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CN114915920B - Message transmission method, device, robot and storage medium - Google Patents

Message transmission method, device, robot and storage medium Download PDF

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Publication number
CN114915920B
CN114915920B CN202110179344.3A CN202110179344A CN114915920B CN 114915920 B CN114915920 B CN 114915920B CN 202110179344 A CN202110179344 A CN 202110179344A CN 114915920 B CN114915920 B CN 114915920B
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China
Prior art keywords
robot
point
message
robots
target
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CN114915920A (en
Inventor
牛天增
姚秀军
桂晨光
崔丽华
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Jingdong Technology Information Technology Co Ltd
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Jingdong Technology Information Technology Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/12—Messaging; Mailboxes; Announcements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/70—Services for machine-to-machine communication [M2M] or machine type communication [MTC]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W76/00—Connection management
    • H04W76/10—Connection setup
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W8/00—Network data management
    • H04W8/18—Processing of user or subscriber data, e.g. subscribed services, user preferences or user profiles; Transfer of user or subscriber data
    • H04W8/20—Transfer of user or subscriber data
    • 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Databases & Information Systems (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

The invention provides a message transmission method, a message transmission device, a robot and a storage medium. In the scheme, point-to-point communication connection is established between robots, when messages are required to be sent, the messages are multicast to all other robots in a connection state, the robots at the receiving end can receive the messages according to the topic types subscribed by the robots at the receiving end, the transmission mode of the messages does not need to depend on the network condition in the environment, communication can be realized through point-to-point under the condition of no network, effective transmission of the messages is ensured, transfer equipment is not needed, and transmission delay can be effectively reduced.

Description

Message transmission method, device, robot and storage medium
Technical Field
The present invention relates to the field of wireless communications, and in particular, to a method, an apparatus, a robot, and a storage medium for transmitting a message.
Background
In recent years, with the development of artificial intelligence and intelligent devices, robots are widely used in various fields, and robots that perform tasks on multiple floors simultaneously sometimes need to communicate with each other to realize interaction of data messages.
In the prior art, robots can communicate with each other by the following means: in the first mode, each robot is connected with a wireless router to carry out networking, and the networking is realized through the wireless router when the message is required to be transmitted; in the second mode, each robot is connected with the cloud management background to carry out networking, and when the robots need to communicate, the robots carry out message forwarding through the cloud management background.
Then, according to the schemes of the above modes, the communication between robots is seriously dependent on the environment network, and when the environment network is interrupted or the signal is poor, the robots cannot transmit messages or the transmission delay is too long.
Disclosure of Invention
The embodiment of the invention provides a message transmission method, a message transmission device, a robot and a storage medium, which are used for solving the problems that in the prior art, the communication between robots is seriously dependent on an environment network, and when the environment network is interrupted or a signal is poor, the message transmission between the robots cannot be carried out or the transmission time delay is too long.
In a first aspect, an embodiment of the present invention provides a method for transmitting a message, which is applied to a robot, where the method includes:
acquiring a message to be transmitted and a robot list establishing point-to-point communication connection with the robot;
and according to the identification of each target robot in the robot list, sending the message to the target robots in the robot list through point-to-point communication.
In a specific implementation, the communication mode, service set identification, wireless channel, and wireless password of the robot are the same as each target robot in the robot list.
In a specific implementation, the method further includes:
for each target robot in the robot list, determining whether the distance between the target robot and the robot exceeds a preset point-to-point communication distance according to the DDS heartbeat signal of the target robot;
and if the distance between the target robot and the robot exceeds the point-to-point communication distance, disconnecting the connection with the target robot, and marking the target robot as a disconnected state in the robot list.
In a specific implementation manner, before the obtaining the message to be transmitted and the robot list establishing the peer-to-peer communication connection with the robot, the method further includes:
after detecting DDS heartbeat signals of other robots, establishing point-to-point communication connection with the other robots according to the service set identification and the static IP address, and adding the other robots into a robot list to serve as target robots.
In a specific implementation, the method further includes:
acquiring subscription information of the robot, wherein the subscription information comprises a topic type subscribed in advance;
and receiving a message sent by a target robot establishing point-to-point communication with the robot according to the subscription message.
