WO2020133289A1 - 通信链路的切换方法、装置、终端和计算机可读存储介质 - Google Patents

通信链路的切换方法、装置、终端和计算机可读存储介质 Download PDF

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Publication number
WO2020133289A1
WO2020133289A1 PCT/CN2018/125105 CN2018125105W WO2020133289A1 WO 2020133289 A1 WO2020133289 A1 WO 2020133289A1 CN 2018125105 W CN2018125105 W CN 2018125105W WO 2020133289 A1 WO2020133289 A1 WO 2020133289A1
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Prior art keywords
communication link
communication
network signal
signal strength
signal
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English (en)
French (fr)
Inventor
熊友军
冼建勇
黄创奇
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Ubtech Robotics Corp
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Ubtech Robotics Corp
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    • 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
    • H04W36/0085—Hand-off measurements
    • H04W36/0088—Scheduling hand-off measurements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W36/00—Hand-off or reselection arrangements
    • H04W36/24—Reselection being triggered by specific parameters
    • H04W36/30—Reselection being triggered by specific parameters by measured or perceived connection quality data
    • H04W36/302—Reselection being triggered by specific parameters by measured or perceived connection quality data due to low signal strength
    • 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
    • H04B—TRANSMISSION
    • H04B17/00—Monitoring; Testing
    • H04B17/30—Monitoring; Testing of propagation channels
    • H04B17/382—Monitoring; Testing of propagation channels for resource allocation, admission control or handover
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W36/00—Hand-off or reselection arrangements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W76/00—Connection management
    • H04W76/10—Connection setup
    • H04W76/15—Setup of multiple wireless link connections

Definitions

  • the present invention relates to the field of communication technology, and in particular, to a communication link switching method, device, terminal, and computer-readable storage medium.
  • Inspection robots are intelligent robots that can independently set patrol schemes according to the actual use environment.
  • the inspection robot When the inspection robot is running outdoors, it needs to upload the captured multi-channel audio and video data, robot status data, etc. in real time, and also needs to receive control commands from the control end.
  • Cruise robots usually use wireless communication to transmit data. The requirements for network bandwidth and network delay are high.
  • Embodiments of the present invention provide a method, an apparatus, a terminal, and a computer-readable storage medium for switching a communication link, which can improve the stability of a communication system and improve the robustness of a terminal device in a communication process.
  • a communication link switching method is applied to a terminal device.
  • the terminal device includes at least three communication modules.
  • the communication module is used to form a communication link after establishing a communication connection with a communication transmission platform.
  • the communication link includes The first communication link, the second communication link, and the third communication link are used to transmit the first network signal, the second network signal, and the third network signal, respectively; the method includes:
  • the first communication link and/or the second communication link are selected to transmit data according to a preset transmission strategy ;
  • the third communication link is selected to transmit data.
  • the data transmitted by the terminal device includes data of the first type and data of the second type; the signal strength of the first network signal and/or the signal of the second network signal When the strength is greater than or equal to the first threshold, selecting the first communication link and/or the second communication link to transmit data according to a preset transmission strategy includes:
  • the first type of data is selected for transmission through the first communication link
  • the second type of data is selected for transmission through the second communication link Road transmission
  • the first type data and the second type data are selected to pass through the first communication link Transfer
  • the first type data and the second type data are selected to pass through the second communication link For transmission.
  • the first type of data includes at least one of a control instruction, a request instruction, and an intercom instruction.
  • the second type of data includes at least one of picture data, audio data, and video data.
  • the communication module includes a 4G communication module
  • the communication transmission platform includes a mobile base station
  • the 4G communication module establishes a communication connection with the mobile base station for transmitting 4G network signals.
  • the communication module further includes a WiFi communication module
  • the communication transmission platform further includes a wireless access point
  • the WiFi communication module establishes a communication connection with the wireless access point , Used to transmit WiFi network signals.
  • the communication module further includes a COFDM communication module
  • the communication transmission platform further includes a COFDM device
  • the COFDM communication module establishes a communication connection with the COFDM device for transmitting COFDM network signals.
  • a communication link switching device including:
  • the signal strength detection module is used to detect the signal strength of the first network signal and the signal strength of the second network signal in real time;
  • the first selection module is configured to select the first communication link and/or the second communication link according to a preset transmission strategy when the signal strength of the first network signal and/or the signal strength of the second network signal is greater than or equal to a first threshold Communication link transmits data;
  • the second selection module is configured to select a third communication link to transmit data when the signal strength of the first network signal and the signal strength of the second network signal are less than the second threshold.
  • a terminal includes a memory and a processor.
  • a computer program is stored in the memory.
  • the processor is caused to perform the steps of the foregoing method.
  • a computer-readable storage medium having stored thereon a computer program, which when executed by a processor implements the steps of the above method.
  • the above communication link switching method, device, terminal and computer readable storage medium detect the signal strength of the first network signal and the signal strength of the second network signal in real time when the signal strength of the first network signal and /Or the signal strength of the second network signal is greater than or equal to the first threshold, the first communication link and/or the second communication link are selected to transmit data according to a preset transmission strategy, when the signal strength of the first network signal and the first When the signal strength of the second network signal is less than the second threshold, the third communication link is selected to transmit data.
  • the communication link can be automatically switched according to the signal strength of different network signals, the stability of the communication system is improved, and the robustness of the terminal device in the communication process is improved.
