Method for communication between intelligent microminiature ground robot and wireless sensor node

Abstract

The invention relates to a communication process between an intelligent micro-sized ground robot and wireless sensor nodes, which comprises the following steps that firstly sending a message to the intelligent micro-sized ground robot by the wireless sensor nodes, secondly receiving the message by the intelligent micro-sized ground robot, and analyzing the data pocket which is received according to the communication protocol which is defined by the both sides in advance, thirdly processing the SIP in a data buffer pool and the CP in a command buffer pool according to the message disjunction principle which is defined in advance, fourthly obtaining disjunction results, wherein if the robot sends the command pocket RCP to other robots through the wireless sensor nodes which are connected with the robot, and the wireless sensor nodes which are connected with the robot receive the command pocket RCP and are wirelessly transferred. The advantages of the invention lie in providing a communication protocol and a message processing method which has low power consumption and can guarantee the transmission quality for the intelligent micro-sized ground robot in the moving process, greatly reducing the data size which is wirelessly sent and received among the wireless sensor nodes, and reducing the energy consumption of nodes.

Description

technical field [0001] The invention relates to the communication technology of an intelligent micro-ground robot, in particular to a communication method between an intelligent micro-ground robot and a wireless sensor node. Background technique [0002] With the continuous development of sensor technology and mobile robot technology, there are more and more researches on multi-robot systems. The communication between traditional multi-robots or ground unmanned platforms is based on radio stations, wireless network cards or serial-to-Ethernet converters, such as the Pioneer series robots of Mobilerobots, the research version robots of Ingis, and the Capability Storm series robots of Guangmao. Both use wireless network cards as components to communicate with the outside world, and Amigobot robots use serial port-Ethernet converters. They actually use high frequency for communication, which consumes a lot of power, takes up a lot of space, and has a long communication distance...

AI Technical Summary

Problems solved by technology

The PPP protocol is more suitable when the probability of errors in communication is not high. The disadvantage is that it does not use sequence numbers and confirmation mechanisms, and cannot guarantee reliable transmission of link layer data.

[0004] Since wireless sensor nodes not only need to communicate with intelligent micro-ground robots, but also communicate wirelessly with other wireless sensor nodes, none of the above reference protocols can be directly used for communication between intelligent micro-ground robots and wireless sensor nodes.

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