention, and are not described herein again.

[0070] The obtaining module 40 is configured to acquire, after the plurality of robots transmit the information in an optical communication manner according to the optimal information transmission path, the record update data of the plurality of robots, wherein the record update data is used to update the record data. data.

[0071] The first update module 50 is configured to update the record data in the network database by recording the update data.

3 is a schematic diagram of a robot cluster communication system according to a third embodiment of the present invention. As shown in FIG. 3, the robot cluster communication system includes: a visible light communication module 10, a data analysis module 20, and a transmission module 30, wherein the data analysis module 20 includes: a first determining submodule 201, a second determining submodule 202, and controlling The submodule 203, the detection submodule 204 and the third determining submodule 205.

The visible light communication module 10, the data analysis module 20, and the transmission module 30 of the embodiment have the same functions as those of the robot cluster communication system of the first embodiment of the present invention, and details are not described herein again.

[0074] The first determining submodule 201 is configured to determine a first node, where the first node is the first one of the plurality of robots to perform information transmission.

[0075] The second determining sub-module 202 is configured to determine, by using the recording data, a motion rule of the robot other than the first node.

[0076] The control submodule 203 is configured to control the first node according to a motion rule of the robot other than the first node The visible light information is transmitted, and the robot other than the first node receives the visible light information and transmits the confirmation information of the visible light information to the first node.

[0077] The detecting sub-module 204 is configured to detect that the robot other than the first node sends and receives confirmation information to the first node.

[0078] a third determining submodule 205, configured to determine, according to a length of the first node to send confirmation information to the first node, a transmission distance between the first node and a robot other than the first node, Optionally, when there are only two robots, the third determining submodule 205 determines the first node and the robot other than the first node according to the length of the first node to send the confirmation information to the first node. The transmission distance between the two is the first best information transmission path.

4 is a schematic diagram of a robot cluster communication system according to a fourth embodiment of the present invention. As shown in FIG. 4, the robot cluster communication system includes: a visible light communication module 10, a data analysis module 20, and a transmission module 30. The data analysis module 20 includes: a first determining submodule 201, a second determining submodule 202, a controlling submodule 203, a detecting submodule 204, a third determining submodule 205, and a fourth determining submodule 206.

[0080] The visible light communication module 10, the data analysis module 20 and the transmission module 30, the first determination submodule 201, the second determination submodule 202, the control submodule 203, the detection submodule 204 and the third determination submodule of the embodiment 205 has the same function as the robot cluster communication system of the third embodiment of the present invention, and details are not described herein again.

[0081] The fourth determining sub-module 206 is configured to determine, according to a transmission distance between the first node and a plurality of robots other than the first node, after determining the first node, and the first node and The transmission path between the second nodes is determined to be the first best information transmission path.

[0082] The transmission module 30 is further configured to transmit information to the second node in an optical communication manner according to the first best information transmission path via the first node.

The second determining sub-module 202 is further configured to determine a motion rule of the plurality of robots other than the first node and the second node by recording data after determining the second node.

[0084] The control sub-module 203 is further configured to control the second node to emit visible light information according to a motion rule of the plurality of robots other than the first node and the second node, and the plurality of robots except the first node and the second node Receiving visible light information and transmitting confirmation information of the visible light information to the second node.

[0085] The detecting submodule 204 is further configured to detect sending and receiving of multiple robots except the first node and the second node. Confirm the length of the information to the second node.

[0086] The third determining submodule 205 is further configured to: acquire, according to the plurality of robots other than the first node and the second node, the receiving confirmation information to the second node to obtain the second node and the second node and the second node. The transmission distance between multiple robots outside the node.

[0087] The fourth determining submodule 206 is further configured to determine a third node according to a transmission distance between the second node and the plurality of robots other than the first node and the second node, and the second node and the third node The transmission path between the two is determined as the second best information transmission path.

[0088] The transmission module 30 is further configured to transmit the information to the third node in an optical communication manner according to the second best information transmission path via the second node.

5 is a schematic diagram of a robot cluster communication system according to a fifth embodiment of the present invention. As shown in FIG. 5, the robot cluster communication system includes: a visible light communication module 10, a data analysis module 20, a transmission module 30, and a transmission module 70. The data analysis module 20 includes: a first determining submodule 201, a second determining submodule 202, a controlling submodule 203, a detecting submodule 204, a third determining submodule 205, and a fourth determining submodule 206.

