Information transmission method, device, communication equipment and storage medium

Abstract

The present application relates to an information transmission method, apparatus, communication equipment, and storage medium. The method comprises: after obtaining information to be sent, determining a target time slot for sending the information to be sent based on the original planned sending time of the information to be sent, as well as the currently planned time slots and the expected and actual sending and receiving status of each time slot, wherein the currently planned time slots are multiple time intervals set with the most recent timing starting point as the starting point, each time interval corresponds to a time slot, and the time slots include alternating expected information sending state time slots and expected information receiving state time slots, the most recent timing starting point is the interruption time when the previous information is sent or the interruption time when the previous information is received, the time interval is greater than the preamble code transmission time of the information to be sent, and then sending the information to be sent in the target time slot. This avoids message collisions caused by both parties sending information at the same time, improves the effectiveness of information transmission, and ensures reliable operation.

Description

Technical Field

[0001] The present application relates to the field of communication technology, and in particular to an information transmission method, apparatus, communication equipment and storage medium. Background Art

[0002] Information transmission typically occurs between a signal transmitting device and a signal receiving device, such as between a robot and a base station. Information transmission methods vary, with a common method being communication via a low-speed, half-duplex radio frequency module. Generally speaking, a device can function as both a signal transmitting device and a signal receiving device. During communication, the transmitting and receiving devices predefine a base communication frequency, which is then subdivided into several channels. When one device sends a message on a specific channel, the other device can only receive the message on the same channel. This allows the transmitting and receiving devices to report their respective status information and control messages to each other.

[0003] However, in this communication mode, the receiving device does not know when the other device will send a message. In some cases, the two communicating devices may send messages at the same time, causing message collisions. In half-duplex mode, neither side can properly receive the other's message and will not reply to the ACK packet, resulting in information transmission failure. Summary of the Invention

[0004] Based on this, it is necessary to provide an information transmission method, apparatus, communication equipment and storage medium to address the above technical problems.

[0005] In a first aspect, the present application provides an information transmission method. The method comprises:

[0006] Get the information to be sent;

[0007] Determine a target time slot for sending the information to be sent based on the originally planned sending time of the information to be sent, as well as the currently planned time slots and the expected and actual sending and receiving states of each of the time slots; wherein the currently planned time slots are multiple time intervals set with the most recent timing starting point as the starting point, one time interval corresponds to one time slot, the time slots include alternating expected information sending state time slots and expected information receiving state time slots, the most recent timing starting point is the interruption time when the previous information sending is completed or the interruption time when the previous information receiving is completed, and the time interval is greater than the preamble code transmission time of the information to be sent;

[0008] The information to be sent is sent in the target time slot.

[0009] In a second aspect, the present application further provides an information transmission device. The device comprises:

[0010] The module for obtaining information to be sent is used to obtain information to be sent;

[0011] A target time slot determination module determines a target time slot for sending the information to be sent based on the originally planned sending time of the information to be sent, the currently planned time slots, and the expected and actual sending and receiving states of each of the time slots; wherein the currently planned time slots are multiple time intervals set with the most recent timing starting point as the starting point, each time interval corresponds to one time slot, the time slots include alternating expected information sending state time slots and expected information receiving state time slots, the most recent timing starting point is the interruption time when the previous information is sent or the interruption time when the previous information is received, and the time interval is greater than the preamble code transmission time of the information to be sent;

[0012] The information sending module is used to send the information to be sent in the target time slot.

[0013] In a third aspect, the present application further provides a communication device, comprising a memory and a processor, wherein the memory stores a computer program, and wherein the processor implements the following steps when executing the computer program:

[0014] Get the information to be sent;

[0015] Determine a target time slot for sending the information to be sent based on the originally planned sending time of the information to be sent, as well as the currently planned time slots and the expected and actual sending and receiving states of each of the time slots; wherein the currently planned time slots are multiple time intervals set with the most recent timing starting point as the starting point, one time interval corresponds to one time slot, the time slots include alternating expected information sending state time slots and expected information receiving state time slots, the most recent timing starting point is the interruption time when the previous information sending is completed or the interruption time when the previous information receiving is completed, and the time interval is greater than the preamble code transmission time of the information to be sent;

[0016] The information to be sent is sent in the target time slot.

[0017] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the following steps:

[0018] Get the information to be sent;

[0019] Determine a target time slot for sending the information to be sent based on the originally planned sending time of the information to be sent, as well as the currently planned time slots and the expected and actual sending and receiving states of each of the time slots; wherein the currently planned time slots are multiple time intervals set with the most recent timing starting point as the starting point, one time interval corresponds to one time slot, the time slots include alternating expected information sending state time slots and expected information receiving state time slots, the most recent timing starting point is the interruption time when the previous information sending is completed or the interruption time when the previous information receiving is completed, and the time interval is greater than the preamble code transmission time of the information to be sent;

[0020] The information to be sent is sent in the target time slot.

[0021] In a fifth aspect, the present application further provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the following steps:

[0022] Get the information to be sent;

[0023] Determine a target time slot for sending the information to be sent based on the originally planned sending time of the information to be sent, as well as the currently planned time slots and the expected and actual sending and receiving states of each of the time slots; wherein the currently planned time slots are multiple time intervals set with the most recent timing starting point as the starting point, one time interval corresponds to one time slot, the time slots include alternating expected information sending state time slots and expected information receiving state time slots, the most recent timing starting point is the interruption time when the previous information sending is completed or the interruption time when the previous information receiving is completed, and the time interval is greater than the preamble code transmission time of the information to be sent;

[0024] The information to be sent is sent in the target time slot.

