Channel management method, base station, and computer-readable storage medium

Abstract

The application discloses a channel management method, a base station and a computer readable storage medium. The method comprises the following steps: listening to first broadcast data transmitted through an initial channel, wherein the initial channel is a historical channel determined by a first base station and a first self-moving device in a pair; determining whether the first broadcast data is sent by a second base station other than the first base station in a communication system according to a source address of the first broadcast data; and determining that the initial channel is in conflict if the first broadcast data is sent by the second base station. The method can realize the communication between the base station and the self-moving device in the pair through the broadcast mode, can listen to whether there is broadcast data sent by other base stations other than the first base station on the initial channel, and can determine that the initial channel is in conflict if there is the broadcast data. The detection process is simple, the initial channel does not need to be actually occupied, the base station does not need to be set to the acceptance mode and the standby mode, and the interference on the communication between other base stations and the self-moving device can be effectively reduced.

Description

Technical Field

[0001] This application relates to the field of the Internet of Things (IoT), and more particularly to a channel management method, a base station, and a computer-readable storage medium. Background Technology

[0002] In the Internet of Things (IoT) field, base stations typically establish communication connections with mobile devices based on LoRa (Long Range Radio) technology. After establishing the connection, the base station can exchange data with the mobile device through paired channels. However, because LoRa communication technology uses relatively low data rates and has a limited number of channels to choose from depending on the country code, it is prone to channel conflicts between base stations. Related technologies often use a Channel Activity Detector (CAD) to detect channel conflicts. However, during CAD detection, the base station chip needs to periodically be in receive mode and otherwise in standby mode, which can cause significant interference to the base station and affect its normal operation.

[0003] Therefore, reducing interference to base stations when detecting channel conflicts has become an urgent problem to be solved. Summary of the Invention

[0004] This application provides a channel management method, a base station, and a computer-readable storage medium, which solves the problem that using CAD to detect channel conflicts in related technologies can cause interference to the base station.

[0005] In a first aspect, this application provides a channel management method, the method comprising: monitoring first broadcast data transmitted through an initial channel, the initial channel being a historical channel negotiated and determined by a first base station and a paired first self-moving device; determining whether the first broadcast data was sent by a second base station other than the first base station in the communication system based on the source address of the first broadcast data; and determining that the initial channel has collided if the first broadcast data was sent by the second base station.

[0006] The above method involves setting up a base station and a paired self-moving device to communicate via broadcast. In this way, after the first base station negotiates and determines the initial channel with the paired self-moving device, it can listen for broadcast data sent by other base stations besides the first base station on the initial channel before sending data again. If such broadcast data is found, it indicates that the initial channel has conflicted. The detection process is simple, and there is no need to actually occupy the initial channel or set the base station to receive mode or standby mode. This can effectively reduce interference with the communication between other base stations and self-moving devices.

[0007] Secondly, this application also provides a base station, which is paired with a self-moving device for communication. The base station includes a memory and a processor. The memory is used to store a computer program. The processor is used to execute the computer program and implement the channel management method described above when executing the computer program.

[0008] Thirdly, this application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to implement the channel management method described above. Attached Figure Description

[0009] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1 This is a schematic diagram of a communication system provided in an embodiment of this application;

[0011] Figure 2 This is a schematic diagram of broadcast data provided in an embodiment of this application;

[0012] Figure 3 This is a schematic diagram of the structure of a base station provided in an embodiment of this application;

[0013] Figure 4 This is a schematic flowchart illustrating a channel management method provided in an embodiment of this application;

[0014] Figure 5 This is a schematic flowchart of another channel management method provided in an embodiment of this application;

[0015] Figure 6 This is a schematic flowchart illustrating the determination of a target channel provided in an embodiment of this application;

[0016] Figure 7 This is a schematic flowchart illustrating another sub-step for determining a target channel provided in an embodiment of this application;

[0017] Figure 8 This is a schematic flowchart illustrating a sub-step of performing a channel switching operation according to an embodiment of this application;

[0018] Figure 9 This is a schematic diagram of a channel switching command provided in an embodiment of this application. Detailed Implementation

[0019] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0020] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0021] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0022] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0023] Embodiments of this application provide a channel management method, a base station, and a computer-readable storage medium. The channel management method can be applied to a base station in a communication system. By configuring the base station and its paired self-moving device to communicate via broadcast, it can monitor whether broadcast data sent by other base stations besides the first base station exists on the initial channel. If such broadcast data exists, it indicates a conflict on the initial channel. The detection process is simple, eliminating the need to actually occupy the initial channel or set the base station to receive or standby mode, effectively reducing interference to communication between other base stations and self-moving devices.