[0090] The visible light communication module 10, the data analysis module 20, the transmission module 30 and the fourth determination submodule 206, the first determination submodule 201, the second determination submodule 202, the control submodule 203, and the detection submodule of the embodiment The functions of the third determining sub-module 205 and the fourth determining sub-module 206 are the same as those in the robot cluster communication system of the fourth embodiment of the present invention, and are not described herein again.

[0091] The sending module 70 is configured to send, after determining the third node, the acknowledgement information sent to the second node via the third node to the first node.

6 is a schematic diagram of a robot cluster communication system according to a sixth embodiment of the present invention. As shown in FIG. 6, the robot cluster communication system includes: a visible light communication module 10, a data analysis module 20, and a transmission module 30. The data analysis module 20 includes: a first determining submodule 201, a second determining submodule 202, a control submodule 203, a detecting submodule 204 and a third determining submodule 205, and a fourth determining submodule 206, wherein the fourth The determining sub-module 206 includes: an obtaining sub-module 2061, a calculating sub-module 2062 and a fifth determining sub-module 2063.

[0093] The visible light communication module 10, the data analysis module 20 and the transmission module 30, the first determination submodule 201, the second determination submodule 202, the control submodule 203, the detection submodule 204, and the third determined submodule of the embodiment The function of the block 205 and the fourth determining sub-module 206 is the same as that of the robot cluster communication system of the fourth embodiment of the present invention, and details are not described herein again.

[0094] The obtaining submodule 2061 is configured to separately acquire pheromone values of the transmission path corresponding to the transmission distance between the first node and the plurality of robots other than the first node, where the pheromone value is used to indicate the selected transmission The degree of preference of the path;

[0095] a calculation sub-module 2062, configured to calculate, by using a transmission distance and a pheromone value between the first node and the plurality of robots other than the first node, each robot except the first node is determined to be the second node Probability;

[0096] The fifth determining sub-module 2063 is configured to determine the robot with the highest probability as the second node, and determine the transmission path between the first node and the second node as the first best information transmission path.

7 is a schematic diagram of a robot cluster communication system according to a seventh embodiment of the present invention. As shown in FIG. 7, the robot cluster communication system includes: a visible light communication module 10, a data analysis module 20 and a transmission module 30, a calculation module 80, an adjustment module 90, and a determination module 100. The data analysis module 20 includes: a first determining submodule 201, a second determining submodule 202, a control submodule 203, a detecting submodule 204 and a third determining submodule 205, and a fourth determining submodule 206, a fourth determining sub The module 206 includes: an acquisition submodule 20 61, a calculation sub 2062, and a fifth determinator 2063.

[0098] The visible light communication module 10, the data analysis module 20, the transmission module 30, the first determination submodule 201, the second determination submodule 202, the control submodule 203, the detection submodule 204, and the third determination submodule of the embodiment 205 and the fourth determining sub-module 206, the obtaining sub-module 2061, the calculating sub-2062 and the fifth determining sub-2063 are the same as those in the robot-cluster communication system of the sixth embodiment of the present invention, and details are not described herein again.

[0099] The calculating module 80 is configured to calculate a total amount of power consumption and an optimal information transmission path for transmitting information on the optimal information transmission path after controlling the plurality of robots to transmit information in an optical communication manner according to the optimal information transmission path. distance.

[0100] The adjustment module 90 is configured to adjust a pheromone value of the first best information transmission path according to power consumption and total distance

, obtaining the pheromone value after the adjustment of the first best information transmission path.

[0101] The determining module 100 is configured to re-determine the second node by using the adjusted pheromone value of the first best information transmission path.

[0102] Optionally, the pheromone value of this embodiment is decremented according to a preset value. 8 is a schematic diagram of a robot cluster communication system according to an eighth embodiment of the present invention. As shown in FIG. 8, the robot cluster communication system includes: a visible light communication module 10, a data analysis module 20, a transmission module 30, and a second update module 110. The data analysis module 20 includes: a first determining submodule 201, a second determining submodule 202, a controlling submodule 203, a detecting submodule 204 and a third determining submodule 205, and a fourth determining submodule 206 determining a submodule 206 includes: an acquisition sub-module 2061, a calculation sub-revelation 2062, and a fifth determinant 2063.