[0025] The above-mentioned information transmission method, device, communication equipment and storage medium, after obtaining the information to be sent, determine the target time slot for sending the information to be sent based on the original planned sending time of the information to be sent, as well as the currently planned time slots and the expected and actual sending and receiving status of each time slot, wherein the currently planned time slots are multiple time intervals set with the most recent timing starting point as the starting point, one time interval corresponds to one time slot, and the time slots include alternating expected information sending status time slots and expected information receiving status time slots, the most recent timing starting point is the interruption time when the previous information is sent or the interruption time when the previous information is received, the time interval is greater than the preamble code transmission time of the information to be sent, and then the information to be sent is sent in the target time slot. The time interval is greater than the preamble code transmission time of the information to be sent, so that the preamble signal can be received normally within the time slot, and multiple alternating expected information sending state time slots and expected information receiving state time slots are set with the interruption time of the previous information sending completion or the interruption time of the previous information receiving completion as the starting point. According to the original planned sending time and the expected and actual sending and receiving status of each time slot, the target time slot for sending the information to be sent is determined, and then the information to be sent is sent in the target time slot, so that information sending and receiving are only carried out in a specific time slot, and information sending and receiving are carried out once in one time slot, thereby avoiding message collisions caused by both parties sending information at the same time, improving the effectiveness of information transmission, and working reliably. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 1 is a flow chart of an information transmission method according to an embodiment;

[0027] Figure 2 is a flow chart of an information transmission method according to another embodiment;

[0028] Figure 3 1 is a flow chart of an information transmission method according to another embodiment;

[0029] Figure 4 A schematic flow chart of an information transmission method according to another embodiment;

[0030] Figure 5 Schematic diagram of generation of three interrupt signals in one embodiment;

[0031] Figure 6 A schematic diagram of time slot and expected state planning in one embodiment;

[0032] Figure 7 A schematic diagram of sending alignment and interrupt detection in one embodiment;

[0033] Figure 8 A schematic diagram of dynamic replanning of time slots and expected states in one embodiment;

[0034] Figure 9 A schematic diagram of information transmission in one embodiment;

[0035] Figure 10 A schematic diagram of information transmission in another embodiment;

[0036] Figure 11 A schematic diagram of information transmission in another embodiment;

[0037] Figure 12 A schematic diagram of information transmission in yet another embodiment;

[0038] Figure 13 A schematic diagram of information transmission in yet another embodiment;

[0039] Figure 14 A schematic diagram of an embodiment in which a base station cancels a plan and a robot sends and receives messages to restore the plan;

[0040] Figure 15 A schematic diagram of canceling planning for both the robot and the base station in one embodiment;

[0041] Figure 16 Schematic diagram of the structure of an information transmission device in one embodiment. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0043] The information transmission method provided in the embodiment of the present application can be applied to a communication module and executed by the communication module. For example, it can be applied to the communication module of a cleaning robot and a base station. The cleaning robot and the base station transmit information through the communication module set in themselves.

[0044] In one embodiment, Figure 1 As shown, an information transmission method is provided, which is described by taking the method applied to a communication module as an example, and includes the following steps:

[0045] Step 102: Obtain information to be sent.

[0046] The "to-be-sent" message refers to the information planned to be sent. Generally, the message consists of a preamble, a delimiter, and a message payload. The preamble is typically a bit code such as 01010101.. and can range from 4 to 1023 bytes in length. The message payload typically includes the message header, message content, a checksum, and other components, and can range from 1 to 65535 bytes in length. The time it takes for a communication module to send a message varies depending on the message length and the communication rate. At a low 10 kHz communication rate, sending a 30-byte message takes approximately 24 milliseconds.

[0047] When a signal transmitter and receiver communicate, their communication modules typically have both a receiving state and a sending state. Ideally, when messages are sent and received, and under collision-free conditions, one sends a message, the other receives it simultaneously. The receiver then transitions to the sending state and sends a response packet. The original transmitter then transitions to the receiving state and receives the response.

[0048] Step 104 : determining a target time slot for sending the information to be sent based on the originally planned sending time of the information to be sent, the currently planned time slots, and the expected and actual sending and receiving status of each time slot.

[0049] Among them, the currently planned time slots are multiple time intervals set with the most recent timing starting point as the starting point. One time interval corresponds to one time slot. The time slots include alternating expected information sending status time slots and expected information receiving status time slots. The most recent timing starting point is the interruption moment when the previous information is sent or the interruption moment when the previous information is received. The time interval is greater than the preamble code transmission time of the information to be sent.

[0050] The previous message transmission completion interrupt time is the moment when the transmission completion interrupt signal is generated after the previous message is sent. The previous message reception completion interrupt time is the moment when the reception completion interrupt signal is generated after the previous message is received. After the previous message is sent or received, the communication module sets multiple time intervals starting from the previous message transmission completion interrupt time or the previous message reception completion interrupt time. Each time interval corresponds to a time slot. The length of each time slot is equal to facilitate time slot alignment. The time interval is greater than the preamble transmission time of the information to be sent. That is, the length of each time slot is greater than the transmission time of the preamble, so that the preamble can be detected within the current time slot when it is sent at the start of the time slot.

[0051] The time slot includes alternately arranged expected information sending state time slots and expected information receiving state time slots. The communication module determines which time slot the originally planned sending time falls into based on the original planned sending time of the information to be sent, and determines whether the type of the current time slot is an expected information sending state time slot or an expected information receiving state time slot. Furthermore, the communication module determines the target time slot for sending the information to be sent based on the currently planned time slots and the expected and actual sending and receiving states of each time slot. The expected sending and receiving state of each time slot means that the current time slot is an expected information sending time slot or an expected information receiving time slot. The actual state of each time slot refers to whether information sending and receiving behavior is in progress in the current time slot, with whether the preamble interrupt signal is detected as the factual basis. According to the time slot corresponding to the originally planned sending time, the target time slot for sending the information to be sent is determined, that is, it is determined in what type of time slot the message to be sent is to be sent, and specifically in which time slot it is to be sent.

[0052] The communication module can generally set the length of the preamble, for example, setting the preamble length to 5 bytes, at a speed of 10KHz, the preamble transmission time is 4ms. It is understood that in other embodiments, the preamble length can also be other.

[0053] Step 106: Send the information to be sent at the target time slot.