[0024] Please see Figure 1 , Figure 1 This is a schematic diagram of a communication system 10 provided in an embodiment of this application. Figure 1 As shown, the communication system 10 includes multiple pairs of paired base stations 11 and self-moving devices 12, with each base station 11 and self-moving device 12 paired and communicating one-to-one.

[0025] Among them, the self - moving device 12 may include, but is not limited to, movable devices such as lawn mowers, floor - cleaning robots, food - delivery robots, and reception robots. The base station 11 refers to a reference station, which is used to receive differential data from satellites and send the differential data to the self - moving device 12 for the self - moving device 12 to perform differential positioning operations according to the differential data. Exemplarily, the base station 11 may be a charging base station supporting the self - moving device 12. Among them, the base station 11 may be the charging base station of the self - moving device 12. The charging base station is equipped with a satellite signal receiver for positioning and serves as a reference station. The charging base station may be in a fixed position or movable.

[0026] Exemplarily, each paired base station 11 and self - moving device 12 perform broadcast data communication through an initial channel. Among them, both the base station 11 and the self - moving device 12 are equipped with LoRa communication modules for communication.

[0027] It should be noted that the initial channel refers to the historical channel negotiated and determined by each base station 11 and the paired self - moving device 12. The channels mentioned in the embodiments of the present application refer to specific frequency ranges.

[0028] It should be noted that the broadcast data mentioned in the embodiments of the present application refers to point - to - point broadcast data. Point - to - point broadcast data means that the data is transmitted in a broadcast form on the corresponding channel (for example, the data includes a broadcast address FFFFFFFFFFFF). Since it is broadcast data, all devices can listen and receive the data through the LoRa communication module on this channel. At the same time, the communication address of the device that sends the data is carried as the source address in the corresponding field of the data. Among all the devices that listen and receive the data through the LoRa communication module, it can be determined whether the data is sent by the device paired with itself according to the source address carried in the data, and then determine whether to process the data or directly discard it.

[0029] Exemplarily, after the base station and the self - moving device complete pairing and determine the initial channel, the base station can broadcast data through the initial channel to send data to the self - moving device. Please refer to Figure 2 , Figure 2 which is a schematic diagram of broadcast data provided by the embodiments of the present application. As Figure 2 shown, when the initial channel is Channel 1 and the data is AABBCC, the base station A can broadcast the data through Channel 1, and all devices using Channel 1 can listen to the data AABBCC, such as the self - moving device B and the self - moving device C.

[0030] For example, when each paired base station 11 and self-moving device 12 conducts broadcast data communication, the base station 11 can add its communication address as the source address to the broadcast data, so that the self-moving device 12 receiving the broadcast data can determine whether the broadcast data was sent by the paired base station 11 based on the source address in the broadcast data. Furthermore, the base station 11 can also add the communication address of the target device requiring point-to-point communication as the destination address to the corresponding field of the broadcast data, so that the self-moving device 12 receiving the broadcast data can determine whether the target device of the broadcast data is itself based on the destination address in the corresponding field of the broadcast data.

[0031] In this embodiment of the application, each base station 11 in the communication system 10 can serve as a first base station to execute the channel management method provided in this application.

[0032] For example, the first base station can listen to the first broadcast data transmitted through the initial channel and determine whether the first broadcast data was sent by a second base station other than the first base station in the communication system based on the source address of the first broadcast data; if the first broadcast data was sent by the second base station, it is determined that the initial channel has collided.

[0033] It is understandable that an initial channel collision occurs when the historical channel negotiated and determined by the first base station and its paired first self-moving device is occupied by another second base station. The second base station can then transmit broadcast data to its paired second self-moving device via this initial channel. Since the second base station broadcasts the data point-to-point via the initial channel, the first base station can monitor the broadcast data transmitted through the initial channel. Therefore, the first base station can determine whether the broadcast data originated from the first base station based on the source address of the broadcast data.

[0034] Please see Figure 3 , Figure 3 This is a schematic diagram of the structure of a base station 11 provided in an embodiment of this application. The base station 11 may include a processor 1001 and a memory 1002, wherein the processor 1001 and the memory 1002 can be connected by a bus, such as an I2C (Inter-integrated Circuit) bus or any applicable bus.

[0035] The memory 1002 may include a storage medium and internal memory. The storage medium may store an operating system and a computer program. The computer program includes program instructions that, when executed, cause the processor to perform a channel management method.

[0036] The processor 1001 provides computing and control capabilities to support the operation of the entire base station 11.