[0104] The visible light communication module 10, the data analysis module 20, the transmission module 30 and the fourth determination submodule 206, the first determination submodule 201, the second determination submodule 202, the control submodule 203, and the detection submodule of the embodiment 204 and the third determining sub-module 205, the obtaining sub-module 2061, the calculating sub-2062 and the fifth determining sub-2063 are the same as those in the robot-cluster communication system of the sixth embodiment of the present invention, and details are not described herein again.

[0105] The second update module 110 is configured to: after re-determining the second node by using the adjusted pheromone value of the first best information transmission path, update the optimal information transmission path to obtain an updated optimal information transmission path, The transmission module 30 is further configured to control the plurality of robots to transmit information in an optical communication manner according to the updated optimal information transmission path.

[0106] The present invention also provides a robot cluster communication method. It should be noted that the robot cluster communication method can be performed by the robot cluster communication system of the embodiment of the present invention.

9 is a robot cluster communication method according to an embodiment of the present invention. As shown in Figure 9, the robot cluster communication method includes the following steps:

[0108] Step S901: Acquire record data in the network database.

[0109] The record data is data for recording visible light communication of a plurality of robots, and the network database is used for storing record data to acquire record data in the network database. Record data, that is, data exchange records, optionally, each robot has a network database. In the robot cluster that can be established by optical communication, each robot stores a similar data exchange record in the visible light communication. The data exchange record can detect the spatial position, direction, and transmission of other robots connected to the visible light communication. The type, size, encoding format, decoding key, etc. of the data, this data exchange record is called the network database of each robot.

[0110] The record data includes position record data and communication identification record data, the position record data is data for recording position information of the robot, and the communication identification record data is used for recording the robot in an optical communication manner. The encoded data of the communication identification is performed. Optionally, the location record data and the communication identification record data of the plurality of robots are acquired from the network database. The position record data is data for recording the position information of the robot, for example, position range information of the robot activity, position information of the activity, specific position information, and the like; the communication identification record data is used to record the robot in the light The communication method is used to identify the encoded data of the communication, for example, the communication ID information.

[0111] Optionally, when a certain robot is in a relatively remote area, the WIFI network cannot be connected, and the recorded data in the network database is acquired, and according to the analysis of itself, the activity laws of other robots in the visible range are obtained, so as to find A robot that stably transmits information.

[0112] Step S902, determining, by recording data, an optimal information transmission path for optical communication between multiple robots

[0113] The optimal information transmission path for performing visible light communication between the plurality of robots is determined by the position recording data and the communication identification recording data.

[0114] determining a first node, optionally, determining that the robot of the event occurrence point is the first node, the first node is the first one of the plurality of robots to perform information transmission; determining, besides the first node, by recording data a motion rule of the other robot; controlling the first node to emit visible light information according to a motion rule of the robot other than the first node, wherein the robot other than the first node receives the visible light information, and transmits the confirmation information of the visible light information Go to the first node; detecting, by the robot other than the first node, sending the confirmation message to the first node; determining the first node according to the length of the first node to send the confirmation information to the first node Transmission distance between robots other than the first node

[0115] Optionally, determining a first node, where the first node is the first one of the plurality of robots to perform information transmission, for example, a situation in the environment of the robot is sudden, and the WIFI network cannot be used for long-distance communication, thereby The emergency signal cannot be transmitted. Thereafter, the robot determining the event occurrence point is the first node; determining the motion rule of the robot other than the first node by using the record data stored in the network database; controlling the first node according to the first node The motion rules of the robot outside emit visible light information, and the visible light information can be transmitted to the robot in the visible range. The robot other than the first node receives the visible light information in the visible light range, and transmits the confirmation information of the visible light information to the first node; detects that the robot other than the first node sends and receives the confirmation information to the first node ; according to The robot outside the first node transmits the confirmation information to the length of the first node to determine the transmission distance between the first node and the robot other than the first node.

[0116] The robot other than the first node includes a plurality of robots, and after determining the first node, determining motion rules of the plurality of robots other than the first node by recording data; controlling the first node according to the first node The motion rules of the plurality of robots other than the first node transmit visible light information, and send the confirmation information of the visible light information to the first node; detecting the first node The plurality of robots send and receive the confirmation information to the first node; and the plurality of robots other than the first node send and receive the confirmation information to the first node to determine the first node and the first node a transmission distance between the plurality of robots; determining a second node according to a transmission distance between the first node and the plurality of robots other than the first node, and determining a transmission path between the first node and the second node as a first best information transmission path, wherein the information is transmitted to the first optical communication mode according to the first best information transmission path via the first node Node.

