CN113132952A - Robot-based network quality determination method, device, equipment and medium - Google Patents
Robot-based network quality determination method, device, equipment and medium Download PDFInfo
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- H—ELECTRICITY
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B17/00—Monitoring; Testing
- H04B17/30—Monitoring; Testing of propagation channels
- H04B17/309—Measuring or estimating channel quality parameters
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- H—ELECTRICITY
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- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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Abstract
The embodiment of the invention discloses a method, a device, equipment and a medium for determining network quality based on a robot. Wherein, the method comprises the following steps: sending a preset data packet to a robot central control system according to a preset heartbeat mechanism at the current position in a robot working scene; determining the network quality of the current position of the robot according to the sending time of the preset data packet and the receiving time of the feedback information sent by the robot central control system; and constructing a network quality map of a working scene of the robot according to the network quality of the current position of the robot, so that the robot can determine a target position for communication according to the network quality map. The method and the system realize the determination of the position with good network quality in a working scene, enable the robot to communicate at the position with good network quality and improve the communication quality.
Description
Technical Field
Embodiments of the present invention relate to robotics, and in particular, to a method, an apparatus, a device, and a medium for determining network quality based on a robot.
Background
When a robot performs a specific task, the robot needs to communicate with a central control system or peripheral equipment of the robot, and the current robot is designed based on a wireless network. For example, a plurality of wireless routers are usually installed in a hospital, and a robot is connected to the wireless routers to obtain the capability of accessing the external internet, receive a scheduling instruction of a central control system, or perform order feedback on a warehouse management system.
However, the robot depends on the network quality during the communication process, and if the robot communicates with the central control system or the peripheral devices of the robot at a position with poor network quality, the real-time performance of the communication is affected, which directly results in the phenomena that the robot cannot perform data transmission, the central control system fails to issue tasks to the robot, and the like. Therefore, it is required to improve communication quality and communication efficiency of the robot.
Disclosure of Invention
The embodiment of the invention provides a method, a device, equipment and a medium for determining network quality based on a robot, which are used for improving the communication quality and the communication efficiency of the robot.
In a first aspect, an embodiment of the present invention provides a method for determining network quality based on a robot, where the method includes:
sending a preset data packet to a robot central control system according to a preset heartbeat mechanism at the current position in a robot working scene;
determining the network quality of the current position of the robot according to the sending time of the preset data packet and the receiving time of the feedback information sent by the robot central control system;
and constructing a network quality map of a working scene of the robot according to the network quality of the current position of the robot, so that the robot can determine a target position for communication according to the network quality map.
In a second aspect, an embodiment of the present invention further provides a robot-based network quality determining apparatus, where the apparatus includes:
the data packet sending module is used for sending a preset data packet to the robot central control system at the current position in the robot working scene according to a preset heartbeat mechanism;
the network quality determining module is used for determining the network quality of the current position of the robot according to the sending time of the preset data packet and the receiving time of the feedback information sent by the robot central control system;
and the network quality map construction module is used for constructing a network quality map of a working scene of the robot according to the network quality of the current position of the robot, so that the robot can determine a target position for communication according to the network quality map.
In a third aspect, an embodiment of the present invention further provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to implement the robot-based network quality determination method according to any embodiment of the present invention.
In a fourth aspect, embodiments of the present invention also provide a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform a robot-based network quality determination method according to any of the embodiments of the present invention.
According to the embodiment of the invention, the robot sends the preset data packet to the central control system in real time in a working scene, receives the information fed back by the central control system, determines the delay time of network communication at the current position, and further obtains the network quality at the current position. And obtaining a network quality map of the whole working scene according to the network quality of any position in the working scene, so that the robot can communicate with peripheral equipment and a central control system in real time at a place with good network quality. The problem of among the prior art, the robot communicates in the poor position of network quality, influences the real-time of communication, and then leads to the robot can't carry out data transmission is solved, communication quality and communication efficiency have effectively been guaranteed.