In a specific implementation manner, the receiving, according to the subscription message, a message sent by a target robot that establishes a peer-to-peer communication with the robot includes:
and if the topic type of the message sent by the target robot establishing the point-to-point communication with the robot is consistent with the topic type in the subscription information, receiving the message sent by the other robots.
In a second aspect, an embodiment of the present invention provides a message transmission apparatus, including:
the processing module is used for acquiring a message to be transmitted and a robot list which is in point-to-point communication connection with a transmission device of the message;
and the communication module is used for sending the message to the target robots in the robot list through point-to-point communication according to the identification of each target robot in the robot list.
In a specific implementation manner, the message transmission device is the same as the communication mode, the service set identifier, the wireless channel and the wireless password of each target robot in the robot list.
In a specific implementation, the processing module is further configured to:
determining whether the distance between the target robot and each target robot in the robot list exceeds a preset point-to-point communication distance according to the DDS heartbeat signal of the target robot;
the communication module is further used for disconnecting the target robot if the distance between the target robot and the robot exceeds the point-to-point communication distance;
the processing module is further configured to mark the target robot as a disconnected state in the robot list.
In a specific implementation, the apparatus further includes:
the detection module is used for detecting the DDS heartbeat signal in real time;
and the communication module is also used for establishing point-to-point communication connection with other robots according to the service set identification and the static IP address after detecting the DDS heartbeat signals of the other robots, and adding the other robots into a robot list to serve as target robots.
In a specific implementation manner, the processing module is further configured to obtain subscription information of the robot, where the subscription information includes a topic type subscribed in advance;
the communication module is also used for receiving a message sent by a target robot establishing point-to-point communication with the robot according to the subscription message.
In a specific implementation, the communication module is specifically configured to:
and if the topic type of the message sent by the target robot establishing the point-to-point communication with the robot is consistent with the topic type in the subscription information, receiving the message sent by the other robots.
In a third aspect, an embodiment of the present invention provides a robot, including:
a processor, a memory, and a communication device;
the memory is used for storing executable instructions of the processor;
wherein the processor is configured to perform the method of transmitting a message of any of the first aspects via execution of the executable instructions.
In a fourth aspect, an embodiment of the present invention provides a readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method for transmitting a message according to any of the first aspects.
In a fifth aspect, an embodiment of the present invention provides a computer program product comprising a computer program for implementing the method of transmission of a message according to any of the first aspects when the computer program is executed by a processor.
According to the message transmission method, device, robot and storage medium provided by the embodiment of the invention, the robot and the robot establish point-to-point communication connection, when the message is required to be transmitted, the message is multicast to all other robots in a connection state, the robot at the receiving end can receive the message according to the topic type subscribed by the robot at the receiving end, the message transmission mode does not need to depend on the network condition in the environment, communication can be realized through point-to-point under the condition of no network, effective transmission of the message is ensured, transfer equipment is not required, and transmission delay can be effectively reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it will be obvious that the drawings in the following description are some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort to a person skilled in the art.
Fig. 1 is a schematic view of a scenario of a message transmission method provided by the present invention;
fig. 2 is a flowchart of a first embodiment of a method for transmitting a message according to the present invention;
fig. 3 is a flowchart of a second embodiment of a message transmission method provided by the present invention;
fig. 4 is a schematic structural diagram of a first embodiment of a message transmission device according to the present invention;
fig. 5 is a schematic structural diagram of a second embodiment of a message transmission device according to the present invention;
fig. 6 is a schematic structural diagram of a robot embodiment according to the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which are made by a person skilled in the art based on the embodiments of the invention in light of the present disclosure, are intended to be within the scope of the invention.
The terms "first," "second," "third," "fourth" and the like in the description and in the claims and in the above drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Based on the scheme in the background technology, the current communication mode between robots is realized, the message is forwarded through a router or a cloud background, and the robots are connected with a wireless router for communication, so that the dependence on the network environment is serious; and message forwarding is carried out by the cloud background to realize communication among robots, so that communication delay is larger. In addition, through high in the clouds backstage forwarding, unnecessary links are added for direct communication among robots, and communication is not flexible enough.
