Data transmission method

Abstract

The invention discloses a data transmission method which is applied to a simultaneous localization and mapping (SLAM) system. The SLAM system is capable of carrying out map construction on an unknown environment according to displacement and gesture changes of a mobile device in the unknown environment. An inertial measurement unit (IMU) is further arranged on the mobile device, and data communication can be mutually carried out among the SLAM system, the IMU and a personal computer (PC) system. The data transmission method includes the steps: receiving data packages sent by the IMU in real time by the PC system and enabling the data packages to be stored in a storage unit of the PC system, at the moment of T1, completing the construction of an Nth frame image of the unknown environment by the SLAM system and sending a request order for updating the displacement and gesture data of the mobile device to the PC system by the SLAM system, sending the data packages which correspond to the moment of T1 and acquired from the data packages by the PC system to the SLAM system, and constructing an N+1th frame image of the unknown environment by the SLAM system according to the data packages.

Description

technical field [0001] The present invention relates to the technical field of communication, in particular to a data transmission method. Background technique [0002] The wireless communication system is an important part of the mobile robot. When the autonomous ability of the robot is limited, it is a feasible solution to control the robot by using the host computer to communicate with the robot wirelessly. As an important part of robotics, mobile robots have always been one of the research and application hotspots of robotics. Because of their high flexibility, mobile robots have been widely used in industry, civil, and national defense, such as tour guide robots, patrol robots, Autonomous underwater robots, robotic mapping, and more. [0003] However, in the course of the invention, the inventor found that the combined navigation of the navigation device and the mobile robot could not be better realized by using the existing data communication transmission protocol. Th...

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Problems solved by technology

[0003] However, in the course of the invention, the inventor found that the combined navigation of the navigation device and the mobile robot could not be better realized by using the existing data communication transmission protocol. The disadvantages of the existing data transmission protocol include at least the following points:

[0004] 1. The embedded operating system and the upper computer or lower computer (mobile robot) directly use the serial port for data push transmission, which is unreliable data transmission. In the process of sending data packets, as long as one of the data in the data packet is wrong, The entire data packet needs to be resent, so the bit error rate is high;

[0005] 2. With a rigid initialization process, it is impossible to realize hot-swapping of the device; that is, first initialize the data receiving end, then access and initialize the data sending end, and then complete the data transmission; otherwise, the receiving end will receive an incomplete packet, It is also impossible to parse the data packet;

[0006] 3. Poor scalability

[0007] 4. There is no multiple fault-tolerant mechanism in the unreliable transmission stage, which will lead to frequent packet loss

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