[0037] The processor 1001 can be a Central Processing Unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0038] In one embodiment, the processor 1001 is configured to run a computer program stored in the memory 1002 to perform the following steps:

[0039] The system monitors the first broadcast data transmitted through an initial channel, which is a historical channel negotiated and determined by the first base station and the paired first self-moving device. It then determines whether the first broadcast data was sent by a second base station other than the first base station in the communication system based on the source address of the first broadcast data. If the first broadcast data was sent by the second base station, it is determined that a collision has occurred on the initial channel.

[0040] In one embodiment, when the processor 1001 determines whether the first broadcast data was sent by a second base station other than the first base station in the communication system based on the source address of the first broadcast data, it is configured to:

[0041] Obtain the source address in the first broadcast data; if the source address is not the communication address of the first base station, determine that the first broadcast data was sent by the second base station; if the source address is the communication address of the first base station, determine that the first broadcast data was sent by the first base station.

[0042] In one embodiment, after determining that an initial channel collision has occurred, the processor 1001 is further configured to:

[0043] Determine the target channel from the available channels other than the initial channel; perform a channel switching operation to switch the communication channel between the first base station and the first self-moving device from the initial channel to the target channel.

[0044] In one embodiment, when determining a target channel from other available channels besides the initial channel, the processor 1001 is configured to:

[0045] Candidate channels are determined from other available channels besides the initial channel according to preset rules; the presence of broadcast data from the second base station is monitored on the candidate channels; if no broadcast data from the second base station is present on the candidate channels, the candidate channels are determined to be idle channels; the candidate channels are occupied and designated as target channels; if broadcast data from the second base station is present on the candidate channels, the steps of determining candidate channels from other available channels besides the initial channel according to preset rules are executed.

[0046] In one embodiment, when implementing the occupancy operation of the candidate channel, the processor 1001 is configured to:

[0047] On the candidate channel, the application layer data of the first base station is broadcast in the form of second broadcast data; wherein the source address of the second broadcast data is the communication address of the first base station, and the destination address of the second broadcast data is the communication address of the first self-moving device.

[0048] In one embodiment, when implementing the occupancy operation of the candidate channel, the processor 1001 is configured to:

[0049] On the candidate channel, heartbeat data is broadcast in the form of second broadcast data, the source address of which is the communication address of the first base station.

[0050] In one embodiment, when determining the target channel from other available channels besides the initial channel, the processor 1001 is further configured to:

[0051] If there are no idle channels among the available channels other than the initial channel, then the communication frequency corresponding to each available channel is determined. The communication frequency is the number of times the base station transmits data based on each available channel. The available channel corresponding to the minimum communication frequency is determined as the target channel.

[0052] In one embodiment, the first base station includes a first receiving channel and a first transmitting channel; when executing the channel switching operation, the processor 1001 is used to:

[0053] Configure the receiving frequency band of the first receiving channel to the frequency band corresponding to the target channel, and keep the transmitting frequency band of the first transmitting channel to the frequency band corresponding to the initial channel; based on the first transmitting channel, send a channel switching command to the first self-moving device, the channel switching command including the channel identifier of the target channel; when the channel switching completion response sent by the first self-moving device is received through the first receiving channel, configure the transmitting frequency band of the first transmitting channel to the frequency band corresponding to the target channel.

[0054] The following detailed description, in conjunction with the accompanying drawings, outlines some embodiments of this application. Unless otherwise specified, the following embodiments and features described herein can be combined with each other. Please refer to... Figure 4 , Figure 4 This is a schematic flowchart illustrating a channel management method provided in an embodiment of this application, such as... Figure 4 As shown, the channel management method includes steps S101 to S103.

[0055] Step S101: Listen to the first broadcast data transmitted through the initial channel, which is a historical channel negotiated and determined by the first base station and the paired first self-moving device.

[0056] For example, the first base station can monitor first broadcast data transmitted through an initial channel in real time. The initial channel is a historical channel negotiated and determined by the first base station and its paired first self-moving device.

[0057] It should be noted that each time the first base station powers on, it randomly selects one available channel from multiple available channels to pair with the first self-moving device, thus obtaining an initial channel. The first base station may include a first receiving channel and a first transmitting channel. When obtaining the initial channel, the frequency bands of the first receiving channel and the first transmitting channel can be set to the frequency band of the initial channel. Simultaneously, the first self-moving device can also set the frequency bands of its receiving channel and transmitting channel to the frequency band of the initial channel.

[0058] It is understandable that the initial channel may already be used by other paired base stations and self-moving devices, which may cause conflicts when data needs to be sent through the initial channel later. Therefore, the first base station needs to listen to whether the initial channel is occupied by other base stations.