Drawings
Fig. 1 is a schematic flowchart of a robot-based network quality determination method according to a first embodiment of the present invention;
fig. 2 is a flowchart illustrating a robot-based network quality determination method according to a second embodiment of the present invention;
fig. 3 is a flowchart illustrating a robot-based network quality determination method according to a third embodiment of the present invention;
fig. 4 is a block diagram of a robot-based network quality determination apparatus according to a fourth embodiment of the present invention;
fig. 5 is a schematic structural diagram of a robot-based network quality determination device in the fifth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart illustrating a method for determining network quality based on a robot according to an embodiment of the present invention, where the embodiment is applicable to a case where the robot communicates with an external environment, and the method can be performed by a network quality determining apparatus based on a robot. As shown in fig. 1, the method specifically includes the following steps:
and 110, sending a preset data packet to a robot central control system according to a preset heartbeat mechanism at the current position in the working scene of the robot.
The robot moves in a working scene, a plurality of peripheral devices can be installed in the working scene, and the peripheral devices can be an elevator, a charging seat, a cargo compartment and the like. The robot can communicate with peripheral equipment or a robot central control system in the moving process, and the robot central control system can issue instructions to the robot to indicate the robot to work. For example, the robot may be instructed to transport goods or to charge, etc. The robot may also send data to the robot central control system, for example, the robot central control system may be informed of the current position or the power of the robot. The robot may also communicate with the peripheral devices, for example, during the process of the robot moving to the cargo compartment, the current position of the robot or the distance between the robot and the cargo compartment may be sent to the cargo compartment.
The robot depends on the network quality of a working scene in the communication process, if the robot communicates with the central control system and peripheral equipment at a position with poor network quality, the real-time performance of communication is affected, and then the robot can directly fail to transmit data, or the central control system fails to issue tasks of the robot, and the like. Therefore, the failure of the robot to accurately know the network quality at the corresponding location in the working environment may adversely affect the performance of the specific work by the robot.
In order to determine the network quality of different positions in a working scene in the communication process, the robot can be controlled to move randomly in the working scene, and in the moving process of the robot, a data packet is sent to a robot central control system according to a preset heartbeat mechanism. For example, the data packets may be transmitted to the central control system at every predetermined time interval, or the data packets may be transmitted to the central control system at every predetermined distance. When sending the data packet, the robot may determine the current location, i.e. the robot sends the data packet at the current location. The heartbeat communication may be completed through HTTP (Hypertext Transfer Protocol), and the sent data packet may be a data packet with preset content. When the robot sends the data packet, the time for sending the data packet and the size of the data packet can be recorded, and the size of the data packet can be fixed, namely the preset data packet sent by the robot every time can be consistent.
And step 120, determining the network quality of the current position of the robot according to the sending time of the preset data packet and the receiving time of the feedback information sent by the robot central control system.
The robot records the sending time of a preset data packet and the receiving time of feedback information at the current position, and determines the network quality of the current position according to the sending time and the receiving time. For example, the longer the interval between the transmission time and the reception time, the worse the network quality.
In this embodiment, optionally, determining the network quality of the current position of the robot according to the sending time of the preset data packet and the receiving time of the feedback information sent by the robot central control system includes: determining the receiving time of the feedback information according to the received feedback information sent by the robot central control system; determining the network communication delay time of the current position of the robot according to the sending time of a preset data packet and the receiving time of the feedback information; and determining the network quality of the current position of the robot according to the network communication delay time.
