CN110113795A - It is the group machines people communication means driven and its application with service application - Google Patents

Abstract

A group robot communication method driven by business applications and its application. The present invention uses a Mesh network as a wireless multi-hop network, adjusts based on RSSI, combines business application requirements with RSSI, and finds a link bandwidth for data transmission. The optimal link realizes the decentralization of the network, has excellent characteristics such as dynamic routing, network self-healing, and self-organization, and is based on mutual cooperation and synchronization among numerous wireless access points distributed in a mesh. The business application-driven group robot communication method and application thereof adopted in the present invention have better applicability in robot group communication.

Description

Group robot communication method driven by business application and its application

technical field

The invention relates to the field of robot communication, which is used for wireless transmission of image data collected by group robots and remote control of group robots to complete a specific task, and is especially suitable for a group robot Mesh communication system driven by business applications and communication method.

Background technique

With the rapid development of information communication technology and sensing technology, the application of robots in dangerous area survey, search and rescue, and operation is becoming more and more common. In particular, emergency rescue robots have played an important role in armed conflicts and terrorist attacks.

Due to the large scope and difficulty of the application scenarios of group robots, multiple robots often need to cooperate with each other to complete a specific task. In this process, the effectiveness of the communication system plays a decisive role in the success or failure of the task. This also puts forward higher requirements for data synchronization and action synchronization of the group robot communication system. Traditional group robot communication systems are mostly based on a "star" network architecture, which consists of a central communication control node and several communication terminal nodes. In this network architecture, the communication coverage is determined by the central communication control node. Once the communication terminal If the node exceeds the coverage of the central communication control node, the communication will be interrupted; at the same time, under this network architecture, communication and transmission services are separated, data transmission occurs at the physical link layer, and services occur at the application layer, such as : When performing video information transmission, the central communication control node will not consider whether the capacity of the network can meet the business needs, as long as the transmission link exists, it will automatically transmit data, which is very easy to occur when the link bandwidth is limited. Congestion, which also leads to communication interruption.

Based on the above analysis, the existing group robot communication system has two disadvantages:

1) The communication coverage is limited by the coverage radius of the communication control node, there is only one communication link between the communication terminal node and the communication control node, the link stability cannot be guaranteed, and communication interruption is prone to occur;

2) The application mode where communication and business are separated, because communication does not understand the application requirements of business, it is very easy to cause communication paralysis caused by network congestion when a large amount of data transmission occurs.

Contents of the invention

In view of the above problems, the present invention provides a group robot communication method driven by business applications and its application. The present invention is different from the traditional "star" network architecture, and adopts Mesh network as a wireless multi-hop network to realize It realizes the decentralization of the network, has excellent characteristics such as dynamic routing, network self-healing, and self-organization. Based on the mutual cooperation and synchronization among many wireless access points distributed in a mesh, it has a good application in robot group communication. applicability.

In order to achieve the above object, the technical solution adopted by the invention is: a group robot communication method driven by business applications, the steps of which are as follows:

1) There is a control center outside the dangerous operation area of group robots, and there are detection robot groups and rescue robot groups in the dangerous operation area;

2) The Mesh communication node in the control center establishes a wireless link connection with multiple links with the Mesh communication node of the robot in the dangerous operation area; the Mesh communication node of the robot establishes a wireless link connection with the Mesh communication node of the adjacent robot;

3) The robots located in the dangerous operation area transmit the on-site images collected by themselves to the group robot remote control center through the on-site Mesh link, and dynamically adjust the link according to the business application requirements during the return process;

4) The operator in the control center judges and gives instructions for the next operation of the robot based on the images sent back by each robot;

5) Receive the operation instructions sent by the group robot remote control center, and replace humans to complete the operation tasks in the dangerous operation area;

The group robots include a scout robot and a rescue robot. The scout robot is used for on-site operation environment collection, and uses the on-site wireless network to realize image return; the rescue robot is used for rescue tasks, and performs group robot remote control center operations. All kinds of rescue instructions issued by personnel; the communication service priority of the detection robot is higher than that of the rescue robot.

