Data transmission method and device, robot and storage medium

Abstract

The embodiment of the invention provides a data transmission method and device, a robot and a storage medium, and relates to the technical field of robots, the method is applied to the robot, and the method comprises the following steps: using a first wireless network module deployed on the robot to transmit data with first equipment; and under the condition that the wireless signal strength of the first wireless network module is smaller than the first preset strength, a first millimeter wave antenna deployed on the robot is used for transmitting data with the first equipment. According to the scheme, the problem of robot operation interruption caused by unstable signals of a wireless network can be solved, and the robot operation efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a data transmission method, device, robot, and storage medium. Background Art

[0002] With the development of robot technology, various robots are widely used in life and work. During the working process, robots generally use wireless networks such as mobile hotspots (Wi-Fi) or mobile networks for data transmission to adapt to application scenarios such as the robot's own movable position and large working range.

[0003] However, the environment of application scenarios is changeable, with various obstructions such as roofs, shelves, and walls. Wireless networks are easily affected by obstructions, resulting in unstable signals, which in turn leads to interruptions in robot operations and low operating efficiency. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a data transmission method, device, robot, and storage medium to solve the problem of robot operation interruption caused by unstable wireless network signals and improve the robot operation efficiency. The specific technical solution is as follows:

[0005] In a first aspect, an embodiment of the present application provides a data transmission method, which is applied to a robot, and the method includes:

[0006] Using a first wireless network module deployed on the robot to transmit data to a first device;

[0007] When the wireless signal strength of the first wireless network module is less than a first preset strength, the data is transmitted between the first device and the first millimeter wave antenna deployed on the robot.

[0008] In some embodiments, after transmitting the data to the first device using a first millimeter wave antenna deployed on the robot, the method further includes:

[0009] When the wireless signal strength of the first wireless network module is greater than or equal to a second preset strength, the first wireless network module is used to transmit the data to the first device, and the second preset strength is greater than or equal to the first preset strength.

[0010] In some embodiments, the step of transmitting the data to the first device using the first millimeter wave antenna deployed on the robot includes:

[0011] Determine a second device around the robot, wherein the wireless signal strength of the wireless network module deployed on the second device is greater than or equal to the first preset strength;

[0012] The data is transmitted between the robot and the second device using the first millimeter wave antenna deployed on the robot, so that the second device uses the second millimeter wave antenna deployed on the second device to transmit the data between the robot and the second wireless network module deployed on the second device to transmit the data between the robot and the first device.

[0013] In some embodiments, the step of determining a second device around the robot includes:

[0014] Using the first millimeter wave antenna, broadcasting a first generation transmission request, and receiving a first generation transmission response corresponding to the first generation transmission request fed back by at least one neighboring device around the robot, wherein the wireless signal strength of the wireless network module deployed on the at least one neighboring device is greater than or equal to the first preset strength;

[0015] If the number of the at least one neighbor device is one, use the neighbor device as the second device;

[0016] If there is a plurality of the at least one neighbor device, a second device is selected from the at least one neighbor device.

[0017] In some embodiments, the step of determining a second device around the robot includes:

[0018] Using the first millimeter wave antenna, scanning neighboring devices around the robot;

[0019] Using the first millimeter wave antenna, sending a first generation transmission request to the scanned neighboring device, and receiving a first generation transmission response corresponding to the first generation transmission request fed back by at least one neighboring device, wherein the wireless signal strength of the wireless network module deployed on the at least one neighboring device is greater than or equal to the first preset strength;

[0020] If the number of the at least one neighbor device is one, use the neighbor device as the second device;

[0021] If there is a plurality of the at least one neighbor device, a second device is selected from the at least one neighbor device.

[0022] In some embodiments, the step of using the first millimeter wave antenna to scan at least one neighboring device around the robot includes:

[0023] Using the first millimeter wave antenna, scanning neighboring devices within the coverage of the first millimeter wave antenna; or,

[0024] Using the first millimeter wave antenna, scanning neighbor devices within the coverage of the first millimeter wave antenna; if the number of scanned neighbor devices is less than the first number, performing a first operation, and re-performing the step of using the first millimeter wave antenna to scan neighbor devices within the coverage of the first millimeter wave antenna until the number of scanned neighbor devices is greater than or equal to the first number;

[0025] The first operation includes at least one of the following operations:

[0026] Scanning the millimeter-wave antenna deployed on the neighboring device as the new first millimeter-wave antenna;

[0027] Increase the transmission power of the first millimeter wave antenna.

[0028] In some embodiments, the step of selecting a second device from the at least one neighboring device includes:

[0029] Selecting, from the at least one neighboring device, a neighboring device that meets the first condition as the second device;

[0030] The first condition includes at least one of the following:

[0031] The robot receives the corresponding first-generation transmission response the earliest;

[0032] The first generation transmission response carried by the corresponding first generation transmission response has the earliest transmission time;

[0033] The corresponding first-generation transmission should carry the highest wireless signal strength of the wireless network module;

[0034] The corresponding first-generation transmission response carries the lowest busy level of the neighbor device.

[0035] In some embodiments, the first device is a control device; the step of using a first millimeter wave antenna deployed on the robot to transmit the data to the first device comprises:

[0036] Using the first millimeter wave antenna deployed on the robot, sending the first communication state of the first wireless network module to the control device; using the first millimeter wave antenna, receiving the self-test instruction sent by the control device according to the first communication state; according to the self-test instruction, using the first wireless network module, transmitting a detection message to the control device to obtain a self-test result; using the first millimeter wave antenna to transmit the self-test result to the control device; or,

[0037] Use the first millimeter wave antenna deployed on the robot to receive the second communication status of the neighboring devices around the robot sent by the control device; when the second communication status indicates that the wireless network module deployed on the neighboring device is normal, use the first wireless network module to transmit a detection message to the control device to obtain a self-test result; use the first millimeter wave antenna to transmit the self-test result to the control device.

[0038] In some embodiments, the first device is another robot; the step of using a first millimeter wave antenna deployed on the robot to transmit the data to the first device includes:

[0039] Using a first millimeter wave antenna deployed on the robot, acquiring device information of other robots in the direction of the robot's travel path;

[0040] Using a first millimeter wave antenna deployed on the robot, sending an operation instruction to at least one other robot whose device information meets a second condition;

[0041] The second condition includes at least one of the following:

[0042] The distance between the other robot and the travel path indicated by the device information is less than the first distance;

[0043] The distance between the other robot and the robot indicated by the device information is smaller than the second distance;

[0044] The working state indicated by the device information is standby state;

[0045] The remaining power indicated by the device information is greater than the preset power;

[0046] The work progress indicated by the equipment information is greater than the preset progress.

[0047] In some embodiments, when the wireless signal strength of the first wireless network module is greater than or equal to the first preset strength, the method further includes:

[0048] Using the first millimeter wave antenna, receiving a second generation transmission request sent by a third device;

[0049] If the robot meets the third condition, the robot uses the first millimeter wave antenna to send a second generation transmission response corresponding to the second generation transmission request to the third device;

[0050] Wherein, the third condition is:

[0051] The working state of the robot is standby state; or

[0052] The working state of the robot is an activated state, and the busy level of the robot is less than a preset level.

[0053] In some embodiments, when the wireless signal strength of the first wireless network module is greater than or equal to the first preset strength, the method further includes:

[0054] If the working state of the robot is an activated state and the busy level of the robot is greater than or equal to a preset level, turning off the receiving function of the first millimeter wave antenna;

[0055] If the working state of the robot is a standby state, or the working state of the robot is an active state, and the busy level of the robot is less than a preset level, the receiving function of the first millimeter wave antenna is turned on.

[0056] In some embodiments, when the wireless signal strength of the first wireless network module is less than the first preset strength, before using the first millimeter wave antenna deployed on the robot to transmit the data to the first device, the method further includes:

[0057] Perform at least one of the following operations on the first millimeter wave antenna:

[0058] Increasing the transmission power of the first millimeter wave antenna;

[0059] Increasing the height of the first millimeter wave antenna;

[0060] Adjust the posture of the first millimeter wave antenna.