[0059] In this embodiment of the application, each pair of paired base stations and self-moving devices will communicate via broadcast data on the corresponding initial channel. All base stations and self-moving devices using the initial channel can receive the broadcast data transmitted by the initial channel. Therefore, the first base station can determine whether the broadcast data is sent by other base stations by listening to the initial channel within a preset period of time.

[0060] In the above embodiments, by monitoring the first broadcast data transmitted through the initial channel, the source address of the first broadcast data can be used to determine which base station sent the first broadcast data. Furthermore, by monitoring whether other base stations are sending broadcast data on the initial channel, it is unnecessary to transmit data on the initial channel, thereby avoiding the occupation of the initial channel and reducing the impact on the normal communication of other base stations on the initial channel.

[0061] Step S102: Determine whether the first broadcast data was sent by a second base station other than the first base station in the communication system based on the source address of the first broadcast data.

[0062] For example, when first broadcast data transmitted through the initial channel is detected, it can be determined whether the first broadcast data was sent by a second base station other than the first base station in the communication system based on the source address of the first broadcast data.

[0063] It should be noted that each paired base station and the self-moving device communicate via broadcast data, and the broadcast data may include the source address. For example, as shown in Table 1 below, Table 1 is the header of the broadcast data.

[0064] Table 1

[0065]

[0066] As shown in Table 1, the header of broadcast data can include multiple fields, such as data length, data type, source address (SrcMac), destination address (DestMac), data content (Payload), and CRC (Cyclic Redundancy Check). The source address can be the communication address of the base station, such as its MAC (Media Access Control) address; the destination address can be the communication address of the mobile device, such as its MAC address.

[0067] In this embodiment of the application, the source address in the broadcast data can be used to determine which base station or mobile device sent the broadcast data.

[0068] In some embodiments, determining whether the first broadcast data was sent by a second base station other than the first base station in the communication system based on the source address of the first broadcast data may include: obtaining the source address in the first broadcast data; determining that the first broadcast data was sent by the second base station when the source address is not the communication address of the first base station; and determining that the first broadcast data was sent by the first base station when the source address is the communication address of the first base station.

[0069] For example, the communication address of the first base station can be compared with the source address of the first broadcast data. If they match, it can be determined that the first broadcast data was sent by the first base station; if they do not match, it can be determined that the first broadcast data was sent by the second base station.

[0070] It should be noted that the second base station can be any base station in the communication system other than the first base station.

[0071] Step S103: If the first broadcast data is sent by the second base station, then it is determined that an initial channel collision has occurred.

[0072] For example, after determining whether the first broadcast data was sent by a second base station other than the first base station in the communication system based on the source address of the first broadcast data, if the first broadcast data was sent by the second base station, it can be determined that an initial channel collision has occurred.

[0073] For example, if the first broadcast data is sent by the first base station itself or by the first self-moving device paired with the first base station, it can be determined that no initial channel collision has occurred.

[0074] In the above embodiment, by setting the base station and the paired self-mobile device to communicate via broadcast, the first base station, after negotiating and determining the initial channel with the paired self-mobile device, can listen for broadcast data sent by other base stations besides the first base station on the initial channel before sending data. If such data is found, it indicates that the initial channel has conflicted. The detection process is simple, and there is no need to actually occupy the initial channel or set the base station to receive mode or standby mode. This solves the problem that using CAD to detect channel conflicts in related technologies will cause interference to the base station, and can effectively reduce interference to the communication between other base stations and self-mobile devices.

[0075] In this embodiment of the application, after determining that an initial channel conflict has occurred, a channel switching operation is also required to switch the communication channel between the first base station and the first self-moving device from the initial channel to another channel. The following will describe in detail how the channel is switched.

[0076] Please see Figure 5 , Figure 5 This is a schematic flowchart illustrating another channel management method provided in an embodiment of this application, such as... Figure 5 As shown, the channel management method includes steps S201 to S205.

[0077] Step S201: Listen to the first broadcast data transmitted through the initial channel, which is a historical channel negotiated and determined by the first base station and the paired first self-moving device.

[0078] Step S202: Determine whether the first broadcast data was sent by a second base station other than the first base station in the communication system based on the source address of the first broadcast data.

[0079] Step S203: If the first broadcast data is sent by the second base station, then it is determined that an initial channel collision has occurred.

[0080] It is understood that steps S201 to S203 are the same as steps S101 to S103 above, and will not be repeated here.

[0081] Step S204: Determine the target channel from the other available channels besides the initial channel.

[0082] For example, after determining that an initial channel collision has occurred, a target channel can be determined from other available channels besides the initial channel. These available channels can be idle channels.

[0083] For example, if a collision occurs in the initial channel 1, the target channel can be determined from other available channels, such as available channel 2, available channel 3, and available channel 4.

