CN116016511B - Data transmission method for multiple robots - Google Patents
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- CN116016511B CN116016511B CN202211671802.6A CN202211671802A CN116016511B CN 116016511 B CN116016511 B CN 116016511B CN 202211671802 A CN202211671802 A CN 202211671802A CN 116016511 B CN116016511 B CN 116016511B
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Abstract
The invention discloses a data transmission method of multiple robots, which comprises the following steps: aiming at any detection area divided from the environment to be detected, distributing a robot to the detection area by utilizing a cloud server to execute a base station function according to the autonomous movement condition of a plurality of robots and marking the robot as a master robot; according to the sequence of the robots entering the detection area currently, a cloud server is utilized to allocate a plurality of robots to the detection area to execute the detection function and mark the robots as a plurality of slave robots; the second interface of each slave robot is wirelessly connected with the second interface of the host robot, and the first interface of the master robot is wirelessly connected with the cloud server; and acquiring environment detection information in the detection area by using a plurality of slave robots, feeding back the environment detection information to the host robot for caching, and feeding back all cached environment detection information to the cloud server by using the master robot for analysis. The invention can realize standardized constraint on the data transmission modes of a plurality of robots.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a data transmission method for multiple robots.
Background
When a plurality of robots are executing an environment detection task, a centralized structure is generally adopted in a data transmission mode of the plurality of robots, namely, through establishing a communication relationship between a cloud server and each robot, each robot can independently transmit environment detection information acquired by the robots to the cloud server, however, under the condition that the environment to be detected is relatively large, the plurality of robots are autonomously dispersed to different positions to execute the detection task, the environment detection information transmitted by the plurality of robots cannot be guaranteed to better reflect the whole environment to be detected, and the environment detection information transmitted by the plurality of robots does not have obvious regionality, so that the cloud server is not beneficial to efficiently carrying out data arrangement.
Disclosure of Invention
The invention provides a data transmission method of multiple robots, which solves one or more technical problems existing in the prior art and at least provides a beneficial selection or creation condition.
The embodiment of the invention provides a data transmission method of multiple robots, which comprises the following steps:
dividing the environment to be detected into areas to obtain a plurality of detection areas;
aiming at any detection area, according to the autonomous movement condition of a plurality of robots in an environment to be detected, distributing a robot to the detection area by utilizing a cloud server to execute a base station function, and marking the distributed robot as a host robot carrying an area number;
according to the sequence of the robots entering the detection area currently, distributing a plurality of robots to the detection area by using the cloud server to execute detection functions, and marking the distributed plurality of robots as a plurality of slave robots carrying the area numbers;
each robot in the plurality of robots is provided with a first interface and a second interface, the second interface of each slave robot is in wireless connection with the second interface of the host robot, and the first interface of the host robot is in wireless connection with the cloud server;
acquiring environment detection information in the detection area by using the plurality of slave robots, feeding back the environment detection information to the host robot for caching, and feeding back all cached environment detection information to the cloud server by using the host robot for analysis;
wherein each robot of the plurality of robots has a unique device number.
Further, allocating a robot to the detection area by using the cloud server to perform a base station function includes:
and acquiring one robot which is currently closest to the central position of the detection area from the plurality of robots by using a cloud server, controlling the acquired robot to stop moving, and switching from the detection function to the base station function.
Further, allocating a plurality of robots to the detection area by using the cloud server to perform a detection function includes:
and screening all the unlabeled robots which enter the detection area preferentially currently from the plurality of robots according to the preset detection quantity by using the cloud server, and limiting all the robots to execute the detection function in the detection area.
Further, each robot in the plurality of robots automatically moves according to global map information given by the cloud server when the robot just enters an environment to be detected, after the master robot and the plurality of slave robots are distributed, map information about the detection area is removed from the global map information by the cloud server, and then the map information is transmitted to other robots which are left untagged in the plurality of robots.
Further, acquiring environmental probe information within the probe region using any slave robot and feeding back to the master robot includes:
and utilizing any slave robot to autonomously detect in the detection area to acquire local detection data, binding the local detection data with the equipment number of the body and the current position to acquire environment detection information, and finally transmitting the environment detection information to the host robot through a second interface.
Further, feeding back all cached environment detection information to the cloud server by using the host robot includes:
and encapsulating the environment detection information fed back by the robots and a first function code by using the host robot to obtain a first message, and transmitting the first message to the cloud server through a first interface, wherein the first function code is automatically generated by the host robot when responding to a second interface.