[0054] After determining the target time slot, the information to be sent is scheduled to be sent at the target time slot, specifically at the start time of the target time slot. This allows information to be sent and received only during the specified time slot. Within a time slot, information transmission and reception are performed at aligned times, thus avoiding message collisions caused by simultaneous transmissions from both parties and improving the efficiency of information transmission.

[0055] The expected information sending time slot is used to send information in the future, and the expected information receiving time slot is used to receive information in the future, so that the sender and receiver complete the corresponding information sending and receiving actions in different types of time slots, avoiding the message collision problem caused by both parties sending information at the same time.

[0056] In one embodiment, Figure 2 As shown, step 104 includes step 204 .

[0057] Step 204: If the originally planned sending time falls within the expected information receiving state time slot, a target time slot is determined based on the information sending and receiving facts that fall within the expected information receiving state time slot.

[0058] Specifically, the fact of sending or receiving information within the expected information reception state time slot refers to whether information sending or receiving actually occurred within the expected information reception state time slot. If the originally planned sending time falls within the expected information reception state time slot, determining the target time slot based on the information sending or receiving facts within the expected information reception state time slot can comprehensively consider the working status of the expected information reception state time slot and reduce the impact on the information sending or receiving work in progress within the expected information reception state time slot.

[0059] In one embodiment, Figure 3 As shown, step 204 includes step 304 .

[0060] Step 304: If the information receiving and sending fact of the expected information receiving state time slot is no information receiving and sending, the next expected information sending state time slot adjacent to the expected information receiving state time slot is determined as the target time slot.

[0061] If no information is actually being sent or received during the expected information reception state time slot, then the next expected information transmission state time slot adjacent to the expected information reception state time slot is determined as the target time slot, so that the information to be sent is sent during the next expected information transmission state time slot adjacent to the expected information reception state time slot. Sending the information to be sent during the expected information reception state time slot can avoid information collisions.

[0062] Furthermore, if Figure 3 As shown, step 204 also includes steps 306 and 308 .

[0063] Step 306: If the information receiving and sending fact of the expected information receiving state time slot is information receiving and sending, then after the information receiving and sending is completed, each time slot is re-planned with the moment of completion of the information receiving and sending as the starting point.

[0064] If the receiving time slot actually does send or receive information, after the information is sent or received, the time slots are rescheduled, starting from the moment the information was interrupted. The length of each rescheduled time slot is the same as the previously scheduled time slot, and the expected states are reassigned to the rescheduled time slots, that is, the rescheduled time slots are set to alternate between the expected information sending state time slots and the expected information receiving state time slots. Rescheduling the time slots calibrates and aligns the time scales of the sender and receiver, avoiding scale misalignment caused by accumulated errors over time.

[0065] Step 308: The first expected information sending state time slot among the re-planned time slots is determined as the target time slot.

[0066] The first expected information sending state time slot in each re-planned time slot is determined as the target time slot, so that the information to be sent is sent in the first expected information sending state time slot in each re-planned time slot to avoid information collision.

[0067] In one embodiment, the specific method for determining whether information transmission and reception in the expected information reception state time slot is actually information transmission and reception is as follows: if a preamble interrupt signal is present within the expected information reception state time slot, the information transmission and reception in the expected information reception state time slot is determined to be information transmission and reception. When the communication module detects a valid preamble, it generates a preamble interrupt signal. Therefore, if a preamble interrupt signal is present within the expected information reception state time slot, the information transmission and reception in the expected information reception state time slot is determined to be information transmission and reception, and the determination process is simple.

[0068] In one embodiment, a specific method for determining whether a preamble code interrupt signal exists within the expected information reception state time slot is as follows: if within the expected information reception state time slot, the preamble interrupt flag in the read register is an interrupt occurrence position, then it is determined that a preamble code interrupt signal exists within the expected information reception state time slot.

[0069] Specifically, a register is provided within the communication module, and an interrupt flag in the register is read via the I2C or SPI bus. Generally, a flag value of 1 indicates an interrupt has occurred, and a flag value of 0 indicates no interrupt has occurred. If the interrupt flag in the read register indicates an interrupt has occurred, which in this embodiment is 1, then a preamble interrupt signal is determined to be present within the expected information reception state time slot.

[0070] Alternatively, a specific method for determining whether a preamble interrupt signal exists within the expected information reception state time slot may be as follows: if the recorded number of interrupt occurrences within the expected information reception state time slot is updated relative to the number of interrupt occurrences at the previous moment, then it is determined that a preamble interrupt signal exists within the expected information reception state time slot. Another method for checking whether an interrupt has occurred is to use a counter variable to track and record the number of interrupt occurrences within the expected information reception state time slot. This variable is updated each time an interrupt occurs. If the recorded number of interrupt occurrences within the expected information reception state time slot is updated relative to the number of interrupt occurrences at the previous moment, then it indicates that an interrupt has occurred and a preamble interrupt signal exists within the expected information reception state time slot. If there is no update, then no interrupt has occurred.

[0071] In one embodiment, Figure 2 As shown, step 104 includes step 206 .

[0072] Step 206: If the originally planned sending time falls within the expected information sending state time slot, determine the target time slot for sending the to-be-sent information based on the time difference between the originally planned sending time and the start time of the expected information sending state time slot.

[0073] If the originally planned sending time falls within the expected information sending state time slot, and the current expected information sending state time slot is considered to be capable of being used to send the information to be sent, then based on the time difference between the originally planned sending time and the start time of the expected information sending state time slot, it is determined whether the target time slot for sending the information to be sent is the current expected information sending state time slot. Based on the time difference between the originally planned sending time and the start time of the expected information sending state time slot, it is possible to determine where the originally planned sending time is located within the expected information sending state time slot, which serves as a basis for determining whether the information to be sent can be successfully sent within the current expected information sending state time slot. The target time slot for sending the information to be sent is then determined, thereby improving the success rate of information sending.

[0074] In one embodiment, Figure 4 As shown, step 206 includes step 406 .