[0084] Step S205: Perform a channel switching operation. The channel switching operation is used to switch the communication channel between the first base station and the first self-moving device from the initial channel to the target channel.

[0085] For example, after determining the target channel from other available channels besides the initial channel, a channel switching operation can be performed to switch the communication channel between the first base station and the first self-moving device from the initial channel to the target channel.

[0086] It should be noted that, in this embodiment, the base station includes a first receiving channel and a first transmitting channel, and the self-moving device includes a second receiving channel and a second transmitting channel. The receiving channel is used to receive data, and the transmitting channel is used to transmit data. Channel switching refers to configuring the receiving frequency band of the receiving channel to the frequency band corresponding to the target channel, and configuring the transmitting frequency band of the transmitting channel to the frequency band corresponding to the target channel.

[0087] In the above embodiments, by determining the target channel from other available channels besides the initial channel and performing a channel switching operation, the target channel can be used to communicate with the first self-moving device after a conflict occurs between the initial channel negotiated and determined by the first base station and the first self-moving device, thereby avoiding any impact on the normal communication between the first base station and the first self-moving device.

[0088] Please see Figure 6 , Figure 6 This is a schematic flowchart illustrating the determination of a target channel provided in an embodiment of this application, such as... Figure 6 As shown, step S204, which determines the target channel from other available channels besides the initial channel, may include steps S301 to S305.

[0089] Step S301: Determine candidate channels from other available channels besides the initial channel according to preset rules.

[0090] It should be noted that the preset rules can determine candidate channels based on the available channel number or the available channel frequency band.

[0091] For example, when determining candidate channels from other available channels besides the initial channel according to preset rules, each available channel can be determined as a candidate channel in ascending order of its number.

[0092] For example, for available channels such as available channel 2, available channel 3, and available channel 4, available channel 2 can be identified as a candidate channel first, then available channel 3 can be identified as a candidate channel, and so on.

[0093] Step S302: Listen for broadcast data from a second base station on the candidate channel.

[0094] For example, after determining the candidate channel, the first base station can listen for broadcast data from the second base station on the candidate channel.

[0095] For example, if the current candidate channel is available channel 2, the first base station can listen on available channel 2 to see if there is any broadcast data transmitted by the second base station. As another example, if the current candidate channel is available channel 3, the first base station can listen on available channel 3 to see if there is any broadcast data transmitted by the second base station.

[0096] Step S303: If there is no broadcast data sent by the second base station on the candidate channel, then the candidate channel is determined to be an idle channel.

[0097] For example, if it is determined that there is no broadcast data transmitted by a second base station on the candidate channel, the candidate channel can be determined to be an idle channel.

[0098] For example, if no broadcast data from the second base station is detected on the candidate channel within a preset time, it can be determined that no broadcast data from the second base station exists on the candidate channel. The preset time can be set according to actual circumstances, and its specific value is not limited here.

[0099] For example, when the candidate channel is available channel 2, if there is no broadcast data sent by the second base station on available channel 2, then available channel 2 can be determined to be an idle channel.

[0100] In the above embodiments, by listening to whether there is broadcast data sent by a second base station on the candidate channel, an idle channel can be determined, thus avoiding the use of a non-idle channel as the target channel.

[0101] Step S304: Perform an occupation operation on the candidate channel and determine the candidate channel as the target channel.

[0102] In this embodiment of the application, when a candidate channel is determined to be an idle channel, it is necessary to occupy the candidate channel to prevent it from being occupied by other base stations.

[0103] In some embodiments, occupying a candidate channel may include: broadcasting application layer data of the first base station in the form of second broadcast data on the candidate channel. The source address of the second broadcast data is the communication address of the first base station, and the destination address of the second broadcast data is the communication address of the first self-moving device.

[0104] For example, before broadcasting application layer data in the form of second broadcast data, the first base station needs to add the communication address of the first base station as the source address to the application layer data, and add the communication address of the first self-moving device as the destination address to the application layer data.

[0105] It should be noted that by broadcasting the application layer data of the first base station in the form of second broadcast data on the candidate channel, other second base stations can listen to the second broadcast data transmitted through the candidate channel, and determine that the candidate channel was sent by the first base station based on the source address in the second broadcast data. As a result, they will not use the candidate channel for data transmission, thus achieving the purpose of occupying the candidate channel.

[0106] In other embodiments, occupying a candidate channel may include broadcasting heartbeat data on the candidate channel in the form of second broadcast data, wherein the source address of the second broadcast data is the communication address of the first base station.

[0107] It should be noted that, in this embodiment of the application, when the application layer of the first base station has no application layer data to send to the first self-moving device, it can broadcast heartbeat data on the candidate channel to occupy the candidate channel.