[0117] Optionally, the robot other than the first node includes a plurality of robots, for example, more than two robots. After determining the first node, determining motion rules of the plurality of robots other than the first node by using the record data in the network database; controlling the first node to emit visible light information according to motion rules of the plurality of robots other than the first node And the plurality of robots other than the first node receive the visible light information, and send the confirmation information of the visible light information to the first node; and detect the plurality of robots other than the first node to send and receive the confirmation information to the first node. Long, obtaining a plurality of lengths; determining, according to the plurality of lengths, a transmission distance between the first node and the plurality of robots other than the first node; according to the first node and the plurality of robots other than the first node The transmission distance between the two determines a second node. Optionally, the node corresponding to the robot having the shortest transmission distance from the first node is selected as the second node, and the transmission path between the first node and the second node is determined as the first node. An optimal information transmission path. The information is passed by the second node until the information arrives at the information receiving point, or the robot in the arriving area has the ability to communicate information remotely.

[0118] after determining the second node according to the transmission distance between the first node and the plurality of robots other than the first node, determining the motions of the plurality of robots other than the first node and the second node by recording the data a second node controlling the second node to emit visible light information according to a motion rule of the plurality of robots other than the first node and the second node, wherein the plurality of robots other than the first node and the second node receive the visible light information And sending the confirmation information of the visible light information to the second node; detecting, by the plurality of robots other than the first node and the second node, sending the confirmation information to the second node; according to the first node and the second node a plurality of robots other than the node send and receive the confirmation information to the second node to obtain a transmission distance between the second node and the plurality of robots other than the first node and the second node; according to the second node and the second node The transmission distance between the plurality of robots other than the one node and the second node determines the third node, and the transmission path between the second node and the third node is determined as the second best information transmission path.

[0119] after determining the third node according to the transmission distance between the second node and the plurality of robots other than the first node and the second node, sending the confirmation confirmation message sent to the second node via the third node to The first node. That is, each node on the best information transmission path transmits the reception confirmation information back to the first node.

[0120] determining the second node according to a transmission distance between the first node and the plurality of robots other than the first node includes: respectively acquiring transmission between the first node and the plurality of robots other than the first node a pheromone value of the corresponding transmission path, wherein the pheromone value is used to indicate the degree of selecting the transmission path; and the transmission distance and the pheromone value between the first node and the plurality of robots other than the first node are calculated The probability that each robot other than the first node is determined as the second node, optionally, the probability that each robot other than the first node is determined to be the second node is calculated by the following formula:

[0122]

Where P is the probability that each robot other than the first node is determined to be the second node, a and b are exponential parameters, and the distance between the two robots, that is, the transmission path between each two robots The distance, the pheromone value of the transmission path between the two robots represents the degree of preference for selecting the transmission path between the two robots. The robot with the highest probability P is determined as the second node.

[0122] Optionally, acquiring pheromone values of the transmission path corresponding to the transmission distance between the second node and the plurality of robots other than the first node and the second node, respectively, by using the second node and dividing the first node The transmission distance and the pheromone value between the plurality of robots other than the second node calculate the probability that each of the robots other than the first node is determined to be the third node; the robot with the highest probability is determined as the third node.

[0123] Optionally, the optimal information transmission path includes a plurality of nodes, and the selection method of the nodes other than the first node, the second node, and the third node is the same as the foregoing method, and details are not described herein again.

[0124] Step S903: Control a plurality of robots to transmit information in an optical communication manner according to the optimal information transmission path. [0125] after determining the optimal information transmission path for optical communication between the plurality of robots by recording the data, controlling the plurality of robots to transmit the information in an optical communication manner according to the optimal information transmission path includes: An optimal information transmission path is optically transmitted to the second node, and the information is transmitted to the third node in an optical communication manner according to the second best information transmission path via the second node.

[0126] after controlling a plurality of robots to transmit information in an optical communication manner according to an optimal information transmission path, calculating a power consumption amount of the information transmitted on the optimal information transmission path and a total distance of the optimal information transmission path, optionally, The power consumption of the information transmitted on the optimal information transmission path is the power consumption of the entire transmission network; the pheromone value of the first best information transmission path is adjusted according to the power consumption and the total distance, and the first best information transmission path is obtained. The adjusted pheromone value; the second node is re-determined by the adjusted pheromone value of the first best information transmission path. Optionally, after the information is transmitted from the event occurrence point to the information collection point, the total power consumption in the information transmission process and the total distance of the optimal information transmission path are calculated as a fitness function. Optionally, the pheromone value on the information transmission path between the two robots participating in the transmission in the network database is adjusted by the following formula:

[0129] wherein Fitness is a function of power consumption and total distance, and the original pheromone value may be the pheromone value of the first best information transmission path.