Further, the method further comprises:
each robot in the plurality of robots is further provided with a third interface, the plurality of robots comprise a first host robot and a second host robot which are close to each other, and the third interface of the first host robot and the third interface of the second host robot are connected in a wireless mode;
when the second main robot and the cloud server have communication faults, generating change request information by using the second main robot and transmitting the change request information to the first main robot through a third interface, wherein the change request information comprises the area number of the second main robot and the equipment number of the slave robot autonomously selected from the detection area where the second main robot is located;
and encapsulating the change request information and a second function code by using the first main robot to obtain a second message, and transmitting the second message to the cloud server through a first interface, wherein the second function code is automatically generated by the first main robot when responding to a third interface.
Further, before generating the change request information by the second host robot, the method further includes:
and sending a broadcast signal to all slave robots in the detection area by using the second master robot, wherein the broadcast signal is used for controlling all slave robots to pause detection tasks to wait for reestablishing communication connection.
Further, after transmitting the change request information to the first master robot by the second master robot, the method further includes: and utilizing the second main robot to autonomously switch from executing the base station function to executing the detection function.
Further, the method further comprises:
when the cloud server is utilized to analyze the second function code and the area number of the second main robot from the second message, a communication configuration table most relevant to the second main robot is called;
when the cloud server is utilized to analyze the equipment number of the slave robot which is independently selected by the second master robot from the second message, the slave robot which is selected by the change control stops moving and is switched from the execution detection function to the execution base station function, and the communication configuration table is updated and then issued to all robots in the detection area of the second master robot for execution.
The invention has at least the following beneficial effects: the method comprises the steps that a plurality of robots are used for executing regional detection tasks on an environment to be detected, a master robot for executing a base station function and a plurality of slave robots for executing a detection function are specially distributed to each detection region, and therefore the plurality of robots can better traverse the whole environment to be detected; and only the slave robots are allowed to feed back the acquired environment detection information to the host robots, and the host robots complete data statistics and then forward the data to the cloud server, so that the standardized constraint on the data transmission modes of a plurality of robots is realized, and meanwhile, the cloud server can efficiently analyze and sort the environment detection information associated with each detection area. In addition, when the host robot in any detection area has communication faults, the host robots in other detection areas are used for forwarding change request information to inform the cloud server of timely switching the base station execution function of the other robot, so that the detection tasks in the current detection area can be ensured to be continuously and normally executed.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate and do not limit the invention.
Fig. 1 is a flow chart of a data transmission method of a multi-robot in an embodiment of the invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
It should be noted that although functional block diagrams are depicted as block diagrams, and logical sequences are shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the block diagrams in the system. The terms "first," "second," "third," "fourth," and the like in the description of the present application and in the above-described figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order, and it should be understood that the data so used may be interchanged, as appropriate, such that the embodiments of the present application described herein may be implemented in other sequences than those illustrated or 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.
Referring to fig. 1, fig. 1 is a flow chart of a data transmission method of a multi-robot according to an embodiment of the invention, and the method includes the following steps:
step S100, dividing the environment to be detected into areas to obtain a plurality of detection areas;
step 200, aiming at any detection area, distributing a robot to the detection area by utilizing a cloud server to execute a base station function according to the autonomous movement condition of a plurality of robots in the environment to be detected, and marking the distributed robots as host robots carrying area numbers;
step S300, distributing a plurality of robots to the detection area by using the cloud server to execute a detection function according to the sequence of the robots entering the detection area currently, and marking the distributed plurality of robots as a plurality of slave robots carrying the area numbers;
step S400, each robot in the plurality of robots is provided with a first interface and a second interface, the second interface of each slave robot is in wireless connection with the second interface of the host robot, and the first interface of the host robot is in wireless connection with the cloud server;
and S500, acquiring environment detection information in the detection area by using the plurality of slave robots, feeding back the environment detection information to the host robot for caching, and feeding back all cached environment detection information to the cloud server by using the host robot for analysis.
In the embodiment of the invention, before the robots are put into the environment to be detected to run, the cloud server gives different equipment numbers to each robot so as to facilitate management.
In the step S200, the central position of the detection area is preferentially recorded by the cloud server, when the robots just enter the environment to be detected to move, the current position of each robot is tracked in real time, and when the distance between the current position of one robot detected at first and the central position is smaller than or equal to a preset searching radius, the robot detected at first is controlled to stop moving in situ, and then the robot detected at first is controlled to switch the detection function being executed into a base station function; wherein the preset search radius is determined by a technician according to the range size of the detection area.