[0108] For example, the first base station can generate heartbeat data and broadcast it as second broadcast data on a candidate channel. Before broadcasting the heartbeat data, the communication address of the first base station needs to be added to the heartbeat data as the source address. This allows other second base stations to hear the second broadcast data transmitted through the candidate channel and, based on the source address in the second broadcast data, determine that the candidate channel originated from the first base station. Consequently, they will not use the candidate channel for data transmission, thus achieving the purpose of occupying the candidate channel.

[0109] Understandably, heartbeat data does not need to be sent to the first self-moving device; therefore, heartbeat data may not carry the communication address of the first self-moving device.

[0110] Step S305: If there is broadcast data sent by the second base station on the candidate channel, then perform the step of determining the candidate channel from other available channels other than the initial channel according to the preset rules.

[0111] For example, when it is determined that broadcast data from a second base station exists on a candidate channel, the candidate channel can be determined to be a non-idle channel. In this case, it is necessary to re-execute the step of determining candidate channels from other available channels besides the initial channel according to preset rules.

[0112] It should be noted that a non-idle channel refers to a channel used or occupied by a second base station other than the first base station in the communication system.

[0113] For example, if the candidate channel is available channel 2, and there is broadcast data from the second base station on available channel 2, then available channel 2 can be determined to be a non-idle channel. In this case, available channel 3 can be determined as a candidate channel, and the system can listen for broadcast data from the second base station on available channel 3.

[0114] Please see Figure 7 , Figure 7 This is a schematic flowchart illustrating another sub-step for determining the target channel provided in an embodiment of this application, such as... Figure 7 As shown, step S204 determines the target channel from other available channels besides the initial channel, and may also include steps S401 and S402.

[0115] Step S401: If there are no idle channels among the other available channels besides the initial channel, then determine the communication frequency corresponding to each available channel. The communication frequency is the number of times the base station transmits data based on each available channel.

[0116] It should be noted that, in the embodiments of this application, when there is no idle channel among other available channels, an available channel can be shared with other second base stations.

[0117] For example, if there are no idle channels among the available channels other than the initial channel, the communication frequency corresponding to each available channel can be determined. Here, the communication frequency is the number of times the base station transmits data based on each available channel.

[0118] For example, the first base station can count the number of times each available channel transmits data within a preset time period. The preset time period can be set according to the actual situation, and the specific value is not specified here.

[0119] In other embodiments, the communication frequency may also be the number of base stations monitored on each available channel. For example, the first base station may count the number of second base stations corresponding to the broadcast data transmitted on each available channel within a preset time period.

[0120] Step S402: Determine the available channel corresponding to the minimum communication frequency as the target channel.

[0121] For example, after determining the communication frequency corresponding to each available channel, the available channel corresponding to the minimum communication frequency can be identified as the target channel. For instance, if the available channel corresponding to the minimum communication frequency is channel 3, then channel 3 can be identified as the target channel.

[0122] In some embodiments, each of the above available channels does not include the initial channel.

[0123] In other embodiments, each of the above-mentioned available channels may also include an initial channel. When each of the above-mentioned available channels includes an initial channel, and the initial channel is determined to be the target channel, the channel switching operation in step 205 may not be performed.

[0124] In the above embodiments, by determining the available channel corresponding to the minimum communication frequency as the target channel, the impact on normal communication between the base station that has occupied the available channel and the paired self-mobile device can be minimized because the number of times the available channel transmits data is relatively small.

[0125] Please see Figure 8 , Figure 8 This is a schematic flowchart illustrating a sub-step of performing a channel switching operation according to an embodiment of this application, such as... Figure 8 As shown, the channel switching operation performed in step S205 may include steps S501 to S503.

[0126] Step S501: Configure the receiving frequency band of the first receiving channel to the frequency band corresponding to the target channel, and keep the transmitting frequency band of the first transmitting channel to the frequency band corresponding to the initial channel.

[0127] For example, after determining the target channel from other available channels besides the initial channel, the receiving frequency band of the first receiving channel can be configured to the frequency band corresponding to the target channel, while keeping the transmitting frequency band of the first transmitting channel to the frequency band corresponding to the initial channel.

[0128] It should be noted that since the first self-moving device paired with the first base station is still receiving and transmitting broadcast data according to the frequency band of the initial channel, the first base station needs to maintain the transmission frequency band of the first transmission channel at the frequency band corresponding to the initial channel before the first self-moving device completes the channel handover. That is, the first base station is still transmitting data on the initial channel at this time, which ensures that the first self-moving device can normally receive the data transmitted by the first base station through the first transmission channel. Configuring the reception frequency band of the first reception channel to the frequency band corresponding to the target channel is to ensure that the first base station can normally receive the response message returned by the first self-moving device after completing the channel handover. Furthermore, occupying only a portion of the initial channel during the channel handover process can minimize the impact on normal communication between the base station and the self-moving device that has already occupied the initial channel.