Specifically, the robot central control system receives a preset data packet sent by the robot, and may send feedback information to the robot, where the feedback information may be used to indicate that the robot central control system successfully receives the data packet sent by the robot. And the robot receives feedback information sent by the robot central control system, and determines that a preset data packet sent by the robot at the current position is received by the robot central control system. The robot records the time of receiving the feedback information. And determining the time difference between the sending time and the receiving time according to the sending time of the preset data packet and the receiving time of the feedback information, determining the network communication delay time at the current position of the robot according to the time difference, and taking the time difference as the network communication delay time. And determining the network quality of the current position of the robot according to the network communication delay time, wherein the smaller the network communication delay time is, the better the network quality is, and the larger the network communication delay time is, the worse the network quality is. The beneficial effect that sets up like this lies in, can be according to time information, the network quality of arbitrary position in the scene of confirming fast improves the definite efficiency of network quality, and then improves the communication efficiency of robot.
In this embodiment, optionally, determining the network communication delay time of the current position of the robot according to the sending time of the preset data packet and the receiving time of the feedback information includes: determining the time difference between the sending time and the receiving time according to the sending time of the preset data packet and the receiving time of the feedback information; and determining the network communication delay time of the current position of the robot according to the time difference, the byte number of the preset data packet and the preset byte measuring unit.
Specifically, the data packet sent by the robot to the robot central control system may be a predetermined data packet size, for example, the size of the preset data packet is 64 bytes, and the size of the data packet sent by the robot at any position is 64 bytes. The size of the data packets sent by the robot may not be limited, that is, the size of the data packets sent by the robot at different positions may be different, for example, at different positions, the robot randomly sends the data packets to the robot central control system. For example, in the case of the same network quality, the larger the data packet is, the larger the time difference between the transmission time and the reception time may be, thereby affecting the accuracy of the determination of the network communication delay time. Therefore, when the robot sends the data packet, the robot can record not only the sending time of the data packet, but also the size of the data packet, namely the number of bytes. After receiving the feedback information of the robot central control system, determining the time difference between the sending time and the receiving time according to the sending time of the data packet and the receiving time of the feedback information, wherein the time difference is the time required for sending the number of bytes of the data packet. For example, if the number of bytes of the packet is 128 bytes, the time required to transmit 128 bytes can be determined.
A byte measurement unit for judging network communication delay time is preset, wherein the byte measurement unit is the minimum byte quantity sent by a data packet, namely, the time required by the robot to send bytes with the size of the byte measurement unit at any position is determined. And determining the time required for sending the byte number of the byte measuring unit according to the time difference and the byte number of the preset data packet, namely the network communication delay time. For example, with 64 bytes as a byte metric, the time required for the robot to transmit 64 bytes at the current location is determined regardless of the size of the data bytes transmitted by the robot. If the number of the data packet bytes is 64 bytes, the time difference between the time of sending the data packet and the time of receiving the feedback information by the robot is the network communication delay time of the current position of the robot; if the number of bytes of the data packet is 128 bytes, after the time required by the robot to send 128 bytes is determined, the time is divided by 2 to obtain the network communication delay time of the current position of the robot. The beneficial effect of the arrangement is that the byte quantity can be unified for judging the network communication delay time by determining the byte quantity and the byte measuring unit of the data packet, thereby avoiding the error caused by different byte quantities and improving the determination precision of the network communication delay time.
And step 130, constructing a network quality map of a working scene of the robot according to the network quality of the current position of the robot, so that the robot can determine a target position for communication according to the network quality map.
The robot determines the network quality of the current position in the working scene, and after the robot walks through the working scene, a network quality graph of the working scene of the robot can be constructed according to the determined network quality. The network quality at different locations may be displayed in the network quality map. The robot can determine a position with good network quality according to the network quality diagram to serve as a target position, and the robot can move to the target position to communicate with a robot central control system.
In this embodiment, optionally, the network quality map is a two-dimensional thermodynamic map;
correspondingly, according to the network quality of the current position of the robot, a network quality map of the working scene of the robot is constructed, and the method comprises the following steps: and taking the coordinate of the current position of the robot as a two-dimensional coordinate of the two-dimensional thermodynamic diagram, and taking the network quality of the robot at the current position as a heat value of the two-dimensional coordinate to obtain a network quality diagram of the working scene of the robot.