  • FIG. 1 is a schematic diagram of an application environment of a communication link switching method in an embodiment
  • FIG. 2 is a schematic diagram of an internal structure of a terminal in an embodiment
  • FIG. 3 is a flowchart of a method for switching communication links in an embodiment
  • FIG. 5 is a structural block diagram of an apparatus for switching communication links in an embodiment.
  • FIG. 1 is a schematic diagram of an application environment of a communication link switching method in an embodiment.
  • the application environment includes a terminal device 110 and a communication transmission platform 120, and the terminal device 110 and the communication transmission platform 120 are connected through a network for communication .
  • the terminal device 110 may be a patrol robot or other intelligent robots that provide special services, such as underwater robots, aerial robots, military robots, and agricultural robots. It can be understood that the terminal device 110 may also be other devices with communication functions, such as mobile phones, tablet computers, personal digital assistants, or wearable devices.
  • the communication transmission platform 120 may be a mobile base station, a wireless access point (WirelessAccessPoint, AP), or a COFDM (Coded Orthogonal Frequency Division Multiplexing, Code Orthogonal Frequency Division Multiplexing) device.
  • a wireless access point WirelessAccessPoint, AP
  • COFDM Coded Orthogonal Frequency Division Multiplexing, Code Orthogonal Frequency Division Multiplexing
  • FIG. 2 is a schematic diagram of the internal structure of the terminal in an embodiment.
  • the terminal includes a processor, memory, and communication module connected by a system bus.
  • the processor is used to provide computing and control capabilities to support the operation of the entire terminal.
  • the memory is used to store data, programs, and the like. At least one computer program is stored on the memory, and the computer program can be executed by the processor to implement the method for switching the communication link of the terminal provided in the embodiments of the present application.
  • the memory may include non-volatile storage media and internal memory.
  • the non-volatile storage medium stores an operating system and computer programs.
  • the computer program can be executed by the processor for implementing a method for switching communication links provided by the following embodiments.
  • the internal memory provides a cached operating environment for the operating system computer programs in the non-volatile storage medium.
  • the communication module may be a 4G communication module, a WiFi communication module, or a COFDM communication module, etc., for communicating with an external communication transmission platform.
  • the terminal may be an inspection robot.
  • FIG. 2 is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the terminal to which the solution of the present application is applied.
  • the specific terminal may include a ratio More or fewer components are shown in the figure, or some components are combined, or have different component arrangements.
  • FIG. 3 is a flowchart of a communication link switching method in an embodiment.
  • the communication link switching method in this embodiment is described by taking the terminal device in FIG. 1 as an example.
  • the terminal device includes at least three communication modules, and the communication module is used to establish a communication connection with a communication transmission platform Forming a communication link, the communication link includes a first communication link, a second communication link, and a third communication link, which are used to transmit the first network signal, the second network signal, and the third network signal, respectively.
  • the communication link switching method can also be applied to a control platform that performs communication connection with a terminal device, which is not limited in this embodiment.
  • the switching method of the communication link can improve the stability of the communication system and improve the robustness of the terminal device in the communication process.
  • the communication link switching method includes the following steps 302 to 306:
  • Step 302 Detect the signal strength of the first network signal and the signal strength of the second network signal in real time.
  • the terminal device can establish multiple communication links with the communication transmission platform through multiple communication modules, and can be used to transmit multiple network signals.
  • a communication link with a better communication state can be selected by comparing the quality of the network signal.
  • the first network signal may be a 4G network signal
  • the second network signal may be a WiFi network signal.
  • the terminal device forms a communication link after establishing a communication connection with the communication transmission platform through each communication module, and the terminal can obtain the signal strength of the network signal transmitted by each communication link in real time.
  • the RSSI Receiveived Signal Strength Indication
  • the signal strength of different wireless network signals can be -85dBm, -95dBm, -115dBm, etc. .
  • the terminal device may also obtain the signal transmission rate of the communication link and determine the link quality of the communication link according to the signal transmission rate to select a communication link with better communication status.
  • the terminal device communicates with the communication transmission platform through the communication module, it can obtain the signal transmission rate of the current communication link, and the signal transmission rate reflects the signal strength of the network signal transmitted by the current communication link.
  • the signal transmission rate of different communication links can be 6Mbps (Million bits per second, megabits per second), 24Mbps, 54Mbps, etc., which also reflects the network transmission speed of the communication link.
  • Step 304 When the signal strength of the first network signal and/or the signal strength of the second network signal is greater than or equal to the first threshold, select the first communication link and/or the second communication link according to a preset transmission strategy Way to transmit data.
  • the first network signal may be a 4G network signal
  • the second network signal may be a WiFi network signal.
  • the 4G network signal has the characteristics of low network delay and good real-time communication effect.
  • the WiFi network signal has high bandwidth and can carry large-flow data transmission 4G network signal and WiFi network signal are commonly used wireless communication signals of terminal devices.
  • the signal strength of the first network signal and the second network signal is preferentially determined to determine whether to select the 4G network or the WiFi network according to the signal strength Communicate.
  • the first threshold may be understood as a defined value of the signal strength when the network signal is in a better signal state.
  • the signal strength of the first network signal and/or the signal strength of the second network signal is greater than or equal to the first threshold, it indicates that the first network signal and/or the second network signal are in a better signal state.