In the described steps 2)-3), the Mesh routing algorithm of the Mesh communication node is specifically:

1. Set the Mesh node of the group robot remote control center as AP _(Des) , and the Mesh node of the rescue robot as AP _(1~n) ;

2. With a certain Mesh node AP _(i) as the central node, according to the strength of the received RSSI signal, establish the connection routing table of the node, and then traverse all the Mesh nodes in order, and establish the connection routing table of all nodes;

3. With the Mesh node of the group robot remote control center as the source address, send a packet of test data to all rescue robot Mesh nodes, and obtain the network throughput and response time of each rescue robot Mesh node according to the completion time, and establish a Mesh node Throughput and response time ranking table;

4. Form a data service transmission link from AP _(i) to AP _(Des) ;

4.1. To receive a business requirement application, first determine the priority of the business type, and establish a set C, where C={};

4.2. Let the data transmission service be the data service transmission from AP _(i) to AP _(Des) , and classify according to the service priority;

4.2.1) If the bandwidth requirement is high, first find the routing connection table of AP _(i) , and reorder the table according to the throughput sorting number of the throughput sorting table; after reordering the routing connection table, find the node whose routing number is 1 AP _(j) , judge whether AP _(j) ∈ C, if it does not belong to the C set, record the node AP _(j) , C=C+{AP _(j) }; if it belongs to the C set, find the route sequentially The node AP _(j) with the number 2, until it finds that AP _(j) does not belong to the C set; continue the above process until it finds the node AP _(Des) with the routing number 1, and finally forms the route from AP _(i) to AP _(Des) data service transmission link C;

4.2.2) If the real-time requirements are high, first find the routing connection table of AP _(i) , reorder the table according to the throughput sorting number of the response time sorting table, and find the routing number 1 after the routing connection table is reordered Node AP _(j) , judge whether AP _(j) ∈ C, if it does not belong to the C set, record the node AP _(j) , C=C+{AP _(j) }; if it belongs to the C set, find the route sequentially The node AP _(j) with the number 2 until it finds that AP _(j) does not belong to the C set, and then continues the above process until it finds the node AP _(Des) with the routing number 1, and finally forms the route from AP _(i) to AP _(Des ) ₎ data service transmission link C, C={AP _(i) ,..., AP _(Des) }.

The application of the above-mentioned group robot communication method driven by business applications in uplink business processing, the steps are:

In the second step, the robot in the dangerous operation area sends an uplink service application to the group robot remote control center through its Mesh node;

In the third step, the group robot remote control center receives the application, if not, go to the second step, if yes, go to the fourth step;

In the fourth step, the group robot remote control center analyzes the business application, and rebuilds the connection routing table and throughput sorting table according to the business priority classification;

The fifth step is to obtain the optimal transmission link C set according to the Mesh routing algorithm;

The sixth step is to send the transmission link C set to the service application Mesh node;

In the seventh step, the service application Mesh node transmits service data according to the transmission link C set;

The eighth step is over.

The application of the above-mentioned group robot communication method driven by business applications in downlink business processing is characterized in that:

The first step, start;

In the second step, the group robot remote control center obtains the Mesh node of the robot located in the dangerous operation area;

In the third step, the group robot remote control center determines the transmission service type, rebuilds the connection routing table, and the response time sorting table;

The fourth step is to obtain the optimal transmission link C set according to the Mesh routing algorithm;

In the fifth step, the group robot remote control center performs business data transmission according to the set of transmission link C;

The eighth step is over.

The beneficial effects created by the present invention are:

The group robot communication method and its application driven by business applications provided by the present invention are different from the prior art in which the strength of the RSSI value is used as the driving method for routing switching. The dynamic switching of transmission routes can effectively ensure the smooth flow of various data transmission services and improve the application performance of the network. It is especially suitable for wireless transmission of image data collected by group robots and remote control of group robots to complete a specific task.

Description of drawings:

Fig. 1 is a structural diagram of the inventive system.

Figure 2 is a composition diagram of the Mesh communication node module of the invention.