[0128] Optionally, the original pheromone value may also be a pheromone value of the second best information transmission path, and the pheromone value of the second best information transmission path is adjusted according to the power consumption and the total distance. Obtaining an adjusted pheromone value of the second best information transmission path; redetermining the third node by the adjusted pheromone value of the second best information transmission path.

[0129] Optionally, the optimal information transmission path includes a multi-segment transmission path, except a first best information transmission path between the first node and the second node, and a second best between the second node and the third node. The method for adjusting the pheromone value of the transmission path between the nodes other than the information transmission path is the same as the above method, and details are not described herein again.

[0130] The pheromone value is decremented with the preset value as time passes. That is, the pheromone value of the transmission path between each node is decremented according to the preset value. If the number of times of transmission information of the transmission path is small, the probability that the node corresponding to the transmission path is selected is also reduced. .

[0131] after the second node is re-determined by the pheromone value after the adjustment of the first best information transmission path, the optimal information transmission path is updated, and the updated optimal information transmission path is obtained, and the plurality of robots are controlled according to The updated optimal information transmission path transmits information by optical communication.

[0132] Optionally, acquiring record update data of the plurality of robots, wherein the record update data is used for updating data of the record data; updating the record data in the network database by recording the update data until a stable one is formed The best information transmission path, the sum of the distances of the best information transmission path is the shortest, and the overall power consumption of the transmission network is the least. The robot cluster transmits visible light information according to such a network, thereby ensuring the stability and long-term performance of information transmission.

[0133] For example, this embodiment can determine an optimal information transmission path by an Ant Colony Algorithm. FIG. 10 is a schematic diagram of an ant colony algorithm according to an embodiment of the present invention. As shown in Figure 10, in a robot cluster, multiple robots are included, with event occurrence points and event collection points. The robot of the event occurrence point is determined as the first node, and the robot that finally receives the information is the event collection point. When an event occurs around a robot, it is determined by simple judgment that the event cannot be processed by the robot body, or the event has a high degree of urgency. For example, there is a human sudden disease in the environment of the robot.

, but can't use the WIFI network to send emergency signals. In this case, the robot can pass the event occurrence point, that is, the information is transmitted to other robots within the visible light communication distance through the first node, and the information is transmitted to the visible light range by transmitting information through the first node. Other robots, until arriving at the information receiving point, or reaching the robot in the area that is capable of remote information transmission.

[0134] The visible light communication network of the robot cluster stores recorded data, that is, a data exchange record is stored in the visible light communication network of the robot cluster. Optionally, each robot has a network database. In the robot cluster that the optical communication can establish, each robot stores a similar data exchange record, and the data exchange record can detect other robots that can be connected to the optical communication. The spatial position, direction, type of data to be transmitted, size, encoding format, decoding key, etc., this data exchange record is called the network database of each robot. The recorded data in the visible light communication network is actually updated, thereby obtaining location information and communication identification information (ID) of each node. When a certain robot is in a remote area and cannot connect to the wireless communication network, the robot will read the updated record data of the visible light communication network, and obtain the activity rules of other robots in the visible light communication range according to its own analysis. Thereby, the direction in which the information is transmitted is determined, and the position in which the information can be stably transmitted and the position at which the information is received are determined. The robot emits visible light information in the direction of analysis, and the visible light information is in visible light. The plurality of robots in the visible range receive the visible light information and return to receive the confirmation information to the robot that last transmitted the visible light. The robot determines the next node of the transmission information based on the inter-turn analysis transmission distance of the received reception confirmation information, and transmits the reception confirmation information to the robot that transmitted the information for the first time until the information is transmitted to the information collection point. A pheromone value is added to the transmission path of the information transmission, and the pheromone value indicates the degree of preference of the information delivery route.

[0135] After the information is transmitted from the event occurrence point to the information collection point, the power consumption and the total distance of the information on the transmission path are calculated, and the pheromone attached to the information transmission path between the two robots participating in the transmission in the network is adjusted. value.