The present invention provides a technical solution for implementing message transmission between robots through peer-to-peer communication, wherein the robots directly communicate with each other without relying on a network wireless access point or a router to establish network connection, and without cloud service,
In view of the above problems, the inventor finds that most robots needing to communicate are in occasions with relatively close distance when researching communication among robots, for example, in occasions such as venues, airports, markets or a building which do not need to communicate remotely, the Ad-Hoc technology networking of wireless network cards is considered, communication connection can be directly established among the wireless network cards to communicate, the requirement of direct communication among robots is met, and other network devices are not needed to assist. And after the network connection is established between robots, unlike the conventional client server architecture, communication between robots is peer-to-peer, so a centreless communication manner is needed for implementing mutual communication between robots, based on which the inventor finds that it can be implemented through distributed real-time data distribution service (Data Distribution Service, DDS) middleware.
Fig. 1 is a schematic view of a scenario of a message transmission method provided by the present invention, where as shown in fig. 1, a transmission scenario of the message may include a plurality of robots, in the example of a scenario of 3 robots, and when a distance between the robots is within a peer-to-peer communication distance range, peer-to-peer communication may be established between the robots.
Each robot in this scenario needs to perform configuration of the wireless network card at the time of shipment, i.e. needs to configure the communication mode as Ad-hoc communication (Ad-hoc), and these robots need to configure the same service set identification (Service Set Identifier, SSID), the same wireless channel and the same wireless password.
Meanwhile, each robot to establish communication is provided with a different static internet protocol (Internet Protocol, IP) address of the same network segment, which is used to send messages after establishing a connection.
After the configuration is completed, the robots can automatically establish network connection when the robots travel within the range of the effective communication distance in the moving process, and disconnect the network connection after the distance between the robots exceeds the effective communication distance.
In a specific embodiment, a DDS node is operated in each robot, the names of the nodes are different, the nodes can be used as unique serial numbers of the robots for identification, and the heartbeat of the DDS can be used for finding out the nearby robots or confirming whether the distance between the robots exceeds the effective communication distance.
In the scheme, the robot can be an intelligent robot such as a conveying robot, a customer service robot, a machine room inspection robot and the like, and the scheme is not limited.
Fig. 2 is a flowchart of an embodiment of a message transmission method provided by the present invention, as shown in fig. 2, in the above scenario including a plurality of robots capable of peer-to-peer communication, each robot may be used as a sending end robot or a receiving end robot, and the message transmission method specifically includes the following steps:
robot at transmitting end:
s101: and acquiring a message to be transmitted and a robot list for establishing point-to-point communication connection with the robot.
In this step, the sender robot first generates a message to be transmitted according to the operation of the user or a preset rule, or when other message transmission conditions are met and the message needs to be transmitted to other robots. The sender robot also needs a list of receivers, i.e. a plurality of target robots that receive the message.
In this solution, the robot list may include at least one target robot, where the target robot establishes a peer-to-peer communication connection with the robot currently serving as the transmitting end, and is currently in a connected state.
In a specific embodiment, before a sending end robot acquires a robot list, point-to-point communication connection is required to be established between the robots, and for any two robots, after DDS heartbeat signals of other robots are detected, point-to-point communication connection is established with the other robots according to service set identifiers and static IP addresses, and the other robots are added into the robot list to serve as target robots. That is, at the local of each robot, the robot list is maintained, where the robot list includes one or more identifiers of the robots that establish peer-to-peer communication with the current robot, where the identifiers may be any unique identifier of the robot, for example, a DDS node name in each robot, which is not limited in this scheme.
In this scheme, it should be understood that the communication modes of multiple robots capable of establishing the peer-to-peer communication connection in this scheme, the service set identifier, the wireless channel and the wireless password are all the same, and the communication modes are all Ad-hoc. That is, the communication mode of the current robot serving as the transmitting end and each robot in the robot list is a peer-to-peer communication mode, and the same service set identifier, the same wireless channel and the same wireless password are set.
In a specific implementation of this solution, in order to enable establishment of a communication connection between robots, different static IP addresses in the same network band need to be set in advance for each robot, and the static IP addresses are used to distinguish between different robots in the process of establishing a communication connection and transmitting a message.
After the above configuration is completed, when any two robots travel within a valid communication distance (e.g., can be set to 10-50 meters, or to a range of 100 meters), a point-to-point communication connection is automatically established and a list of other robots connected is maintained locally at each robot.
