WO2020037664A1 - Procédé, dispositif et système de communications pour un robot - Google Patents

Procédé, dispositif et système de communications pour un robot Download PDF

Info

Publication number
WO2020037664A1
WO2020037664A1 PCT/CN2018/102302 CN2018102302W WO2020037664A1 WO 2020037664 A1 WO2020037664 A1 WO 2020037664A1 CN 2018102302 W CN2018102302 W CN 2018102302W WO 2020037664 A1 WO2020037664 A1 WO 2020037664A1
Authority
WO
WIPO (PCT)
Prior art keywords
communication device
data
time
target
frequency band
Prior art date
Application number
PCT/CN2018/102302
Other languages
English (en)
Chinese (zh)
Inventor
钟晓航
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2018/102302 priority Critical patent/WO2020037664A1/fr
Priority to CN201880041324.6A priority patent/CN110870210A/zh
Publication of WO2020037664A1 publication Critical patent/WO2020037664A1/fr

Links

Images

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
    • H04B1/69—Spread spectrum techniques
    • H04B1/713—Spread spectrum techniques using frequency hopping
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
    • H04B1/69—Spread spectrum techniques
    • H04B1/713—Spread spectrum techniques using frequency hopping
    • H04B1/715—Interference-related aspects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L7/00—Arrangements for synchronising receiver with transmitter
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/70—Services for machine-to-machine communication [M2M] or machine type communication [MTC]

