WO2018064818A1 - 一种移动机器人基于路径配置的ap切换方法 - Google Patents

一种移动机器人基于路径配置的ap切换方法 Download PDF

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Publication number
WO2018064818A1
WO2018064818A1 PCT/CN2016/101510 CN2016101510W WO2018064818A1 WO 2018064818 A1 WO2018064818 A1 WO 2018064818A1 CN 2016101510 W CN2016101510 W CN 2016101510W WO 2018064818 A1 WO2018064818 A1 WO 2018064818A1
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mobile robot
route
signal strength
aps
switching method
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PCT/CN2016/101510
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English (en)
French (fr)
Inventor
朱思怡
陶熠昆
朱玲芬
郑洪波
王霞
杜鑫峰
宓旭东
沈继中
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浙江国自机器人技术有限公司
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Priority to US15/305,134 priority Critical patent/US10425842B2/en
Priority to PCT/CN2016/101510 priority patent/WO2018064818A1/zh
Publication of WO2018064818A1 publication Critical patent/WO2018064818A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B17/00—Monitoring; Testing
    • H04B17/30—Monitoring; Testing of propagation channels
    • H04B17/309—Measuring or estimating channel quality parameters
    • H04B17/318—Received signal strength
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L61/00—Network arrangements, protocols or services for addressing or naming
    • H04L61/50—Address allocation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W16/00—Network planning, e.g. coverage or traffic planning tools; Network deployment, e.g. resource partitioning or cells structures
    • H04W16/18—Network planning tools
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W24/00—Supervisory, monitoring or testing arrangements
    • H04W24/02—Arrangements for optimising operational condition
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L2101/00—Indexing scheme associated with group H04L61/00
    • H04L2101/60—Types of network addresses
    • H04L2101/618—Details of network addresses
    • H04L2101/622—Layer-2 addresses, e.g. medium access control [MAC] addresses
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L61/00—Network arrangements, protocols or services for addressing or naming
    • H04L61/50—Address allocation
    • H04L61/5038—Address allocation for local use, e.g. in LAN or USB networks, or in a controller area network [CAN]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W24/00—Supervisory, monitoring or testing arrangements
    • H04W24/10—Scheduling measurement reports ; Arrangements for measurement reports
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W36/00—Hand-off or reselection arrangements
    • H04W36/0005—Control or signalling for completing the hand-off
    • H04W36/0083—Determination of parameters used for hand-off, e.g. generation or modification of neighbour cell lists
    • H04W36/00835—Determination of neighbour cell lists
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W36/00—Hand-off or reselection arrangements
    • H04W36/0005—Control or signalling for completing the hand-off
    • H04W36/0083—Determination of parameters used for hand-off, e.g. generation or modification of neighbour cell lists
    • H04W36/00837—Determination of triggering parameters for hand-off
    • H04W36/008375—Determination of triggering parameters for hand-off based on historical data
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W84/00—Network topologies
    • H04W84/005—Moving wireless networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
    • H04W88/08—Access point devices