S102: and sending the message to the target robots in the robot list through point-to-point communication according to the identification of each target robot in the robot list.
In this step, after the robot as the transmitting end acquires the robot list, the message is sent to all the target robots in the connection state with the current robot according to the identifier of each target robot in the robot list, and the process is actually a multicast process, and multicast can be implemented based on different static IPs of different target robots.
Robot at receiving end:
s103: and acquiring subscription information of the robot.
In this step, for the receiving-end robot, the receiving-end robot may receive a message sent by any connected robot, and for the same robot, if a peer-to-peer communication connection is established with two or more other robots at the same time, multicast messages sent by the two or more other robots can be received by the robots, and after the receiving, it may be determined which robot sent the message based on the static IP address of the originating robot.
In a specific implementation manner, not all the messages are required for the robots at the receiving end, and the actually required message types can be manually configured according to the application occasions, that is, the user can configure the type of the message required by each robot according to the message.
That is, for the robot, the received message may be subscribed according to the operation of the user, and the subscription information may be generated and stored locally. The subscription information includes a topic type subscribed in advance, for example: the task information, the electric quantity information and the like are not limited by the scheme.
S104: and receiving a message sent by the target robot establishing point-to-point communication with the robot according to the subscription message.
In this step, after determining the subscription information, the receiving end's robot receives the message sent by other robots according to the topic type of the message currently subscribed in the subscription information.
Specifically, if the topic type of the message sent by the target robot for establishing the peer-to-peer communication by the receiving end robot is consistent with the topic type in the subscription information, the message sent by the other robots is received.
That is, after the receiving end robot acquires the topic type of the subscription message, only when the topic type of the message sent by the sending end is consistent with the topic type subscribed by the robot, the receiving end robot receives the message, otherwise, the receiving end robot does not receive the message.
In this scheme, the robot may create and subscribe to a topic type of the communication message, the message sent by the robot has a topic type, and other robots subscribed to the topic type message may receive the topic type message.
In one particular implementation, the bot may customize the format of the subject message, for example: the message may include a message recipient, a message sender, message subject matter, or may also include a subject type. For the robot at the receiving end, whether the message is received or not can be judged according to the topic type, and subsequent processing is carried out after the message is received.
According to the message transmission method, point-to-point communication connection is established between the robots, when the message is required to be sent, the message is multicast to all other robots in a connection state, the robot at the receiving end can receive the message according to the topic type subscribed by the robot at the receiving end, the message transmission mode does not need to depend on the network condition in the environment, communication can be realized through point-to-point under the condition that no network exists, effective transmission of the message is ensured, transfer equipment is not needed, and transmission delay can be effectively reduced.
Fig. 3 is a flowchart of a second embodiment of a message transmission method provided by the present invention, and as shown in fig. 3, on the basis of the foregoing embodiment, the message transmission method further includes the following steps:
s201: for each target robot in the robot list, determining whether the distance between the target robot and the robot exceeds a preset point-to-point communication distance according to the DDS heartbeat signal of the target robot.
S202: if the distance between the target robot and the robot exceeds the point-to-point communication distance, the connection with the target robot is disconnected, and the target robot is marked as a disconnected state in a robot list.
In the above two steps, the two independent robots cannot know each other until no communication connection is established, so that a certain discovery mechanism is first required to establish communication. In this solution, the discovery mechanism is implemented by setting DDS nodes in each robot.
The DDS node may periodically transmit heartbeat signals at a certain interval, and if any one robot receives heartbeat signals transmitted by other robots, it is determined that other robots capable of communicating exist, and establishment of communication connection may be continuously completed. Accordingly, when the heartbeat signal is not detected or the heartbeat signal is used for determining that the distance exceeds the effective distance for point-to-point communication, the connection with the robot is disconnected. Meanwhile, in a locally maintained robot list, the disconnected robot is set to be in a disconnected state, and the disconnected robot cannot be sent again when a message is sent subsequently.
In the specific implementation of the scheme, the distance between robots is determined according to the DDS heartbeat signal in at least two modes:
first, if the DDS heartbeat signal of another robot can be detected, it is determined that the robot is within the effective communication distance range with the robot, and if the DDS heartbeat signal of another robot is not detected, the connection is disconnected.
