CN110113795B - Group robot communication method driven by business application and application thereof - Google Patents
Group robot communication method driven by business application and application thereof Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
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- H—ELECTRICITY
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- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W40/00—Communication routing or communication path finding
- H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W40/00—Communication routing or communication path finding
- H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
- H04W40/04—Communication route or path selection, e.g. power-based or shortest path routing based on wireless node resources
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention adopts Mesh network as a wireless multi-hop network, combines the service application requirement and RSSI based on the adjustment mode of RSSI, finds a link with optimal link bandwidth for data transmission, realizes network decentralization, has the excellent characteristics of dynamic routing, network self-healing, self-organization and the like, and is based on mutual cooperation and synchronization among a plurality of wireless access points distributed in a net shape. The group robot communication method driven by the business application and the application thereof have better applicability in the robot group communication.
Description
Technical Field
The invention relates to the field of robot communication, which is used for carrying out wireless transmission on image data collected by group robots and remotely controlling the group robots to complete a certain specific task, and is particularly suitable for a group robot Mesh communication system driven by business application and a communication method.
Background
With the rapid development of information communication technology and sensing technology, robots are becoming more and more popular in aspects of investigation, search and rescue, operation and the like in dangerous areas, and particularly emergency rescue robots play an important role in armed conflict and terrorist attack.
Because the application scene of the group robot has large working face and large working difficulty, a plurality of robots are often required to cooperate with each other to complete a certain specific task, the effectiveness of the communication system plays a decisive role in the success and failure of the task in the process, and the data synchronization and the action synchronization of the communication system of the group robot are also required to be higher. The traditional group robot communication system is mostly based on a star-shaped network architecture, namely, the system consists of a central communication control node and a plurality of communication terminal nodes, wherein the communication coverage area in the network architecture is determined by the central communication control node, and once the communication terminal nodes exceed the coverage area of the central communication control node, communication interruption is caused; meanwhile, under such a network architecture, communication and transmission services are separated, data transmission occurs at a physical link layer, and services occur at an application layer, for example: when video information is transmitted, the central communication control node does not consider whether the capacity of the network can meet the service requirement, and data transmission can be automatically performed as long as a transmission link exists, so that network congestion is easy to occur under the condition of limited link bandwidth, and communication interruption can be caused.
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, only one communication link exists between the communication terminal node and the communication control node, the link stability cannot be ensured, and the communication interruption is easy to occur;
2) In the application mode of separating communication from service, communication paralysis caused by network congestion is very easy to occur when a large amount of data transmission occurs because the communication does not know the application requirement of the service.
Disclosure of Invention
In view of the above problems, the present invention provides a group robot communication method driven by service application and an application thereof, which is different from the traditional star-shaped network architecture, adopts Mesh network as a wireless multi-hop network, realizes network decentralization, has excellent characteristics of dynamic routing, network self-healing, self-organization, and the like, and has better applicability in application in machine crowd group communication based on mutual cooperation and synchronization among a plurality of wireless access points distributed in a Mesh manner.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: the group robot communication method driven by business application comprises the following steps:
1) A control center is arranged outside a dangerous operation area of the group robot, and a investigation machine crowd group and a rescue machine crowd group are arranged in the dangerous operation area;
2) The method comprises the steps that a wireless link connection with multiple paths of links is established between a Mesh communication node of an operation center and a Mesh communication node of a robot in a dangerous operation area; the robot Mesh communication node establishes wireless link connection with the adjacent robot Mesh communication node;
3) The robots in the dangerous operation area transmit the collected field images back to the remote control center of the group robot through the field Mesh link, and the dynamic link adjustment is carried out according to the service application requirements in the transmission process;
4) The operator of the control center judges and gives an instruction of the next operation of the robots according to the image transmitted back by each robot;
5) Receiving an operation instruction transmitted by a remote control center of the group robot, and replacing a human in a dangerous operation area to complete an operation task;
the group robots comprise investigation robots and rescue robots, wherein the investigation robots are used for collecting field operation environments and realizing image return by using a field wireless network; the rescue robot is used for performing rescue tasks and executing various rescue instructions issued by operators of a remote control center of the group robot; the communication service priority of the investigation robot is higher than that of the rescue robot.