[0061] In some embodiments, the first millimeter wave antenna is deployed on the end effector of the robot; and the step of increasing the height of the first millimeter wave antenna comprises:

[0062] Raising the height of the end effector; and / or,

[0063] The highest position of the robot is raised vertically.

[0064] In some embodiments, the step of adjusting the posture of the first millimeter wave antenna includes:

[0065] Move within the feasible range corresponding to the robot; and / or,

[0066] Adjust the posture of the first millimeter wave antenna.

[0067] In a second aspect, an embodiment of the present application provides a data transmission device, applied to a robot, the device comprising:

[0068] A first transmission module, used to transmit data between a first device and a first wireless network module deployed on the robot;

[0069] The second transmission module is used to transmit the data between the first device using the first millimeter wave antenna deployed on the robot when the wireless signal strength of the first wireless network module is less than a first preset strength.

[0070] In a third aspect, an embodiment of the present application provides a robot, including a processor, a first wireless network module, a first millimeter wave antenna, a memory, and a communication bus, wherein the processor, the first wireless network module, the first millimeter wave antenna, and the memory communicate with each other through the communication bus;

[0071] The memory is used to store computer programs;

[0072] The processor is used to implement any data transmission method provided in the first aspect when executing the program stored in the memory.

[0073] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, any one of the data transmission methods provided in the first aspect is implemented.

[0074] An embodiment of the present application also provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute any one of the data transmission methods provided in the first aspect.

[0075] Beneficial effects of the embodiments of the present application:

[0076] In the technical solution provided in the embodiment of the present application, a wireless network module and a millimeter wave antenna are deployed on the robot. The robot first uses the wireless network module to transmit data with other devices (such as the first device). When the wireless signal strength of the wireless network module is less than the first preset strength, it means that the signal of the wireless network is unstable. At this time, the robot uses the millimeter wave antenna deployed on the robot to transmit data with the first device. The millimeter waves emitted by the millimeter wave antenna have strong penetrating power, and the impact of obstruction on the millimeter wave antenna is much smaller than the impact of obstruction on the signal of the wireless network. When the signal of the wireless network is unstable, the millimeter wave antenna is used instead of the wireless network module to transmit data, which effectively solves the problem of robot operation interruption caused by the unstable signal of the wireless network and improves the robot operation efficiency.

[0077] Of course, implementing any product or method of the present application does not necessarily require achieving all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0078] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0079] Figure 1 A schematic diagram of the first structure of the robot provided in the embodiment of the present application;

[0080] Figure 2 A schematic diagram of a first flow chart of a data transmission method provided in an embodiment of the present application;

[0081] Figure 3a A first schematic diagram of a data transmission scenario provided in an embodiment of the present application;

[0082] Figure 3b A second schematic diagram of a data transmission scenario provided in an embodiment of the present application;

[0083] Figure 4 A second flow chart of the data transmission method provided in the embodiment of the present application;

[0084] Figure 5 A third flow chart of the data transmission method provided in the embodiment of the present application;

[0085] Figure 6a A third schematic diagram of a data transmission scenario provided in an embodiment of the present application;

[0086] Figure 6b Based on Figure 6a A fourth schematic diagram of a data transmission scenario;

[0087] Figure 7 A fifth schematic diagram of a data transmission scenario provided in an embodiment of the present application;

[0088] Figure 8 A fourth flow chart of the data transmission method provided in the embodiment of the present application;

[0089] Figure 9a A schematic diagram of raising the height of the end effector provided in an embodiment of the present application;

[0090] Figure 9b A schematic diagram of the highest position of a longitudinally elevated robot provided in an embodiment of the present application;

[0091] Fig.9c Another schematic diagram of the highest position of the longitudinally elevated robot provided in an embodiment of the present application;

[0092] Fig.10aA schematic diagram of a waving robot arm provided in an embodiment of the present application;

[0093] Fig.10b A schematic diagram of adjusting the arm posture of a robot provided in an embodiment of the present application;

[0094] Fig.10c A schematic diagram of a robot moving within a small range provided in an embodiment of the present application;

[0095] Fig.11 A schematic diagram of a structure of a data transmission device provided in an embodiment of the present application;

[0096] Fig.12 A second structural schematic diagram of the robot provided in an embodiment of the present application. DETAILED DESCRIPTION

[0097] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0098] The robot cannot do without data transmission during its work. For example, in a warehousing scenario, the control device sends a work task to the robot, and the robot moves the goods from the warehouse entrance to the designated shelf. After receiving the work task, the robot moves the goods from the warehouse entrance to the designated shelf, and after completing the work task, it sends a task completion instruction to the control device.

[0099] In order to meet the needs of data transmission and adapt to the needs of application scenarios such as the robot's own movable position and large working range, a Wi-Fi module can be deployed on the robot, and multiple access points (AP) can be deployed in the application scenario. The robot uses the Wi-Fi module to transmit data with other robots or control devices through the AP. A 4G / 5G mobile network module can also be deployed on the robot. The robot uses the 4G / 5G mobile network module to transmit data with other robots or control devices through a 4G / 5G mobile network base station.

[0100] Wi-Fi modules and 4G / 5G mobile network modules can also be deployed on the robot. When the Wi-Fi module signal is stable, the robot uses the Wi-Fi module to transmit data with other robots or control devices through the AP; when the Wi-Fi module signal is unstable, the robot uses the 4G / 5G mobile network module to transmit data with other robots or control devices through the 4G / 5G mobile network base station.

[0101] The data transmission of the above robots is all based on wireless network modules. However, the application environment of robots is changeable, with various obstructions such as roofs, shelves, and walls. Wireless networks are easily affected by obstructions, resulting in unstable signals, which in turn leads to interruption of robot operations and low operating efficiency.

[0102] To solve the above problems, the present application provides a robot, such as Figure 1 As shown, the robot includes a body 11, a wireless network module 12 and a millimeter wave antenna ( Figure 1 not shown).

[0103] In the present application embodiment, only Figure 1 The main body 11 shown is used as an example for explanation and is not limiting. The wireless network module 12 may include one or more of a Wi-Fi submodule and a mobile network submodule. The Wi-Fi submodule is used to use Wi-Fi signals to transmit data between an AP and other robots or control devices. The mobile network submodule is used to use 4G / 5G signals to transmit data between other robots or control devices through a 4G / 5G mobile network base station.

[0104] The millimeter wave antenna can be deployed at any position on the body 11. Figure 1 As shown, the millimeter wave antenna can be deployed on the end effector 13 of the robot to facilitate flexible adjustment of the position of the millimeter wave antenna. The millimeter wave antenna can also be deployed at or near the wireless network module 12, that is, the highest position of the robot. In this way, even if the position of the millimeter wave antenna is not adjusted, a more reliable millimeter wave signal can be obtained, which improves the efficiency of data transmission. The millimeter wave antenna can also be deployed at other positions of the robot body 11, which is not limited.

[0105] In the embodiment of the present application, a control module is deployed in the body 11. When the wireless signal strength of the wireless network module 12 is greater than or equal to the first preset strength, the control module uses the wireless network module 12 to transmit data between other devices; when the wireless signal strength of the wireless network module 12 is less than the first preset strength, the millimeter wave antenna deployed on the robot is used to transmit data between other devices. The size of the preset strength can be set according to actual needs.

[0106] If the wireless signal strength is greater than or equal to the first preset strength, it means that the wireless signal is stable and reliable; if the wireless signal strength is less than the first preset strength, it means that the wireless signal is unstable, and using wireless signals to transmit data may result in packet loss or large delays.

[0107] In the embodiment of the present application, the robot uses wireless signals to transmit data by default to achieve long-distance data transmission. When the wireless signal is unstable, the millimeter wave signal is used to transmit data. The millimeter wave emitted by the millimeter wave antenna has strong penetrating power, and its impact by obstruction is far less than the impact of the wireless network signal by obstruction. When the wireless network signal is unstable, the millimeter wave antenna is used to replace the wireless network module to transmit data, which effectively solves the problem of robot operation interruption caused by the unstable wireless network signal and improves the robot operation efficiency.