  • the strategy selects a communication link corresponding to the first network signal and/or the second network signal to transmit data, that is, selects the first communication link and/or the second communication link to communicate.
  • Step 306 When the signal strength of the first network signal and the signal strength of the second network signal are less than the second threshold, select the third communication link to transmit data.
  • the third network signal may be a COFDM network signal.
  • the COFDM network uses low frequency band communication, and has good "diffraction” and “penetration” capabilities in a non-visible and blocked environment.
  • the signal strength of the first network signal and the signal strength of the second network signal are less than the second threshold, it indicates that the first network signal and the second network signal are in a state of poor signal, and the choice of the first network or the second network will affect Data transmission effect
  • the communication link corresponding to the third network signal is used to transmit data, that is, the third communication link is used for communication, which can bring better communication effect and ensure the timeliness and smoothness of data transmission.
  • the communication link switching method provided in this embodiment detects the signal strength of the first network signal and the signal strength of the second network signal in real time, when the signal strength of the first network signal and/or the second network signal When the signal strength of is greater than or equal to the first threshold, the first communication link and/or the second communication link are selected to transmit data according to a preset transmission strategy, when the signal strength of the first network signal and the signal strength of the second network signal When it is less than the second threshold, the third communication link is selected to transmit data.
  • the communication link can be automatically switched according to the signal strength of different network signals, the stability of the communication system is improved, and the robustness of the terminal device in the communication process is improved.
  • the data transmitted by the terminal device includes data of the first type and data of the second type, where the first type of data refers to a data type with low bandwidth requirements, such as control instructions; the second type of data refers to It is a data type that requires high bandwidth, such as audio and video data.
  • step 304 also includes the following steps 402 to 406:
  • Step 402 When the signal strengths of the first network signal and the second network signal are greater than or equal to the first threshold, select the first type of data to transmit through the first communication link, and select the second type of data to pass the first Two communication link transmission.
  • the communication link corresponding to the first network signal and the second network signal can be selected to transmit data according to requirements, that is, the first The communication link communicates with the second communication link.
  • the first threshold may be -105 dBm.
  • the signal strength of the network signal is greater than or equal to -105 dBm, it is determined that the network signal is in a better signal state.
  • the signal strengths of the 4G network signal and the WiFi network signal are greater than or equal to -105 dBm, the 4G network can be preferentially selected for data types with low bandwidth requirements, and the WiFi network can be preferentially selected for data types with high bandwidth requirements.
  • Step 404 When the signal strength of the first network signal is greater than or equal to the first threshold and the signal strength of the second network signal is less than the second threshold, select the first type of data and the second type of data to pass the first Communication link for transmission.
  • the second threshold can be understood as a defined signal strength value of the network signal in a poor signal state.
  • the signal strength of the first network signal is greater than or equal to the first threshold, and the signal strength of the second network signal is less than the second threshold, it indicates that the first network signal is in a better signal state, and the second network signal is in a worse signal state
  • the second threshold may be -115 dBm.
  • the network signal is determined to be in a poor signal state.
  • the signal strength of the 4G network signal is greater than or equal to -105 dBm and the signal strength of the WiFi network signal is less than -115 dBm, the data type with low bandwidth requirements and the data type with high bandwidth requirements will be preferentially selected for 4G network communication.
  • Step 406 When the signal strength of the second network signal is greater than or equal to the first threshold and the signal strength of the first network signal is less than the second threshold, select the first type data and the second type data to pass the second Communication link for transmission.
  • the WiFi network signal when the signal strength of the WiFi network signal is greater than or equal to -105 dBm and the signal strength of the 4G network signal is less than -115 dBm, the data type with low bandwidth requirements and the data type with high bandwidth requirements will be selected as the WiFi network. Signals to communicate.
  • the communication link switching method provided by this embodiment can automatically switch the communication link according to the signal strength of different network signals, which improves the stability of the communication system and improves the robustness of the terminal device in the communication process.
  • the first type of data includes but is not limited to control instructions, request instructions, intercom instructions, etc.
  • the second type of data includes but is not limited to picture data, audio data, video data, and the like.
  • the communication module includes a 4G communication module
  • the communication transmission platform includes a mobile base station
  • the 4G communication module establishes a communication connection with the mobile base station for transmitting 4G network signals.
  • the inspection robot can connect to the operator's 4G network base station through the 4G module, and then access the Internet to interact with the server and the final control platform deployed on the user side.
  • the communication module further includes a WiFi communication module
  • the communication transmission platform further includes a wireless access point.
  • the WiFi communication module establishes a communication connection with the wireless access point for transmitting WiFi network signals.
  • the inspection robot connects to the self-deployed AP base station through the WiFi communication module, and then accesses the Internet to interact with the server and the final control platform deployed on the user side.
  • the communication module further includes a COFDM communication module
  • the communication transmission platform further includes a COFDM device.
  • the COFDM communication module establishes a communication connection with the COFDM device for transmitting COFDM network signals.
  • the inspection robot establishes a point-to-point transmission link with the COFDM device on the user side through the COFDM communication module, and then accesses the Internet to interact with the server and the final control platform deployed on the user side.
  • the terminal device will detect the quality of the first network signal and the second network signal in real time during operation, and compare it with the set threshold value, and match the corresponding network communication mode according to the comparison result.