Definitions

  • the present application relates to the field of robotics, and in particular, to a method, device, and system for robot communication.
  • robot communication is usually implemented based on a wireless fidelity (WiFi) network.
  • WiFi wireless fidelity
  • a RoboMasters chariot uses WiFi network communication.
  • a local area network is established through a WiFi network, and transmission control protocols / Internet protocols (Transmission Control Protocol / Internet Protocol, TCP / IP) are used to implement robot communication.
  • transmission control protocols / Internet protocols Transmission Control Protocol / Internet Protocol, TCP / IP
  • TCP / IP Transmission Control Protocol / Internet Protocol
  • ISM Industrial Scientific and Medical
  • the embodiments of the present application provide a robot communication method, device and system, which are used to solve the problems that the robot communication in the prior art is susceptible to interference and has poor anti-interference performance.
  • an embodiment of the present application provides a robot communication method, which is applied to a communication system.
  • the communication system includes a first communication device and at least one second communication device.
  • the method is executed by the first communication device.
  • the method includes:
  • the first data is sent in a frequency hopping manner.
  • an embodiment of the present application provides a robot communication method, which is applied to a communication system.
  • the communication system includes a first communication device and at least one second communication device, and the method is executed by the second communication device.
  • the method includes:
  • frequency-hopping is used to receive first data sent by the first communication device, where the first data includes an identifier of a first target communication device, and the identifier of the first target communication device Consistent with the identification of at least one of the second communication devices;
  • an embodiment of the present application provides a robot communication method, which is applied to a communication system.
  • the communication system includes a first communication device and at least one second communication device.
  • the method includes:
  • first communication device Acquiring, by the first communication device, first data to be sent to a first target communication device in at least one of the second communication devices, where the first data includes an identifier of the first target communication device;
  • the second communication device determines to perform subsequent processing on the first data according to the identifier of the first target communication device.
  • an embodiment of the present application provides a robot communication device, which is applied to a communication system.
  • the communication system includes a first communication device and at least one second communication device, and the first communication device includes the robot communication device.
  • the robot communication device includes:
  • a processor configured to obtain first data to be sent to a first target communication device in at least one of the second communication devices, where the first data includes an identifier of the first target communication device;
  • the transmitter is configured to send the first data in a preset frequency band resource by using a frequency hopping method.
  • an embodiment of the present application provides a robot communication device, which is applied to a communication system.
  • the communication system includes a first communication device and at least one second communication device, and the second communication device includes the robot communication device.
  • the robot communication device includes:
  • a receiver configured to receive, in a preset frequency band resource, first data sent by the first communication device in a frequency hopping manner, where the first data includes an identifier of a first target communication device, wherein the first The identification of the target communication device is consistent with the identification of at least one of the second communication devices;
  • a processor configured to perform subsequent processing on the first data according to the identifier of the first target communication device.
  • an embodiment of the present application provides a robot communication system, including: a first communication device and at least one second communication device;
  • first communication device Acquiring, by the first communication device, first data to be sent to a first target communication device in at least one of the second communication devices, where the first data includes an identifier of the first target communication device;
  • the second communication device determines to perform subsequent processing on the first data according to the identifier of the first target communication device.
  • the present application provides a robot communication method, device, and system.
  • a first communication device acquires first data to be sent to a first target communication device in at least one second communication device, where the first data includes the first target communication device.
  • the first data is transmitted by frequency hopping in a preset frequency band resource, which realizes that the first communication device needs to send data to the first target communication device, and broadcasts the data by frequency hopping, which realizes the During the communication process, the first communication device sends data by frequency hopping. Because frequency hopping can improve the anti-jamming performance, the anti-jamming performance of the robot communication is improved.
  • FIGS. 1A-1C are schematic diagrams of application scenarios of a robot communication method provided by the present application.
  • Embodiment 1 of a robot communication method provided by the present application
  • FIG. 3 is a flowchart of a second embodiment of a robot communication method provided by the present application.
  • FIG. 4A is a flowchart of a third embodiment of a robot communication method provided by this application.
  • 4B-4C are schematic diagrams of a third embodiment of a robot communication method provided by the present application.
  • 5A is a flowchart of a fourth embodiment of a robot communication method provided by the present application.
  • 5B is a schematic diagram of a fourth embodiment of a robot communication method provided by the present application.
  • FIG. 6 is a schematic structural diagram of a first embodiment of a robot communication device provided by the present application.
  • FIG. 7 is a schematic structural diagram of a second embodiment of a robot communication device provided by the present application.
  • FIG. 1A-1C are schematic diagrams of application scenarios of a robot communication method provided by the present application.
  • the application provides a robot communication method that can be applied to a communication system
  • the communication system may include a first communication device 11 and at least one second communication device 12.
  • the first communication device 11 and the at least one second communication device 12 are communicatively connected.
  • the first communication device 11 can send data
  • any one of the at least one second communication device 12 can receive the data sent by the first communication device 11, that is, the first communication device 11 can serve as a transmitting end.
  • Any one of the second communication devices 12 may serve as a receiving end.
  • the communication system includes two second communication devices as an example.
  • any one of the at least one second communication device 12 may send data.
  • the second communication device 12 is used as a transmitting end, at least one second communication device 12 may send data.
  • the second communication device other than the second communication device 12 and the first communication device 11 can receive the data sent by the second communication device 12, that is, the first communication device 11 can also be used as a receiving end.
  • the second communication device 12 may also serve as a transmitting end.
  • the first communication device 12 may be configured as a master in a communication system, and at least one second communication device 12 may be configured as a slave in a communication system; or, the first communication device 12 may be configured as a communication system Among the slaves, any one of the at least one second communication device 12 may be set as a master in the communication system. It should be noted that when the communication system includes a master and a slave, the slave can be synchronized with the master.
  • the first communication device 11 may be provided on the robot, and the second communication device may be provided on the robot or on a device where the referee system for the robot game is located; or the first communication device 11 may be provided on the robot.