[0108] Based on the above robot, the embodiment of the present application provides a data transmission method, such as Figure 2 As shown, applied to a robot, the method comprises the following steps:

[0109] Step S201, using a first wireless network module deployed on the robot to transmit data with a first device;

[0110] Step S202: When the wireless signal strength of the first wireless network module is less than a first preset strength, data is transmitted between the first device and the first millimeter wave antenna deployed on the robot.

[0111] In the technical solution provided in the embodiment of the present application, a wireless network module and a millimeter wave antenna are deployed on the robot. The robot first uses the wireless network module to transmit data with other devices (such as the first device). When the wireless signal strength of the wireless network module is less than the first preset strength, it means that the signal of the wireless network is unstable. At this time, the robot uses the millimeter wave antenna deployed on the robot to transmit data with the first device. The millimeter waves emitted by the millimeter wave antenna have strong penetrating power, and the impact of obstruction on the signal of the wireless network is much smaller than the impact of obstruction on the signal of the wireless network. When the signal of the wireless network is unstable, the millimeter wave antenna is used instead of the wireless network module to transmit data, which effectively solves the problem of robot operation interruption caused by unstable wireless network signal and improves the robot operation efficiency.

[0112] In the above step S201, the first wireless network module is a wireless network module deployed on the robot, such as Figure 1 The first device is any device that needs to communicate with the robot, such as other robots, operating platforms, control devices or servers. The first device can deploy a wireless network module or a wired network module according to actual needs to achieve network-based data transmission.

[0113] In the embodiment of the present application, the robot preferentially uses the first wireless network module to transmit data with the first device, such as using the first wireless network module to send data to the first device, and using the first wireless network module to receive data sent by the first device.

[0114] In some embodiments, the first wireless network module may include a Wi-Fi submodule and a mobile network submodule. The robot may switch between the Wi-Fi submodule and the mobile network submodule according to a specified priority order to transmit data with the first device. The priority order may be Wi-Fi submodule, mobile network submodule; the priority order may also be mobile network submodule, Wi-Fi submodule.

[0115] Taking the Wi-Fi submodule and the mobile network submodule as an example, the robot can use the Wi-Fi submodule to transmit data with the first device; when the wireless signal strength of the Wi-Fi submodule is less than the preset strength, the robot uses the mobile network submodule to transmit data with the first device.

[0116] For example, Figure 3a In the data transmission scenario shown, antenna 1 (Wi-Fi submodule) and antenna 2 (mobile network submodule) are deployed on robot 1. Robot 1 uses antenna 1 to send signal 1 to AP wirelessly; AP receives signal 1 wirelessly and sends signal 1 to the control device (first device) via an optical cable; the control device receives signal 1 via an optical cable. In addition, the control device sends signal 2 to AP via an optical cable; AP receives signal 2 via an optical cable and sends signal 2 to robot 1 wirelessly; the robot receives signal 2 using antenna 1.

[0117] When the signal strength of antenna 1 is less than the first preset strength, robot 1 switches to start antenna 2, specifically: robot 1 uses antenna 2 to send signal 3 to the base station in a wireless manner; the base station receives signal 3 wirelessly and sends signal 3 to the control device (first device) in a wireless manner; the control device receives signal 3 wirelessly. In addition, the control device sends signal 4 to the base station in a wireless manner; the base station receives signal 4 wirelessly and sends signal 4 to robot 1 in a wireless manner; the robot uses antenna 2 to receive signal 4.

[0118] For another example, Figure 3b In the data transmission scenario shown, antenna 1 (Wi-Fi submodule) and antenna 2 (mobile network submodule) are deployed on robot 1, and antenna 3 (Wi-Fi submodule) and antenna 4 (mobile network submodule) are deployed on robot 2. Robot 1 uses antenna 1 to wirelessly send signal 1 to AP; AP wirelessly receives signal 1 and wirelessly sends signal 1 to robot 2 (first device); robot 2 uses antenna 3 to receive signal 1. In addition, robot 2 uses antenna 3 to send signal 2 to AP; AP wirelessly receives signal 2 and wirelessly sends signal 2 to robot 1; robot uses antenna 1 to receive signal 2.

[0119] When the signal strength of antenna 1 is less than the first preset strength, robot 1 switches to start antenna 2, specifically: robot 1 uses antenna 2 to send signal 3 to the base station in a wireless manner; the base station receives signal 3 wirelessly, and sends signal 3 to robot 2 (first device) in a wireless manner; robot 2 uses antenna 3 to receive signal 3. In addition, robot 2 uses antenna 3 to send signal 4 to the base station; the base station receives signal 4 wirelessly, and sends signal 4 to robot 1 in a wireless manner; the robot uses antenna 2 to receive signal 4. Among them, robot 1 can also be used as the first device. At this time, the operation of robot 2 is similar to that of robot 2, and will not be repeated here.

[0120] In the above step S202, the first millimeter wave antenna is a millimeter wave antenna deployed on the robot. The wireless signal strength can be a received signal strength indication (RSSI) or a signal delay.

[0121] The robot can detect the wireless signal strength of the first wireless network module regularly or periodically. If the wireless signal strength of the first wireless network module is greater than or equal to the first preset strength, the robot continues to use the first wireless network module to transmit data with the first device. If the wireless signal strength of the first wireless network module is less than the first preset strength, the robot switches to enable the first millimeter wave antenna, that is, uses the first millimeter wave antenna to transmit data with the first device.

[0122] If the first wireless network module includes multiple sub-modules (such as the above-mentioned Wi-Fi sub-module and mobile network sub-module), the robot will use the first millimeter wave antenna to transmit data with the first device only when the wireless signal strength of these multiple sub-modules is less than the first preset strength.

[0123] In some embodiments, Figure 4 As shown, a data transmission method is also provided, which may include the following steps:

[0124] Step S401, using the first wireless network module deployed on the robot to transmit data with the first device; this is the same as the above step S201 and will not be repeated here.

[0125] Step S402, when the wireless signal strength of the first wireless network module is less than the first preset strength, use the first millimeter wave antenna deployed on the robot to transmit data between the first device; this is the same as the above step S202 and will not be repeated here.

[0126] Step S403, using the first wireless network module to transmit data with the first device when the wireless signal strength of the first wireless network module is greater than or equal to the second preset strength, and the second preset strength is greater than or equal to the first preset strength.

[0127] In the embodiment of the present application, the priority of the first millimeter wave antenna is lower than the priority of the first wireless network module. After the first millimeter wave antenna is enabled, the robot can still detect the wireless signal strength of the first wireless network module regularly or periodically. When it is detected that the wireless signal strength of the first wireless network module is greater than or equal to the second preset strength, it means that the wireless signal has recovered and stabilized, and the robot switches to enable the first wireless network module with a high priority, that is, uses the first wireless network module to transmit data with the first device.

[0128] In the embodiment of the present application, the second preset strength can be equal to the first preset strength, or can be greater than the first preset strength. If the second preset strength is greater than the first preset strength, when the robot switches to enable the first wireless network module, the wireless signal of the first wireless network module is very stable, and frequent switching caused by wireless signal fluctuations can be avoided.

[0129] If the first wireless network module includes multiple sub-modules, then when the wireless signal strength of a sub-module is greater than or equal to the second preset strength, the robot switches to enable the sub-module; when the wireless signal strength of multiple sub-modules is greater than or equal to the second preset strength, the robot switches to enable the sub-module with the highest priority among the multiple sub-modules.

[0130] For example, the first wireless network module includes a Wi-Fi submodule and a mobile network submodule. When the wireless signal strength of the Wi-Fi submodule is greater than or equal to a second preset strength, the robot switches to enable the Wi-Fi submodule; when the wireless signal strength of the mobile network submodule is greater than or equal to the second preset strength, the robot switches to enable the mobile network submodule; when the wireless signal strengths of the Wi-Fi submodule and the mobile network submodule are both greater than or equal to the preset strength, the priority of the Wi-Fi submodule is higher than the priority of the mobile network submodule, and the robot switches to enable the Wi-Fi submodule.