Specifically, the network quality map may be a two-dimensional thermodynamic map, which divides network quality segments in the working scene. For example, the network quality may be divided into three segments of good, medium, and bad network quality, the locations of good network quality may be displayed in green, the locations of good network quality may be displayed in blue, and the locations of bad network quality may be displayed in red. After the network quality of the current position is determined, the network quality section where the network quality of the current position is located is determined, the coordinate of the current position is used as a two-dimensional coordinate (x, y) in a two-dimensional thermodynamic diagram, the network quality of the current position is used as a heat value, the heat value is displayed at a corresponding coordinate in the network quality diagram according to a preset display icon, and therefore the network quality diagram of the working scene of the robot is obtained. The beneficial effect who sets up like this lies in, through drawing two-dimensional thermodynamic diagram, can see the network quality of each position in the operational environment directly perceivedly, is convenient for the staff to arrange the position of robot and peripheral equipment in the operational environment, improves the communication quality of robot.
According to the technical scheme of the embodiment, the robot sends the preset data packet to the central control system in real time in a working scene, receives information fed back by the central control system, determines the delay time of network communication at the current position, and further obtains the network quality at the current position. And obtaining a network quality map of the whole working scene according to the network quality of any position in the working scene, so that the robot can communicate with peripheral equipment and a central control system in real time at a place with good network quality. The problem of among the prior art, the robot communicates in the position that the network quality is bad, influences the real-time of communication, and then leads to the robot can't carry out data transmission is solved, communication quality and communication efficiency have effectively been guaranteed.
Example two
Fig. 2 is a flowchart illustrating a method for determining network quality based on a robot according to a second embodiment of the present invention, which is further optimized based on the second embodiment of the present invention. As shown in fig. 2, the method specifically includes the following steps:
and step 210, sending a preset data packet to a robot central control system according to a preset heartbeat mechanism at the current position in the robot working scene.
And step 220, determining the network communication delay time of the current position of the robot according to the sending time of the preset data packet and the receiving time of the feedback information sent by the robot central control system.
And step 230, determining the network quality of the current position of the robot at the current moment based on a preset network quality determination algorithm according to the network communication delay time at the current position of the robot recorded at least two moments.
The robot can walk for multiple times in a working scene, and the network communication delay time at the current position is recorded in each walking process, namely the network communication delay time at multiple moments can be recorded at the same position. The network communication delay time of the current position of the robot at a plurality of times may be the network communication delay time of the current position at different times in a day, or the network communication delay time of the current position at the same time on different dates. The robot acquires the recorded network communication delay time of a plurality of current positions at the current moment, and determines the network quality of the current position of the robot at the current moment according to a preset network quality determination algorithm. The preset network quality determination algorithm may be an average value calculation method, for example, when the same time period on different dates passes through the same position for multiple times, the network communication delay time of the time period at the position is averaged to obtain the network quality of the current position of the robot at the time period. The preset network quality determining algorithm can also be a variance or standard deviation calculating method, network communication delay time of the same position measured at different times is obtained at the current moment, and the variance or standard deviation is calculated to obtain the network quality of the position at the current moment. Or the network quality of the current position at least two moments can be calculated, and then the variance or standard deviation of the network quality is measured to obtain the final network quality of the position.
And step 240, constructing a network quality map of a working scene of the robot according to the network quality of the current position of the robot, so that the robot can determine a target position for communication according to the network quality map.
The robot determines the network quality of the current position in the working scene, and after the robot walks through the working scene, a network quality graph of the working scene of the robot can be constructed according to the determined network quality. The network quality at different locations may be displayed in the network quality map. The robot can determine a position with good network quality according to the network quality diagram to serve as a target position, and the robot can move to the target position to communicate with a robot central control system.