[0136] The pheromone value on the information transmission path is decremented with the fixed value. If the number of times the transmission path transmits information decreases, the probability that the transmission path is selected is correspondingly reduced.

[0137] The iterative process is continued by the above method of selecting the first node and transmitting the next node of the information until the optimal information transmission path is finally determined.

[0138] The ant colony learning algorithm runs in the robot visible light communication network, and each robot body only performs calculation and analysis on the information according to its own transmission and processing mode. Therefore, each robot body only runs a part of the algorithm. The formation of the optimal information transmission path is formed by the integration of the next node optimized for each robot body. This method can quickly and effectively transfer information between a certain number of robots, and form the shortest and most power-saving transmission route in trial and error. In this process, it is necessary to select an optimized transmission path to ensure that the information and the transmission of the network and the energy consumption of the group are minimized, so that in a specific case, the optimal information transmission path has the shortest distance and the transmission network has the lowest power consumption. The stability and long-term nature of information transmission are guaranteed.

[0139] This embodiment obtains record data in a network database, wherein the record data is data for recording visible light communication of a plurality of robots, the network database is used for storing record data; and the plurality of robots are determined by recording data. The best information transmission path for visible light communication; controlling multiple robots to transmit information in the optical communication mode according to the optimal information transmission path, and achieving the effect of transmitting information under the condition that the robot cannot perform WIFI transmission.

[0140] It should be noted that the steps shown in the flowchart of the accompanying drawings may be performed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flowchart, in some In this case, the steps shown or described may be performed in a different order than the ones described herein. An embodiment of the present invention further provides a robot cluster communication device. It should be noted that the robot cluster communication device can be used to execute the robot cluster communication method of the embodiment of the present invention.

[0142] Embodiments of the present invention replace the robot-dependent wireless transmission technology by a network structure of visible light communication.

The long-distance visible light communication can be efficiently and continuously transmitted through the robot cluster by the advantages of the rapid iterative evolution of the ant colony algorithm and the advantages of the fast aggregated optimal solution. The communication of this method reduces the requirements on the robot body, such as the remote radio communication capabilities of the robot or the ability to transmit wireless communication signals over long distances.

[0143] The robot of the embodiment of the invention may be an intelligent exploration robot, a smart home robot, a pet robot, a military reconnaissance robot, and is applied to fields such as field exploration, disaster relief, military investigation, and the like. For example, in a home, if there are multiple robots, multiple robots can quickly transmit information to each other, and complete tasks by remote cooperation, for example, by searching for lost forgotten objects by robots in different rooms, thereby reducing the loss of limb movement of the robot cluster. .

[0144] In the embodiment of the present invention, by using the short-distance communication method of visible light, in the Swarm Intelligence research for optimizing the wireless transmission route and artificial intelligence, the location configuration of the cluster and the optimization of the information transmission route can make the information the fastest. Pass to the location. Each individual in the robot cluster is equipped with a simple transmission and reception device. By transmitting information to each other, short-distance communication means is used to transmit the information to a long distance, and the information can be transmitted under the condition that the robot cannot perform WIFI transmission. Effect

[0145] It will be apparent to those skilled in the art that the various modules or steps of the present invention described above can be implemented by a general-purpose computing device, which can be centralized on a single computing device or distributed across multiple computing devices. Optionally, they may be implemented by program code executable by the computing device, such that they may be stored in the storage device by the computing device, or they may be separately fabricated into individual integrated circuit modules, or Implementing multiple modules or steps in them as a single integrated circuit module. Thus, the invention is not limited to any specific combination of hardware and software.

The above description is only the preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes can be made to the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and scope of the present invention are intended to be included within the scope of the present invention.

Claims

Claim

[Claim 1] A method for communicating a robot cluster, comprising:

Obtaining record data in a network database, wherein the record data is data for recording visible light communication of a plurality of robots, and the network database is configured to store the record data;

Determining, by the recorded data, an optimal information transmission path for visible light communication between the plurality of robots;

The plurality of robots are controlled to transmit information in an optical communication manner in accordance with the optimal information transmission path.

[Claim 2] The method according to claim 1, wherein the record data includes position record data and communication identification record data, wherein the position record data is for recording position information of the robot Data, the communication identification record data is used to record encoded data of the robot in the communication identification by the optical communication method.