[0131] In the embodiment of the present application, the robot preferentially enables the wireless network module to overcome the defect that the millimeter wave antenna can only transmit data over short distances, thereby realizing long-distance data transmission, thereby improving the robot's operational flexibility.

[0132] In some embodiments, Figure 5 As shown, a data transmission method is also provided, which may include the following steps:

[0133] Step S501, using the first wireless network module deployed on the robot to transmit data with the first device; this is the same as the above step S201 and will not be repeated here.

[0134] Step S502, when the wireless signal strength of the first wireless network module is less than the first preset strength, determining a second device around the robot, and the wireless signal strength of the wireless network module deployed on the second device is greater than or equal to the first preset strength;

[0135] Step S503, using the first millimeter wave antenna deployed on the robot to transmit data with the second device, so that the second device uses the second millimeter wave antenna deployed on the second device to transmit data with the robot, and uses the second wireless network module deployed on the second device to transmit data with the first device.

[0136] In the technical solution provided in the embodiment of the present application, when the wireless signal strength of the first wireless network module is less than the first preset strength, the robot finds the wireless signal transmission device (such as the second device), and the robot uses the second device to transmit the first data to the first device, thereby realizing long-distance data transmission, which is more suitable for the application scenario of the robot.

[0137] In the above step S502, the second device can be any device around the robot, such as a robot or an operating table, which is deployed with a millimeter wave antenna and a wireless network module.

[0138] In the embodiment of the present application, the robot can determine the second device in any of the following ways.

[0139] Method 1, determining the second device in a broadcasting manner, specifically: the robot uses the first millimeter wave antenna to broadcast a first-generation transmission request, and receives a first-generation transmission response corresponding to the first-generation transmission request fed back by at least one neighboring device around the robot, and the wireless signal strength of the wireless network module deployed on the at least one neighboring device is greater than or equal to the first preset strength; if the number of at least one neighboring device is one, the neighboring device is used as the second device; if the number of at least one neighboring device is multiple, the second device is selected from the at least one neighboring device.

[0140] In method 1, the first generation transmission request is used to request other devices to transmit wireless signals on behalf of the other device, and to achieve long-distance data transmission. The first generation transmission response is a response corresponding to the first generation transmission request, and is used to indicate that the neighboring device can transmit wireless signals on behalf of the other device.

[0141] In this method, the robot uses the first millimeter wave antenna to broadcast a first generation transmission request to transmit the robot's own communication needs to other devices. The devices around the robot (i.e., neighboring devices) use the millimeter wave antenna deployed on the neighboring device to receive the first generation transmission request. If the wireless signal strength of the wireless network module deployed on the neighboring device is greater than or equal to the first preset strength, the neighboring device uses the millimeter wave antenna deployed on the neighboring device to feedback the first generation transmission request to the robot based on the first generation transmission request. The robot receives the first generation transmission response fed back by one or more neighboring devices, and then selects a neighboring device from the one or more neighboring devices as the second device, i.e., the transmission device.

[0142] For example Figure 6a In the data transmission scenario shown, robot A uses its own millimeter wave antenna to broadcast proxy request 1. Within the coverage of the millimeter wave antenna deployed on robot A, there are robots B to C and console D; then robots B to C and console D use their own millimeter wave antennas to receive proxy request 1, and then robots B to C and console D use their own millimeter wave antennas to continue broadcasting proxy request 1. Within the coverage of the millimeter wave antennas deployed on robots B to C and console D, there are robots E to F who receive proxy request 1. Subsequently, robots E to F can use their own millimeter wave antennas to continue broadcasting proxy request 1, which will not be repeated here. Robots B to C, console D, and robots E to F can be understood as neighbor devices of robot A.

[0143] If the wireless signal strength of the wireless network module deployed on robot C is less than the first preset strength, and the wireless signal strength of the wireless network modules deployed on robot B, console D, and robots E to F is greater than or equal to the first preset strength, then robot B, console D, and robots E to F use their own deployed millimeter wave antennas to feedback proxy response 1 corresponding to proxy request 1 to robot A, and robot C ignores proxy request 1, such as refusing to respond to proxy request 1. Correspondingly, robot A selects a device from robot B, console D, and robots E to F as the proxy device.

[0144] It should be noted that robot E is within the coverage of the millimeter wave antenna deployed on robot B, and robot F is within the coverage of the millimeter wave antenna deployed on robot C. Data transmission between robot A and robot E needs to be implemented through robot B, and data transmission between robot A and robot F needs to be implemented through robot C. For example, the proxy response 1 sent by robot E is forwarded to robot A through the millimeter wave antenna deployed on robot B, and the proxy response 1 sent by robot F is forwarded to robot A through the millimeter wave antenna deployed on robot B.

[0145] In the embodiment of the present application, the robot sends a proxy request in the form of a broadcast, which can detect a large number of neighboring devices and then obtain a second device that meets the proxy request, thereby avoiding the operation interruption problem caused by a single neighboring device rejecting or ignoring the proxy request, and improving the robot's operating efficiency.

[0146] Method 2, determining the second device in a directional transmission manner, specifically: using the first millimeter wave antenna to scan the neighboring devices around the robot; using the first millimeter wave antenna to send a first-generation transmission request to the scanned neighboring device, and receiving a first-generation transmission response corresponding to the first-generation transmission request fed back by at least one neighboring device, and the wireless signal strength of the wireless network module deployed on at least one neighboring device is greater than or equal to the first preset strength; if the number of at least one neighboring device is one, then the neighboring device is used as the second device; if the number of at least one neighboring device is multiple, then the second device is selected from at least one neighboring device.

[0147] In mode 2, the first generation transmission request is used to request other devices to transmit wireless signals on behalf of the other device, and to achieve long-distance data transmission. The first generation transmission response is a response corresponding to the first generation transmission request, and is used to indicate that the neighboring device can transmit wireless signals on behalf of the other device.

[0148] In this method, the robot uses the first millimeter wave antenna to detect the devices around the robot (i.e., neighboring devices) and obtain the position of the neighboring devices. After detecting the position of the neighboring devices, the robot sends a first generation transmission request to the detected neighboring devices in a directionally manner to transmit the robot's own communication needs to the detected neighboring devices in a directionally manner. The neighboring devices around the robot use the millimeter wave antenna deployed on the neighboring devices to receive the first generation transmission request. If the wireless signal strength of the wireless network module deployed on the neighboring device is greater than or equal to the first preset strength, the neighboring device uses the millimeter wave antenna deployed on the neighboring device according to the first generation transmission request to feedback the first generation transmission request to the robot. The robot receives the first generation transmission response fed back by one or more neighboring devices, and these one or more neighboring devices constitute a neighbor set, and then the robot selects a neighboring device from the neighbor set as the second device, i.e., the transmission device.

[0149] In method 2, the robot can detect neighboring devices in any of the following ways.

[0150] Mode A: The robot performs a single scan, which may be: using the first millimeter wave antenna to scan the devices (i.e., neighbor devices) within the coverage range of the first millimeter wave antenna. The number of neighbor devices may be one or more. The robot scans one or more neighbor devices, which constitute a neighbor set. Subsequently, the robot may use the first millimeter wave antenna to send a first generation transmission request to each neighbor device in the neighbor set.

[0151] Still Figure 6a Take the data transmission scenario shown in the figure as an example. Robot A uses its own millimeter wave antenna to detect neighboring devices within its coverage, such as robots B to C and console D. Robot A uses its own millimeter wave antenna to send a proxy request 2 to robots B to C and console D.

[0152] If the wireless signal strength of the wireless network module deployed on robot C is less than the first preset strength, and the wireless signal strength of the wireless network modules deployed on robot B and console D is greater than or equal to the first preset strength, robot B and console D respectively use their own millimeter wave antennas to feedback proxy response 2 corresponding to proxy request 2 to robot A, and robot C ignores proxy request 2, such as refusing to respond to proxy request 2. Correspondingly, robot A selects a device from robot B and console D as the proxy device.