In the embodiment of the invention, before the robots are put into the environment to be detected to run, the cloud server imports global map information about the environment to be detected for each robot, so that each robot can move according to the global map information.
In the step S300, the cloud server preferentially records the overall interval position of the detection area, tracks the current positions of other robots which are not marked with any area number in the plurality of robots in real time, and limits the currently detected robots to be capable of executing the detection task only in the detection area when detecting that the current position of one robot just falls in the overall interval position, namely, independently extracts map information about the detection area from the global map information through the cloud server and guides the map information into the currently detected robots; performing a cyclic operation according to the method until the number of all detected robots is the same as the preset detection number; the preset detection quantity is configured by a technician according to the range size of the detection area and the total quantity of the plurality of robots.
In the embodiment of the present invention, after the execution of the step S200 and the step S300, the map information related to the detection area in the global map information needs to be removed by the cloud server, and then the updated global map information is imported into other robots, which are not marked with any area numbers, in the plurality of robots, so that the other robots can be guided to autonomously go to other detection areas, and unnecessary resource consumption caused by staying in the current detection area is avoided.
In the embodiment of the present invention, after the step S200 and the step S300 are performed, temporary communication addresses are dynamically allocated to the master robot and the plurality of slave robots respectively through the cloud server, and a communication configuration table associated with the detection area is further formed, where the communication configuration table is dominant by the master robot; because each robot in the robots is actually provided with a first interface and a second interface, the wireless connection relation between the second interface of the master robot and the second interface of each slave robot and the wireless connection relation between the slave robots and the first interface of the master robot are recorded in the communication configuration table through the cloud server, so that the slave robots cannot communicate with the master robots in other detection areas, and better regional communication management and control are realized.
It should be noted that, when the plurality of slave robots perform autonomous probing tasks in the probing area, the number of transmission bytes and the number of reception bytes are limited to allow position sharing between each two slave robots, so that each slave robot can avoid collision with other slave robots during walking.
In the step S500, for any one of the plurality of slave robots, an autonomous detection task is first performed by the slave robot in the detection area to acquire local detection data, then the device number of the body and the position of the body in the detection area are bound with the body detection data to generate environment detection information, and then the environment detection information is sent to the host robot via a second interface provided by the body.
In the step S500, when the host robot detects that the second interface set by the body has data transmission, a first function code for characterizing area detection data transmission is automatically generated, and meanwhile, a timing function is started to receive the plurality of environment detection information sent from the robot for buffering in a timing time, and when the timing time is over, the first function code and all the environment detection information currently buffered are encapsulated to generate a first message, and finally, the first message is sent to the cloud server through the first interface set by the body.
After executing the step S500, the cloud server may construct a real scene in the detection area according to all the environmental detection information fed back by the host robot, and update and perfect the real scene by receiving information feedback for multiple times, so that after executing the detection task for the detection area, a technician may learn the required target position from the final real scene, thereby implementing uniform coverage search of the sub-area.
In the embodiment of the present invention, each of the plurality of robots is actually further provided with a third interface, for a possible communication failure between any one of the host robots and the cloud server, the host robot with no communication failure is defined as a first host robot, the host robot with communication failure is defined as a second host robot, when the cloud server recognizes that the second host robot is closest to the first host robot, a wireless connection relationship between the third interface of the second host robot and the third interface of the first host robot is recorded in a communication configuration table associated with a detection area where the second host robot is located, and similarly, a wireless connection relationship between the third interface of the first host robot and the third interface of the second host robot is recorded in a communication configuration table associated with the detection area where the first host robot is located.
When the number of the detection areas is N, the cloud server may distribute the detection areas to N host robots among the plurality of robots, the first host robot and the second host robot are actually two of the N host robots, and a distance between the second host robot and the first host robot is shorter than a distance between the second host robot and the remaining N-2 host robots, where N is a positive integer and N is greater than 2.