  • the second communication device 12 may be provided on the robot in the equipment where the referee system of the robot game is located.
  • the robot may include, for example, a chariot robot, a sweeping robot, and the like.
  • the communication device (specifically, the first communication device or the second communication device) is provided on the robot, which may or may not include the communication device; the communication device is provided on the equipment where the referee system for the robot game is located. In particular, the device may or may not include a communication device.
  • a first communication device is provided on the device 1 where the referee system for the robot game is located, and two second communication devices are respectively provided on the robot 1 and the robot 2, and the first A communication device is separately provided from the device 1, and a second communication device is separately provided from the robot 1 and the robot 2 as an example.
  • An application scenario of the embodiment of the present application may be shown in FIG. 1C.
  • the communication system may further include: a first user equipment (User Equipment), and an application program (App) of the first user equipment is used to control the first communication device 11.
  • a first user equipment User Equipment
  • App application program
  • the communication system may further include: a second user equipment, and an application program of the second user equipment is used to control the second communication device 12. Further optionally, different second user equipments corresponding to different second communication devices 12 are different.
  • the communication system may be a robot communication system.
  • FIG. 2 is a flowchart of Embodiment 1 of a robot communication method provided by the present application.
  • the method in this embodiment may be executed by a first communication device. As shown in FIG. 2, the method in this embodiment may include:
  • Step 201 Obtain first data to be sent to a first target communication device in at least one second communication device.
  • the first data includes an identifier of the first target communication device, and the identifier of the first target communication device may be used to identify the first data as data sent to the first target communication device.
  • the specific manner of identifying the first communication device is not limited in this application.
  • the identification of the first target communication device may be a device number of the first target communication device.
  • the first data may specifically be any data that needs to be sent to the first target communication device, and may be, for example, video data, picture data, voice data, and the like.
  • the first target communication device may specifically be any one of the second communication devices.
  • Step 202 In the preset frequency band resource, send the first data in a frequency hopping manner.
  • the first data may be broadcasted by the first communication device in the communication system, that is, all the second communication devices in the communication system may receive the first data. Because the first data includes the identifier of the first target communication device, it can indicate to which communication device the first data is sent to all the second communication devices.
  • the preset frequency band resource may be a frequency band resource with continuous frequency or a frequency band resource with discontinuous frequency, which is not limited in this application.
  • the preset frequency band resource may be a narrowband resource or a non-narrowband resource.
  • the communication system in which the first communication device and the second communication device are located can be implemented, which causes interference to other communication systems only on fewer frequency band resources, thereby reducing other communication systems. Impact.
  • both the first communication device and the second communication device can learn the same frequency hopping sequence, and the first communication device can send the first data according to the frequency hopping sequence. Accordingly, the second communication device can send the first data according to the frequency hopping sequence.
  • the first communication device sends data using frequency hopping. Specifically, the data can be sent on carrier 1 in the 3i + 1 time period. , 3i + 2 time period sends data on carrier 2 and 3i + 3 time period sends data on carrier 3, i is equal to 0,1,2, ...
  • the first communication device is used to obtain first data to be sent to a first target communication device in at least one second communication device.
  • the first data includes an identifier of the first target communication device, and is in a preset frequency band.
  • the first data is transmitted by frequency hopping, which realizes that the first communication device needs to send data to the first target communication device, and broadcasts the data by frequency hopping. Frequency-hopping transmission of data, because frequency-hopping can improve the anti-jamming performance, so the anti-jamming performance of robot communication is improved.
  • FIG. 3 is a flowchart of Embodiment 2 of a robot communication method provided by the present application.
  • the method in this embodiment may be executed by a second communication device. As shown in FIG. 3, the method in this embodiment may include:
  • Step 301 In a preset frequency band resource, use frequency hopping to receive first data sent by a first communication device.
  • the first data includes the identifier of the first target communication device.
  • the identification of the first target communication device is consistent with the identification of one of the at least one second communication device.
  • the identity of the first target communication device and the identity of one of the at least one second communication device may specifically include: the identity of the first target communication device and the identity of the one of the at least one second communication device are the same .
  • the second communication device receiving the data transmitted by the first communication device in the same frequency hopping manner as the first communication device.
  • the first communication device can send data in the frequency hopping manner of carrier 3i + 1 time period on carrier 1, 3i + 2 time period on carrier 2, and 3i + 3 time period on carrier 3.
  • the two communication devices can receive data in the frequency hopping manner of the 3i + 1 time period on the carrier 1, the 3i + 2 time period on the carrier 2, and the 3i + 3 time period on the carrier 3.
  • the first communication device and the second communication device may be synchronized.
  • each second communication device in the at least one second communication device may execute the method provided in this embodiment.
  • Step 302 Perform subsequent processing on the first data according to the identifier of the first target communication device.
  • the first communication device can broadcast the first data in the communication system
  • the first data may be data sent by the first communication device to itself, or may not be data sent by the first communication device to itself. Therefore, each second communication device may perform subsequent processing on the first data according to the identifier of the communication device included in the first data, that is, the identifier of the first target communication device.
  • the subsequent processing may include, for example, decoding processing and check processing.
  • the first data sent by the first communication device is received in a frequency band hopping manner in a preset frequency band resource.
  • the first data includes an identifier of the first target communication device, and according to the identifier of the first target communication device,
  • the subsequent processing of the first data realizes that the first target communication device successfully receives and processes the data sent by the first communication device through frequency hopping, and realizes the frequency hopping reception of the data sent by the first communication device during the robot communication process. Because frequency hopping can improve anti-jamming performance, the anti-jamming performance of robot communication is improved.
  • FIG. 4A is a flowchart of a third embodiment of a robot communication method provided by the present application. Based on the embodiments shown in FIG. 2 and FIG. 3, this embodiment mainly describes an interaction process in which a first communication device sends first data to a second communication device. As shown in FIG. 4A, the method in this embodiment may include:
  • Step 401 The first communication device acquires first data to be sent to a first target communication device in at least one second communication device.
  • the first data includes the identifier of the first target communication device.