[0153] In the embodiment of the present application, the robot performs a first-level scan and determines the transmission device only from the coverage range of the millimeter-wave antenna deployed by itself, thereby reducing the range affected by the transmission, thereby reducing the impact on the entire system and improving the operating efficiency of the entire system.

[0154] Mode B: The robot performs multiple scans, which may be: using the first millimeter wave antenna to scan neighbor devices within the coverage of the first millimeter wave antenna; if the number of scanned neighbor devices is less than the first number, the first operation is performed, and the step of using the first millimeter wave antenna to scan neighbor devices within the coverage of the first millimeter wave antenna is re-executed until the number of scanned neighbor devices is greater than or equal to the first number. The first number can be set according to actual needs. The first operation includes at least one of operations a to b.

[0155] In operation a, the millimeter wave antenna deployed on the neighboring device is scanned as the new first millimeter wave antenna.

[0156] In an embodiment of the present application, if the number of scanned neighbor devices is less than the first number, the robot can use the millimeter-wave antenna deployed on the scanned neighbor device as a new first millimeter-wave antenna, and control the new first millimeter-wave antenna to scan. At this time, the robot's scanning range is increased from the coverage range of its own millimeter-wave antenna to the union of the coverage range of its own millimeter-wave antenna and the coverage range of the millimeter-wave antenna deployed on the neighbor device, thereby expanding the scanning range and obtaining more neighbor devices.

[0157] Still Figure 6a Take the data transmission scenario shown as an example. The first number is 4. Robot A uses the millimeter wave antenna deployed by itself to detect neighboring devices within its coverage, such as robots B to C and console D. At this time, the scanned neighboring devices include robots B to C and console D, that is, the number of scanned neighboring devices is 3, 3<4. Robot A controls robots B to C and console D to perform scanning, that is, robots B to C and console D respectively use the millimeter wave antenna deployed by themselves to detect neighboring devices within their coverage, such as robots E to F. At this time, the millimeter wave antenna deployed on robots B to C and console D can be regarded as the new first millimeter wave antenna, and the scanned neighboring devices include robots B to C, console D and robots E to F, that is, the number of scanned neighboring devices is 5, 5>4. Robot A ends scanning neighboring devices. Furthermore, robot A uses the millimeter wave antenna deployed by itself to send a proxy request 3 to robots B to C, console D and robots E to F.

[0158] If the wireless signal strength of the wireless network module deployed on robot C is less than the first preset strength, and the wireless signal strength of the wireless network modules deployed on robot B, console D, and robots E to F is greater than or equal to the first preset strength, then robot B, console D, and robots E to F respectively use their own deployed millimeter wave antennas to feedback proxy response 3 corresponding to proxy request 3 to robot A, and robot C ignores proxy request 3, such as refusing to respond to proxy request 3. Correspondingly, robot A selects a device from robot B, console D, and robots E to F as the proxy device.

[0159] b. Increase the transmission power of the first millimeter wave antenna.

[0160] In an embodiment of the present application, if the number of scanned neighbor devices is less than the first number, the robot increases the transmission power of the first millimeter wave antenna, so that the coverage range of the first millimeter wave antenna will be expanded, and more neighbor devices can be obtained.

[0161] Still Figure 6aTake the data transmission scenario shown in the figure as an example. The first number is 4. Robot A uses the millimeter wave antenna deployed by itself to detect neighboring devices within its coverage range, such as robots B to C and operating table D. At this time, the scanned neighboring devices include robots B to C and operating table D, that is, the number of scanned neighboring devices is 3, 3<4. Robot A increases the transmission power of the millimeter wave antenna deployed by itself, so that the coverage range of the millimeter wave antenna deployed on robot A increases, such as Figure 6b shown.

[0162] Robot A uses its own millimeter wave antenna to continue to detect neighbor devices within its coverage, such as robots B to C, console D, and robots E to F. At this time, the scanned neighbor devices include robots B to C, console D, and robots E to F, that is, the number of scanned neighbor devices is 5, 5>4. Robot A ends scanning neighbor devices. Then, robot A uses its own millimeter wave antenna to send proxy request 3 to robots B to C, console D, and robots E to F.

[0163] If the wireless signal strength of the wireless network module deployed on robot C is less than the first preset strength, and the wireless signal strength of the wireless network modules deployed on robot B, console D, and robots E to F is greater than or equal to the first preset strength, then robot B, console D, and robots E to F respectively use their own deployed millimeter wave antennas to feedback proxy response 3 corresponding to proxy request 3 to robot A, and robot C ignores proxy request 3, such as refusing to respond to proxy request 3. Correspondingly, robot A selects a device from robot B, console D, and robots E to F as the proxy device.

[0164] The robot adopts method B to scan neighboring devices, avoiding the problem of operation interruption caused by a single neighboring device rejecting or ignoring the proxy request, and improving the robot's operating efficiency.

[0165] In the embodiment of the present application, method 2 is adopted, in which the robot sends a proxy request in a directional manner, which can reduce the number of proxy responses received by the robot and reduce the burden on the robot.

[0166] In the embodiment of the present application, after the robot scans at least one neighbor device using method 1 or method 2, it can select a neighbor device that meets the first condition from the at least one neighbor device as the second device. The first condition may include at least one of conditions a to d.

[0167] In condition a, the robot receives the corresponding first-generation transmission response the earliest.

[0168] In the embodiment of the present application, the robot determines the reception time of each first-generation transmission response, and selects the neighbor device with the earliest reception time of the corresponding first-generation transmission response as the transmission device (ie, the second device).

[0169] Still Figure 6a Take the data transmission scenario shown as an example. Robot B, console D, and robots E to F use their own millimeter wave antennas to feed back the proxy response to robot A. Robot A uses its own millimeter wave antenna to receive 4 proxy responses (first proxy response), which are proxy response b corresponding to robot B, proxy response d corresponding to console D, proxy response e corresponding to robot E, and proxy response f corresponding to robot F. The order of receiving time of the 4 proxy responses is: proxy response b, proxy response d, proxy response e, proxy response f. Robot A can select robot B corresponding to proxy response b as the proxy device (i.e., the second device).

[0170] Condition b: the corresponding first-generation transmission response carries the earliest sending time of the first-generation transmission response.

[0171] In the embodiment of the present application, the sending time of the first generation transmission response carried by the first generation transmission response is the time when the neighbor device sends the first generation transmission response. The robot selects the neighbor device with the earliest sending time of the corresponding first generation transmission response as the transmission device.

[0172] Still Figure 6a Take the data transmission scenario shown as an example. Robot B, console D, and robots E to F use their own millimeter wave antennas to feed back the proxy response to robot A. Robot A uses its own millimeter wave antenna to receive 4 proxy responses (first proxy response), which are proxy response b corresponding to robot B, proxy response d corresponding to console D, proxy response e corresponding to robot E, and proxy response f corresponding to robot F. The order of sending time of the 4 proxy responses is: proxy response d, proxy response b, proxy response e, proxy response f. Robot A can select console D corresponding to proxy response d as the proxy device.

[0173] Based on conditions a and b, the robot can select a transmission device that can reliably transmit millimeter wave signals between the robot to ensure accurate data transmission.

[0174] In condition c, the wireless signal strength of the wireless network module carried by the corresponding first-generation transmission response is the highest.

[0175] In the embodiment of the present application, the first transmission response carries the wireless signal strength of the wireless network module deployed on the neighboring device. The robot selects the neighboring device with the highest wireless signal strength as the transmission device.

[0176] Based on condition c, the robot can select a transmission device that can reliably transmit wireless signals to the first device to ensure accurate data transmission.

[0177] In condition d, the busy level of the neighbor device carried by the corresponding first-generation transmission response is the lowest.