When the second main robot cannot perform data transmission through the first interface and the cloud server, a detection area where the second main robot is located is defined as a detection area to be changed, and the countermeasure provided by the embodiment of the invention specifically includes the following steps:
step 1, broadcasting signals to all slave robots in the detection area to be changed through the second master robot, so that the detection tasks can be suspended by all slave robots, and the slave robots are informed that the related communication connection relation in the detection area to be changed is required to be rebuilt currently;
step 2, since all slave robots send a reply signal to the second master robot after receiving the broadcast signal, autonomously selecting one slave robot from the to-be-changed detection area through the second master robot and defining the slave robot as the to-be-changed robot, generating change request information by the equipment number of the second master robot, the belonging area number and the equipment number of the to-be-changed robot, and finally sending the change request information to the first master robot through a third interface arranged on the body; the condition that the robot to be changed is autonomously selected by the second host robot is that a reply signal sent by the robot to be changed is received by the second host robot first;
step 3, when the first main robot detects that the third interface arranged on the body has data transmission, automatically generating a second function code for representing the forwarding of regional fault data, packaging the second function code and the change request information to generate a second message, and finally transmitting the second message to the cloud server through the first interface arranged on the body;
step 4, analyzing the received second message through the cloud server, judging that a communication transmission fault occurs in a detection area when the second function code is acquired, and calling a communication configuration table associated with the detection area where the second main robot is located when the area number where the second main robot is located is acquired;
step 5, continuing to analyze the received second message through the cloud server, controlling the robot to be changed to stop moving in situ and switching the detection function being executed into a base station function when the equipment number of the robot to be changed is acquired, updating the robot to be changed to be configured as a master robot in the detection area to be changed, canceling the base station function of the second master robot and updating the second master robot to be configured as a slave robot in the detection area to be changed;
and 6, updating the communication configuration table called in the step 4 through the cloud server, so that only the wireless connection relation between the second interface of the robot to be changed and the second interface of each slave robot in the current detection area to be changed and the wireless connection relation between the cloud server and the first interface of the robot to be changed are recorded in the updated communication configuration table, namely, the updated communication configuration table takes the robot to be changed as a main part, and then all robots in the detection area to be changed are controlled to perform data transmission according to the updated communication configuration table.
Before executing the step 3, the method further comprises: and the second main robot autonomously switches the function of the base station being executed into a detection function, so that the cloud server does not need to wait for issuing a function switching control command to the second main robot in a form of forwarding to the first main robot, and the original motion stopping state is restored to a normal motion stopping state.
In the step 3, after the second message is generated by the first master robot, if it is identified that the first interface set by the body is transmitting the first message, the second message may be directly sent out after waiting for the completion of the current transmission task.
After executing the step 6, the method further comprises: and sending a motion control instruction to each slave robot in the detection area to be changed through the robot to be changed in a broadcast mode, so that each slave robot can resume executing the detection task in the detection area to be changed.
Because the cloud server has generated an empty history log for the detection area to be changed in advance when the detection task for the detection area to be changed starts to be executed, after executing the step 6, the method further includes: and continuing to analyze the received second message through the cloud server, and recording the second message into the history log when the equipment number of the second main robot is acquired, so that after the detection task of the detection area to be changed is executed, a technician can know that the communication fault of the second main robot needs to be overhauled by inquiring the history log.
It should be noted that, the step 1 to the step 6 are actually performed normally when the first communication failure occurs in the detection area to be changed; in view of performance consideration of any one robot and time consideration of the whole environment detection task, the possibility of occurrence of a second communication fault in the detection area to be changed is small, but the embodiment of the invention also makes corresponding adjustment measures for the reason as follows: in the process of executing the step 5, preferentially judging whether the equipment number of the robot to be changed is not recorded in the history log; if yes, the robot to be changed is updated and configured as the master robot of the detection area to be changed normally; if not, selecting one slave robot from the master-slave detection area to be changed by the cloud server directly and updating and configuring the slave robot into the master robot of the detection area to be changed.
For a possible communication fault between any one master robot and a slave robot in a detection area where the master robot is located, the master robot is defined as a third master robot, the slave robot is defined as a fault slave robot, the detection area is defined as a detection area to be adjusted, and the countermeasure provided by the embodiment of the invention specifically includes the following steps:
automatically generating a third function code for representing local fault data transmission through the third master robot, packaging the third function code and the equipment number of the fault slave robot to generate a third message, and then sending the third message to the cloud server through a first interface arranged on the body;
analyzing the received third message through the cloud server, judging that an internal communication transmission fault occurs in the detection area to be adjusted when the third function code is acquired, and directly establishing a wireless connection relationship between the cloud server and a first interface of the fault slave robot when the equipment number of the fault slave robot is acquired, so that the cloud server can also normally receive environment detection information acquired by the fault slave robot, and the fault slave robot is prevented from being in a disconnection state and cannot exert the detection effect in the detection area to be adjusted;
because the cloud server also generates an empty history log for the detection area to be adjusted in advance when the detection task of the detection area to be adjusted starts to be executed, the cloud server associates and binds the equipment number of the third master robot with the equipment number of the fault slave robot and records the equipment number into the history log, so that after the detection task of the detection area to be adjusted is executed, a technician can know that the communication fault between the third master robot and the fault slave robot needs to be overhauled by querying the history log.