Fig. 3 is a flow chart of the inventive method applied in uplink service processing.

Fig. 4 is a flow chart of the inventive method applied in downlink service processing.

Detailed ways

A group robot communication method driven by business applications,

1) There is a control center outside the dangerous operation area of group robots, and there are detection robot groups and rescue robot groups in the dangerous operation area;

2) The Mesh communication node in the control center establishes a wireless link connection with multiple links with the Mesh communication node of the robot in the dangerous operation area; the Mesh communication node of the robot establishes a wireless link connection with the Mesh communication node of the adjacent robot;

3) The robots located in the dangerous operation area transmit the on-site images collected by themselves to the group robot remote control center through the on-site Mesh link, and dynamically adjust the link according to the business application requirements during the return process;

4) The operator in the control center judges and gives instructions for the next operation of the robot based on the images sent back by each robot;

5) Receive the operation instructions sent by the group robot remote control center, and replace humans in the dangerous operation area to complete the operation tasks.

specific:

1. System structure:

As shown in Figure 1, a Mesh communication system for group robots driven by business applications consists of a group robot remote control center located outside the dangerous operation area and several rescue robots located in the dangerous operation area.

The group robot remote control center is located outside the dangerous operation area of the group robot, and the operator of the control center can judge and give instructions for the next operation of the robot based on the images sent back by each robot. The Mesh communication node in the control center can remotely establish a wireless link connection with the nearby rescue robot Mesh communication node in the dangerous operation area, and the link has multiple paths.

Several rescue robots are located in the dangerous operation area, and can transmit the on-site images collected by each to the group robot remote control center through the on-site Mesh link. There are multiple return Mesh links, which can be dynamically linked according to business application requirements. Adjustment; at the same time, it can receive the operation instructions from the remote control center of the group robot, and replace humans in the dangerous operation area to complete the operation tasks. The rescue robot Mesh communication node can establish a wireless link connection with the adjacent rescue robot Mesh communication node.

2. Mesh communication node module composition:

The Mesh communication node is composed of an antenna feeder unit module, a power amplifier unit module, a control unit module, a routing unit module and an input and output unit module.

The function of the antenna feeder unit module: amplify the wireless signal received through the antenna uplink and output the wireless signal amplified by the power amplifier unit module through the antenna.

Power amplifier unit module function: amplify the downlink wireless signal and output it through the antenna feeder unit module.

Control unit module function: carry software algorithm, and control the communication between each module.

Routing unit module function: combine RSSI and business requirements, dynamically adjust the routing table, and realize data exchange between nodes.

The function of the input and output unit module: establish a wired connection with the remote control center of the group robot and the rescue robot to realize data exchange with their respective control systems; and provide power for the module through the power input of the remote control center of the group robot and the rescue robot.

3. Business priority

Robot group communication services are different from traditional audio, video and data communication services. Rescue on-site robots mainly include two types according to their functions: investigation and rescue. The investigation robots are mainly responsible for on-site operation environment collection, and use the on-site wireless network to realize image return for group The operator of the group robot remote control center remotely controls various robots for comprehensive rescue based on images. The data transmitted by such robots is mainly image information, which requires high transmission bandwidth, and the direction of data transmission is mainly uplink; rescue robots are mainly responsible for rescue operations. The task is to execute various rescue instructions issued by the operator of the group robot remote control center. This type of robot transmits a small amount of data and has high requirements for real-time performance. The direction of data transmission is mainly downlink.

Business priorities are categorized as follows:

Table 1: Business Priority Table

priority type describe 1 High bandwidth requirements 2 High real-time requirements

4. Mesh routing algorithm

In the first step, it is assumed that the Mesh node of the remote control center of the group robot is AP _(Des) , and the Mesh node of the rescue robot is AP _(1~n) ;

second step

, with a certain Mesh node AP _(i) central node, according to the intensity of its received RSSI signal, establish the connection routing table of this node, traverse all Mesh nodes in order, and establish the connection routing table of all nodes;