[0178] In the embodiment of the present application, the busy level of the device can be determined according to the above-mentioned CPU utilization, memory occupancy, number of executed tasks, etc. Among them, the greater the CPU utilization, the greater the memory occupancy, the more the number of executed tasks, the higher the busy level of the device. The first generation transmission response can carry the lowest busy level of the neighboring device. The robot selects the neighboring device with the lowest busy level as the generation transmission device.

[0179] In the embodiment of the present application, for a device in a standby state, which does not execute a task, it can be considered that the busy level of the device is the lowest level, such as level 0.

[0180] Based on condition d, the robot can select the proxy device with the lowest load to reduce the impact on the original task performed by the proxy device and improve the reliability of the entire system.

[0181] In the embodiment of the present application, the robot can randomly select a neighbor device from at least one neighbor device as the second device, and this is not limited.

[0182] In the above step S503, the second millimeter wave antenna is a millimeter wave antenna deployed on the second device, and the second wireless network module is a wireless network module deployed on the second device.

[0183] After determining the second device, the robot uses the first millimeter wave antenna to send data to the second device; the second device uses the second millimeter wave antenna to receive the data sent by the robot, and uses the second wireless network module to send the data to the first device. In addition, the first device sends data to the second device; the second device uses the second wireless network module to receive the data sent by the first device, and uses the second millimeter wave antenna to send the data to the robot; the robot uses the first millimeter wave antenna to receive the data sent by the second device. Based on this, long-distance data transmission between the robot and the first device is realized.

[0184] Still Figure 6a Take the data transmission scenario shown in the figure as an example. Robot A determines that robot E is the transmitting device. When robot A needs to send data to the remote control device, robot A uses the millimeter wave antenna to send data to robot E through the millimeter wave antenna of robot B; after robot E receives the data using the millimeter wave antenna, it uses the wireless network module to send the data to the remote control device.

[0185] When the remote control device needs to send data to robot A, robot E uses the wireless network module to receive the data sent by the remote control device, and uses the millimeter wave antenna to send data to robot A through the millimeter wave antenna of robot B; robot A uses the millimeter wave antenna to receive the data sent by robot E.

[0186] In some embodiments, the robot is managed by a control device, and one control device can manage multiple robots. In this case, each robot can use a millimeter wave antenna to transmit the communication status of its own wireless network module to the control device when the wireless communication module fails, so that the control device can know the communication status of each robot, manage and control each robot, realize self-inspection of each robot, and then promptly repair each robot. Among them, the communication status of the wireless network module includes normal communication and abnormal communication. When the wireless signal strength of the wireless network module is less than the first preset strength, it indicates that the communication is abnormal; when the wireless signal strength of the wireless network module is greater than or equal to the first preset strength, it indicates that the communication is normal.

[0187] In the embodiment of the present application, the robot's self-inspection includes two modes: active self-inspection and passive self-inspection.

[0188] In the passive self-test mode of the robot, the above step S202 can be: when the wireless signal strength of the first wireless network module is less than the first preset strength, the robot uses the first millimeter wave antenna deployed on the robot to send the first communication status of the first wireless network module to the control device; uses the first millimeter wave antenna to receive the self-test instruction sent by the control device according to the first communication status; according to the self-test instruction, uses the first wireless network module to transmit the detection message to the control device to obtain the self-test result; uses the first millimeter wave antenna to transmit the self-test result to the control device.

[0189] The control device is the first device. The first communication state is the communication state of the first wireless network module. Here, the first communication state is communication abnormality, that is, wireless communication is limited. The self-check instruction is used to instruct the robot to detect the reason for the limited wireless communication. The detection message can be any signal.

[0190] When the wireless signal strength of the first wireless network module is less than the first preset strength, the robot uses the first millimeter wave antenna to send the first communication status of the first wireless network module to the control device in real time or periodically. After the control device receives the first communication status, according to the first communication status, if it is determined that the robot is in a state of limited wireless communication for a long time, a self-test instruction can be sent to the robot. The robot uses the first millimeter wave antenna to receive the self-test instruction sent by the control device, and then performs a self-test according to the self-test instruction, that is, uses the first wireless network module to transmit a detection message between the control device and the control device. If the transmission is successful, it means that the first wireless network module is normal, and the limited wireless communication may be due to a misjudgment, and a self-test result indicating that the first wireless network module is normal is generated; if the transmission fails, it means that the first wireless network module is faulty, and a self-test result indicating that the first wireless network module is abnormal is generated; after that, the robot uses the first millimeter wave antenna to transmit the self-test result between the control device.

[0191] When the control device receives the self-test result, it can determine the reason why the robot's wireless communication is limited, and then proceed to the next step. For example, the control device outputs the test result, the manager sees the test result, and arranges personnel to inspect the robot to ensure the normal operation of the robot.

[0192] The above-mentioned use of the first wireless network module to transmit the detection message between the control device can be: using the first wireless network module to send a message to the control device and receive a message fed back by the control device. If the robot does not receive a message fed back by the control device within a period of time, the robot can determine that the transmission has failed; if the robot receives a message fed back by the control device within a period of time, the robot can determine that the transmission has been successful.

[0193] In the robot's active self-test mode, the above step S202 can be: when the wireless signal strength of the first wireless network module is less than the first preset strength, the robot uses the first millimeter wave antenna deployed on the robot to receive the second communication status of the neighboring devices around the robot sent by the control device; when the second communication status indicates that the wireless network module deployed on the neighboring device is normal, the first wireless network module is used to transmit the detection message between the control device and obtain the self-test result; the first millimeter wave antenna is used to transmit the self-test result between the control device and the robot.

[0194] Among them, the second communication state is the communication state of the second wireless network module. Here, the second communication state is communication abnormality, and the wireless communication is limited. The self-test instruction is used to instruct the robot to detect the reason for the limited wireless communication. The detection message can be any signal. In the embodiment of the present application, the control device manages multiple robots and can also manage other devices. The control device can obtain information such as the communication status and location of the wireless network module of each device it manages.

[0195] When the wireless signal strength of the first wireless network module is less than the first preset strength, the control device sends the second communication status of the neighboring devices around the robot to the robot. According to the second communication status of the neighboring devices, if the robot determines that the wireless communication of the neighboring devices around the robot is normal, and the second communication status indicates that the wireless network module deployed on the neighboring devices is normal, the robot performs a self-test, that is, uses the first wireless network module to transmit a detection message to the control device. If the transmission is successful, it means that the first wireless network module is normal, and the limited wireless communication may be due to a misjudgment, and a self-test result indicating that the first wireless network module is normal is generated; if the transmission fails, it means that the first wireless network module is faulty, and a self-test result indicating that the first wireless network module is abnormal is generated; then, the robot uses the first millimeter wave antenna to transmit the self-test result to the control device.

[0196] When the control device receives the self-test result, it can determine the reason why the robot's wireless communication is limited, and then proceed to the next step. For example, the control device outputs the test result, the manager sees the test result, and arranges personnel to inspect the robot to ensure the normal operation of the robot.

[0197] In the embodiment of the present application, the robot can perform long-distance data transmission with the control device. The method of long-distance data transmission can refer to the above description of selecting a transmission device and performing data transmission between the transmission device and the first device. The robot can also perform short-distance data transmission with other robots.

[0198] When performing short-range data transmission, the first device may be another robot, and the above step S202 may be: when the wireless signal strength of the first wireless network module is less than the first preset strength, the robot uses the first millimeter wave antenna deployed on the robot to obtain the device information of other robots in the direction of the robot's travel path; and uses the first millimeter wave antenna deployed on the robot to send an operation instruction to at least one other robot whose device information meets the second condition. The device information of other robots may include but is not limited to the location, working status, remaining power, and work progress of other robots. The third condition can be set according to the device information. The number of the at least one other robot that receives the operation instruction can be determined according to the number of robots required for the actual task.

[0199] In the embodiment of the present application, the second condition may include at least one of conditions A to E.