In the steps 2) -3), the Mesh routing algorithm of the Mesh communication node specifically includes:
1. setting a Mesh node of a remote control center of the group robot as an AP (Des), and setting a Mesh node of the rescue robot as an AP (1～n);
2. A certain Mesh node AP (i) is taken as a central node, a connection routing table of the node is established according to the intensity of received RSSI signals, all Mesh nodes are traversed sequentially, and the connection routing table of all the nodes is established;
3. Using Mesh nodes of a remote control center of the group robots as source addresses, sending a packet of test data to all the Mesh nodes of the rescue robots, obtaining network throughput and response time of each Mesh node of the rescue robots according to the completion time, and establishing a Mesh node throughput and response time ranking table;
4. forming a data traffic transmission link from AP (i) to AP (Des);
4.1. Receiving a service demand application, firstly judging the service type priority, and establishing a set C, C= { };
4.2. Setting data transmission service as data service transmission from AP (i) to AP (Des), classifying according to service priority;
4.2.1 If the bandwidth requirement is high, firstly, finding a routing connection table of the AP (i), and reordering the table according to the throughput ordering number of the throughput ordering table; after the routing connection table is reordered, a node AP (j) with a routing number of 1 is found, whether the AP (j) is E C is judged, and if the AP does not belong to the C set, the node AP (j),C＝C+{AP(j) is recorded; if the AP belongs to the C set, sequentially finding the nodes AP (j) with the route number of 2 downwards until the AP (j) is found to be not in the C set; continuing the above process until node AP (Des) with a routing number of 1 is found, and finally forming a data traffic transmission link C from AP (i) to AP (Des);
4.2.2 If the real-time requirement is high, firstly, a routing connection table of the AP (i) is found, the table is reordered according to the throughput ordering number of the response time ordering table, a node AP (j) with the routing number of 1 is found after the routing connection table is reordered, whether the AP (j) is E C is judged, and if the AP does not belong to the C set, the node AP (j),C＝C+{AP(j) is recorded; if it belongs to the C set, the node AP (j) with the routing number 2 is found sequentially downwards until the node AP (j) is found not to belong to the C set, and then the above procedure is continued until the node AP (Des) with the routing number 1 is found, and finally the data traffic transmission link C, c= { AP (i),……,AP(Des) } from the AP (i) to the AP (Des) is formed.
The application of the group robot communication method driven by the business application in the uplink business processing comprises the following steps:
Secondly, the dangerous operation area robot sends an uplink service application to a remote control center of the group robot through the Mesh node;
thirdly, the group robot remote control center receives the application, and if not, the group robot remote control center changes to the second step, and the group robot remote control center changes to the fourth step;
fourthly, the remote control center of the group robot analyzes the service application, and rebuilds a connection routing table and a throughput sequencing table according to the service priority classification;
Fifthly, obtaining an optimal transmission link C set according to a Mesh routing algorithm;
Sixthly, transmitting the transmission link C set to a service application Mesh node;
Seventh, the service application Mesh node transmits service data according to the transmission link C set;
And eighth step, ending.
The application of the group robot communication method driven by the service application in downlink service processing is characterized in that:
The first step, starting;
secondly, a group robot remote control center obtains a robot Mesh node positioned in a dangerous operation area;
thirdly, determining the type of transmission service by the remote control center of the group robot, reconstructing a connection routing table and a response time ordering table;
Step four, obtaining an optimal transmission link C set according to a Mesh routing algorithm;
Fifthly, the remote control center of the group robot transmits service data according to the transmission link C set;
And eighth step, ending.
The beneficial effects of the invention are as follows:
The group robot communication method driven by the service application and the application thereof provided by the invention are different from the driving mode of using the intensity of the RSSI value as the route switching in the prior art, and the method adopts the service application as the driving mode to dynamically switch the routes of data transmission between networks, thereby effectively guaranteeing the smoothness of various data transmission services, improving the application performance of the network, and being particularly suitable for carrying out wireless transmission on image data acquired by the group robot and remotely controlling the group robot to complete a certain specific task.
Description of the drawings:
Fig. 1 is a diagram of the system configuration of the invention.
Fig. 2 is a diagram of the constitution of the Mesh communication node module of the invention.
Fig. 3 is a flow of the application of the inventive method in upstream processing.
Fig. 4 is a flow chart of the application of the inventive method in downlink traffic processing.
