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Local area network multicast group-based distributed dispatching system communication method

A technology of dispatching system and communication method, applied in transmission systems, electrical components, etc., can solve problems such as weak central dispatching system center

Active Publication Date: 2017-01-18
SHENZHEN PUDU TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

[0003] The invention solves the problem that the center of the central dispatching system of the CS model is weak
And there is no need to add additional central nodes to save costs

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0017] 1. System topology

[0018] The system adopts a distributed P2P model, each robot acts as a client, and the two communicate directly without any central node.

[0019] 2. Communication scheme

[0020] The system consists of a wifi network covering all robot operating environments to form a communication network. All robots join a udp multicast group for synchronizing IP addresses. Each robot uses the multicast group to broadcast its own ip and receive the ip of other robots. In actual communication, use tcp to communicate with the corresponding ip address.

[0021] 3. Positioning method

[0022] The system uses indoor base stations, combined with GPS positioning algorithm to realize the positioning of each robot.

[0023] 4. Map construction

[0024] The system uses lidar to scan the map before the robot runs, and stores the map on each robot and the central server.

[0025] 5. Path planning algorithm

[0026] Based on the map scanned by lidar, on this map, each...

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PUM

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Abstract

The present invention relates to a local area network multicast group-based distributed dispatching system communication method. According to the method, since ip addresses are necessarily different under the same network segment, all random number sequences are not equal necessarily, and as a result, arbitration results will be obtained; since a plurality of robots use exactly the same algorithm, the arbitration results are all identical; and therefore, after conflict occurs, arbitration can be achieved among several robots where conflict occurs without any communication required, namely, the arbitration does not consume any bandwidth at all except for the dispatching of necessary information required to be transmitted, such as the locations, directions and resource applications of the robots. Online and offline operation only generates a very small amount of data transmission in a boot-up process. With the method adopted, a plurality of robots moving indoor can share dispatching information with minimum bandwidth, and new robots can be added at any time without any configuration required.

Description

technical field [0001] The invention relates to a multi-robot dispatching system, in particular to a dispatching system based on a distributed dispatching scheme. Background technique [0002] Indoor robots with localization and navigation have more and more applications. However, if only two identical robots are placed in the same environment, mutual interference will occur. This requires a scheduling system to reasonably allocate tasks and resources according to the status of each robot to avoid mutual interference between robots. And this scheduling system involves the mutual communication of multiple robots. If the CS model is adopted, it is only necessary to send the status of each robot (client) to the server, run the scheduling algorithm on the server, and then feed back the decision information to the client. But in this way, an additional device needs to be added to Chen Ben, and there is a central weak link in the system. The invention discloses a distributed sc...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H04L29/08
CPCH04L67/104H04L67/1074H04L67/61
Inventor 虞坤霖张涛
Owner SHENZHEN PUDU TECH CO LTD
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