[Claim 3] The method according to claim 1, wherein after controlling the plurality of robots to transmit information in an optical communication manner according to the optimal information transmission path, the method further includes:

Obtaining record update data of the plurality of robots, wherein the record update data is used for data that updates the record data;

The record data in the network database is updated by the record update data.

[Claim 4] The method according to claim 1, wherein determining, by the recording data, an optimal information transmission path for performing visible light communication between the plurality of robots comprises: determining a first node, wherein The first node is a robot that performs information transmission for the first one of the plurality of robots;

Determining, by the recording data, a motion rule of a robot other than the first node, controlling the first node to emit visible light information according to a motion rule of a robot other than the first node, except the first node The robot other than the receiving the visible light information and transmitting the confirmation information of the visible light information to the first node; Detecting, by the robot other than the first node, sending the receiving confirmation information to the first node; and

And determining a transmission distance between the first node and a robot other than the first node according to a length of the robot other than the first node transmitting the confirmation information to the first node.

[Claim 5] The method according to claim 4, wherein the robot other than the first node comprises a plurality of robots, after determining the first node, the method further comprises: Determining, by the first node, a transmission distance between the plurality of robots other than the first node, determining a second node, and determining a transmission path between the first node and the second node as the first Good information transmission path;

And transmitting the information to the second node in an optical communication manner according to the first best information transmission path via the first node.

[Claim 6] The method according to claim 5, after determining the second node

The method further includes:

Determining, by the record data, motion rules of a plurality of robots other than the first node and the second node;

Controlling, by the second node, the visible light information according to a motion rule of a plurality of robots other than the first node and the second node, except for the first node and the second node Receiving the visible light information and transmitting confirmation information of the visible light information to the second node;

Detecting, by the plurality of robots other than the first node and the second node, the length of the receiving confirmation information to the second node;

Transmitting the receiving confirmation information to the second node according to a plurality of robots other than the first node and the second node to acquire the second node and the first node and the a transmission distance between a plurality of robots other than the second node;

Determining a third node according to a transmission distance between the second node and a plurality of robots other than the first node and the second node, and between the second node and the third node The transmission path is determined as the second best information transmission path; And transmitting the information to the third node in an optical communication manner according to the second best information transmission path via the second node.

[Claim 7] The method according to claim 6, wherein after determining the third node

The method further includes:

The reception confirmation information transmitted to the second node via the third node is transmitted to the first node.

[Claim 8] The method according to claim 5, determining the second node according to a transmission distance between the first node and a plurality of robots other than the first node comprises: separately acquiring a pheromone value of a transmission path corresponding to a transmission distance between the first node and a plurality of robots other than the first node, where the pheromone value is used to indicate a preference degree of selecting the transmission path;

Calculating, by the transmission distance between the first node and a plurality of robots other than the first node, and the pheromone value, each robot other than the first node is determined as the second node Probability;

The robot having the highest probability is determined as the second node, and the transmission path between the first node and the second node is determined as the first best information transmission path.

[Claim 9] The method according to claim 8, wherein after controlling the plurality of robots to transmit information in an optical communication manner according to the optimal information transmission path, the method further includes:

Calculating a power consumption amount of transmitting the information on the optimal information transmission path and a total distance of the optimal information transmission path;

Adjusting a pheromone value of the first best information transmission path according to the power consumption amount and the total distance, obtaining a pheromone value after the adjustment of the first best information transmission path; and passing the first The pheromone value after the adjustment of the optimal information transmission path redetermines the second node.

[Claim 10] The method according to claim 9, wherein the pheromone value is decremented according to a preset value.

[Claim 11] The method according to claim 8, wherein After re-determining the second node by adjusting the pheromone value of the first best information transmission path, updating the optimal information transmission path to obtain an updated optimal information transmission path,

The controlling the plurality of robots to transmit information in an optical communication manner according to the optimal information transmission path comprises: controlling the plurality of robots to transmit the information in an optical communication manner according to the updated optimal information transmission path.

[Claim 12] A robot cluster communication system, comprising:

a visible light communication module, configured to acquire record data in a network database, wherein the record data is data for recording visible light communication of a plurality of robots, and the network data database is configured to store the record data;

a data analysis module, configured to determine, by using the record data, an optimal information transmission path for performing visible light communication between the plurality of robots;

And a transmission module, configured to control the plurality of robots to transmit information in an optical communication manner according to the optimal information transmission path.