[0129] In the above embodiments, by configuring the receiving frequency band of the first receiving channel to the frequency band corresponding to the target channel and keeping the transmitting frequency band of the first transmitting channel to the frequency band corresponding to the initial channel, it can be ensured that the first self-moving device can normally receive the data transmitted by the first base station through the first transmitting channel, and that the first base station can normally receive the response message returned by the first self-moving device after completing the channel switching.

[0130] Step S502: Based on the first transmission channel, send a channel switching instruction to the first self-moving device. The channel switching instruction includes the channel identifier of the target channel.

[0131] For example, a channel switching command can be sent to the first self-moving device based on the first transmission channel. The channel switching command may include the channel identifier of the target channel. It should be noted that the channel identifier may be the frequency band of the channel.

[0132] Please see Figure 9 , Figure 9 This is a schematic diagram illustrating the transmission of a channel switching command according to an embodiment of this application. Figure 9 As shown, the target channel is channel 4 and the initial channel is channel 1. Base station A can send a channel switching command to self-mobile device B based on the first transmission channel, that is, send a channel switching command to self-mobile device B on channel 1.

[0133] For example, the channel switching command can be sent using a standard point-to-point method. The header of the channel switching command, as shown in Table 2, can include a source address and a channel identifier for the target channel. The source address can be the communication address of the first base station, allowing the first self-moving device to determine that the channel switching command was sent by the first base station paired with it, and thus execute the channel switching command.

[0134] Table 2

[0135]

[0136] In the above embodiments, by sending a channel switching command to the first self-moving device based on the first transmission channel, the first self-moving device can perform channel switching according to the channel switching command.

[0137] Step S503: When the channel switching completion response sent by the first self-moving device is received through the first receiving channel, the transmission frequency band of the first transmitting channel is configured to the frequency band corresponding to the target channel.

[0138] For example, the first self-moving device can receive the channel switching command transmitted from the initial channel through its second receiving channel, verify the channel switching command, and, after successful verification, perform channel switching according to the channel identifier of the target channel in the channel switching command. Figure 9 As shown, the self-moving device B can receive the channel switching command transmitted on the initial channel 1.

[0139] For example, when the first automated mobile device verifies the channel switching command, it can compare the source address in the channel switching command with the destination address stored by the first automated mobile device and the first base station during pairing. If they are the same, it can be determined that the channel switching command was issued by the first base station, and the verification passes; if they are different, it can be determined that the channel switching command was not issued by the first base station, and the verification fails. Furthermore, when the channel switching command also includes a destination address, the first automated mobile device can also compare the destination address in the channel switching command with its own communication address. If they are the same, it can be determined that the channel switching command was sent to the first automated mobile device, and the verification passes; if they are different, it can be determined that the channel switching command was not sent to the first automated mobile device, and the verification fails.

[0140] For example, when switching channels according to the channel identifier of the target channel in the channel switching instruction, the first self-moving device can configure the receiving frequency band of the second receiving channel to the frequency band corresponding to the target channel, and configure the transmitting frequency band of the second transmitting channel to the frequency band corresponding to the target channel.

[0141] For example, when the first self-moving device completes a channel handover, it can send a channel handover completion response to the first receiving channel of the first base station on the target channel. The channel handover completion response can be a point-to-point response message. The header of the response message is shown in Table 3.

[0142] Table 3

[0143]

[0144] As shown in Table 3, the response message may include the source address, i.e. the communication address of the first self-moving device, which is used by the first base station to determine whether the response message was sent by the paired first self-moving device.

[0145] In some embodiments, when the first base station receives a channel switching completion response sent by the first self-moving device through the first receiving channel, it can configure the transmission frequency band of the first transmitting channel to the frequency band corresponding to the target channel.

[0146] In the above embodiments, by configuring the transmission frequency band of the first transmission channel to the frequency band corresponding to the target channel when the channel switching completion response sent by the first self-mobile device is received through the first receiving channel, it is possible to avoid the first base station being unable to communicate with the first self-mobile device through the target channel due to the first self-mobile device not completing the channel switching.

[0147] The embodiments of this application also provide a computer-readable storage medium storing a computer program, which includes program instructions. A processor executes the program instructions to implement any of the channel management methods provided in the embodiments of this application.