[0200] Condition A: the distance between the other robots indicated by the device information and the travel path is less than the first distance;

[0201] In the embodiment of the present application, the size of the first distance can be set according to actual needs. The device information of other robots can carry the position of the other robots. Based on the position of the other robots carried in the device information and the travel path of the robot's own task, the robot can determine one or more other robots whose distance from the travel path is less than the first distance, and select the required number of other robots from the one or more other robots, and then use the first millimeter wave antenna deployed on the robot to send operation instructions to the required number of other robots. In this way, the required number of other robots can cooperate with the robot to complete the corresponding task according to the operation instructions.

[0202] For example Figure 7 In the data transmission scenario shown, robot A uses its own millimeter wave antenna to obtain the device information of robots B to F in the direction of the travel path; based on the device information, robot A determines that the distance between robots B to E and the travel path of robot A is less than the first distance, so the required number of devices is selected from robots B to E. If the required number is 2, 2 devices (such as robot B and robot C) are selected from robots B to E. Then, robot A sends operation instructions to robots B and C. After that, robots A, B, and C can collaborate to complete the task.

[0203] In the embodiment of the present application, the robot selects other robots whose travel paths are less than the first distance to collaborate in completing the task, so that other robots can participate in the task more quickly and the task execution efficiency is improved.

[0204] Condition B: the distance between the other robots and the robot indicated by the device information is less than the second distance;

[0205] In the embodiment of the present application, the size of the second distance can be set according to actual needs. The device information of other robots can carry the position of the other robots. Based on the positions of the other robots carried in the device information and the position of the robot itself, the robot can determine one or more other robots whose distance from the robot is less than the first distance, and select the required number of other robots from the one or more other robots, and then use the first millimeter wave antenna to send operation instructions to the required number of other robots. In this way, the required number of other robots can cooperate with the robot to complete the corresponding task according to the operation instructions.

[0206] For example Figure 7In the data transmission scenario shown, robot A uses its own millimeter wave antenna to obtain the device information of robots B to F in the direction of the travel path; based on the device information, robot A determines that the distance between robots B to E and robot A is less than the second distance, so the required number of devices is selected from robots B to E. If the required number is 2, two devices (such as robot B and robot C) are selected from robots B to E. Then, robot A sends operation instructions to robots B and C. After that, robots A, B, and C can collaborate to complete the task.

[0207] In an embodiment of the present application, the device information may also be the time difference between a signal transmitted by the robot and an echo signal received from the signal. Based on the time difference, the robot can determine the distance between other robots and itself, and then determine whether the distance between other robots and the robot is less than the second distance.

[0208] In the embodiment of the present application, the robot selects other robots that are less than the second distance from the robot to collaborate in completing the task, thereby improving the reliability of other robots receiving the millimeter wave signal and improving the accuracy of task execution.

[0209] Condition C: the working state indicated by the device information is standby state;

[0210] In the embodiment of the present application, the working state of the robot includes a standby state and an active state. The robot in the standby state enters a self-protection power saving mode and will not perform tasks, but the wireless network module and the millimeter wave antenna can receive signals normally. The robot in the active state exits the power saving mode and can perform any task normally. The device information of other robots can carry the working state of the other robots.

[0211] According to the working status carried in the device information, the robot can determine one or more other robots in the standby state, select a required number of other robots from the one or more other robots, and then use the first millimeter wave antenna to send operation instructions to the required number of other robots. In this way, the required number of other robots can cooperate with the robot to complete the corresponding task according to the operation instructions.

[0212] In the embodiment of the present application, the robot dispatches other robots in standby state to collaborate in completing the task, so that more devices can participate in the task execution process, thereby saving the time spent on executing the task.

[0213] Condition D: the remaining power indicated by the device information is greater than the preset power;

[0214] In the embodiment of the present application, the device information of other robots may carry the remaining power of the other robots.

[0215] According to the remaining power carried by the device information, the robot can determine one or more other robots whose remaining power is greater than the preset power, select a required number of other robots from the one or more other robots, and then use the first millimeter wave antenna to send operation instructions to the required number of other robots. In this way, the required number of other robots can cooperate with the robot to complete the corresponding task according to the operation instructions.

[0216] In the embodiment of the present application, the robot dispatches other robots whose remaining power is greater than the preset power, that is, dispatches robots with sufficient power to collaborate in completing the task. This can ensure that the robots have sufficient power during the operation and are not forced to interrupt the operation due to insufficient power, or the robot enters a self-protection power-saving mode, which slows down the operation rhythm.

[0217] Condition E: The work progress indicated by the equipment information is greater than the preset progress.

[0218] In the embodiment of the present application, the device information of other robots may carry the work progress of the other robots.

[0219] According to the work progress carried by the device information, the robot can determine one or more other robots whose work progress is greater than the preset progress, select a required number of other robots from the one or more other robots, and then use the first millimeter wave antenna to send operation instructions to the required number of other robots. In this way, the required number of other robots can cooperate with the robot to complete the corresponding task according to the operation instructions.

[0220] In the embodiment of the present application, the robot schedules other robots whose work progress is greater than the preset progress, that is, the robot whose work is about to be completed, to collaborate to complete the task, so that the robots can seamlessly connect in multiple operations and maximize the utilization of each robot to perform operations.

[0221] Based on the second condition above, the robot's resources can be reasonably scheduled according to actual needs, so that it can work efficiently.

[0222] In some embodiments, when the wireless signal strength of the first wireless network module is greater than or equal to the first preset strength, the robot can be used as a transmission device. In this case, the embodiment of the present application also provides a data transmission method, such as Figure 8 As shown, the following steps may be included:

[0223] Step S801: Use the first millimeter wave antenna to receive a second generation transmission request sent by a third device.

[0224] In the embodiment of the present application, the third device may be any other device, such as another robot or an operating console, etc. Regardless of whether the wireless signal strength of the first wireless network module is greater than or equal to the first preset strength, the robot may use the first millimeter wave antenna to receive a transmission request, such as a second transmission request, sent by the third device.

[0225] Step S802: If the wireless signal strength of the first wireless network module is greater than or equal to the first preset strength and the robot meets the third condition, the first millimeter wave antenna is used to send a second generation transmission response corresponding to the second generation transmission request to the third device.

[0226] The second generation transmission response is a transmission response corresponding to the second generation transmission request. After receiving the second generation transmission request, if the wireless signal strength of the first wireless network module is greater than or equal to the first preset strength and the robot meets the third condition, the first millimeter wave antenna is used to send the second generation transmission response to the third device. Subsequently, the third device can select the robot as the transmission device.

[0227] In the embodiment of the present application, the third condition may be that the robot's working state is in a standby state. In this case, if the robot determines that its working state is in a standby state, it switches to an active state, and then the first millimeter wave antenna sends a second generation transmission response to the third device. Correspondingly, if the robot determines that its working state is in an active state, the second generation transmission request may be ignored. In this way, interference with the working device / robot can be minimized.

[0228] In an embodiment of the present application, the third condition may also be that the robot's working state is an activated state, and the robot's busy level is less than a preset level. In this case, if the robot determines that its working state is an activated state, and the robot's busy level is less than the preset level, that is, the robot is relatively idle, then the first millimeter wave antenna sends a second-generation transmission response to the third device. Correspondingly, if the robot determines that its working state is a standby state, the second-generation transmission request can be ignored, or, if the robot's working state is an activated state, and the robot's busy level is greater than the preset level, the second-generation transmission request can be ignored. In this way, fewer devices / robots can be awakened, reducing the energy consumption of the entire system, and also minimizing interference with working devices / robots.

[0229] In the embodiment of the present application, the third condition can be set according to actual needs and is not limited to this.

[0230] In some embodiments, in order to reduce interference to a working device / robot, when the wireless signal strength of the first wireless network module is greater than or equal to a first preset strength, if the robot's working state is an activated state and the robot's busy level is greater than or equal to the preset level, the receiving function of the first millimeter wave antenna is turned off; if the robot's working state is a standby state, or the robot's working state is an activated state and the robot's busy level is less than the preset level, the receiving function of the first millimeter wave antenna is turned on.

[0231] When the robot is in the standby state, the robot turns on the receiving function of the first millimeter wave antenna. When the robot is in the active state and the busy level of the robot is less than the preset level, the robot also turns on the receiving function of the first millimeter wave antenna.