  • the first network is preferred, for data types with high bandwidth requirements, the second network is preferred, and the third network is used as the bottom communication method.
  • steps in FIGS. 3-4 described above are displayed in order according to the arrows, the steps are not necessarily executed in the order indicated by the arrows. Unless clearly stated in this article, the execution of these steps is not strictly limited in order, and these steps may be executed in other orders. Moreover, at least some of the steps in FIGS. 3-4 may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but may be executed at different times. These sub-steps or stages The execution order of is not necessarily sequential, but may be executed in turn or alternately with at least a part of other steps or sub-steps or stages of other steps.
  • a communication link switching device includes a signal strength detection module 510, a first selection module 520, and a second selection module 530.
  • the signal strength detection module 510 is used to detect the signal strength of the first network signal and the signal strength of the second network signal in real time.
  • the first selection module 520 is configured to select the first communication link and/or the second communication link according to a preset transmission strategy when the signal strength of the first network signal and/or the signal strength of the second network signal is greater than or equal to a first threshold
  • the communication link transmits data.
  • the second selection module 530 is configured to select a third communication link to transmit data when the signal strength of the first network signal and the signal strength of the second network signal are less than the second threshold.
  • the above-mentioned communication link switching device can automatically switch the communication link according to the signal strength of different network signals, which improves the stability of the communication system and improves the robustness of the terminal device in the communication process.
  • Each module in the above switching device of the communication link may be implemented in whole or in part by software, hardware, or a combination thereof.
  • the above modules may be embedded in the hardware form or independent of the processor in the computer device, or may be stored in the memory in the computer device in the form of software so that the processor can call and execute the operations corresponding to the above modules.
  • each module in the communication link switching device may be in the form of a computer program.
  • the computer program can be run on a terminal or a server.
  • the program module composed of the computer program can be stored in the memory of the terminal or the server.