In this embodiment, optionally, the network quality map is a three-dimensional thermodynamic map, and the three-dimensional coordinates of the three-dimensional thermodynamic map include a two-dimensional position coordinate and a time coordinate; correspondingly, a network quality graph of the working scene of the robot is constructed according to the network quality of the current position of the robot, and the network quality graph comprises the following steps: determining the three-dimensional coordinates of the three-dimensional thermodynamic diagram according to the coordinates of the current position of the robot and the current moment; and taking the network quality of the current position of the robot as a heat value of the three-dimensional coordinate to obtain a network quality diagram of the working scene of the robot.
Specifically, since the calculated network quality is time-dependent, the network quality map may be a three-dimensional thermodynamic map whose three-dimensional coordinates (x, y, z) include two-dimensional position coordinates (x, y) and a time coordinate z. And acquiring the network quality of the current position at the current time point, and determining the three-dimensional coordinate of the three-dimensional thermodynamic diagram according to the coordinate of the current position and the current moment, wherein the thermodynamic value at the three-dimensional coordinate is the network quality. And displaying the network quality at the three-dimensional coordinate according to the preset network quality segment and the display icon of the network quality to obtain a network quality graph of the whole working scene. The method has the advantages that the influence of time on the network quality can be fully considered by drawing the three-dimensional thermodynamic diagram, the network quality conditions of all positions can be accurately seen, and the determination accuracy of the network quality is improved.
According to the embodiment of the invention, the robot sends the preset data packet to the central control system in real time in a working scene, receives the information fed back by the central control system, determines the delay time of network communication at the current position, and further obtains the network quality of the current position at different times. According to the network quality of any position in the working scene and the time for measuring the network quality, a three-dimensional network quality diagram of the whole working scene is obtained, so that the robot can communicate with peripheral equipment and a central control system in real time at a place with good network quality, and the determination precision of the network quality is improved. The problem of among the prior art, the robot communicates in the position that the network quality is bad, influences the real-time of communication, and then leads to the robot can't carry out data transmission is solved, communication quality and communication efficiency have effectively been guaranteed.
EXAMPLE III
Fig. 3 is a flowchart illustrating a method for determining network quality based on a robot according to a second embodiment of the present invention, which is further optimized based on the second embodiment of the present invention. As shown in fig. 3, the method specifically includes the following steps:
and 310, sending a preset data packet to a robot central control system according to a preset heartbeat mechanism at the current position in the robot working scene.
And step 320, determining the network quality of the current position of the robot according to the sending time of the preset data packet and the receiving time of the feedback information sent by the robot central control system.
And 330, constructing a network quality map of a working scene of the robot according to the network quality of the current position of the robot, so that the robot can determine a target position for communication according to the network quality map.
And 340, acquiring the positions of the peripheral equipment of the robot in the working scene in the moving process of the robot.
The robot determines the network quality at each position by moving in the working scene, and after the network quality map is completed, the staff can control the robot to move in the working scene again. During the moving process of the robot again, the peripheral devices in the surrounding environment are scanned in real time, for example, the peripheral devices such as an elevator, a charging seat and a cargo compartment in the surrounding environment can be obtained through scanning by a radar or a camera, and the positions of the peripheral devices are determined. The robot can also scan the surrounding environment to determine the location of the surrounding device during the movement to determine the network quality.
And 350, obtaining a peripheral equipment map according to the positions of the peripheral equipment of the robot.
After the position of the peripheral equipment is determined, a map of the peripheral equipment is drawn according to the position of the peripheral equipment, and the peripheral equipment can be displayed on the map of the peripheral equipment by using preset equipment icons. For example, the coordinates of the peripheral device in the peripheral device map are determined, and a triangle is displayed at the coordinates to indicate that a peripheral device exists at the location.
And step 360, fusing the peripheral equipment map and the network quality map to obtain a target network quality map, so that the working personnel can move the peripheral equipment to a target position with the network quality meeting the preset communication requirement according to the target network quality map.