  • the first communication device may obtain the first data from a device other than the first communication device, other equipment, or its own memory.
  • step 401 may specifically include: receiving first data sent by the first user equipment to be sent to a first target communication device in at least one second communication device, and an App of the first user equipment is used to control the first communication Device.
  • Step 402 The first communication device sends the first data in a preset frequency band resource by using a frequency hopping method.
  • the first communication device may send data only in a specific time period, and not send data in a time period other than the specific time period.
  • step 402 may specifically include: within a first transmission duration range from the first transmission time, sending the first data by using a frequency hopping method in a preset frequency band resource, where the first transmission time is the first communication device as The starting moment of the sender.
  • the slave can be synchronized with the master, and the communication system is based on the time of the master. Therefore, when the first communication device is the master, optionally, the first communication device can directly define the first The sending time, for example, defines the first, 11, 21, ... seconds as the first sending time.
  • the first communication device can determine the first sending time according to the time of the master.
  • the first communication device may determine the first sending time according to the target time of receiving the data from the host.
  • the target time may be a start time or a deadline time.
  • the next time of the cut-off time may be used as the first transmission time.
  • the starting time can be added to the receiving time period to obtain the first sending time.
  • the first communication device may use the time after the first transmission interval starting at the target time as the first transmission time.
  • the first communication device When the first communication device is a slave, before the first communication device can determine the first transmission time according to the time of the host, the first communication device can be synchronized with the host.
  • the first communication device may synchronize with the host in the following manner: The first communication device listens on each channel until data is received from the host. It should be noted that when the first communication device receives data of the first frame from the host, it may indicate that the first communication device is synchronized with the host.
  • the first sending duration can be set in advance or can be configured by other devices or other devices, which is not limited in this application.
  • Step 403 The second communication device receives the first data sent by the first communication device in the preset frequency band resource.
  • the second communication device may receive the data of the first communication device only in a specific time period during which the first communication device sends data, and in other time periods except the specific time period No data is received from the first communication device.
  • step 403 may specifically include: receiving first data of the first communication device in a preset frequency band resource within a first reception duration range from the first reception time, and the first reception time is the second communication device As the starting moment of the receiving end.
  • the second communication device when the second communication device is a host, optionally, the second communication device may directly define the first receiving time, for example, define the 3rd, 13th, 23rd, ... seconds as the first receiving time.
  • the second communication device may determine the first transmission time according to the target time when the data from the host is received.
  • the second communication device may use the time after the first receiving interval starting at the target time as the first receiving time.
  • the second communication device when a second communication device serves as a receiving end, the second communication device can receive the first data sent by the first communication device, and optionally, can also receive other second communication. Data sent by the device. Therefore, optionally, the first reception duration range beginning at the first reception time may include the first transmission duration range beginning at the first transmission time, and the first reception duration may be longer than the first transmission duration. Further optionally, the first reception duration may be N times the first transmission duration, and N may be equal to the total number of the first communication device and the second communication device minus one.
  • the second communication device may synchronize with the host in the following manner: the second communication device listens on each channel until data is received from the host.
  • the first receiving duration may be set in advance, or may be configured by other devices or other equipment, which is not limited in this application.
  • Step 404 The second communication device determines to perform subsequent processing on the first data according to the identifier of the first target communication device.
  • step 404 may specifically include: when the identifier of the first target communication device included in the first data is consistent with the identifier of the second communication device, subsequent processing of forwarding the first data; when the first data includes When the identifier of the first target communication device and the identifier of the second communication device are not consistent, the subsequent processing of discarding the first data is performed.
  • the subsequent processing for the first communication device to forward the first data includes forwarding the first data to the second user equipment, and the application program of the second user equipment is used to control the second communication device.
  • the first data to be sent to the first target communication device in the at least one second communication device is obtained by the first communication device, and the first data is transmitted in a preset frequency band resource by frequency hopping, and the second The communication device receives the first data sent by the first communication device in the preset frequency band resource, and determines the subsequent processing of the first data according to the identifier of the first target communication device, thereby realizing that the first communication device needs to send to the first data device.
  • Data of a target communication device is transmitted by frequency hopping, and is successfully received and processed by the first target communication device, thereby realizing frequency hopping transmission of data from the first communication device to the first target communication device during the robot communication process. Because frequency hopping can improve the anti-jamming, the anti-jamming of the robot communication is improved.
  • FIG. 5A is a flowchart of Embodiment 4 of a robot communication method provided by the present application. Based on the foregoing embodiment, this embodiment mainly describes an interaction process in which the second communication device sends the second data to the first communication device. As shown in FIG. 5A, the method in this embodiment may include:
  • Step 501 The second communication device acquires second data to be sent to a second target communication device in the communication system.
  • the second data includes an identifier of the second target communication device, and the identifier of the second target communication device may be used to identify that the second data is data sent to the second target communication device.
  • the specific manner of identifying the second target communication device is not limited in this application.
  • the identification of the second target communication device may be a device number of the second target communication device.
  • the second data may specifically be any data that needs to be sent to the second target communication device, and may be, for example, video data, picture data, voice data, and the like.
  • the second communication device may obtain the first data from another device than the second communication device, other equipment, or its own memory.
  • step 501 may specifically include: receiving second data sent by the second user equipment to be sent to a second target communication device in the communication system, and an App of the second user equipment is used to control the second communication device.
  • the second communication device that performs steps 501 and 502 may specifically be any one of the at least one second communication device.
  • the second target communication device may specifically be the first communication device.
  • the second target communication device may specifically be the first communication device, and among the plurality of second communication devices, other devices than the second communication device that sends the second data Any communication device.