It should be noted that, after the third message is generated by the third main robot, if it is identified that the first interface set by the body is transmitting the first message or the second message, the third message may be sent out after waiting for the completion of the current transmission task; if the first interface arranged on the body is identified to just transmit the first message, but the body also just generates the second message, the generated second message is required to be sent out preferentially, and then the third message is sent out; if the first interface arranged on the body is identified to just transmit the second message, but the body also just generates the first message, the third message needs to be sent out preferentially, and then the generated first message is sent out.
It should be noted that, in the case that a communication failure occurs between the third host robot and the cloud server, the cloud server updates and configures a new host robot for the to-be-adjusted detection area, and also disconnects the wireless connection relationship between itself and the first interface of the failed slave robot at the same time, and then controls and establishes the wireless connection relationship between the second interface of the new host robot and the second interface of the failed slave robot.
Aiming at the communication fault between the third master robot and the fault slave robot, the specific judgment mode provided by the embodiment of the invention is as follows: when the third main robot detects that the environment detection information sent by the fault slave robot is not received within a first preset time period, directly sending a test signal to the fault slave robot, and simultaneously enabling a timing function to wait for receiving a response signal fed back by the fault slave robot within a second preset time period, wherein the response signal is made by the fault slave robot for the test signal; if the response signal is detected by the third master robot, the third master robot can normally communicate with the fault slave robot; conversely, if the response signal cannot be detected by the third master robot, it is determined that a communication failure has occurred between the third master robot and the failed slave robot.
The first preset time period and the second preset time period are determined by technicians according to test requirements, and the first preset time period is larger than the second preset time period.
In the embodiment of the invention, a plurality of robots are utilized to execute regional detection tasks on the environment to be detected, and a master robot executing the base station function and a plurality of slave robots executing the detection function are specially distributed for each detection region, so that the plurality of robots can better traverse the whole environment to be detected; and only the slave robots are allowed to feed back the acquired environment detection information to the host robots, and the host robots complete data statistics and then forward the data to the cloud server, so that the standardized constraint on the data transmission modes of a plurality of robots is realized, and meanwhile, the cloud server can efficiently analyze and sort the environment detection information associated with each detection area. In addition, when the host robot in any detection area has communication faults, the host robots in other detection areas are used for forwarding change request information to inform the cloud server of timely switching the base station execution function of the other robot, so that the detection tasks in the current detection area can be ensured to be continuously and normally executed.
In addition, the embodiment of the invention further provides a computer readable storage medium, and a computer program is stored on the computer readable storage medium, and when the computer program is executed by a processor, the data transmission method of the multiple robots in the embodiment is realized. The computer readable storage medium includes, but is not limited to, any type of disk including floppy disks, hard disks, optical disks, CD-ROMs, and magneto-optical disks, ROMs (Read-Only memories), RAMs (Random AcceSS Memory, random access memories), EPROMs (EraSable Programmable Read-Only memories), EEPROMs (Electrically EraSable ProgrammableRead-Only memories), flash memories, magnetic cards, or optical cards. That is, a storage device includes any medium that stores or transmits information in a readable form by a device (e.g., a computer, a cell phone, etc.), which can be a read-only memory, a magnetic or optical disk, etc.
Although the description of the present application has been described in considerable detail and with particularity with respect to several illustrated embodiments, it is not intended to be limited to any such detail or embodiments or any particular embodiment, but is to be construed as providing broad interpretation of such claims by reference to the appended claims, taking into account the prior art to which such claims are entitled to effectively encompass the intended scope of this application. Furthermore, the foregoing description of the embodiments contemplated by the inventors has been presented for the purpose of providing a useful description, and yet insubstantial changes to the invention that are not presently contemplated may represent equivalents of the invention.