Table 2: Routing connection table

The third step is to use the Mesh node of the group robot remote control center as the source address to send a packet of test data (the size of the test packet can be customized) to all rescue robot Mesh nodes, and obtain the network of each rescue robot Mesh node according to the completion time Throughput and response time, establish Mesh node throughput and response time sorting table,

Table 3: Throughput Sorting Table

node Throughput sort number AP₍₁₎ 1 AP₍₂₎ 2 . … . … AP_(n) no

Table 4 Response time sorting table

The fourth step is to receive the service requirement application, first judge the priority of the service type, and establish a set C, where C={}. Assuming that the data transmission service is the data service transmission from AP _(i) to AP _(Des) , it is classified according to the service priority. If the bandwidth requirement is high, first find the routing connection table 2 of AP _(i) , and sort the table according to the throughput 3 Throughput sorting number Reorder table 2. After reordering table 2, find node AP _(j) with routing number 1, and judge whether AP _(j) ∈C. If it does not belong to C set, record node AP _{(j )} , C=C+{AP _(j) }; if it belongs to the C set, then find the node AP _(j) whose routing number is 2 in order, until it finds that AP _(j) does not belong to the C set, and then continue the above process until Find the node AP _(Des) whose routing number is 1, and finally form the data service transmission link C from AP _(i) to AP _(Des) . If the real-time requirements are high, first find the routing connection table 2 of AP _(i) , and reorder table 2 according to the response time sorting table 4 throughput sorting number, and find the node AP with routing number 1 after reordering table 2 _(j) , judge whether AP _(j) ∈C, if it does not belong to the C set, record the node AP _(j) , C=C+{AP _(j) }; if it belongs to the C set, then find the routing number in the order of 2 node AP _(j) until it finds that AP _(j) does not belong to the C set, and then continues the above process until it finds the node AP _(Des) with routing number 1, and finally forms a route from AP _(i) to AP _(Des) Data service transmission link C, C={AP _(i) , . . . , AP _(Des) }.

Using the above-mentioned business application-driven group robot communication method in the application of uplink business processing, the process is shown in Figure 3, and the steps are:

In the second step, the robot in the dangerous operation area sends an uplink service application to the group robot remote control center through its Mesh node;

In the third step, the group robot remote control center receives the application, if not, go to the second step, if yes, go to the fourth step;

In the fourth step, the group robot remote control center analyzes the business application, and rebuilds the connection routing table and throughput sorting table according to the business priority classification;

The fifth step is to obtain the optimal transmission link C set according to the Mesh routing algorithm;

The sixth step is to send the transmission link C set to the service application Mesh node;

In the seventh step, the service application Mesh node transmits service data according to the transmission link C set;

The eighth step is over.

Using the above-mentioned business application-driven group robot communication method in the application of downlink business processing, the process is shown in Figure 4, and the steps are:

The first step, start;

In the second step, the group robot remote control center obtains the Mesh node of the robot located in the dangerous operation area;

In the third step, the group robot remote control center determines the transmission service type, rebuilds the connection routing table, and the response time sorting table;

The fourth step is to obtain the optimal transmission link C set according to the Mesh routing algorithm;

In the fifth step, the group robot remote control center performs business data transmission according to the set of transmission link C;

The eighth step is over.

In the patent of this invention:

Mesh network is: wireless mesh network;

RSSI is Received Signal Strength Indication, which means received signal strength indication.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (5)