After the peripheral equipment map and the network quality map are obtained, the peripheral equipment map and the network quality map are fused, and the peripheral equipment is displayed on the network quality map to obtain a target network quality map containing the peripheral equipment. The staff can determine whether the peripheral equipment is located at a target position with network quality meeting preset communication requirements according to the target network quality map, and the target position meeting the preset communication requirements can be a position with better network quality. If the peripheral equipment is not at the target position, the staff can move the peripheral equipment to the target position with good network quality. For example, the staff moves the charging pile to a place with good network quality, so that the robot can stay in the charging pile for charging and timely receive the instruction transmitted by the robot central control system.
The fusion of the peripheral device map and the network quality map may be performed by obtaining coordinates of peripheral devices in the peripheral device map, searching for corresponding coordinates in the network quality map, and adding the peripheral devices to the network quality map to obtain the target network quality map.
According to the embodiment of the invention, the robot sends the preset data packet to the central control system in real time in a working scene, receives the information fed back by the central control system, determines the delay time of network communication at the current position, and further obtains the network quality at the current position. And obtaining a network quality map of the whole working scene according to the network quality of any position in the working scene, so that the robot can communicate with peripheral equipment and a central control system in real time at a place with good network quality. After the network quality map is obtained, the peripheral equipment map can be obtained according to the positions of the peripheral equipment, so that a target network quality map containing the peripheral equipment is obtained, the peripheral equipment can be moved to a place with good and stable network quality by a worker, and the robot can communicate at the peripheral equipment. The problem of among the prior art, the robot communicates in the position that the network quality is bad, influences the real-time of communication, and then leads to the robot can't carry out data transmission is solved, communication quality and communication efficiency have effectively been guaranteed.
Example four
Fig. 4 is a block diagram of a robot-based network quality determination apparatus according to a fourth embodiment of the present invention, which is capable of executing a robot-based network quality determination method according to any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method. As shown in fig. 4, the apparatus specifically includes:
the data packet sending module 401 is configured to send a preset data packet to the robot central control system according to a preset heartbeat mechanism at a current position in a robot working scene;
a network quality determining module 402, configured to determine the network quality of the current position of the robot according to the sending time of the preset data packet and the receiving time of the feedback information sent by the central control system of the robot;
a network quality map constructing module 403, configured to construct a network quality map of a working scene of the robot according to the network quality of the current position of the robot, so that the robot determines a target position for communication according to the network quality map.
Optionally, the network quality determining module 402 includes:
the feedback information receiving unit is used for determining the receiving time of the feedback information according to the received feedback information sent by the robot central control system;
the delay time determining unit is used for determining the network communication delay time of the current position of the robot according to the sending time of a preset data packet and the receiving time of the feedback information;
and the network quality determining unit is used for determining the network quality of the current position of the robot according to the network communication delay time.
Optionally, the delay time determining unit is specifically configured to:
determining the time difference between the sending time and the receiving time according to the sending time of the preset data packet and the receiving time of the feedback information;
and determining the network communication delay time of the current position of the robot according to the time difference, the byte number of the preset data packet and a preset byte measuring unit.
Optionally, the network quality determining unit is specifically configured to:
and determining the network quality of the current position of the robot at the current moment based on a preset network quality determination algorithm according to the network communication delay time at the current position of the robot recorded at least two moments.
Optionally, the network quality map is a three-dimensional thermodynamic map, and the three-dimensional coordinates of the three-dimensional thermodynamic map include two-dimensional position coordinates and time coordinates;
correspondingly, the network quality map constructing module 403 is further specifically configured to:
determining the three-dimensional coordinates of the three-dimensional thermodynamic diagram according to the coordinates of the current position of the robot and the current moment;
and taking the network quality of the current position of the robot as a thermal value of the three-dimensional coordinate to obtain a network quality diagram of the working scene of the robot.
Optionally, the network quality map is a two-dimensional thermodynamic map;
accordingly, the network quality map construction module 403 is specifically configured to:
and taking the coordinate of the current position of the robot as a two-dimensional coordinate of a two-dimensional thermodynamic diagram, and taking the network quality of the robot at the current position as a thermodynamic value of the two-dimensional coordinate to obtain a network quality diagram of a working scene of the robot.