Detailed Description
A group robot communication method driven by business application,
1) A control center is arranged outside a dangerous operation area of the group robot, and a investigation machine crowd group and a rescue machine crowd group are arranged in the dangerous operation area;
2) The method comprises the steps that a wireless link connection with multiple paths of links is established between a Mesh communication node of an operation center and a Mesh communication node of a robot in a dangerous operation area; the robot Mesh communication node establishes wireless link connection with the adjacent robot Mesh communication node;
3) The robots in the dangerous operation area transmit the collected field images back to the remote control center of the group robot through the field Mesh link, and the dynamic link adjustment is carried out according to the service application requirements in the transmission process;
4) The operator of the control center judges and gives an instruction of the next operation of the robots according to the image transmitted back by each robot;
5) And receiving an operation instruction transmitted by the remote control center of the group robot, and replacing a human in a dangerous operation area to complete an operation task.
Specific:
1. The system structure is as follows:
as shown in fig. 1, a Mesh communication system of group robots driven by business application is composed of 1 remote control center of group robots located outside dangerous operation area and several rescue robots located in dangerous operation area.
The remote control center of the group robot is located outside the dangerous operation area of the group robot, and an operator of the control center can judge and give an instruction of the next operation of the robot according to the image transmitted back by each robot. The Mesh communication node of the control center can remotely establish wireless link connection with the Mesh communication node of the nearby rescue robot in the dangerous operation area, and the links are multipath.
The rescue robots are positioned in the dangerous operation area, can transmit the respective collected field images back to the remote control center of the group robot through the field Mesh links, and the back Mesh links have a plurality of pieces and can carry out dynamic link adjustment according to service application requirements; meanwhile, the operation instruction transmitted by the remote control center of the group robot can be received, and the operation task can be completed by replacing human beings in a dangerous operation area. The rescue robot Mesh communication node can establish wireless link connection with the adjacent rescue robot Mesh communication node.
2. The Mesh communication node module is composed of:
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/output unit module.
Antenna feed unit module function: and carrying out uplink amplification on the wireless signals received through the antenna and outputting the wireless signals amplified through the power amplification unit module through the antenna.
Function of the power amplifier unit module: and amplifying the downlink wireless signals and outputting the amplified downlink wireless signals through the antenna feed unit module.
Control unit module function: carrying a software algorithm and controlling the communication between the modules.
Routing unit module function: and combining RSSI and service requirements, dynamically adjusting a routing table, and realizing data exchange among nodes.
Input-output unit module function: establishing wired connection with a remote control center of the group robot and the rescue robot to realize data exchange with respective control systems; and power is supplied to the module through the power input of the remote control center of the group robot and the rescue robot.
3. Service priority
The robot group communication service is different from the traditional audio-video and data communication service, and the rescue site robot mainly comprises the following components according to functions: the investigation robots mainly bear field operation environment collection, realize image return by using a field wireless network, and provide a group robot remote control center operator to remotely control various robots for comprehensive rescue according to the images, wherein data transmitted by the robots are mainly image information, the requirement on transmission bandwidth is higher, and the data transmission direction is mainly uplink; the rescue robot mainly bears rescue tasks, executes various rescue instructions issued by operators of a remote control center of the group robot, has smaller transmission data quantity, has higher requirement on real-time performance, and mainly descends in the data transmission direction.