[0148] For example, when the program is loaded by the processor, it can perform the following steps:

[0149] The system monitors the first broadcast data transmitted through an initial channel, which is a historical channel negotiated and determined by the first base station and the paired first self-moving device. It then determines whether the first broadcast data was sent by a second base station other than the first base station in the communication system based on the source address of the first broadcast data. If the first broadcast data was sent by the second base station, it is determined that a collision has occurred on the initial channel.

[0150] The computer-readable storage medium can be an internal storage unit of the base station in the aforementioned embodiments, such as a hard disk or memory of the base station. Alternatively, the computer-readable storage medium can be an external storage device of the base station, such as a plug-in hard disk, smart media card (SMC), secure digital card (SDCard), flash card, etc., equipped on the base station.

[0151] Furthermore, a computer-readable storage medium may primarily include a program storage area and a data storage area, wherein the program storage area may store the operating system, programs required for at least one function, etc.; and the data storage area may store data created according to each program, etc.

[0152] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A channel management method, characterized in that, A first base station is applied in a communication system, the communication system comprising multiple pairs of paired base stations and self-moving devices, each pair of paired base stations communicating with the self-moving device via broadcast data, the broadcast data including a source address; the method includes: Listen to the first broadcast data transmitted through an initial channel, wherein the initial channel is a historical channel negotiated and determined by the first base station and the paired first self-mobile device; Determine whether the first broadcast data was sent by a second base station in the communication system other than the first base station based on the source address of the first broadcast data. If the first broadcast data is sent by the second base station, it is determined that the initial channel has conflicted. The initial channel conflict means that the historical channel negotiated and determined by the first base station and the paired first self-moving device is occupied by the second base station. Determining whether the first broadcast data was sent by a second base station other than the first base station in the communication system based on the source address of the first broadcast data includes: Obtain the source address from the first broadcast data; When the source address is not the communication address of the first base station, it is determined that the first broadcast data was sent by the second base station; When the source address is the communication address of the first base station, it is determined that the first broadcast data was sent by the first base station.

2. The channel management method according to claim 1, characterized in that, After determining that a collision has occurred in the initial channel, the method further includes: Determine the target channel from the other available channels besides the initial channel; Perform a channel switching operation, which is used to switch the communication channel between the first base station and the first self-moving device from the initial channel to the target channel.

3. The channel management method according to claim 2, characterized in that, Determining the target channel from other available channels besides the initial channel includes: Candidate channels are determined from other available channels besides the initial channel according to preset rules; Listen for the presence of broadcast data transmitted by the second base station on the candidate channel; If the broadcast data transmitted by the second base station is not present on the candidate channel, then the candidate channel is determined to be an idle channel; The candidate channel is occupied, and the candidate channel is determined as the target channel; If the broadcast data transmitted by the second base station exists on the candidate channel, then the step of determining the candidate channel from other available channels besides the initial channel according to a preset rule is performed.

4. The channel management method according to claim 3, characterized in that, The operation of occupying the candidate channel includes: On the candidate channel, the application layer data of the first base station is broadcast in the form of second broadcast data; wherein the source address of the second broadcast data is the communication address of the first base station, and the destination address of the second broadcast data is the communication address of the first self-moving device.

5. The channel management method according to claim 3, characterized in that, The operation of occupying the candidate channel includes: On the candidate channel, heartbeat data is broadcast in the form of second broadcast data, the source address of which is the communication address of the first base station.

6. The channel management method according to claim 3, characterized in that, Determining the target channel from other available channels besides the initial channel further includes: If there are no idle channels among the other available channels besides the initial channel, then the communication frequency corresponding to each available channel is determined, and the communication frequency is the number of times the base station transmits data based on each available channel; The available channel corresponding to the minimum communication frequency is determined as the target channel.

7. The channel management method according to claim 2, characterized in that, The first base station includes a first receiving channel and a first transmitting channel; The channel switching operation includes: Configure the receiving frequency band of the first receiving channel to the frequency band corresponding to the target channel, and keep the transmitting frequency band of the first transmitting channel to the frequency band corresponding to the initial channel; Based on the first transmission channel, a channel switching instruction is sent to the first self-moving device, wherein the channel switching instruction includes the channel identifier of the target channel; When a channel switching completion response is received from the first self-moving device via the first receiving channel, the transmitting frequency band of the first transmitting channel is configured to the frequency band corresponding to the target channel.

8. A base station, characterized in that, The base station is paired with a self-moving device for communication, and the base station includes a memory and a processor. The memory is used to store computer programs; The processor is configured to execute the computer program and, in executing the computer program, implement the channel management method as described in any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, causes the processor to implement the channel management method as described in any one of claims 1 to 7.

Images