Optionally, the apparatus further comprises:
the device position determining module is used for acquiring the positions of peripheral devices of the robot in a working scene in the moving process of the robot;
the equipment map determining module is used for obtaining a peripheral equipment map according to the position of the peripheral equipment of the robot;
and the target map determining module is used for fusing the peripheral equipment map and the network quality map to obtain a target network quality map, so that a worker can move the peripheral equipment to a target position with the network quality meeting the preset communication requirement according to the target network quality map.
According to the embodiment of the invention, the robot sends the preset data packet to the central control system in real time in a working scene, receives the information fed back by the central control system, determines the delay time of network communication at the current position, and further obtains the network quality at the current position. And obtaining a network quality map of the whole working scene according to the network quality of any position in the working scene, so that the robot can communicate with peripheral equipment and a central control system at a place with good network quality. The problem of among the prior art, the robot communicates in the position that the network quality is bad, influences the real-time of communication, and then leads to the robot can't carry out data transmission is solved, communication quality and communication efficiency have effectively been guaranteed.
EXAMPLE five
Fig. 5 is a schematic structural diagram of a robot-based network quality determining apparatus according to a fifth embodiment of the present invention. The robot-based network quality determination device is an electronic device and fig. 5 shows a block diagram of an exemplary electronic device 500 suitable for use in implementing embodiments of the present invention. The electronic device 500 shown in fig. 5 is only an example and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.
As shown in fig. 5, the electronic device 500 is embodied in the form of a general purpose computing device. The components of the electronic device 500 may include, but are not limited to: one or more processors or processing units 501, a system memory 502, and a bus 503 that couples the various system components (including the system memory 502 and the processing unit 501).
The system memory 502 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)504 and/or cache memory 505. The electronic device 500 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 506 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 5, commonly referred to as a "hard drive"). Although not shown in FIG. 5, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 503 by one or more data media interfaces. Memory 502 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 508 having a set (at least one) of program modules 507 may be stored, for instance, in memory 502, such program modules 507 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 507 generally perform the functions and/or methodologies of embodiments of the invention as described herein.
The electronic device 500 may also communicate with one or more external devices 509 (e.g., keyboard, pointing device, display 510, etc.), with one or more devices that enable a user to interact with the electronic device 500, and/or with any devices (e.g., network card, modem, etc.) that enable the electronic device 500 to communicate with one or more other computing devices. Such communication may occur via input/output (I/O) interfaces 511. Also, the electronic device 500 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the Internet) via the network adapter 512. As shown in FIG. 5, the network adapter 512 communicates with the other modules of the electronic device 500 over the bus 503. It should be appreciated that although not shown in FIG. 5, other hardware and/or software modules may be used in conjunction with the electronic device 500, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
The processing unit 501 executes various functional applications and data processing by running a program stored in the system memory 502, for example, to implement a robot-based network quality determination method provided by an embodiment of the present invention, including:
sending a preset data packet to a robot central control system according to a preset heartbeat mechanism at the current position in a robot working scene;
determining the network quality of the current position of the robot according to the sending time of the preset data packet and the receiving time of the feedback information sent by the robot central control system;
and constructing a network quality map of a working scene of the robot according to the network quality of the current position of the robot, so that the robot can determine a target position for communication according to the network quality map.