The traffic priority classes are as follows:
Table 1: service priority table
| Priority type | Description of the invention |
| 1 | High bandwidth requirements |
| 2 | High real-time performance requirement |
4. Mesh routing algorithm
Firstly, assuming a Mesh node of a remote control center of a group robot as an AP (Des) and a Mesh node of a rescue robot as an AP (1～n);
second step
A certain Mesh node AP (i) is used as a central node, a connection routing table of the node is established according to the intensity of received RSSI signals, all Mesh nodes are traversed in sequence, and the connection routing table of all the nodes is established;
Table 2: routing connection table
A third step of using Mesh nodes of a remote control center of the group robots as source addresses, sending a packet of test data (the size of the test packet is self-defined) to all the Mesh nodes of the rescue robots, obtaining the network throughput and response time of each Mesh node of the rescue robots according to the completion time, establishing a Mesh node throughput and response time ordering table,
Table 3: throughput ordering table
| Node | Throughput ordering number |
| AP(1) | 1 |
| AP(2) | 2 |
| . | … |
| . | … |
| AP(n) | n |
Table 4 response time ranking table
And fourthly, receiving a service demand application, firstly judging the service type priority, and establishing a set C, wherein C= { }. Assuming that the data transmission service is data service transmission from the AP (i) to the AP (Des), classifying according to service priority, if the bandwidth requirement is high, firstly finding a routing connection table 2 of the AP (i), re-ordering the table 2 according to throughput ordering numbers of a throughput ordering table 3, finding a node AP (j) with a routing number of 1 after re-ordering the table 2, judging whether the AP (j) belongs to E C, and if the AP does not belong to C sets, recording the node AP (j),C＝C+{AP(j); if the node belongs to the C set, sequentially finding the node AP (j) with the routing number of 2 downwards until the node AP (j) is found to not belong to the C set, and then continuing the process until the node AP (Des) with the routing number of 1 is found, and finally forming a data service transmission link C from the AP (i) to the AP (Des). If the real-time requirement is high, firstly, a routing connection table 2 of the AP (i) is found, the table 2 is reordered according to the throughput ordering number of the response time ordering table 4, a node AP (j) with a routing number of 1 is found after the table 2 is reordered, whether the AP (j) is E C is judged, and if the AP does not belong to the C set, the node AP (j),C＝C+{AP(j) is recorded; if it belongs to the C set, the node AP (j) with the routing number 2 is found sequentially downwards until the node AP (j) is found not to belong to the C set, and then the above procedure is continued until the node AP (Des) with the routing number 1 is found, and finally the data traffic transmission link C, c= { AP (i),……,AP(Des) } from the AP (i) to the AP (Des) is formed.
The application of the group robot communication method driven by the business application in the uplink business processing is adopted, the flow is shown in figure 3, and the steps are as follows:
Secondly, the dangerous operation area robot sends an uplink service application to a remote control center of the group robot through the Mesh node;
thirdly, the group robot remote control center receives the application, and if not, the group robot remote control center changes to the second step, and the group robot remote control center changes to the fourth step;
fourthly, the remote control center of the group robot analyzes the service application, and rebuilds a connection routing table and a throughput sequencing table according to the service priority classification;
Fifthly, obtaining an optimal transmission link C set according to a Mesh routing algorithm;
Sixthly, transmitting the transmission link C set to a service application Mesh node;
Seventh, the service application Mesh node transmits service data according to the transmission link C set;
And eighth step, ending.
The application of the group robot communication method driven by the service application in the downlink service processing is shown in the flow chart of fig. 4, and the steps are as follows:
The first step, starting;
secondly, a group robot remote control center obtains a robot Mesh node positioned in a dangerous operation area;
thirdly, determining the type of transmission service by the remote control center of the group robot, reconstructing a connection routing table and a response time ordering table;
Step four, obtaining an optimal transmission link C set according to a Mesh routing algorithm;
Fifthly, the remote control center of the group robot transmits service data according to the transmission link C set;
And eighth step, ending.