  • Step 502 The second communication device sends the second data in a preset frequency band resource by using a frequency hopping method.
  • the second data may be broadcasted by the second communication device in the communication system, that is, all communication devices in the communication system except the second communication device that sends the second data (including the first).
  • the communication device may further include a second communication device.
  • Each of the communication devices may receive the second data. Because of the identification of the second target communication device in the second data, it can be indicated to which communication device the second data is sent to all communication devices except the second communication device that sent the second data.
  • the second communication device may send data only in a specific time period, and not send data in a time period other than the specific time period.
  • step 502 may specifically include: sending second data in a frequency band hopping manner in a preset frequency band resource within a second sending duration range from the second sending time, and the second sending time is for the second communication device as The starting moment of the sender.
  • the second communication device when the second communication device is a host, optionally, the second communication device may directly define the second transmission time.
  • the second communication device may determine the second sending time according to the target time when the data from the host is received.
  • the second communication device may use the time after the second transmission interval starting at the target time as the second transmission time.
  • the second communication device when the second communication device is a slave, before the second communication device can determine the first sending time according to the time of the host, optionally, the second communication device can be synchronized with the host in the following manner: the second communication device Listen on each channel until data is received from the host.
  • the first communication device and at least one second communication device may transmit data in a time-division multiplexed manner in a preset frequency band resource.
  • the intersection of the first transmission duration range from the first transmission time and the second transmission duration range from the second transmission time may be an empty set.
  • the frequency hopping sequence used when the second communication device sends the second data may be the same as or different from the frequency hopping sequence used when the first communication device sends the first data. Be limited.
  • the second sending duration can be set in advance or can be configured by other devices or other devices, which is not limited in this application.
  • Step 503 The first communication device receives the second data sent by the second communication device in the preset frequency band resource.
  • the identifier of the second target communication device communicates with all other communication systems except the second communication device that sends the second data.
  • the identification of one of the devices is the same.
  • the identity of the second target communication device and the identity of one of all other communication devices may specifically include: the identity of the second target communication device is the same as the identity of one of all other communication devices.
  • the first communication device receives data sent by the second communication device in the same frequency hopping manner as the second communication device.
  • the first communication device and the second communication device may be synchronized.
  • the first communication device may receive the data of the second communication device only in a specific time period during which the second communication device sends data, and may not receive the second communication time in a period other than the specific time period.
  • Communication device data may specifically include: receiving second data of the second communication device in a preset frequency band resource within a second reception duration range from the second reception time, and the second reception time is the first communication device As the starting moment of the receiving end.
  • the first communication device when the first communication device is a host, optionally, the first communication device may directly define the first receiving time.
  • the first communication device may determine the second transmission time according to a target time when the data from the host is received.
  • the second reception duration range that starts at the second reception time may include all second communication time ranges that start at the second transmission time of all the second communication devices.
  • the second receiving duration may be longer than the second sending duration.
  • the second reception duration may be N times the second transmission duration, and N may be equal to the total number of the first communication device and the second communication device minus one.
  • the communication system includes three communication devices, namely communication device 1, communication device 2 and communication device 3, and communication device 1 is the first communication device, communication device 2 and communication device 3 are the second communication device, and the communication device 1 is the host and the target time is the start time as an example.
  • the relationship between the communication device and the receiving time, sending time, receiving time, and sending time can be shown in FIG. 5B, where T1 and T2 can both indicate the sending interval, T1 'and T2 'can each indicate a receiving interval. It should be noted that in FIG. 5B, the time delay between the transmitting end and the receiving end is ignored as an example.
  • the transmission time of the communication device 1 may be the same as the start time of the data received by the communication device 2 and the communication device 3 from the communication device 1. .
  • the first communication device may use the time after the first transmission interval starting from the target time as the first transmission time.
  • the first communication device may synchronize with the host in the following manner: The first communication device listens on each channel until data is received from the host.
  • the second receiving duration may be set in advance, or may be configured by other devices or other equipment, which is not limited in this application.
  • Step 504 The first communication device performs subsequent processing on the second data according to the identifier of the second target communication device.
  • the second data sent by the second communication device may or may not be data sent to the first communication device. Therefore, the first communication device may perform subsequent processing on the second data according to the identifier of the communication device included in the second data, that is, the identifier of the second target communication device.
  • the subsequent processing may include, for example, decoding processing and check processing.
  • step 504 may specifically include: when the identifier of the second target communication device included in the second data is consistent with the identifier of the first communication device, subsequent processing of forwarding the second data; when the second data includes When the identifier of the second target communication device is not consistent with the identifier of the first communication device, the second data is discarded and subsequently processed.
  • the subsequent processing for the second communication device to forward the second data includes forwarding the second data to the first user equipment, and the application program of the first user equipment is used to control the first communication device.
  • the second data to be sent to the second target communication device in the communication system is obtained through the second communication device, and the second data is transmitted in a preset frequency band resource in a frequency hopping manner.
  • the band resource the second data sent by the second communication device is received, and the second data is determined for subsequent processing according to the identifier of the second target communication device.
  • the data is transmitted by frequency hopping, and is successfully received and processed by the second target communication device, which realizes frequency hopping transmission of data from the second communication device to the second target communication device during the robot communication process. Improved anti-jamming, and therefore improved anti-jamming of robot communication.
  • FIG. 6 is a schematic structural diagram of Embodiment 1 of a robot communication device provided in this application.