  • the embodiments of the present application also provide a computer-readable storage medium.
  • One or more non-volatile computer-readable storage media containing computer-executable instructions, when the computer-executable instructions are executed by one or more processors, causing the processors to execute as described in the above embodiments Describe the switching method of communication link.
  • An embodiment of the present application also provides a computer program product.
  • a computer program product containing instructions, when it runs on a computer, causes the computer to execute the communication link switching method described in the above embodiments.
  • the computer program product includes one or more computer instructions.
  • the computer may be a general-purpose computer, a dedicated computer, a computer network, or other programmable devices.
  • the computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium.
  • the computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device including a server, a data center, and the like integrated with one or more available media.
  • the usable medium may be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, Solid State Disk (SSD)).

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Abstract

本发明实施例公开了一种通信链路的切换方法、装置、终端和计算机可读存储介质，该方法包括：实时检测所述第一网络信号的信号强度与第二网络信号的信号强度；当所述第一网络信号的信号强度和/或第二网络信号的信号强度大于等于第一阈值时，根据预设传输策略选取所述第一通信链路和/或第二通信链路传输数据；当第一网络信号的信号强度和第二网络信号的信号强度小于第二阈值时，选取所述第三通信链路传输数据。通过上述方法，能够根据不同网络信号的信号强度自动切换通信链路，提升了通信系统的稳定性，并且提高了终端设备在通信过程中的鲁棒性。

Description

通信链路的切换方法、装置、终端和计算机可读存储介质 技术领域
本发明涉及通信技术领域，尤其涉及一种通信链路的切换方法、装置、终端和计算机可读存储介质。
 背景技术
随着科技的发展与进步，智能机器人逐渐被应用于各个领域，巡检机器人是一种可以根据实际使用环境自主设定巡逻方案的智能机器人。巡检机器人在室外运行时，需要将捕获的多路音视频数据、机器人状态数据等进行实时上传，也需要接收来自控制端的控制指令，巡航机器人通常采用无线通信的方式传输数据，对无线通信的网络带宽、网络时延要求较高。
 技术问题
传统的巡航机器人采用4G移动网络的方式进行通信，在遇到基站距离远、基站接入量大等情况下时，巡航机器人通信过程中的网络带宽会降低、网络延迟高，无法满足使用要求。
 技术解决方案
本发明实施例提供一种通信链路的切换方法、装置、终端和计算机可读存储介质，能够提升通信系统的稳定性，并且提高终端设备在通信过程中的鲁棒性。
一种通信链路的切换方法，应用于终端设备，所述终端设备包括至少三个通信模块，所述通信模块用于与通信传输平台建立通信连接后形成通信链路，所述通信链路包括第一通信链路、第二通信链路和第三通信链路，分别用于传输第一网络信号、第二网络信号和第三网络信号；所述方法包括：
实时检测所述第一网络信号的信号强度与第二网络信号的信号强度；
当所述第一网络信号的信号强度和/或第二网络信号的信号强度大于等于第一阈值时，根据预设传输策略选取所述第一通信链路和/或第二通信链路传输数据；
当第一网络信号的信号强度和第二网络信号的信号强度小于第二阈值时，选取所述第三通信链路传输数据。
可选的，在其中一个实施例中，所述终端设备传输的数据包括第一类数据和第二类数据；所述当所述第一网络信号的信号强度和/或第二网络信号的信号强度大于等于第一阈值时，根据预设传输策略选取所述第一通信链路和/或第二通信链路传输数据，包括：
当所述第一网络信号与第二网络信号的信号强度大于等于第一阈值时，选取所述第一类数据通过第一通信链路进行传输，选取所述第二类数据通过第二通信链路传输；
当所述第一网络信号的信号强度大于等于第一阈值、且第二网络信号的信号强度小于第二阈值时，选取所述第一类数据、第二类数据通过所述第一通信链路进行传输；
当所述第二网络信号的信号强度大于等于第一阈值、且第一网络信号的信号强度小于第二阈值时，选取所述第一类数据、第二类数据通过所述第二通信链路进行传输。
可选的，在其中一个实施例中，所述第一类数据包括控制指令、请求指令、对讲指令中的至少一种。
可选的，在其中一个实施例中，所述第二类数据包括图片数据、音频数据、视频数据中的至少一种。
可选的，在其中一个实施例中，所述通信模块包括4G通信模块，所述通信传输平台包括移动基站，所述4G通信模块与所述移动基站建立通信连接，用于传输4G网络信号。
可选的，在其中一个实施例中，所述通信模块还包括WiFi通信模块，所述通信传输平台还包括无线访问接入点，所述WiFi通信模块与所述无线访问接入点建立通信连接，用于传输WiFi网络信号。
可选的，在其中一个实施例中，所述通信模块还包括COFDM通信模块，所述通信传输平台还包括COFDM设备，所述COFDM通信模块与COFDM设备建立通信连接，用于传输COFDM网络信号。