Secondly, after detecting DDS heartbeat signals of other robots, calculating the distance between the current robot and the robot according to the DDS heartbeat signals, comparing the distance with a preset effective communication distance, if the distance is smaller than the effective communication distance, establishing point-to-point communication connection with the robot or keeping point-to-point communication connection with the robot, and if the distance is larger than the effective communication distance, disconnecting the connection with the robot.
According to the message transmission method provided by the embodiment, the point-to-point communication between robots is established by detecting the DDS heartbeat signals, whether connection is continued is determined according to the same manner, and the connection is disconnected after the fact that the distance between the DDS heartbeat signals and the robots exceeds the effective communication distance is detected by the DDS heartbeat signals, so that peer-to-peer message transmission of a service center can be realized between the robots in the manner, the transmission manner does not need to depend on the current network environment, and intermediate equipment such as routers and servers are not required to forward, so that the transmission efficiency and reliability are effectively improved.
Fig. 4 is a schematic structural diagram of a first embodiment of a message transmission device according to the present invention; as shown in fig. 4, the transmission apparatus 10 of the message includes:
a processing module 11, configured to obtain a message to be transmitted and a robot list that establishes a peer-to-peer communication connection with a transmission device of the message;
and the communication module 12 is used for sending the message to the target robots in the robot list through point-to-point communication according to the identification of each target robot in the robot list.
In a specific embodiment, the communication mode, service set identification, wireless channel and wireless password of the message transmission device 10 are the same as those of each target robot in the robot list.
In a specific embodiment, the processing module 11 is further configured to:
determining whether the distance between the target robot and each target robot in the robot list exceeds a preset point-to-point communication distance according to the DDS heartbeat signal of the target robot;
the communication module 12 is further configured to disconnect the connection with the target robot if the distance between the target robot and the robot exceeds the peer-to-peer communication distance;
the processing module 11 is further configured to mark the target robot in the robot list as a disconnected state.
The solution of the robot in any of the foregoing method embodiments is implemented by using the message transmission device provided in any of the foregoing embodiments, where the implementation principle and the technical effects are similar, and when a message needs to be sent, a peer-to-peer communication connection is established between different message transmission devices, and the message is multicast sent to all other devices in a connection state, where a device at a receiving end can receive the message according to a topic type subscribed by itself, and the message transmission manner does not need to depend on a network condition in an environment, and can also realize communication through peer-to-peer under the condition that no network exists, so that effective transmission of the message is ensured, and transfer equipment is not needed, so that transmission delay can be effectively reduced.
Fig. 5 is a schematic structural diagram of a second embodiment of a message transmission device according to the present invention; as shown in fig. 5, the transmission device 10 of the message further includes, based on the above embodiment:
the detection module 13 is used for detecting the DDS heartbeat signal in real time;
the communication module 12 is further configured to establish a peer-to-peer communication connection with the other robots according to the service set identifier and the static IP address after detecting DDS heartbeat signals of the other robots, and add the other robots to the robot list as target robots.
In a specific embodiment, the processing module 11 is further configured to obtain subscription information of the robot, where the subscription information includes a topic type subscribed in advance;
the communication module 12 is further configured to receive, according to the subscription message, a message sent by a target robot that establishes peer-to-peer communication with the robot.
In a specific embodiment, the communication module 12 is specifically configured to:
and if the topic type of the message sent by the target robot establishing the point-to-point communication with the robot is consistent with the topic type in the subscription information, receiving the message sent by the other robots.
The message transmission device provided in any of the foregoing embodiments is configured to execute the technical solution in any of the foregoing method embodiments, and its implementation principle and technical effects are similar, and are not described herein again.
Fig. 6 is a schematic structural diagram of a robot embodiment according to the present invention. As shown in fig. 6, the robot 20 includes:
a processor 21, a memory 22, and a communication device 23;
the memory 22 is used for storing executable instructions of the processor 21;
wherein the processor 21 is configured to perform the method of transmitting a message in any of the method embodiments described above via execution of the executable instructions.
Alternatively, the memory 22 may be separate or integrated with the processor 21.
When the memory 22 is a device separate from the processor 21, the robot may further include:
bus 24 for connecting the above devices.