  • the communication device of this embodiment may be applied to a communication system.
  • the communication system includes a first communication device and at least one second communication device.
  • the robot communication device can become part or all of the first communication device through software, hardware, or a combination of software and hardware.
  • the robot communication device 60 provided in this embodiment includes a processor 601 and a transmitter 602.
  • the processor 601 is configured to obtain first data to be sent to at least one first target communication device in the second communication device, where the first data includes an identifier of the first target communication device;
  • the transmitter 602 is configured to send the first data in a preset frequency band resource by using a frequency hopping method.
  • the transmitter 602 is configured to send the first data by using frequency hopping in a preset frequency band resource, and specifically includes:
  • the first data is transmitted by using a frequency hopping method in a preset frequency band resource, and the transmission time is a start time when the first communication device serves as a transmission end.
  • the sending time can be understood as the first sending time
  • the sending time can be understood as the first sending time.
  • the processor 601 is further configured to determine the sending time according to a target time of receiving data from the host.
  • the processor 601 is further configured to listen on each channel until data is received from the host.
  • the processor 601 is configured to determine the sending time according to the target time of receiving the data from the host, which specifically includes:
  • the time after the transmission interval starting from the target time is taken as the transmission time.
  • the processor 601 is configured to obtain first data to be sent to at least one target first communication device in the second communication device, and specifically includes:
  • the first data sent by the user equipment to be sent to at least one first communication device in the first communication device is received, and the application App of the user equipment is used to control the first communication device.
  • the user equipment may be understood as a first user equipment.
  • the apparatus provided in this embodiment further includes: a receiver 603;
  • the receiver 603 is configured to receive, in the preset frequency band resource, second data sent by the second communication device in a frequency hopping manner; the second data includes an identifier of a second target communication device in the communication system;
  • the processor 601 is further configured to perform subsequent processing on the second data according to the identifier of the second target communication device.
  • the receiver 603 is configured to receive the second data sent by the second communication device in the preset frequency band resource, and specifically includes:
  • the second data is received in the preset frequency band resource in a frequency hopping manner, and the reception time is the starting time when the first communication device serves as the receiving end.
  • the receiving time can be understood as the second sending time, and the receiving time can be understood as the second receiving time.
  • the processor 601 is further configured to determine the receiving time according to a target time of receiving data from the host.
  • the processor 601 is configured to determine the receiving time according to the target time of receiving the data from the host, which specifically includes:
  • the time after the reception interval from the target time is taken as the reception time.
  • the processor 601 is configured to perform subsequent processing on the second data according to the identifier of the communication device included in the second data, and specifically includes:
  • the processor 601 is configured to perform subsequent processing for forwarding the second data, and specifically includes:
  • the second data is forwarded to the user equipment through the transmitter 602, and the application program of the user equipment is used to control the first communication device.
  • the user equipment may be understood as a first user equipment.
  • the preset frequency band resource is a narrowband resource.
  • the first communication device is provided on the robot, and the second communication device is provided on the robot or on a device where the referee system for the robot game is located;
  • the second communication device is set on the robot where the referee system is located.
  • the robot communication device of this embodiment may be used to execute the technical solution on the first communication device side of the foregoing method embodiment.
  • the implementation principles and technical effects are similar, and details are not described herein again.
  • FIG. 7 is a schematic structural diagram of a second embodiment of a robot communication device provided in this application.
  • the communication device of this embodiment can be applied to a communication system.
  • the communication system includes a first communication device and at least one second communication device.
  • the robot communication device may become part or all of the second communication device through software, hardware, or a combination of software and hardware.
  • the robot communication device 70 provided in this embodiment includes a receiver 701 and a processor 702. among them,
  • the receiver 701 is configured to receive, in a preset frequency band resource, first data sent by the first communication device by using a frequency hopping method, where the first data includes an identifier of a first target communication device, and The identification of the device is consistent with the identification of at least one of the second communication devices;
  • the processor 702 is configured to perform subsequent processing on the first data according to the identifier of the first target communication device.
  • the receiver 701 is configured to receive first data sent by the first communication device in a preset frequency band resource by using a frequency hopping method, and specifically includes:
  • the first data of the first communication device is received in a frequency hopping manner in a preset frequency band resource, and the reception time is the start time of the second communication device as the receiving end.
  • the receiving time can be understood as the first receiving time
  • the receiving time can be understood as the first receiving time.
  • the processor 702 is further configured to determine the receiving time according to a target time of receiving data from the host.
  • the processor 702 is further configured to listen on each channel until data is received from the host.
  • the processor 702 is configured to determine the receiving time according to the target time of receiving the data from the host, which specifically includes:
  • the time after the reception interval from the target time is taken as the reception time.
  • the processor 702 is configured to perform subsequent processing on the first data according to the identifier of the first target communication device, and specifically includes:
  • the processor 702 is configured to perform subsequent processing for forwarding the first data, and specifically includes:
  • the first data is forwarded to the user equipment, and an application of the user equipment is used to control the second communication apparatus.
  • the user equipment may be understood as a second user equipment.
  • the apparatus provided in this embodiment further includes: a transmitter 703;
  • the processor 702 is further configured to obtain second data to be sent to the target communication device, where the second data includes an identifier of the second target communication device in the communication system;
  • the transmitter 703 is configured to send the second data in the preset frequency band resource by using a frequency hopping method.
  • the transmitter 703 is configured to send the second data in the preset frequency band resource by using frequency hopping, and specifically includes:
  • the second data is transmitted in the preset frequency band resource by using a frequency hopping method, and the transmission time is a start time when the second communication device serves as a transmission end.
  • the sending time can be understood as the second sending time
  • the sending time can be understood as the second sending time.
  • the processor 702 is further configured to determine the sending time according to a target time of receiving data from the host.
  • the processor 702 is configured to determine the sending time according to the target time of receiving the data from the host, which specifically includes:
  • the time after the transmission interval starting from the target time is taken as the transmission time.