[Claim 13] The system according to claim 12, wherein the system further comprises:

An acquiring module, configured to acquire record update data of the plurality of robots after controlling the plurality of robots to transmit information in an optical communication manner according to the optimal information transmission path, where the record update data is used for And the first update module is configured to update the record data in the network database by using the record update data.

The system of claim 12, wherein the data analysis module comprises: a first determining submodule, configured to determine a first node, where the first node is the plurality of The first robot in the robot to perform information transmission;

a second determining submodule, configured to determine, by using the record data, a motion rule of a robot other than the first node;

a control submodule, configured to control, by the first node, to emit visible light information according to a motion rule of a robot other than the first node, where a robot other than the first node receives the visible light information and sends the Receiving confirmation information of visible light information to the first section Point

a detecting submodule, configured to detect, by a robot other than the first node, sending the receiving acknowledgement information to the first node; and

a third determining submodule, configured to determine, according to a length of the first node to send the confirmation information to the first node, the first node and a robot other than the first node The distance between transmissions.

[Claim 15] The system according to claim 14, wherein the robot other than the first node includes a plurality of robots, and the data analysis module further includes: a fourth determining submodule, configured to After determining the first node, determining a second node according to a transmission distance between the first node and a plurality of robots other than the first node, and using the first node and the second node The transmission path between the two is determined as the first best information transmission path,

The transmission module is further configured to transmit the information to the second node by using the first node according to the first best information transmission path in an optical communication manner.

[Claim 16] The system of claim 15 wherein:

The second determining submodule is further configured to determine, after the determining the second node, a motion rule 1J of the plurality of robots other than the first node and the second node by using the record data;

The control submodule is further configured to control the second node to transmit the visible light information according to a motion rule of multiple robots other than the first node and the second node, except the first node and the a plurality of robots other than the second node receiving the visible light information and transmitting confirmation information of the visible light information to the second node;

The detecting submodule is further configured to detect that a plurality of robots other than the first node and the second node send the receiving confirmation information to the second node;

The third determining sub-module is further configured to acquire the second node according to the length of sending the receiving confirmation information to the second node by using multiple robots other than the first node and the second node a transmission distance between a plurality of robots other than the first node and the second node; The fourth determining submodule is further configured to determine a third node according to a transmission distance between the second node and a plurality of robots other than the first node and the second node, and a transmission path between the second node and the third node is determined as a second best information transmission path;

The transmission module is further configured to transmit the information to the third node in an optical communication manner according to the second best information transmission path via the second node.

[Claim 17] The system according to claim 16, wherein the system further comprises:

And a sending module, configured to send, to the first node, the acknowledgement information sent to the second node by using the third node, after determining the third node.

[Claim 18] The system according to claim 15, wherein the fourth determining submodule comprises:

Obtaining a sub-module, configured to respectively acquire a pheromone value of a transmission path corresponding to a transmission distance between the first node and a plurality of robots other than the first node, where the pheromone value is used to represent Selecting a degree of preference of the transmission path; a calculation submodule, configured to calculate, by the first node, a transmission distance between the first node and a plurality of robots other than the first node, and the pheromone value The probability that each robot other than a node is determined to be the second node;

a fifth determining submodule, configured to determine the robot with the highest probability as the second node, and determine a transmission path between the first node and the second node as the first best information Transmission path.

[Claim 19] The system according to claim 18, wherein the system further comprises:

a calculation module, configured to calculate, after the plurality of robots transmit information in an optical communication manner according to the optimal information transmission path, calculate a power consumption amount and the maximum value of transmitting the information on the optimal information transmission path a total distance of the information transmission path; an adjustment module, configured to adjust a pheromone value of the first best information transmission path according to the power consumption and the total distance, to obtain the first best information transmission path The adjusted pheromone value;

And a determining module, configured to re-determine the second node by using the adjusted pheromone value of the first best information transmission path.

[Claim 20] The system of claim 18, wherein

The system further includes a second update module, configured to: after re-determining the second node by adjusting the pheromone value of the first best information transmission path, updating the optimal information transmission path to obtain an update The best information transmission path, wherein the transmission module is further configured to control the plurality of robots to transmit the information in an optical communication manner according to the updated optimal information transmission path.

[Claim 21] The system according to claim 12, wherein the visible light communication module is further configured to emit visible light information to the plurality of robots, and receive the plurality of robots to receive the visible light information. Confirmation information.

[Claim 22] The system according to claim 12, wherein the visible light communication module is L

ED visible light communication module.