Definitions

  • the present invention relates to the field of communications technologies, and in particular, to an AP switching method for a mobile robot path configuration.
  • a mobile terminal accesses the Internet through an access point AP (Wireless Access Point). Since the coverage of an AP access point is limited, it is usually only 50-300 m, and support for terminal mobility is very limited. Therefore, it is necessary to quickly switch between different APs to reduce the network interruption time caused by the handover between APs.
  • AP Wireless Access Point
  • Existing AP Switching technology its switching principle can be roughly divided into two categories: the first category, by continuously comparing the signal strength of multiple APs in the LAN, and choosing to establish a connection with the AP with the strongest signal.
  • a signal strength threshold is set in the AC controller. When the signal strength of the currently connected AP is lower than the threshold, the connection is automatically disconnected, and a new connection is established in the AP with higher signal strength.
  • the disadvantages of these switching technologies include: due to the instability of the wireless network signal, frequent switching, and difficulty in operation. Switching through the threshold setting requires a high threshold setting. If multiple APs are below the threshold at the same time, the network loses connectivity.
  • the present invention provides an AP switching method based on path configuration of a mobile robot, which does not need to set a signal strength threshold, and ensures that the mobile robot can have better network signal strength during the whole running process, and solves the problem.
  • the wireless network signal is unstable, the problem of frequent switching between multiple APs and the difficulty of operation are large.
  • the technical solution adopted by the present invention is: a mobile robot based path configuration AP switching method, comprising the following steps:
  • Step 1 Install an AP in a mobile robot application environment
  • Step 2 controlling the mobile robot to move along a prescribed route, recording the signal strength of each of the APs on each route of the mobile robot, and determining the AP with the highest signal strength on each route;
  • Step 3 configure a MAC address of the AP to be connected when the mobile robot runs to each route;
  • step 4 the mobile robot continuously monitors whether the AP connected to the AP is consistent with the AP configured in the current route during the motion, and if not, directly switches to the configured AP.
  • the method for installing the AP in the step 1 is:
  • the APs are grouped in the same network by using a network cable or an optical fiber, and each of the two APs covers an overlapping area.
  • the number of the APs is two.
  • the method for determining the AP with the highest signal strength on each route in the step 2 is:
  • Controlling the mobile robot to move along a defined route recording the signal strength of each of the APs on each route of the mobile robot, repeating 3-5 times; determining the AP with the highest signal strength on each route, and determining the Whether the signal strength of the AP satisfies the requirement of the minimum signal strength. If the requirement is met, the AP with the highest signal strength on each line can be confirmed; if the requirement is not met, the location of the AP is changed or the The number of APs is resolved until the AP with the highest signal strength on the line is determined.
  • the MAC address is configured in the step 3 by the route configuration tool of the mobile robot.
  • the MAC address of the wireless AP is configured in the step 3, and the minimum number of handovers is considered. If the route of the overlapping area covered by the AP is different, the signal is the strongest. There is a change in the AP, and the AP with the lowest signal strength can be selected for connection based on the minimum signal strength.
  • the invention can effectively avoid the problem that the AP switching is too frequent, and the method is simple and effective compared with the signal strength based switching algorithm, and does not need to set the signal strength threshold, can effectively reduce the uncertainty, and has certain certain in the mobile robot application environment. value.
  • FIG. 1 is a schematic flow chart of an AP switching method based on path configuration of a mobile robot according to a preferred embodiment of the present invention.
  • the AP switching method based on the path configuration of the mobile robot of the present invention is as shown in FIG. 1 and includes the following steps:
  • Step 1 Install the AP in the mobile robot application environment.
  • the APs are grouped in the same network through network cables or optical fibers. Each two APs cover an overlapping area.
  • Step 2 Control the mobile robot to move along the established route, record the signal strength of each AP of the mobile robot on each route, and determine the AP with the highest signal strength on each route.
  • the above process of recording the AP signal strength is repeated 3-5 times to determine the AP with the highest signal strength on each route, and at the same time determine whether the signal strength of the AP meets the minimum signal strength requirement, and if the requirements are met, the signal strength on each line
  • the highest AP can be confirmed; if the requirement is not met, change the AP's erection position or increase the number of APs until the AP with the highest signal strength on the line is determined.
  • Step 3 Configure the MAC address of the AP to be connected when the mobile robot runs to each route.
  • the MAC address of the wireless AP to be connected when the mobile robot runs on the route is configured for each line by the mobile robot route configuration tool.
  • the AP with the strongest signal changes on the route of the overlapping area covered by different APs, the AP with the lowest signal strength can be selected for connection based on the minimum signal strength.
  • Step 4 The mobile robot continuously monitors whether the AP connected to the AP is consistent with the AP configured in the current route during the motion. If the AP is inconsistent, it directly switches to the configured AP.
  • the mobile robot has good network signal strength throughout the running process for data communication between the mobile robot and the dispatch system or the background monitoring client.
  • the AP handover method based on the path configuration of the mobile robot disclosed in this embodiment can effectively avoid the problem that the AP handover is too frequent.
  • the method compared with the signal strength based switching algorithm, the method is simple and effective, can effectively reduce the uncertainty, and has certain value in the mobile robot application environment.