The robot is used for executing the message transmission method provided by any of the foregoing method embodiments, and its implementation principle and technical effects are similar, and will not be described in detail herein.
The embodiment of the invention also provides a readable storage medium, on which a computer program is stored, which when executed by a processor implements the method for transmitting messages provided in any of the previous embodiments.
The embodiment of the invention also provides a computer program product, which comprises a computer program, wherein the computer program is used for realizing the message transmission method provided by any of the method embodiments when being executed by a processor.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the method embodiments described above may be performed by hardware associated with program instructions. The foregoing program may be stored in a computer readable storage medium. The program, when executed, performs steps including the method embodiments described above; and the aforementioned storage medium includes: various media that can store program code, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features can be replaced equivalently; such modifications and substitutions do not depart from the spirit of the invention.

Claims (11)

1. A method for transmitting a message, applied to a robot, the method comprising:
acquiring a message to be transmitted and a robot list establishing point-to-point communication connection with the robot;
according to the identification of each target robot in the robot list, the message is sent to the target robots in the robot list through point-to-point communication;
the method further comprises the steps of:
acquiring subscription information of the robot, wherein the subscription information comprises a topic type subscribed in advance;
and if the topic type of the message sent by the target robot establishing the point-to-point communication with the robot is consistent with the topic type in the subscription information, receiving the message sent by other robots.
2. The method of claim 1, wherein the communication mode, service set identification, wireless channel, and wireless password of the robot are the same for each target robot in the robot list.
3. The method according to claim 1, wherein the method further comprises:
for each target robot in the robot list, determining whether the distance between the target robot and the robot exceeds a preset point-to-point communication distance according to a DDS heartbeat signal of the data distribution service of the target robot;
and if the distance between the target robot and the robot exceeds the point-to-point communication distance, disconnecting the connection with the target robot, and marking the target robot as a disconnected state in the robot list.
4. The method of claim 1, wherein prior to the obtaining the message to be transmitted and the robot list establishing the point-to-point communication connection with the robot, the method further comprises:
after detecting DDS heartbeat signals of other robots, establishing point-to-point communication connection with the other robots according to the service set identification and the static IP address, and adding the other robots into a robot list to serve as target robots.
5. A message transmission apparatus, comprising:
the processing module is used for acquiring a message to be transmitted and a robot list which is in point-to-point communication connection with a transmission device of the message;
the communication module is used for sending the message to the target robots in the robot list through point-to-point communication according to the identification of each target robot in the robot list;
the processing module is further used for acquiring subscription information of the robot, wherein the subscription information comprises a topic type subscribed in advance;
the communication module is specifically used for:
and if the topic type of the message sent by the target robot establishing the point-to-point communication with the robot is consistent with the topic type in the subscription information, receiving the message sent by other robots.
6. The apparatus of claim 5, wherein the means for transmitting the message is the same as a communication mode, a service set identification, a wireless channel, and a wireless password of each target robot in the robot list.
7. The apparatus of claim 5, wherein the processing module is further configured to:
for each target robot in the robot list, determining whether the distance between the target robot and the robot exceeds a preset point-to-point communication distance according to a DDS heartbeat signal of the data distribution service of the target robot;
the communication module is further used for disconnecting the target robot if the distance between the target robot and the robot exceeds the point-to-point communication distance;
the processing module is further configured to mark the target robot as a disconnected state in the robot list.
8. The apparatus of claim 5, wherein the apparatus further comprises:
the detection module is used for detecting the DDS heartbeat signal in real time;
and the communication module is also used for establishing point-to-point communication connection with other robots according to the service set identification and the static IP address after detecting the DDS heartbeat signals of the other robots, and adding the other robots into a robot list to serve as target robots.
9. A robot, comprising:
a processor, a memory, and a communication device;
the memory is used for storing executable instructions of the processor;
wherein the processor is configured to perform the method of transmission of a message according to any of claims 1 to 4 via execution of the executable instructions.
10. A readable storage medium having stored thereon a computer program, which when executed by a processor implements the method of transmission of a message according to any of claims 1 to 4.
11. A computer program product comprising a computer program for implementing the method of transmission of a message according to any one of claims 1 to 4 when executed by a processor.
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