  • the processor 702 is configured to obtain second data to be sent to the first communication device, and specifically includes:
  • the user equipment may be understood as a second user equipment.
  • the preset frequency band resource is a narrowband resource.
  • the first communication device is provided on the robot, and the second communication device is provided on the robot or on a device where the referee system for the robot game is located; or the first communication device is provided on the robot.
  • the second communication device is set on the robot where the referee system is located.
  • the robot communication device of this embodiment may be used to execute the technical solution on the second communication device side of the foregoing method embodiment.
  • the implementation principles and technical effects are similar, and details are not described herein again.
  • an embodiment of the present application further provides a robot communication system, including: a first communication device 11 and at least one second communication device 12;
  • the first communication device 11 acquires first data to be sent to a first target communication device in at least one second communication device 12, and the first data includes an identifier of the first target communication device;
  • the first communication device 11 sends the first data by using a frequency hopping method in a preset frequency band resource;
  • the second communication device 12 receives the first data sent by the first communication device 11 in the preset frequency band resource
  • the second communication device 12 determines to perform subsequent processing on the first data according to the identifier of the first target communication device.
  • the first communication device 11 sends the first data in a preset frequency band resource by using a frequency hopping method, including:
  • the first data is transmitted in a preset frequency band resource in a frequency hopping manner, and the first transmission time is a start time of the first communication device 11 as a transmission end;
  • the second communication device 12 receiving the first data sent by the first communication device 11 in the preset frequency band resource includes:
  • the first receiving time range from the first receiving time the first data of the first communication device 11 is received in the preset frequency band resource, and the first receiving time is the starting time of the second communication device 12 as the receiving end.
  • the method further includes:
  • the first communication device 11 determines the first transmission time based on the target time when the data from the host is received.
  • the first communication device 11 determines, before the first transmission time according to the target time when the data from the host is received, the method further includes:
  • the first communication device 11 listens on each channel until data is received from the host.
  • the first communication device 11 determines the first sending time according to the target time of receiving the data from the host, including:
  • the first communication device 11 uses the time after the first transmission interval starting from the target time as the first transmission time.
  • the second communication device 12 when the second communication device 12 is a slave, within the first reception duration range from the first reception time, before receiving the first data of the first communication device 11 in the preset frequency band resource, include:
  • the second communication device 12 determines the first reception time based on the target time when the data from the host is received.
  • the second communication device 12 determines that before the first receiving time according to the target time when the data from the host is received, the method further includes:
  • the second communication device 12 listens on each channel until data is received from the host.
  • the second communication device 12 determines the first receiving time according to the target time of receiving the data from the host, including:
  • the second communication device 12 uses the time after the first reception interval starting from the target time as the first reception time.
  • the first communication device 11 acquiring the first data to be sent to the first target communication device in the at least one second communication device 12 includes:
  • the first data sent by the first user equipment to be sent to the first target communication device in the at least one second communication device 11 is received, and the application App of the first user equipment is used to control the first communication device 11.
  • the second communication device 12 performs subsequent processing on the first data according to the identifier of the first target communication device, including:
  • the subsequent processing of discarding the first data is performed.
  • the subsequent processing for the second communication device 12 to forward the first data includes:
  • the first data is forwarded to the second user equipment, and the application program of the second user equipment is used to control the second communication device 12.
  • the second communication device 12 obtains second data to be sent to a second target communication device in the communication system, where the second data includes an identifier of the second target communication device;
  • the second communication device 12 sends the second data in the preset frequency band resource by using a frequency hopping method
  • the first communication device 11 receives second data sent by the second communication device 12 in the preset frequency band resource
  • the first communication device 11 performs subsequent processing on the second data according to the identifier of the second target communication device.
  • the second communication device 12 sends the second data in the preset frequency band resource by using a frequency hopping method, including:
  • the second data is transmitted in the preset frequency band resource in a frequency hopping manner, and the second transmission time is the start time of the second communication device 12 as the transmission end;
  • the first communication device 11 receiving the second data sent by the second communication device 12 in the preset frequency band resource includes:
  • the second data is received in the preset frequency band resource within a second receiving time range from the second receiving time, and the second receiving time is the starting time of the first communication device 11 as the receiving end.
  • the method further includes:
  • the first communication device 11 determines the second reception time based on the target time when the data from the host is received.
  • the first communication device 11 determines the second receiving time according to the target time of receiving the data from the host, including:
  • the first communication device 11 uses the time after the second reception interval starting from the target time as the second reception time.
  • the method further includes: :
  • the second communication device 12 determines the second transmission time based on the target time when the data from the host is received.
  • the second communication device 12 determines the second sending time according to the target time when the data from the host is received, including:
  • the second communication device 12 uses the time after the second transmission interval starting from the target time as the second transmission time.
  • the second communication device 12 acquiring second data to be sent to a second target communication device in the communication system includes:
  • the application App of the second user equipment is used to control the second communication device 12.
  • the first communication device 11 performs subsequent processing on the second data according to the identifier of the second target communication device;
  • the subsequent processing of forwarding the second data includes:
  • the second data is forwarded to the first user equipment, and the application program of the first user equipment is used to control the first communication device 11.
  • the preset frequency band resource is a narrowband resource.
  • the first communication device 11 is provided on the robot, and the second communication device 12 is provided on the robot or on a device where the referee system for the robot game is located; or the first communication device 11 is provided on the robot.
  • the second communication device 12 is set on the robot.
  • a person of ordinary skill in the art may understand that all or part of the steps of implementing the foregoing method embodiments may be implemented by a program instructing related hardware.
  • the aforementioned program may be stored in a computer-readable storage medium.
  • the steps including the foregoing method embodiments are executed; and the foregoing storage medium includes: various media that can store program codes, such as a ROM, a RAM, a magnetic disk, or an optical disc.