一种通信链路的切换装置，包括：
信号强度检测模块，用于实时检测第一网络信号的信号强度与第二网络信号的信号强度；
第一选择模块，用于当所述第一网络信号的信号强度和/或第二网络信号的信号强度大于等于第一阈值时，根据预设传输策略选取第一通信链路和/或第二通信链路传输数据；
第二选择模块，用于当第一网络信号的信号强度和第二网络信号的信号强度小于第二阈值时，选取第三通信链路传输数据。
一种终端，包括存储器及处理器，所述存储器中储存有计算机程序，所述计算机程序被所述处理器执行时，使得所述处理器执行上述的方法的步骤。
一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现上述的方法的步骤。
 有益效果
实施本发明实施例，将具有如下有益效果：
上述通信链路的切换方法、装置、终端和计算机可读存储介质，通过实时检测所述第一网络信号的信号强度与第二网络信号的信号强度，当所述第一网络信号的信号强度和/或第二网络信号的信号强度大于等于第一阈值时，根据预设传输策略选取所述第一通信链路和/或第二通信链路传输数据，当第一网络信号的信号强度和第二网络信号的信号强度小于第二阈值时，选取所述第三通信链路传输数据。通过上述方法，能够根据不同网络信号的信号强度自动切换通信链路，提升了通信系统的稳定性，并且提高了终端设备在通信过程中的鲁棒性。
 附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
其中：
图1为一个实施例中通信链路的切换方法的应用环境示意图；
图2为一个实施例中终端的内部结构示意图；
图3为一个实施例中通信链路的切换方法的流程图；
图4为另一个实施例中通信链路的切换方法的流程图；
图5为一个实施例中通信链路的切换装置的结构框图。
 本发明的实施方式
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。
除非另有定义，本文所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。本文中在本申请的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在限制本申请。可以理解，本申请所使用的术语“第一”、“第二”等可在本文中用于描述各种元件，但这些元件不受这些术语限制。这些术语仅用于将第一个元件与另一个元件区分。举例来说，在不脱离本申请的范围的情况下，可以将第一应用程序称为第二应用程序，且类似地，可将第二进应用程序为第一应用程序。第一应用程序和第二应用程序两者都是应用程序，但其不是同一应用程序。
图1为一个实施例中通信链路的切换方法的应用环境示意图，如图1所示，该应用环境包括终端设备110和通信传输平台120，终端设备110和通信传输平台120通过网络进行通信连接。
终端设备110可以是巡检机器人，也可以是其他提供特殊服务的智能机器人，如水下机器人 、空中机器人、军用机器人、农业机器人等。可以理解的是，终端设备110还可以是其他具有通信功能的设备，例如手机、平板电脑、个人数字助理或穿戴式设备等。
通信传输平台120可以是移动基站、无线访问接入点（WirelessAccessPoint，AP）或COFDM（Coded Orthogonal Frequency Division Multiplexing，编码正交频分复用）设备。
图2为一个实施例中终端的内部结构示意图。如图2所示，该终端包括通过系统总线连接的处理器、存储器和通信模块。其中，该处理器用于提供计算和控制能力，支撑整个终端的运行。存储器用于存储数据、程序等，存储器上存储至少一个计算机程序，该计算机程序可被处理器执行，以实现本申请实施例中提供的适用于终端的通信链路的切换方法。存储器可包括非易失性存储介质及内存储器。非易失性存储介质存储有操作系统和计算机程序。该计算机程序可被处理器所执行，以用于实现以下各个实施例所提供的一种通信链路的切换方法。内存储器为非易失性存储介质中的操作系统计算机程序提供高速缓存的运行环境。通信模块可以是4G通信模块、WiFi通信模块或者COFDM通信模块等，用于与外部的通信传输平台进行通信。该终端可以是巡检机器人。
本领域技术人员可以理解，图2中示出的结构，仅仅是与本申请方案相关的部分结构的框图，并不构成对本申请方案所应用于其上的终端的限定，具体的终端可以包括比图中所示更多或更少的部件，或者组合某些部件，或者具有不同的部件布置。
图3为一个实施例中通信链路的切换方法的流程图。本实施例中的通信链路的切换方法，以运行于图1中的终端设备上为例进行描述，终端设备包括至少三个通信模块，所述通信模块用于与通信传输平台建立通信连接后形成通信链路，所述通信链路包括第一通信链路、第二通信链路和第三通信链路，分别用于传输第一网络信号、第二网络信号和第三网络信号。可以理解的是，该通信链路的切换方法还可以应用于与终端设备进行通信连接的控制平台，本实施例对此不进行限定。该通信链路的切换方法，能够提升通信系统的稳定性，并且提高终端设备在通信过程中的鲁棒性。如图3所示，通信链路的切换方法包括以下步骤302~步骤306：
步骤302：实时检测所述第一网络信号的信号强度与第二网络信号的信号强度。
终端设备通过多个通信模块与通信传输平台可以建立多个通信链路，并且可以用于传输多个网络信号。本实施通过实时检测第一网络信号的信号强度与第二网络信号的信号强度，可以通过比较网络信号的优劣选择通信状态更佳的通信链路。可选的，第一网络信号可以是4G网络信号，第二网络信号可以是WiFi网络信号。
具体的，终端设备通过每一个通信模块与通信传输平台建立通信连接后形成通信链路，终端可以实时获取每个通信链路传输的网络信号的信号强度。例如通过RSSI（Received Signal Strength Indication，接收的信号强度指示）获取无线网络信号的信号强度，可以判定通信链路的链接质量，不同无线网络信号的信号强度可以是-85dBm、-95dBm、-115dBm等。
可选的，终端设备还可以通过获取通信链路的信号传输速率，根据该信号传输速率判断通信链路的链接质量，以选择通信状态更佳的通信链路。终端设备通过通信模块与通信传输平台进行通信时能够获取当前通信链路的信号传输速率，该信号传输速率反映了当前通信链路传输的网络信号的信号强度。例如，不同通信链路的信号传输速率可以是6Mbps（Million bits per second，兆比特每秒）、24Mbps、54Mbps等，也即是反映了通信链路的网络传输速度。