Abstract

一种移动机器人基于路径配置的AP切换方法，包括如下步骤：在移动机器人应用环境安装AP（1）；控制所述移动机器人沿着制定线路移动，记录所述移动机器人在每条路线上每个AP的信号强度，确定每条路线上信号强度最高的AP（2）；配置所述移动机器人运行到每条路线上时所要连接的AP的MAC地址（3）；所述移动机器人在运动过程中不断监测现有连接的AP与当前路线配置的AP是否一致，如果不一致，直接切换到配置的AP（4）。该方法能有效的避免AP切换过于频繁的问题，方法简单有效，无需设置信号强度阈值，能有效降低不确定性，在移动机器人应用环境中具有一定的价值。

Description

一种移动机器人基于路径配置的AP切换方法
技术领域
本发明涉及通信技术领域，尤其涉及一种移动机器人路径配置的AP切换方法。
背景技术
在无线网络中，移动终端（STA）通过接入点AP（WirelessAccessPoint）实现Internet的接入，由于一个AP接入点的覆盖范围有限，通常只有50-300m，对于终端移动性的支持十分有限，因此需要在不同的AP之间快速切换，以减少AP间切换导致的网络中断时间。
现有的AP 切换技术，其切换原理大致可分为两类：第一类，通过不断地对比局域网内多个AP的信号强度，并选择与信号最强的AP建立连接。第二类，在AC控制器内设置一个信号强度阈值，当目前连接的AP的信号强度低于该阈值后，自动断开连接，并于信号强度更高的AP建立新的连接。这些切换技术存在的缺点包括：由于无线网络信号的不稳定性，易发生频繁切换的情况，以及操作难度大。通过阈值设置进行切换，对阈值的设置要求较高，若同一时刻多个AP都低于该阈值，则网络就会失去连接。
发明内容
有鉴于现有技术的上述缺陷，本发明提供一种移动机器人基于路径配置的AP切换方法，无需设置信号强度阈值，确保移动机器人在整个运行的过程中都能有较好的网络信号强度，解决当无线网络信号不稳定时，多AP间频繁切换的问题以及操作难度大等问题。
本发明所采用的技术方案是：一种移动机器人基于路径配置的AP切换方法，包括如下步骤：
步骤1，在移动机器人应用环境安装AP；
步骤2，控制所述移动机器人沿着制定线路移动，记录所述移动机器人在每条路线上每个所述AP的信号强度，确定每条路线上信号强度最高的所述AP；
步骤3，配置所述移动机器人运行到每条路线上时所要连接的所述AP的MAC地址；
步骤4，所述移动机器人在运动过程中不断监测现有连接的所述AP与当前路线配置的所述AP是否一致，如果不一致，直接切换到配置的所述AP。
在本发明较佳实施方式中，所述步骤1中安装所述AP的方法为：
根据所述移动机器人运行环境选择合适数量的所述AP，所述AP通过网线或者光纤的方式组在同一个网络中，每两个所述AP覆盖的范围有重叠区域。
在本发明另一较佳实施方式中， 所述AP的数量为两个。
在本发明较佳实施方式中，所述步骤2中确定每条路线上信号强度最高的所述AP的方法为：
控制所述移动机器人沿着制定路线运动，记录所述移动机器人在每条路线上每个所述AP的信号强度，重复3-5次；确定每条路线上信号强度最高的AP，同时确定所述AP的信号强度是否满足最低信号强度的要求，如果满足要求，则每条线路上信号强度最高的所述AP即可确认；如果不满足要求，则更改所述AP的架设位置或者增加所述AP的数量进行解决，直到线路上信号强度最高的所述AP确定为止。
在本发明另一较佳实施方式中，所述步骤3中通过所述移动机器人的路线配置工具对所述MAC地址进行配置。
在本发明较佳实施方式中，所述步骤3中配置所述无线AP的所述MAC地址时同时考虑最小切换次数，如果在不同所述AP覆盖的重叠区域的路线上，信号最强的所述AP存在变化，在满足最低信号强度的基础上可以选择信号强度不是最高的所述AP进行连接。
本发明能有效的避免AP切换过于频繁的问题，同时相比基于信号强度的切换算法，该方法简单有效，无需设置信号强度阈值，能有效降低不确定性，在移动机器人应用环境中具有一定的价值。
附图说明
图1是本发明一较佳实施例中移动机器人基于路径配置的AP切换方法流程示意图。
具体实施方式
下面对本发明的较佳实施例进行详细阐述，以使本发明的优点和特征能更易于被本领域技术人员理解，从而对本发明的保护范围做出更为清楚明确的界定。
本发明所述的一种移动机器人基于路径配置的AP切换方法，具体流程如图1所示，包括如下步骤：
步骤1，在移动机器人应用环境安装AP。
根据移动机器人运行环境选择合适数量的AP，优选为两个，所述 AP通过网线或者光纤的方式组在同一个网络中，每两个AP覆盖的范围有重叠区域。
步骤2，控制移动机器人沿着制定线路移动，记录移动机器人在每条路线上每个AP的信号强度，确定每条路线上信号强度最高的AP。
上述记录AP信号强度的过程重复3-5次，确定每条路线上信号强度最高的AP，同时确定该AP的信号强度是否满足最低信号强度的要求，如果满足要求，则每条线路上信号强度最高的AP即可确认；如果不满足要求，则更改AP的架设位置或者增加AP的数量进行解决，直到线路上信号强度最高的AP确定为止。
步骤3，配置移动机器人运行到每条路线上时所要连接的AP的MAC地址。
通过移动机器人路线配置工具中，针对每条线路配置移动机器人运行到该路线上时所要连接的无线AP的MAC地址。同时考虑到最小的切换次数，如果在不同AP覆盖的重叠区域的路线上，信号最强的AP存在变化，在满足最低信号强度的基础上可以选择信号强度不是最高的AP进行连接。
步骤4，移动机器人在运动过程中不断监测现有连接的AP与当前路线配置的AP是否一致，如果不一致，直接切换到配置的AP。
确保移动机器人在整个运行的过程中都能有较好的网络信号强度用于移动机器人与调度系统或者后台监控客户端的数据通信。
本实施例公开的移动机器人基于路径配置的AP切换方法，能够有效的避免AP切换过于频繁的问题。同时相比基于信号强度的切换算法，该方法简单有效，能有效降低不确定性，在移动机器人应用环境中具有一定价值。
以上所述仅为本发明的实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。