[0075] Step 406: If the time difference between the originally planned sending time and the start time of the expected information sending state time slot is less than or equal to the preset time difference, the expected information sending state time slot is determined as the target time slot.

[0076] The specific value of the preset time difference is not unique and can be, for example, 0.1ms. If the time difference between the originally planned sending time and the start time of the expected information sending state time slot is less than or equal to the preset time difference, the expected information sending state time slot is determined as the target time slot, and the information to be sent is sent within the expected information sending state time slot. This allows the information to be successfully sent within the current expected information sending state time slot.

[0077] In one embodiment, Figure 4 As shown, step 206 includes step 408 .

[0078] Step 408: If the time difference between the original planned sending time and the start time of the expected information sending state time slot is greater than the preset time difference, the next expected information sending state time slot after the expected information sending state time slot is determined as the target time slot.

[0079] The specific value of the preset time difference is not unique; for example, it can be 0.1ms. If the time difference between the originally scheduled send time and the start time of the expected information sending state time slot is greater than the preset time difference, it is considered that the current expected information sending state time slot may not meet the information sending requirements. The next expected information sending state time slot after the expected information sending state time slot is determined as the target time slot to ensure successful information transmission.

[0080] In one embodiment, Figure 4 As shown, step 206 also includes steps 410 and 412 .

[0081] Step 410, after determining the next expected information sending state time slot after the expected information sending state time slot as the target time slot, if there is information sending or receiving facts in the expected information receiving state time slot after the expected information sending state time slot, then after the information sending or receiving facts are completed, the time slots and expected states are re-planned with the moment when the message sending or receiving facts are completed as the starting point.

[0082] Specifically, after the next expected information sending state time slot after the expected information sending state time slot is determined as the target time slot, if there is information sending or receiving in the expected information receiving state time slot after the expected information sending state time slot, then after the information sending or receiving is completed, each time slot is re-planned with the moment when the message sending or receiving is completed as the starting point. The length of each re-planned time slot is the same as the length of the previously planned time slot, and the re-planned time slot is re-assigned the expected state, that is, the re-planned time slot is set to include alternating expected information sending state time slots and expected information receiving state time slots. Re-planning each time slot can calibrate and align the time scales of the sending end and the receiving end, avoiding the problem of scale misalignment caused by accumulated errors after a long time.

[0083] Step 412: The first expected information sending state time slot among the re-planned time slots is determined as the target time slot.

[0084] The first expected information sending state time slot in each re-planned time slot is determined as the target time slot, so that the information to be sent is sent in the first expected information sending state time slot in each re-planned time slot to avoid information collision.

[0085] In one embodiment, the first time slot in the re-planned time slots is the expected information sending state time slot.

[0086] If the information receiving and sending fact that falls into the expected information receiving state time slot is information receiving and sending, then after the information receiving and sending fact is completed, each time slot is re-planned with the moment when the information receiving and sending fact is completed as the starting point, or, after the next expected information sending state time slot after the expected information sending state time slot that falls into is determined as the target time slot, if there is information receiving and sending fact in the expected information receiving state time slot after the expected information sending state time slot that falls into, then after the information receiving and sending fact is completed, each time slot is re-planned with the moment when the information receiving and sending fact is completed as the starting point. In both cases, each time slot is re-planned with the moment when the message receiving and sending fact is completed as the starting point, and the first time slot in each re-planned time slot is set as the expected information sending state time slot. After the information reception is completed, an expected information sending state time slot can be planned immediately for sending information, forming an alternating arrangement of expected information sending state time slots and expected information receiving state time slots, which is convenient for information transmission.

[0087] In one embodiment, when the next expected information sending state time slot adjacent to the expected information receiving state time slot where the original planned sending moment falls is determined as the target time slot, or the first expected information sending state time slot among the re-planned time slots is determined as the target time slot, or the next expected information sending state time slot after the expected information sending state time slot is determined as the target time slot, when it is necessary to send a message to be sent, Figure 2 As shown, step 106 includes step 208 .

[0088] Step 208: After aligning the sending time of the information to be sent with the starting time of the target time slot, the information to be sent is sent at the starting time of the target time slot.

[0089] After aligning the sending time of the information to be sent with the starting time of the target time slot, the information to be sent is sent at the starting time of the target time slot, so that the leading information of the information to be sent can be successfully sent within the target time slot.

[0090] In one embodiment, Figure 2 As shown, after step 106 , the information transmission method further includes step 210 .

[0091] Step 210: If no response packet is received from the other party in a plurality of expected information receiving state time slots within a preset time period, the current communication state is changed to a continuous receiving state.

[0092] The duration of the preset time period is greater than the duration of the time slot. The duration of the preset time period is greater than the duration of the time slot. After sending the information, the communication module waits for at least the length of a time slot to determine whether a response packet can be received. After the communication module sends the information, if the receiving end successfully receives the information, the receiving end will send a response packet to the sending communication module. If the communication module does not receive the response packet from the other end in several expected information reception state time slots within the preset time period, considering that an abnormal problem such as packet loss may have occurred, the communication module will change the current communication state to a continuous reception state and wait for information to be received.

[0093] In one embodiment, Figure 3 As shown, step 210 includes step 310 .

[0094] Step 310: cancel the re-planning of the time slot and change the current communication state to a continuous receiving state not constrained by the time slot.

[0095] If no response packet is received from the other end during several expected message reception time slots within a preset time period, the time slot may be considered invalid. In this case, the communication module will not reschedule the time slots and the expected state because the receiving end will not receive the message, resulting in the time slots on the sending and receiving ends being out of alignment. In this case, the communication module cancels the rescheduling of the time slots and changes the current communication state to a continuous reception state without time slot constraints, waiting to receive data. The preset time period is not unique and can be, for example, 100ms.

[0096] In one embodiment, Figure 2 As shown, after step 210 , the information transmission method further includes step 212 .

[0097] Step 212: If a data packet is received from the other end, each time slot is re-planned with the time when the data packet is received as the starting point.