步骤304：当所述第一网络信号的信号强度和/或第二网络信号的信号强度大于等于第一阈值时，根据预设传输策略选取所述第一通信链路和/或第二通信链路传输数据。
第一网络信号可以是4G网络信号，第二网络信号可以是WiFi网络信号，4G网络信号具有网络延时低，实时通信效果好的特性，WiFi网络信号具有带宽高，可承载大流量数据的传输的特性，4G网络信号和WiFi网络信号为终端设备常用的无线通信信号，本实施例优先判断第一网络信号和第二网络信号的信号强度，以根据该信号强度确定是否选取4G网络或WiFi网络进行通信。
具体的，第一阈值可以理解为网络信号处于信号较优状态的信号强度界定值。当第一网络信号的信号强度和/或第二网络信号的信号强度大于等于第一阈值时，表明第一网络信号和/或第二网络信号处于信号较佳状态，此时可以根据预设传输策略选取第一网络信号和/或第二网络信号对应的通信链路传输数据，也即是选取第一通信链路和/或第二通信链路进行通信。
步骤306：当第一网络信号的信号强度和第二网络信号的信号强度小于第二阈值时，选取所述第三通信链路传输数据。
第三网络信号可以是COFDM网络信号，COFDM网络采用低频频段通信，在非可视和有阻挡的环境中具备良好的“绕射”与“穿透”能力。当第一网络信号的信号强度和第二网络信号的信号强度小于第二阈值时，表明第一网络信号和第二网络信号均处于信号较差的状态，选用第一网络或第二网络会影响数据传输效果，此时采用第三网络信号对应的通信链路传输数据，也即是采用第三通信链路进行通信，可以带来更好的通信效果，保证数据传输的及时性、通畅性。
本实施例提供的通信链路的切换方法，通过实时检测所述第一网络信号的信号强度与第二网络信号的信号强度，当所述第一网络信号的信号强度和/或第二网络信号的信号强度大于等于第一阈值时，根据预设传输策略选取所述第一通信链路和/或第二通信链路传输数据，当第一网络信号的信号强度和第二网络信号的信号强度小于第二阈值时，选取所述第三通信链路传输数据。通过上述方法，能够根据不同网络信号的信号强度自动切换通信链路，提升了通信系统的稳定性，并且提高了终端设备在通信过程中的鲁棒性。
在一个实施例中，所述终端设备传输的数据包括第一类数据和第二类数据，其中第一类数据指的是对带宽要求低的数据类型，如控制指令；第二类数据指的是对带宽要求高的数据类型，如音视频数据。如图4所示，步骤304还包括以下步骤402~步骤406：
步骤402：当所述第一网络信号与第二网络信号的信号强度大于等于第一阈值时，选取所述第一类数据通过第一通信链路进行传输，选取所述第二类数据通过第二通信链路传输。
当第一网络信号的信号强度和第二网络信号的信号强度大于等于第一阈值时，可以根据需求选取第一网络信号和第二网络信号对应的通信链路传输数据，也即是选取第一通信链路和第二通信链路进行通信。
举例来说，第一阈值可以是-105dBm，当网络信号的信号强度大于等于-105dBm时判定该网络信号处于信号较优状态。当4G网络信号和WiFi网络信号的信号强度都大于等于-105dBm时，可以对带宽要求低的数据类型优先选择4G网络，对带宽要求高的数据类型优先选择WiFi网络。
步骤404：当所述第一网络信号的信号强度大于等于第一阈值、且第二网络信号的信号强度小于第二阈值时，选取所述第一类数据、第二类数据通过所述第一通信链路进行传输。
第二阈值可以理解为网络信号处于信号较差状态的信号强度界定值。当第一网络信号的信号强度大于等于第一阈值、且第二网络信号的信号强度小于第二阈值时，表明此时第一网络信号处于信号较优状态，而第二网络信号处于信号较差状态，则可以选取第一类数据和第二类数据都通过第一网络信号对应的第一通信链路进行传输，确保数据传输的及时性、通畅性。
举例来说，第二阈值可以是-115dBm，当网络信号的信号强度小于-105dBm时判定该网络信号处于信号较差状态。当4G网络信号的信号强度大于等于-105dBm、WiFi网络信号的信号强度小于-115dBm时，则此时将对带宽要求低的数据类型和对带宽要求高的数据类型都优先选择4G网络进行通信。
步骤406：当所述第二网络信号的信号强度大于等于第一阈值、且第一网络信号的信号强度小于第二阈值时，选取所述第一类数据、第二类数据通过所述第二通信链路进行传输。
同理，当WiFi网络信号的信号强度大于等于-105dBm、4G网络信号的信号强度小于-115dBm时，则此时将对带宽要求低的数据类型和对带宽要求高的数据类型都优先选择WiFi网络信号进行通信。
本实施例提供的通信链路的切换方法，能够根据不同网络信号的信号强度自动切换通信链路，提升了通信系统的稳定性，并且提高了终端设备在通信过程中的鲁棒性。
在一个实施例中，第一类数据包括但不限于控制指令、请求指令、对讲指令等。
在一个实施例中，第二类数据包括但不限于图片数据、音频数据、视频数据等。
在一个实施例中，通信模块包括4G通信模块，通信传输平台包括移动基站，所述4G通信模块与移动基站建立通信连接，用于传输4G网络信号。例如，巡检机器人可以通过4G模块连接运营商的4G网络基站，进而接入互联网，与部署在用户侧的服务器以及终控平台进行数据的交互。
在一个实施例中，通信模块还包括WiFi通信模块，通信传输平台还包括无线访问接入点，所述WiFi通信模块与无线访问接入点建立通信连接，用于传输WiFi网络信号。例如，巡检机器人通过WiFi通信模块连接自部署的AP基站，进而接入互联网，与部署在用户侧的服务器以及终控平台进行数据的交互。
在一个实施例中，通信模块还包括COFDM通信模块，通信传输平台还包括COFDM设备，所述COFDM通信模块与COFDM设备建立通信连接，用于传输COFDM网络信号。例如，巡检机器人通过COFDM通信模块与用户侧的COFDM设备建立点对点传输链路，进而接入互联网，与部署在用户侧的服务器以及终控平台进行数据的交互。
上述通信链路的切换方法，终端设备在运行时会实时检测第一网络信号与第二网络信号的质量，并与设定的阈值进行比较，根据比较的结果，匹配相应的网络通信方式。对带宽要求低的数据类型优先选择第一网络，对带宽要求高的数据类型优先选择第二网络，第三网络则作为兜底通信方式。通过上述方法，结合各种通信方式的优劣势，采取了扬长避短的网络选取策略，既能保证低流量数据类型的实时性、又能保证大流量数据类型的可达性，同时采用第三网络作为兜底措施，进一步提高了机器人无线通信系统的鲁棒性。
应该理解的是，虽然上述图3-4中的各个步骤按照箭头的指示依次显示，但是这些步骤并不是必然按照箭头指示的顺序依次执行。除非本文中有明确的说明，这些步骤的执行并没有严格的顺序限制，这些步骤可以以其它的顺序执行。而且，图3-4中的至少一部分步骤可以包括多个子步骤或者多个阶段，这些子步骤或者阶段并不必然是在同一时刻执行完成，而是可以在不同的时刻执行，这些子步骤或者阶段的执行顺序也不必然是依次进行，而是可以与其它步骤或者其它步骤的子步骤或者阶段的至少一部分轮流或者交替地执行。