EXAMPLE six
The sixth embodiment of the present invention further provides a storage medium containing computer-executable instructions, where the storage medium stores a computer program, and the computer program, when executed by a processor, implements a robot-based network quality determination method according to the sixth embodiment of the present invention, where the method includes:
sending a preset data packet to a robot central control system according to a preset heartbeat mechanism at the current position in a robot working scene;
determining the network quality of the current position of the robot according to the sending time of the preset data packet and the receiving time of the feedback information sent by the robot central control system;
and constructing a network quality map of a working scene of the robot according to the network quality of the current position of the robot, so that the robot can determine a target position for communication according to the network quality map.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A method for determining network quality based on a robot is characterized by comprising the following steps:
sending a preset data packet to a robot central control system according to a preset heartbeat mechanism at the current position in a robot working scene;
determining the network quality of the current position of the robot according to the sending time of the preset data packet and the receiving time of the feedback information sent by the robot central control system;
and constructing a network quality map of a working scene of the robot according to the network quality of the current position of the robot, so that the robot can determine a target position for communication according to the network quality map.
2. The method of claim 1, wherein determining the network quality of the current position of the robot according to the sending time of the preset data packet and the receiving time of the feedback information sent by the central robot control system comprises:
determining the receiving time of the feedback information according to the received feedback information sent by the robot central control system;
determining the network communication delay time of the current position of the robot according to the sending time of a preset data packet and the receiving time of the feedback information;
and determining the network quality of the current position of the robot according to the network communication delay time.
3. The method of claim 2, wherein determining the network communication delay time of the current position of the robot according to the sending time of the preset data packet and the receiving time of the feedback information comprises:
determining the time difference between the sending time and the receiving time according to the sending time of the preset data packet and the receiving time of the feedback information;
and determining the network communication delay time of the current position of the robot according to the time difference, the byte number of the preset data packet and a preset byte measuring unit.
4. The method of claim 2, wherein determining the network quality of the current location of the robot based on the network communication delay time comprises:
and determining the network quality of the current position of the robot based on a preset network quality determination algorithm according to the network communication delay time at the current position of the robot recorded at least two moments.
5. The method of claim 1, wherein the network quality map is a three-dimensional thermodynamic map whose three-dimensional coordinates include two-dimensional location coordinates and time coordinates;
correspondingly, a network quality graph of the working scene of the robot is constructed according to the network quality of the current position of the robot, and the network quality graph comprises the following steps:
determining the three-dimensional coordinates of the three-dimensional thermodynamic diagram according to the coordinates of the current position of the robot and the current moment;
and taking the network quality of the current position of the robot as a thermal value of the three-dimensional coordinate to obtain a network quality diagram of the working scene of the robot.
6. The method of claim 1, wherein the network quality map is a two-dimensional thermodynamic map;
correspondingly, according to the network quality of the current position of the robot, a network quality map of the working scene of the robot is constructed, and the method comprises the following steps:
and taking the coordinate of the current position of the robot as a two-dimensional coordinate of a two-dimensional thermodynamic diagram, and taking the network quality of the robot at the current position as a thermodynamic value of the two-dimensional coordinate to obtain a network quality diagram of a working scene of the robot.
7. The method of any one of claims 1-6, after constructing the network quality map of the robot work scenario, further comprising:
acquiring the position of peripheral equipment of the robot in a working scene in the moving process of the robot;
obtaining a peripheral equipment map according to the position of the peripheral equipment of the robot;
and fusing the peripheral equipment map and the network quality map to obtain a target network quality map, so that a worker can move the peripheral equipment to a target position with the network quality meeting the preset communication requirement according to the target network quality map.
8. A robot-based network quality determination apparatus, comprising:
the data packet sending module is used for sending a preset data packet to the robot central control system at the current position in the robot working scene according to a preset heartbeat mechanism;
the network quality determining module is used for determining the network quality of the current position of the robot according to the sending time of the preset data packet and the receiving time of the feedback information sent by the robot central control system;
and the network quality map construction module is used for constructing a network quality map of a working scene of the robot according to the network quality of the current position of the robot, so that the robot can determine a target position for communication according to the network quality map.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor, when executing the program, implements the robot-based network quality determination method of any of claims 1-7.
10. A storage medium containing computer-executable instructions for performing the robot-based network quality determination method of any one of claims 1-7 when executed by a computer processor.
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