[0098] The other end is typically the receiving end. The data packet sent by the receiving end can be a data packet or other information, without limitation. If the communication module receives the data packet sent by the receiving end and considers that the information can be received normally, it re-plans each time slot based on the time when the data packet was received. The length of the re-planned time slot is equal to the length of the previously planned time slot, thereby achieving time slot alignment.

[0099] In one embodiment, Figure 2 As shown, the information transmission method further includes step 214.

[0100] In step 214, if the sender and receiver do not send or receive information in a continuous preset number of time slots, it is determined that the time slot is invalid, the time slot planning is canceled, and the current communication state is changed to a continuous receiving state.

[0101] If neither the sender nor the receiver sends or receives information for a preset number of consecutive time slots, it's pointless for the communication module to reschedule the time slots and the estimated state. Without receiving any information, the receiver won't reschedule, causing the time slots on the sender and receiver to become misaligned. At this point, the time slot is deemed invalid, and the current communication state changes to a continuous receive state, awaiting data reception. The preset number is not unique and can be, for example, 10.

[0102] In one embodiment, if the most recent timing start point is the interruption time of the previous message transmission completion, the first time slot among the time slots planned from the most recent timing start point is the expected information reception state time slot. If the most recent timing start point is the interruption time of the previous message reception completion, the first time slot among the time slots planned from the most recent timing start point is the expected information transmission state time slot. This time slot planning method allows the communication module to send information after receiving information and receive information after sending information, and to perform information transmission and reception alternately to ensure normal information transmission.

[0103] The above-mentioned information transmission method, after obtaining the information to be sent, determines the target time slot for sending the information to be sent based on the original planned sending time of the information to be sent, the currently planned time slots, and the expected and actual sending and receiving status of each time slot, wherein the currently planned time slots are multiple time intervals set with the most recent timing starting point as the starting point, one time interval corresponds to one time slot, and the time slots include alternating expected information sending status time slots and expected information receiving status time slots, the most recent timing starting point is the interruption time when the previous information is sent or the interruption time when the previous information is received, the time interval is greater than the preamble code transmission time of the information to be sent, and then the information to be sent is sent in the target time slot. The time interval is greater than the preamble code transmission time of the information to be sent, so that the preamble signal can be received normally within the time slot, and multiple alternating expected information sending state time slots and expected information receiving state time slots are set with the interruption time of the previous information sending completion or the interruption time of the previous information receiving completion as the starting point. According to the original planned sending time and the expected and actual sending and receiving status of each time slot, the target time slot for sending the information to be sent is determined, and then the information to be sent is sent in the target time slot, so that information sending and receiving are only carried out in a specific time slot, and information sending and receiving are carried out once in one time slot, thereby avoiding message collisions caused by both parties sending information at the same time, improving the effectiveness of information transmission, and working reliably.

[0104] To better understand the above embodiment, a detailed explanation is provided below with reference to a specific embodiment. In one embodiment, the information transmission method is applied to a communication module on a sweeping robot and a base station, with the two communication modules being the transmitting end and the receiving end, respectively. The communication module can generally set the length of the preamble, for example, setting the preamble length to 5 bytes. At a speed of 10 kHz, the preamble transmission time is 4 ms. The message length is variable, and the average transmission time of the entire packet is assumed to be 20 ms.

[0105] like Figure 5 As shown in the figure, communication modules generally enable interrupts for preamble detection, packet reception completion, and packet transmission completion. When the module detects a valid preamble, it generates an interrupt signal to notify the software for processing. When a complete packet is received, it also generates an interrupt to notify the software in the main controller CPU for processing. When a complete packet is transmitted, another interrupt is generated. When the interrupt condition is met, the communication module interrupts the main controller via a hardware pin. Software running on the main controller can query the interrupt flag bit in the communication module register via the I2C or SPI bus to determine which interrupt type occurred.

[0106] After the sender sends a packet, a send completion interrupt is generated, and the sender software starts timing in the interrupt handler. The sender software plans several consecutive time scales, and the length of the time slot between the scales needs to be slightly longer than the transmission time of the preamble. For example, if the preamble transmission time is 4ms, the time slot length can be set to 5ms, but it is not limited to this value. After the receiver receives a packet, a receive completion interrupt is generated, and the receiver software starts timing in the interrupt handler. The receiver software plans several consecutive time scales, and the time length is consistent with the time length of the sender, both 5ms. Since the sender's send completion interrupt and the receiver's receive completion interrupt are almost simultaneous, the sender's time scale planning and the receiver's time scale planning are almost the same within a period of time, which ensures that the time slots of the two are aligned within a period of time.

[0107] like Figure 6 As shown, each time slot includes two expected states: the expected signal reception state and the expected signal transmission state. The first time slot on the transmitting end is set as the expected information reception state time slot, i.e., RX'. The second is set as the expected information transmission state time slot, i.e., TX'. And so on. The first time slot on the receiving end is set as the expected information transmission state time slot, the second is set as the expected information reception state time slot, and so on.

[0108] If a message needs to be sent during the expected message sending state time slot, it can be sent at the start tick of the time slot. A certain alignment error is allowed, which can be set to, but not limited to, 0.1ms. If the error is greater than 0.1ms, the message is deferred to the start tick of the next expected message sending state time slot.

[0109] like Figure 7 As shown, within the expected information reception state time slot, a check is performed within the 4ms to 5ms range (Note 1) at the end of the expected information reception state time slot to determine whether a valid preamble interrupt has occurred. If an interrupt is detected, it indicates that the other party is sending a message during that time slot; otherwise, it indicates that the other party is not sending a message during that time slot. One way to detect whether an interrupt has occurred is to read the interrupt flag in a register via the I2C or SPI bus. Generally, a flag value of 1 indicates an interrupt has occurred, and a value of 0 indicates no interrupt has occurred. Another way to check whether an interrupt has occurred is to use a counter variable to track and record the occurrence of the interrupt. This variable is updated each time an interrupt occurs. If the variable is updated, it indicates an interrupt has occurred; if it is not updated, it indicates no interrupt has occurred. Figure 7 Note 1 indicates that the robot did not detect an interrupt at the expected end of the RX' cycle, proving that the base station did not send a message during that time slot. Note 2 indicates that the base station did not detect an interrupt at the expected end of the RX' cycle, proving that the robot did not send a message during that time slot. Note 3 indicates that the base station sent a message at the start of the TX' cycle and triggered a preamble valid detection interrupt on the robot side. Note 4 indicates that the robot detected an interrupt at the expected end of the RX' cycle, proving that the base station was sending a message during that time slot.