Claims (6)

  1. 一种移动机器人基于路径配置的AP切换方法，其特征在于，包括如下步骤：
    步骤1，在移动机器人应用环境安装AP；
    步骤2，控制所述移动机器人沿着制定线路移动，记录所述移动机器人在每条路线上每个所述AP的信号强度，确定每条路线上信号强度最高的所述AP；
    步骤3，配置所述移动机器人运行到每条路线上时所要连接的所述AP的MAC地址；
    步骤4，所述移动机器人在运动过程中不断监测现有连接的所述AP与当前路线配置的所述AP是否一致，如果不一致，直接切换到配置的所述AP。
  2. 根据权利要求1所述的移动机器人基于路径配置的AP切换方法，其特征在于，所述步骤1中安装所述AP的方法为：
    根据所述移动机器人运行环境选择合适数量的所述AP，所述AP通过网线或者光纤的方式组在同一个网络中，每两个所述AP覆盖的范围有重叠区域。
  3. 根据权利要求2所述的移动机器人基于路径配置的AP切换方法，其特征在于，所述AP的数量为两个。
  4. 根据权利要求1所述的移动机器人基于路径配置的AP切换方法，其特征在于，所述步骤2中确定每条路线上信号强度最高的所述AP的方法为：
    控制所述移动机器人沿着制定路线运动，记录所述移动机器人在每条路线上每个所述AP的信号强度，重复3-5次；确定每条路线上信号强度最高的AP，同时确定所述AP的信号强度是否满足最低信号强度的要求，如果满足要求，则每条线路上信号强度最高的所述AP即可确认；如果不满足要求，则更改所述AP的架设位置或者增加所述AP的数量进行解决，直到线路上信号强度最高的所述AP确定为止。
  5. 根据权利要求1所述的移动机器人基于路径配置的AP切换方法，其特征在于，所述步骤3中通过所述移动机器人的路线配置工具对所述MAC地址进行配置。
  6. 根据权利要求5所述的移动机器人基于路径配置的AP切换方法，其特征在于，所述步骤3中配置所述无线AP的所述MAC地址时同时考虑最小切换次数，如果在不同所述AP覆盖的重叠区域的路线上，信号最强的所述AP存在变化，在满足最低信号强度的基础上可以选择信号强度不是最高的所述AP进行连接。
PCT/CN2016/101510 2016-10-08 2016-10-08 一种移动机器人基于路径配置的ap切换方法 WO2018064818A1 (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US15/305,134 US10425842B2 (en) 2016-10-08 2016-10-08 Access point roaming method of wireless network for mobile robots based on path setting
PCT/CN2016/101510 WO2018064818A1 (zh) 2016-10-08 2016-10-08 一种移动机器人基于路径配置的ap切换方法

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