1. A group robot communication method driven by business applications, characterized in that the steps are: 1) There is a control center outside the dangerous operation area of group robots, and there are detection robot groups and rescue robot groups in the dangerous operation area; 2) The Mesh communication node in the control center establishes a wireless link connection with multiple links with the Mesh communication node of the robot in the dangerous operation area; the Mesh communication node of the robot establishes a wireless link connection with the Mesh communication node of the adjacent robot; 3) The robots located in the dangerous operation area transmit the on-site images collected by themselves to the group robot remote control center through the on-site Mesh link, and dynamically adjust the link according to the business application requirements during the return process; 4) The operator in the control center judges and gives instructions for the next operation of the robot based on the images sent back by each robot; 5) Receive the operation instructions sent by the group robot remote control center, and replace humans to complete the operation tasks in the dangerous operation area; 2. The group robot communication method driven by business application according to claim 1, characterized in that: the group robot includes a scout robot and a rescue robot, and the scout robot is used for on-site work environment collection, and Use the on-site wireless network to realize image return; the rescue robot is used for rescue tasks, and executes various rescue instructions issued by the operator of the group robot remote control center; the priority of the communication service of the investigation robot is higher than that of the rescue robot. 3. The group robot communication method driven by business application according to claim 1, characterized in that: in the described steps 2)-3), the Mesh routing algorithm of the Mesh communication node is specifically: 1. Set the Mesh node of the group robot remote control center as AP _(Des) , and the Mesh node of the rescue robot as AP _(1~n) ; 2. With a certain Mesh node AP _(i) as the central node, according to the strength of the received RSSI signal, establish the connection routing table of the node, and then traverse all the Mesh nodes in order, and establish the connection routing table of all nodes; 3. With the Mesh node of the group robot remote control center as the source address, send a packet of test data to all rescue robot Mesh nodes, and obtain the network throughput and response time of each rescue robot Mesh node according to the completion time, and establish a Mesh node Throughput and response time ranking table; 4. Form a data service transmission link from AP _(i) to AP _(Des) ; 4.1. To receive a business requirement application, first determine the priority of the business type, and establish a set C, where C={}; 4.2. Let the data transmission service be the data service transmission from AP _(i) to AP _(Des) , and classify according to the service priority; 4.2.1) If the bandwidth requirement is high, first find the routing connection table of AP _(i) , and reorder the table according to the throughput sorting number of the throughput sorting table; after reordering the routing connection table, find the node whose routing number is 1 AP _(j) , judge whether AP _(j) ∈ C, if it does not belong to the C set, record the node AP _(j) , C=C+{AP _(j) }; if it belongs to the C set, find the route sequentially The node AP _(j) with the number 2 until it finds that AP _(j) does not belong to the C set; continue the above process until it finds the node AP _(Des) with the routing number 1, and finally forms the route from AP _(i) to AP _(Des) data service transmission link C; 4.2.2) If the real-time requirements are high, first find the routing connection table of AP _(i) , reorder the table according to the throughput sorting number of the response time sorting table, and find the routing number 1 after the routing connection table is reordered Node AP _(j) , judge whether AP _(j) ∈ C, if it does not belong to the C set, record the node AP _(j) , C=C+{AP _(j) }; if it belongs to the C set, find the route sequentially The node AP _(j) with the number 2 until it finds that AP _(j) does not belong to the C set, and then continues the above process until it finds the node AP _(Des) with the routing number 1, and finally forms the route from AP _(i) to AP _(Des ) ₎ data service transmission link C, C={AP _(i) , . . . , AP _(Des) }. 4. Adopting the application of the group robot communication method driven by the service application in claim 1-3 in the uplink service processing, characterized in that, the steps are: In the second step, the robot in the dangerous operation area sends an uplink service application to the group robot remote control center through its Mesh node; In the third step, the group robot remote control center receives the application, if not, go to the second step, if yes, go to the fourth step; In the fourth step, the group robot remote control center analyzes the business application, and rebuilds the connection routing table and throughput sorting table according to the business priority classification; The fifth step is to obtain the optimal transmission link C set according to the Mesh routing algorithm; The sixth step is to send the transmission link C set to the service application Mesh node; In the seventh step, the service application Mesh node transmits service data according to the transmission link C set; The eighth step is over. 5. The application of the group robot communication method driven by business applications in claim 1-3 in downlink business processing is characterized in that the steps are: The first step, start; In the second step, the group robot remote control center obtains the Mesh node of the robot located in the dangerous operation area; In the third step, the group robot remote control center determines the transmission service type, rebuilds the connection routing table, and the response time sorting table; The fourth step is to obtain the optimal transmission link C set according to the Mesh routing algorithm; In the fifth step, the group fine robot remote control center performs business data transmission according to the transmission link C set; The eighth step is over.