[0110] like Figure 8 As shown in the figure, after each transmission is completed, the transmitter re-plans the time slots to align with the triggering time of the send completion interrupt, re-plans the time slots to match the previously planned length, and re-assigns the expected state to the time slots. The receiver re-plans the time slots to align with the triggering time of the receive completion interrupt, re-assigns the expected state to the time slots. The purpose of re-planning is to calibrate and align the time scales of the transmitter and receiver to avoid the problem of scale misalignment caused by accumulated errors over time. Figure 8 Note 1: After the sender receives the send completion interrupt, it reschedules the subsequent time slots and resets the expected state. Note 1: After the receiver receives the receive completion interrupt, it reschedules the subsequent time slots and resets the expected state.

[0111] Specifically, if Figure 9As shown in , if the time when the user originally planned to send falls into the expected information receiving state time slot, and there is no actual message sending or receiving in this time slot, the message planned to be sent needs to be rescheduled to the starting time of the subsequent expected information sending state time slot. Figure 10 As shown in the figure, if the time when the user originally planned to send a message falls into the expected information receiving state time slot, and the time slot at this moment is currently sending or receiving messages, the message sending and receiving will be completed first, and the time slot and expected state will be re-planned. Then, the message originally planned to be sent will be arranged to be sent at the start time of the re-planned expected information sending state time slot. Figure 11 As shown in , if the time when the user originally planned to send a message falls within the expected information sending state time slot, and if the time difference between this time point and the start time of the time slot is less than 0.1ms, the message can be arranged to be sent immediately at this time. Figure 12 As shown in , if the time when the user originally planned to send a message falls into the expected information sending state time slot, if the time difference between this time point and the start time of the time slot is greater than 0.1ms, the message will be scheduled to be sent at the start time of the next expected information sending state time slot. Figure 13 As shown, if the time when the user originally planned to send a message falls within the expected message sending state time slot, and if the time difference between this time point and the start time of the time slot is greater than 0.1ms, the message will initially be scheduled to be sent at the start time of the next expected message sending state time slot. However, if there happens to be a message being sent or received in the later expected message receiving state time slot, the message sending or receiving will be completed first, and the time slot and expected state will be rescheduled. After that, the message will be rescheduled to be sent at the start time of the rescheduled expected message sending state time slot. Figure 13 Note 1 indicates the first rescheduled sending time, and Note 2 indicates the second scheduled sending time after the time slot is re-planned due to the influence of base station message B.

[0112] For various reasons, after sending a message, Party B may not detect a valid preamble interrupt signal. It is meaningless for Party A to reschedule the time slot and estimated status. Because Party B has not received the packet, it will not reschedule, causing the time slots on Party A and Party B to be out of alignment. This situation requires several improvements:

[0113] 1) Party A adds a timeout prediction for an ACK response packet. If Party A does not receive an ACK response packet within several expected receiving time slots within the expected time after sending a non-ACK packet, the time slot is considered invalid, and Party A should actively cancel the time slot rescheduling.

[0114] 2) After party A cancels the time slot, it needs to change its state to the continuous RX state and actively wait for the packet sent by party B.

[0115] 3) If party A does not receive any packet after a period of time (e.g., 100ms) in the continuous RX state, it resends the previous packet and then enters the continuous RX state again.

[0116] 4) If Party A receives any packet from Party B in the continuous RX state, Party A will restart time slot planning and set the expected state.

[0117] 5) If both parties A / B have enabled the time slot planning function and there is no message sending or receiving action within N (for example, 10) consecutive RX'+TX' time slots, the time slot is considered invalid. Party A / B should actively cancel the time slot planning and set it to continuous RX receiving state until one party needs to send a message and switches to TX state.

[0118] 6) Once A / B receives any packet from the other party, it restarts time slot planning and sets the expected status. Figure 14 The base station cancels the plan, and the robot sends and receives messages to restore the plan. Figure 15 The planning is canceled for both the robot and the base station. The base station resends the message to resume the planning after 100ms.

[0119] This information transmission method avoids collisions caused by unpredictable states and adds time slot planning and state prediction capabilities. At higher transmission and reception frequencies, the predictable and verifiable state significantly reduces the probability of collisions. Furthermore, by limiting the length of time slots, it maintains high message real-time performance (average latency less than 5 milliseconds).

[0120] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0121] Based on the same inventive concept, the embodiments of the present application further provide an information transmission device for implementing the aforementioned information transmission method. The implementation solution provided by this device is similar to the implementation solution described in the aforementioned method. Therefore, the specific limitations in one or more of the following information transmission device embodiments can be found in the above-mentioned limitations on the information transmission method and will not be further elaborated here.

[0122] In one embodiment, see Figure 16 , provides an information transmission device, including a to-be-sent information acquisition module 110, a target time slot determination module 112, and an information sending module 114, wherein:

[0123] The information to be sent obtaining module 110 is used to obtain the information to be sent.

[0124] The target time slot determination module 112 is used to determine the target time slot for sending the information to be sent based on the original planned sending time of the information to be sent, the currently planned time slots, and the expected and actual sending and receiving status of each time slot; wherein, the currently planned time slots are multiple time intervals set with the most recent timing starting point as the starting point, one time interval corresponds to one time slot, and the time slots include alternating expected information sending status time slots and expected information receiving status time slots, the most recent timing starting point is the interruption time when the previous information is sent or the interruption time when the previous information is received, and the time interval is greater than the preamble code transmission time of the information to be sent.