Claims (6)
1. A method for data transmission for multiple robots, the method comprising:
dividing the environment to be detected into areas to obtain a plurality of detection areas;
aiming at any detection area, according to the autonomous movement condition of a plurality of robots in an environment to be detected, distributing a robot to the detection area by utilizing a cloud server to execute a base station function, and marking the distributed robot as a host robot carrying an area number;
according to the sequence of the robots entering the detection area currently, distributing a plurality of robots to the detection area by using the cloud server to execute detection functions, and marking the distributed plurality of robots as a plurality of slave robots carrying the area numbers;
each robot in the plurality of robots is provided with a first interface and a second interface, the second interface of each slave robot is in wireless connection with the second interface of the host robot, and the first interface of the host robot is in wireless connection with the cloud server;
acquiring environment detection information in the detection area by using the plurality of slave robots, feeding back the environment detection information to the host robot for caching, and feeding back all cached environment detection information to the cloud server by using the host robot for analysis;
wherein each robot of the plurality of robots has a unique device number;
the method for allocating a robot to the detection area by using the cloud server to execute the base station function comprises the following steps:
the cloud server is utilized to acquire one robot which is currently closest to the central position of the detection area from the plurality of robots, and the acquired robot is controlled to stop moving and is switched from the detection execution function to the base station execution function;
the method for allocating a plurality of robots to the detection area by using the cloud server comprises the following steps:
screening all the unlabeled robots which enter the detection area preferentially currently from the plurality of robots according to a preset detection quantity by using the cloud server, and limiting all the robots to the detection area to execute a detection function;
wherein acquiring environmental probe information within the probe region and feeding back to the master robot using any slave robot comprises:
any slave robot is utilized to autonomously detect in the detection area to obtain local detection data, the local detection data is bound with the equipment number of the body and the current position to obtain environment detection information, and finally the environment detection information is transmitted to the host robot through a second interface;
the method for feeding back all cached environment detection information to the cloud server by using the host robot comprises the following steps:
and encapsulating the environment detection information fed back by the robots and a first function code by using the host robot to obtain a first message, and transmitting the first message to the cloud server through a first interface, wherein the first function code is automatically generated by the host robot when responding to a second interface.
2. The method for transmitting data of multiple robots according to claim 1, wherein each of the multiple robots automatically moves according to global map information given by the cloud server when the robot just enters an environment to be probed, and after the master robot and the plurality of slave robots are distributed, map information about the probing area is removed from the global map information by the cloud server and then transmitted to other robots which are not marked in the multiple robots.
3. The method for data transmission of multiple robots of claim 1, further comprising:
each robot in the plurality of robots is further provided with a third interface, the plurality of robots comprise a first host robot and a second host robot which are close to each other, and the third interface of the first host robot and the third interface of the second host robot are connected in a wireless mode;
when the second main robot and the cloud server have communication faults, generating change request information by using the second main robot and transmitting the change request information to the first main robot through a third interface, wherein the change request information comprises the area number of the second main robot and the equipment number of the slave robot autonomously selected from the detection area where the second main robot is located;
and encapsulating the change request information and a second function code by using the first main robot to obtain a second message, and transmitting the second message to the cloud server through a first interface, wherein the second function code is automatically generated by the first main robot when responding to a third interface.
4. The data transmission method of a multi-robot according to claim 3, further comprising, before generating change request information with the second host robot:
and sending a broadcast signal to all slave robots in the detection area by using the second master robot, wherein the broadcast signal is used for controlling all slave robots to pause detection tasks to wait for reestablishing communication connection.
5. The data transmission method of a multi-robot according to claim 3, further comprising, after transmitting the change request information to the first master robot by the second master robot: and utilizing the second main robot to autonomously switch from executing the base station function to executing the detection function.
6. A method of data transmission for a multi-robot as claimed in claim 3, further comprising:
when the cloud server is utilized to analyze the second function code and the area number of the second main robot from the second message, a communication configuration table most relevant to the second main robot is called;
when the cloud server is utilized to analyze the equipment number of the slave robot which is independently selected by the second master robot from the second message, the slave robot which is selected by the change control stops moving and is switched from the execution detection function to the execution base station function, and the communication configuration table is updated and then issued to all robots in the detection area of the second master robot for execution.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211671802.6A CN116016511B (en) | 2022-12-26 | 2022-12-26 | Data transmission method for multiple robots |
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| CN202211671802.6A CN116016511B (en) | 2022-12-26 | 2022-12-26 | Data transmission method for multiple robots |
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