Landscapes

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

Abstract

L'invention concerne un procédé, un dispositif et un système de communication pour un robot. Le procédé de communication pour un robot consiste : à acquérir des premières données à transmettre à un premier dispositif de communication cible dans un ou plusieurs seconds dispositifs de communication, les premières données comprenant un identifiant du premier dispositif de communication cible ; et à utiliser un saut de fréquence pour transmettre les premières données sur une ressource de bande de fréquences prédéfinie. La présente invention améliore la résistance aux interférences dans des communications avec des robots.
PCT/CN2018/102302 2018-08-24 2018-08-24 Procédé, dispositif et système de communications pour un robot WO2020037664A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/CN2018/102302 WO2020037664A1 (fr) 2018-08-24 2018-08-24 Procédé, dispositif et système de communications pour un robot
CN201880041324.6A CN110870210A (zh) 2018-08-24 2018-08-24 机器人通信方法、装置及***

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2018/102302 WO2020037664A1 (fr) 2018-08-24 2018-08-24 Procédé, dispositif et système de communications pour un robot

Publications (1)

Publication Number Publication Date
WO2020037664A1 true WO2020037664A1 (fr) 2020-02-27

Family

ID=69591888

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2018/102302 WO2020037664A1 (fr) 2018-08-24 2018-08-24 Procédé, dispositif et système de communications pour un robot

Country Status (2)

Country Link
CN (1) CN110870210A (fr)
WO (1) WO2020037664A1 (fr)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107222238A (zh) * 2017-05-18 2017-09-29 无锡睿思凯科技股份有限公司 一种基于半双工射频跳频通信协议的通信方法及通信***
CN107483169A (zh) * 2017-06-30 2017-12-15 深圳电航空技术有限公司 数据传输方法、***及计算机可读存储介质

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003205483A (ja) * 2001-11-07 2003-07-22 Sony Corp ロボットシステム及びロボット装置の制御方法
US8926395B2 (en) * 2007-11-28 2015-01-06 Patent Category Corp. System, method, and apparatus for interactive play
WO2017085851A1 (fr) * 2015-11-19 2017-05-26 株式会社安川電機 Système de robot et procédé de commande de robot

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107222238A (zh) * 2017-05-18 2017-09-29 无锡睿思凯科技股份有限公司 一种基于半双工射频跳频通信协议的通信方法及通信***
CN107483169A (zh) * 2017-06-30 2017-12-15 深圳电航空技术有限公司 数据传输方法、***及计算机可读存储介质

Also Published As

Publication number Publication date
CN110870210A (zh) 2020-03-06

Similar Documents

Publication Publication Date Title
JP6636146B2 (ja) デバイスツーデバイスｄ２ｄ通信方法、装置およびシステム
JP2022163174A5 (fr)
JP5951648B2 (ja) 上りリンク多重ユーザ多重入出力チャネルアクセスのためのアクセスポイント及び端末の通信方法
CN107005478B (zh) 一种自适应流表的处理方法及装置
US10045369B2 (en) Apparatus, method and system of multi-user downlink transmission
RU2019104613A (ru) Системная информация по запросу для беспроводной связи
JP2016054558A5 (fr)
EP2768186B1 (fr) Procédé, terminal et station de base pour une communication coopérative
US11405167B2 (en) BWP frequency hopping configuration method, network device and terminal
JP2023546847A (ja) パラメータフィードバック、更新、関連方法、通信ノード、通信システムおよび媒体
CN103248436B (zh) 一种解决水声通信网隐藏终端与暴露终端的方法
US20170064679A1 (en) Processing method of data packet, terminal, base station and system
WO2017113130A1 (fr) Procédé de demande de ressources, nœud côté réseau et système
US9756624B2 (en) Method and device for resource configuration
JP2011055464A (ja) Ｂｓｒの方法及び通信装置
WO2014121471A1 (fr) Procédé, station de base et équipement d'utilisateur de transmission et d'acquisition de données
US20190190670A1 (en) Signal transmission method and apparatus
WO2024067687A1 (fr) Procédé de transmission d'informations, premier nœud de communication, second nœud de communication et support de stockage
US8305976B1 (en) Efficient wireless communication network entry for wireless communication devices
WO2019113733A1 (fr) Procédé de commande de transfert, terminal de commande et véhicule aérien sans pilote
WO2020037664A1 (fr) Procédé, dispositif et système de communications pour un robot
JPWO2020166088A5 (ja) 端末、通信システム、及び通信方法
JP2021029032A5 (ja) 通信装置、および通信方法
EP4120732A1 (fr) Procédé, appareil et système de transmission de paquets multimédias
WO2015165011A1 (fr) Dispositif terminal émetteur de transmission de données, dispositif terminal récepteur, et procédé

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18931078

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 18931078

Country of ref document: EP

Kind code of ref document: A1