[0125] The information sending module 114 is configured to send the information to be sent at a target time slot.

[0126] In one embodiment, the target time slot determination module 112 is further configured to determine the target time slot based on the information transmission and reception facts falling into the expected information reception state time slot if the originally planned transmission time slot falls into the expected information reception state time slot.

[0127] In one embodiment, the target time slot determination module 112 is also used to determine the next expected information sending state time slot adjacent to the expected information receiving state time slot as the target time slot if the information sending and receiving fact of the expected information receiving state time slot is no information sending and receiving.

[0128] In one embodiment, the target time slot determination module 112 is also used to re-plan each time slot if the fact of information reception and transmission in the expected information reception state time slot is information reception and transmission. After the information reception and transmission is completed, the time slots are re-planned with the moment when the information reception and transmission is completed as the starting point, and the first expected information sending state time slot in the re-planned time slots is determined as the target time slot.

[0129] In one embodiment, the target time slot determining module 112 is further configured to determine that the information receiving and sending fact in the expected information receiving state time slot is information receiving and sending if a preamble interruption signal exists in the expected information receiving state time slot.

[0130] In one embodiment, the target time slot determination module 112 is further configured to:

[0131] If the preamble interrupt flag in the read register is set to the interrupt occurrence bit during the expected information reception state time slot, it is determined that a preamble interrupt signal exists during the expected information reception state time slot; or

[0132] If the recorded number of interruption occurrences in the expected information reception state time slot is updated relative to the number of interruption occurrences in the expected information reception state time slot at the previous moment, it is determined that a preamble interruption signal exists in the expected information reception state time slot.

[0133] In one embodiment, the target time slot determination module 112 is also used to determine the target time slot for sending the information to be sent based on the time difference between the original planned sending time and the start time of the expected information sending state time slot if the original planned sending time falls into the expected information sending state time slot.

[0134] In one embodiment, the target time slot determination module 112 is also used to determine the expected information sending state time slot as the target time slot if the time difference between the original planned sending time and the start time of the expected information sending state time slot is less than or equal to the preset time difference.

[0135] In one embodiment, the target time slot determination module 112 is also used to determine the next expected information sending status time slot after the expected information sending status time slot as the target time slot if the time difference between the original planned sending time and the start time of the expected information sending status time slot is greater than the preset time difference.

[0136] In one embodiment, the target time slot determination module 112 is also used to determine the next expected information sending state time slot after the expected information sending state time slot that falls as the target time slot. If there is an information sending or receiving fact in the expected information receiving state time slot after the expected information sending state time slot that falls, then after the information sending or receiving fact is completed, the time slots and expected states are re-planned with the moment when the message sending or receiving fact is completed as the starting point; the first expected information sending state time slot in each re-planned time slot is determined as the target time slot.

[0137] In one embodiment, the first time slot in the re-planned time slots is the expected information sending state time slot.

[0138] In one embodiment, the information sending module 114 is further configured to align the originally planned sending time of the information to be sent with the start time of the target time slot, and then send the information to be sent at the start time of the target time slot.

[0139] In one embodiment, the information transmission device also includes a timeout prediction module, which is used to change the current communication state to a continuous reception state if no response packet is received from the other party in several expected information receiving state time slots within a preset time period after the information sending module 114 sends the information to be sent in the target time slot. The duration of the preset time period is greater than the duration of the time slot.

[0140] In one embodiment, the timeout prediction module is further configured to cancel the re-planning of the time slot and change the current communication state to a continuous receiving state not constrained by the time slot.

[0141] In one embodiment, the timeout prediction module is further configured to, upon receiving a data packet sent by the other end, re-plan each time slot with the time when the data packet is received as the starting point.

[0142] In one embodiment, the information transmission device also includes a failure judgment module, which is used to determine that the time slot is invalid if the sender and receiver do not send or receive information in a consecutive preset number of time slots, cancel the time slot planning, and change the current communication state to a continuous receiving state.

[0143] In one embodiment, if the most recent timing starting point is the interruption moment when the previous information is sent, the first time slot among the time slots planned from the most recent timing starting point is the expected information receiving status time slot; if the most recent timing starting point is the interruption moment when the previous information is received, the first time slot among the time slots planned from the most recent timing starting point is the expected information sending status time slot.

[0144] Each module in the above-mentioned information transmission device can be implemented in whole or in part through software, hardware, or a combination thereof. Each module can be embedded in or independent of the processor in the computer device in hardware form, or can be stored in the memory of the computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0145] In one embodiment, a communication device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0146] In one embodiment, the communication device is a robot or a base station. Both the robot and the base station are provided with a communication module, and the steps in the above-mentioned method embodiments are implemented through the communication module.

[0147] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0148] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processor involved in the various embodiments provided herein may be, but are not limited to, a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, and the like.

[0149] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0150] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. An information transmission method, characterized in that: The method comprises: Get the information to be sent; Determine a target time slot for sending the information to be sent based on the originally planned sending time of the information to be sent, as well as the currently planned time slots and the expected and actual sending and receiving states of each of the time slots; wherein the currently planned time slots are multiple time intervals set with the most recent timing starting point as the starting point, one time interval corresponds to one time slot, the time slots include alternating expected information sending state time slots and expected information receiving state time slots, the most recent timing starting point is the interruption time when the previous information sending is completed or the interruption time when the previous information receiving is completed, and the time interval is greater than the preamble code transmission time of the information to be sent; Sending the information to be sent in the target time slot; The determining of the target time slot for sending the information to be sent based on the originally planned sending time of the information to be sent, the currently planned time slots, and the expected and actual sending and receiving status of each of the time slots includes: If the originally planned sending time falls within the expected information receiving state time slot, determining the target time slot based on the information sending and receiving facts of the expected information receiving state time slot; The step of determining the target time slot based on the information receiving and sending facts of the expected information receiving state time slot includes: If the information receiving and sending fact of the time slot falling into the expected information receiving state is information receiving and sending, then after the information receiving and sending is completed, each time slot is re-planned with the moment when the information receiving and sending is completed as the starting point; The first expected information sending state time slot among the re-planned time slots is determined as the target time slot.