如图5所示，在一个实施例中，提供了一种通信链路的切换装置，该装置包括信号强度检测模块510、第一选择模块520和第二选择模块530。
信号强度检测模块510用于实时检测第一网络信号的信号强度与第二网络信号的信号强度。
第一选择模块520用于当所述第一网络信号的信号强度和/或第二网络信号的信号强度大于等于第一阈值时，根据预设传输策略选取第一通信链路和/或第二通信链路传输数据。
第二选择模块530用于当第一网络信号的信号强度和第二网络信号的信号强度小于第二阈值时，选取第三通信链路传输数据。
上述通信链路的切换装置，能够根据不同网络信号的信号强度自动切换通信链路，提升了通信系统的稳定性，并且提高了终端设备在通信过程中的鲁棒性。
关于通信链路的切换装置的具体限定可以参见上文中对于通信链路的切换方法的限定，在此不再赘述。上述通信链路的切换装置中的各个模块可全部或部分通过软件、硬件及其组合来实现。上述各模块可以硬件形式内嵌于或独立于计算机设备中的处理器中，也可以以软件形式存储于计算机设备中的存储器中，以便于处理器调用执行以上各个模块对应的操作。
本申请实施例中提供的通信链路的切换装置中的各个模块的实现可为计算机程序的形式。该计算机程序可在终端或服务器上运行。该计算机程序构成的程序模块可存储在终端或服务器的存储器上。该计算机程序被处理器执行时，实现本申请实施例中所描述的通信链路的切换方法的步骤。
本申请实施例还提供了一种计算机可读存储介质。一个或多个包含计算机可执行指令的非易失性计算机可读存储介质，当所述计算机可执行指令被一个或多个处理器执行时，使得所述处理器执行如上述各实施例中所描述的通信链路的切换方法。
本申请实施例还提供了一种计算机程序产品。一种包含指令的计算机程序产品，当其在计算机上运行时，使得计算机执行上述各实施例中所描述的通信链路的切换方法。
在上述实施例中，可以全部或部分的通过软件、硬件、固件或者其任意组合来实现。当使用软件程序实现时，可以全部或部分地以计算机程序产品的形式实现。所述计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行所述计算机程序指令时，全部或部分地产生按照本发明实施例所述的流程或功能。所述计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。所述计算机指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一个计算机可读存储介质传输。所述计算机可读存储介质可以是计算机能够存取的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。所述可用介质可以是磁性介质，（例如，软盘、硬盘、磁带）、光介质（例如，DVD）、或半导体介质（例如固态硬盘Solid State Disk（SSD））等。
以上所揭露的仅为本发明较佳实施例而已，当然不能以此来限定本发明之权利范围，因此依本发明权利要求所作的等同变化，仍属本发明所涵盖的范围。

Claims (10)

  1. 一种通信链路的切换方法，其特征在于，应用于终端设备，所述终端设备包括至少三个通信模块，所述通信模块用于与通信传输平台建立通信连接后形成通信链路，所述通信链路包括第一通信链路、第二通信链路和第三通信链路，分别用于传输第一网络信号、第二网络信号和第三网络信号；所述方法包括：
    实时检测所述第一网络信号的信号强度与第二网络信号的信号强度；
    当所述第一网络信号的信号强度和/或第二网络信号的信号强度大于等于第一阈值时，根据预设传输策略选取所述第一通信链路和/或第二通信链路传输数据；
    当第一网络信号的信号强度和第二网络信号的信号强度小于第二阈值时，选取所述第三通信链路传输数据。
  2. 根据权利要求1所述的方法，其特征在于，所述终端设备传输的数据包括第一类数据和第二类数据；所述当所述第一网络信号的信号强度和/或第二网络信号的信号强度大于等于第一阈值时，根据预设传输策略选取所述第一通信链路和/或第二通信链路传输数据，包括：
    当所述第一网络信号与第二网络信号的信号强度大于等于第一阈值时，选取所述第一类数据通过第一通信链路进行传输，选取所述第二类数据通过第二通信链路传输；
    当所述第一网络信号的信号强度大于等于第一阈值、且第二网络信号的信号强度小于第二阈值时，选取所述第一类数据、第二类数据通过所述第一通信链路进行传输；
    当所述第二网络信号的信号强度大于等于第一阈值、且第一网络信号的信号强度小于第二阈值时，选取所述第一类数据、第二类数据通过所述第二通信链路进行传输。
  3. 根据权利要求2所述的方法，其特征在于，所述第一类数据包括控制指令、请求指令、对讲指令中的至少一种。
  4. 根据权利要求2所述的方法，其特征在于，所述第二类数据包括图片数据、音频数据、视频数据中的至少一种。
  5. 根据权利要求1所述的方法，其特征在于，所述通信模块包括4G通信模块，所述通信传输平台包括移动基站，所述4G通信模块与所述移动基站建立通信连接，用于传输4G网络信号。
  6. 根据权利要求1所述的方法，其特征在于，所述通信模块还包括WiFi通信模块，所述通信传输平台还包括无线访问接入点，所述WiFi通信模块与所述无线访问接入点建立通信连接，用于传输WiFi网络信号。
  7. 根据权利要求1所述的方法，其特征在于，所述通信模块还包括COFDM通信模块，所述通信传输平台还包括COFDM设备，所述COFDM通信模块与COFDM设备建立通信连接，用于传输COFDM网络信号。
  8. 一种通信链路的切换装置，其特征在于，包括：
    信号强度检测模块，用于实时检测第一网络信号的信号强度与第二网络信号的信号强度；
    第一选择模块，用于当所述第一网络信号的信号强度和/或第二网络信号的信号强度大于等于第一阈值时，根据预设传输策略选取第一通信链路和/或第二通信链路传输数据；
    第二选择模块，用于当第一网络信号的信号强度和第二网络信号的信号强度小于第二阈值时，选取第三通信链路传输数据。
  9. 一种终端，其特征在于，包括存储器及处理器，所述存储器中储存有计算机程序，所述计算机程序被所述处理器执行时，使得所述处理器执行如权利要求1至7中任一项所述的方法的步骤。
  10. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现如权利要求1至7中任一项所述的方法的步骤。
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