In the patent of the invention:
the Mesh network is as follows: a wireless mesh network;
The RSSI is RECEIVED SIGNAL STRENGTH Indication, representing a received signal strength Indication.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. The group robot communication method driven by business application is characterized by comprising the following steps:
1) A control center is arranged outside a dangerous operation area of the group robot, and a investigation machine crowd group and a rescue machine crowd group are arranged in the dangerous operation area;
2) The method comprises the steps that a wireless link connection with multiple paths of links is established between a Mesh communication node of an operation center and a Mesh communication node of a robot in a dangerous operation area; the robot Mesh communication node establishes wireless link connection with the adjacent robot Mesh communication node;
3) The robots in the dangerous operation area transmit the collected field images back to the remote control center of the group robot through the field Mesh link, and the dynamic link adjustment is carried out according to the service application requirements in the transmission process;
In the steps 2) -3), the Mesh routing algorithm of the Mesh communication node specifically includes:
1. Setting a Mesh communication node of a remote control center of the group robot as an AP (Des), and setting a Mesh communication node of the rescue robot as an AP (1～n);
2. Taking a certain Mesh communication node AP (i) as a central node, establishing a connection routing table of the node according to the intensity of received RSSI signals, sequentially traversing all Mesh communication nodes, and establishing the connection routing table of all nodes;
3. Using Mesh communication nodes of a remote control center of the group robots as source addresses, sending a packet of test data to all the Mesh communication nodes of the rescue robots, obtaining network throughput and response time of each Mesh communication node of the rescue robots according to the completion time, and establishing a Mesh communication node throughput and response time ranking table;
4. forming a data traffic transmission link from AP (i) to AP (Des);
4.1. Receiving a service demand application, firstly judging the service type priority, and establishing a set C, C= { };
4.2. Setting data transmission service as data service transmission from AP (i) to AP (Des), classifying according to service priority;
4.2.1 If the bandwidth requirement is high, firstly, finding a routing connection table of the AP (i), and reordering the table according to the throughput ordering number of the throughput ordering table; after the routing connection table is reordered, a node AP (j) with a routing number of 1 is found, whether the AP (j) is E C is judged, and if the AP does not belong to the C set, the node AP (j),C＝C+{AP(j) is recorded; if the AP belongs to the C set, sequentially finding the nodes AP (j) with the route number of 2 downwards until the AP (j) is found to be not in the C set; continuing the above process until node AP (Des) with a routing number of 1 is found, and finally forming a data traffic transmission link C from AP (i) to AP (Des);
4.2.2 If the real-time requirement is high, firstly, a routing connection table of the AP (i) is found, the table is reordered according to the throughput ordering number of the response time ordering table, a node AP (j) with the routing number of 1 is found after the routing connection table is reordered, whether the AP (j) is E C is judged, and if the AP does not belong to the C set, the node AP (j),C＝C+{AP(j) is recorded; if the node belongs to the C set, sequentially finding the node AP (j) with the routing number of 2 downwards until the node AP (j) is found to be not in the C set, and then continuing the process until the node AP (Des) with the routing number of 1 is found, and finally forming a data service transmission link C from the AP (i) to the AP (Des), wherein C= { AP (i),……,AP(Des) };
4) The operator of the control center judges and gives an instruction of the next operation of the robots according to the image transmitted back by each robot;
5) And receiving an operation instruction transmitted by the remote control center of the group robot, and replacing a human in a dangerous operation area to complete an operation task.
2. The business application driven group robot communication method of claim 1, wherein: the group robots comprise investigation robots and rescue robots, wherein the investigation robots are used for collecting field operation environments and realizing image return by using a field wireless network; the rescue robot is used for carrying out rescue tasks and executing various rescue instructions issued by operators of a remote control center of the group robot; the communication service priority of the investigation robot is higher than that of the rescue robot.
3. An application method in uplink service processing of a group robot communication method driven by a service application according to any one of claims 1-2, characterized by the steps of:
The first step, starting;
Step two, the dangerous operation area robot sends an uplink service application to the remote control center of the group robot through the Mesh communication node;
Thirdly, the remote control center of the group robot judges whether the application is received or not, and if not, the second step is changed to the fourth step;
fourthly, the remote control center of the group robot analyzes the service application, and rebuilds a connection routing table and a throughput sequencing table according to the service priority classification;
Fifthly, obtaining an optimal transmission link C set according to a Mesh routing algorithm;
Sixthly, transmitting the transmission link C set to a service application Mesh communication node;
seventh, the service application Mesh communication node transmits service data according to the transmission link C set;
And eighth step, ending.
4. An application method in downlink service processing of a group robot communication method driven by a service application according to any one of claims 1-2, characterized by the steps of:
The first step, starting;
secondly, a group robot remote control center acquires a robot Mesh communication node positioned in a dangerous operation area;
thirdly, determining the type of transmission service by the remote control center of the group robot, reconstructing a connection routing table and a response time ordering table;
Step four, obtaining an optimal transmission link C set according to a Mesh routing algorithm;
Fifthly, the remote control center of the group robot transmits service data according to the transmission link C set;
And step six, ending.
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| Mesh技术在消防抢险救援无线通信领域的应用分析;范玉峰等;《提高全民科学素质、建设创新型国家——2006中国科协年会论文集（下册）》;20060901;第127-131页 * |
| 基于无线Mesh网络的建筑...内消防应急通信组网技术研究;范玉峰等;《Proceedings of 2012 (Shenyang) International Colloquium on Safety Science and Technology》;20121111;第240-245页 * |
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