2. The information transmission method according to claim 1, wherein: The determining of the target time slot based on the information receiving and sending facts of the expected information receiving state time slot includes: If the information receiving and sending fact of the expected information receiving state time slot that falls into is no information receiving and sending, the next expected information sending state time slot adjacent to the expected information receiving state time slot that falls into is determined as the target time slot.

3. The information transmission method according to claim 1, wherein: If a preamble interruption signal exists in the expected information reception state time slot, it is determined that the information transmission and reception fact in the expected information reception state time slot is information transmission and reception.

4. The information transmission method according to claim 3, wherein: If the preamble interrupt flag in the read register is an interrupt occurrence bit in the expected information reception state time slot, it is determined that a preamble interrupt signal exists in the expected information reception state time slot; or If the recorded number of interruption occurrences in the expected information reception state time slot is updated relative to the number of interruption occurrences in the expected information reception state time slot at the previous moment, it is determined that a preamble interruption signal exists in the expected information reception state time slot.

5. The information transmission method according to claim 1, wherein: The determining of a target time slot for sending the information to be sent based on the originally planned sending time of the information to be sent, the currently planned time slots, and the expected and actual sending and receiving status of each time slot includes: If the originally planned sending time falls into the expected information sending state time slot, the target time slot for sending the to-be-sent information is determined based on the time difference between the originally planned sending time and the start time of the expected information sending state time slot.

6. The information transmission method according to claim 5, characterized in that: The determining of a target time slot for sending the to-be-sent information based on a time difference between the originally planned sending time and the start time of the expected information sending state time slot includes: If the time difference between the originally planned sending time and the start time of the expected information sending state time slot is less than or equal to the preset time difference, the expected information sending state time slot is determined as the target time slot.

7. The information transmission method according to claim 5, characterized in that: The determining of a target time slot for sending the to-be-sent information based on a time difference between the originally planned sending time and the start time of the expected information sending state time slot includes: If the time difference between the originally planned sending time and the starting time of the expected information sending state time slot is greater than the preset time difference, the next expected information sending state time slot after the expected information sending state time slot is determined as the target time slot.

8. The information transmission method according to claim 7, characterized in that: The determining of a target time slot for sending the to-be-sent information based on a time difference between the originally planned sending time and the start time of the expected information sending state time slot, further comprising: After determining the next expected information sending state time slot after the expected information sending state time slot as the target time slot, if there is an information sending or receiving event in the expected information receiving state time slot after the expected information sending state time slot, then after the information sending or receiving event is completed, re-planning the time slots and expected states with the time when the information sending or receiving event is completed as the starting point; The first expected information sending state time slot among the re-planned time slots is determined as the target time slot.

9. The information transmission method according to claim 1 or 8, characterized in that: The first time slot among the re-planned time slots is the estimated information sending state time slot.

10. The information transmission method according to any one of claims 1, 2, 7 and 8, characterized in that: The sending of the information to be sent at the target time slot includes: After aligning the sending time of the information to be sent with the starting time of the target time slot, the information to be sent is sent at the starting time of the target time slot.

11. The information transmission method according to claim 1, wherein: After sending the information to be sent in the target time slot, the method further includes: If no response packet is received from the other party in several expected information reception state time slots within a preset time period, the current communication state is changed to a continuous reception state, and the duration of the preset time period is greater than the duration of the time slot.

12. The information transmission method according to claim 11, characterized in that: The changing of the current communication state to the continuous receiving state includes: Cancel the re-planning of the time slot and change the current communication state to a continuous receiving state not constrained by the time slot.

13. The information transmission method according to claim 11, characterized in that: After the current communication state is changed to the continuous reception state, the method further includes: If a data packet sent by the other end is received, each time slot is re-planned with the time when the data packet is received as the starting point.

14. The information transmission method according to claim 1, wherein: The method further comprises: If the sender and receiver do not send or receive information in a continuous preset number of time slots, the time slot is determined to be invalid, the time slot planning is canceled, and the current communication state is changed to a continuous receiving state.

15. The information transmission method according to claim 1, wherein: If the most recent timing starting point is the interruption time of the last message sending completion, then the first time slot among the time slots planned from the most recent timing starting point is the expected information receiving state time slot; If the most recent timing starting point is the interruption time of the last information reception completion, then the first time slot among the time slots planned from the most recent timing starting point is the estimated information sending state time slot.

16. An information transmission device, characterized in that: The device comprises: The module for obtaining information to be sent is used to obtain information to be sent; A target time slot determination module is configured to determine a target time slot for sending the information to be sent based on the originally planned sending time of the information to be sent, the currently planned time slots, and the expected and actual sending and receiving states of each of the time slots; wherein the currently planned time slots are multiple time intervals set with the most recent timing starting point as the starting point, one time interval corresponds to one time slot, and the time slots include alternating expected information sending state time slots and expected information receiving state time slots, wherein the most recent timing starting point is the interruption moment when the previous information is sent or the interruption moment when the previous information is received, and the time interval is greater than the preamble code transmission time of the information to be sent; wherein, if the originally planned sending time falls within the expected information receiving state time slot, the target time slot is determined based on the information sending and receiving facts of the expected information receiving state time slot that falls within; if the information sending and receiving facts of the expected information receiving state time slot that falls within are information sending and receiving, then after the information is sent and received, the time slots are re-planned with the moment when the information is sent and received as the starting point, and the first expected information sending state time slot in the re-planned time slots is determined as the target time slot; The information sending module is used to send the information to be sent in the target time slot.

17. A communication device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 15 are implemented.

18. The communication device according to claim 17, wherein: The communication device is a robot or a base station.

19. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 15 are implemented.

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