[0232] When the robot's working state is activated and the robot's busy level is greater than or equal to the preset level, the robot is relatively busy, and the robot turns off the receiving function of the first millimeter wave antenna. In this way, the robot can avoid forwarding or responding to millimeter wave signals and focus on completing the work it is busy with.

[0233] In some embodiments, in order to transmit data more reliably, when the wireless signal strength of the first wireless network module is less than the first preset strength, when the first millimeter wave antenna needs to be used to transmit data, before using the first millimeter wave antenna deployed on the robot to transmit the data to the first device, the robot may perform at least one of the following operations on the first millimeter wave antenna:

[0234] Operation A: increase the transmission power of the first millimeter wave antenna.

[0235] In the embodiment of the present application, the robot increases the transmission power of the first millimeter wave antenna, which can increase the performance of the robot using the first millimeter wave antenna to transmit millimeter wave signals to penetrate obstructions, thereby improving the reliability of millimeter wave signal transmission.

[0236] Operation B: increase the height of the first millimeter wave antenna.

[0237] In the embodiment of the present application, in order to maximize the height of the first millimeter wave antenna and minimize the impact of obstructions, the first millimeter wave antenna is deployed on the end effector of the robot. Accordingly, the robot can adopt at least one of the following operations to increase the height of the first millimeter wave antenna: raise the height of the end effector; vertically raise the highest position of the robot.

[0238] For example Figure 1 The robot shown in the figure can control the elevation of the end effector 13. As the end effector 13 is elevated, the millimeter wave antenna deployed on the end effector 13 increases. Figure 9aThe robot can also control the longitudinal telescopic component 16 at the bottom of the robot to rise longitudinally, thereby achieving the highest position 15 of the robot to rise longitudinally, such as Figure 9b When the highest position 15 of the robot is raised longitudinally, the millimeter wave antenna disposed on the end effector 13 is further raised.

[0239] In the embodiment of the present application, the structure of the telescopic component 16 on the robot can also be in other forms, such as Fig.9c The telescopic component 16 shown in the embodiment of the present application is not limited to the structural form of the telescopic component 16, as long as it can be longitudinally extended to raise the highest position of the robot.

[0240] Operation C: adjust the position of the first millimeter wave antenna.

[0241] In an embodiment of the present application, in order to further improve the reliability of millimeter wave signal transmission, the robot can adjust the posture of the first millimeter wave antenna so that the direction in which the first millimeter wave antenna transmits / receives signals matches the first device or the second device.

[0242] The robot can adjust the position and posture of the first millimeter wave antenna by at least one of the following operations: moving within the feasible range corresponding to the robot; adjusting the posture of the first millimeter wave antenna.

[0243] In the embodiment of the present application, the feasible range can be a circle range with a specified radius centered on the robot, or a rectangular range with a specified radius centered on the robot, and is not limited thereto. The posture of the first millimeter wave antenna can be a tilt direction and tilt angle of the first millimeter wave antenna.

[0244] When the robot is moving, if the wireless signal strength of the first wireless network module is less than the first preset strength and the wireless network signal is interrupted, the robot can move within the corresponding feasible range and / or adjust the posture of the first millimeter wave antenna to detect other devices around the robot as much as possible and conduct reliable data transmission with them.

[0245] For example, a millimeter wave antenna is deployed on the end effector 13 of the robot. Figure 9b The robot can swing the end effector 13, that is, swing the robot's arm, to adjust the posture of the millimeter wave antenna deployed on the end effector 13, such as Fig.10a The robot can also use the freedom of the arm to adjust the position of the robot's arm, such as Fig.10b The arm is shown bent to further adjust the posture of the millimeter wave antenna deployed on the end effector 13.

[0246] For another example, when the robot is moving using the driving structure 14, the wireless network signal is interrupted, and the robot can move using the driving structure 14. Fig.10c Move within the small range of radius r shown.

[0247] Corresponding to the above data transmission method, the embodiment of the present application also provides a data transmission device, such as Fig.11 As shown, applied to a robot, the device comprises:

[0248] The first transmission module 1101 is used to transmit data with the first device using the first wireless network module deployed on the robot;

[0249] The second transmission module 1102 is used to transmit data to the first device using the first millimeter wave antenna deployed on the robot when the wireless signal strength of the first wireless network module is less than a first preset strength.

[0250] In the technical solution provided in the embodiment of the present application, a wireless network module and a millimeter wave antenna are deployed on the robot. The robot first uses the wireless network module to transmit data with other devices (such as the first device). When the wireless signal strength of the wireless network module is less than the first preset strength, it means that the signal of the wireless network is unstable. At this time, the robot uses the millimeter wave antenna deployed on the robot to transmit data with the first device. The millimeter waves emitted by the millimeter wave antenna have strong penetrating power, and the impact of obstruction on the millimeter wave antenna is much smaller than the impact of obstruction on the signal of the wireless network. When the signal of the wireless network is unstable, the millimeter wave antenna is used instead of the wireless network module to transmit data, which effectively solves the problem of robot operation interruption caused by the unstable signal of the wireless network and improves the robot operation efficiency.

[0251] In some embodiments, the first transmission module 101 may also be used to:

[0252] After using the first millimeter wave antenna deployed on the robot to transmit data with the first device, when the wireless signal strength of the first wireless network module is greater than or equal to the second preset strength, use the first wireless network module to transmit data with the first device, and the second preset strength is greater than or equal to the first preset strength.

[0253] In some embodiments, the second transmission module 1102 may be specifically configured to:

[0254] When the wireless signal strength of the first wireless network module is less than the first preset strength, determining a second device around the robot, the wireless signal strength of the wireless network module deployed on the second device being greater than or equal to the first preset strength;

[0255] The first millimeter wave antenna deployed on the robot is used to transmit data with the second device, so that the second device uses the second millimeter wave antenna deployed on the second device to transmit data with the robot, and uses the second wireless network module deployed on the second device to transmit data with the first device.

[0256] In some embodiments, the second transmission module 1102 may be specifically configured to:

[0257] Using the first millimeter wave antenna, broadcasting a first generation transmission request, and receiving a first generation transmission response corresponding to the first generation transmission request fed back by at least one neighboring device around the robot, wherein the wireless signal strength of the wireless network module deployed on the at least one neighboring device is greater than or equal to a first preset strength;

[0258] If the number of at least one neighbor device is one, use the neighbor device as the second device;

[0259] If the number of the at least one neighbor device is plural, the second device is selected from the at least one neighbor device.

[0260] In some embodiments, the second transmission module 1102 may be specifically configured to:

[0261] Use the first millimeter wave antenna to scan neighboring devices around the robot;

[0262] Using the first millimeter wave antenna, sending a first generation transmission request to the scanned neighboring device, and receiving a first generation transmission response corresponding to the first generation transmission request fed back by at least one neighboring device, wherein the wireless signal strength of the wireless network module deployed on at least one neighboring device is greater than or equal to the first preset strength;

[0263] If the number of at least one neighbor device is one, use the neighbor device as the second device;

[0264] If the number of the at least one neighbor device is plural, the second device is selected from the at least one neighbor device.

[0265] In some embodiments, the second transmission module 1102 may be specifically configured to:

[0266] Using the first millimeter wave antenna, scanning neighboring devices within the coverage of the first millimeter wave antenna; or,

[0267] Using the first millimeter wave antenna, scanning neighbor devices within the coverage of the first millimeter wave antenna; if the number of scanned neighbor devices is less than the first number, performing the first operation, and re-performing the step of using the first millimeter wave antenna to scan neighbor devices within the coverage of the first millimeter wave antenna until the number of scanned neighbor devices is greater than or equal to the first number;

[0268] The first operation includes at least one of the following operations:

[0269] Scanning the millimeter-wave antenna deployed on the neighboring device as the new first millimeter-wave antenna;

[0270] Increase the transmission power of the first millimeter wave antenna.

[0271] In some embodiments, the second transmission module 1102 may be specifically configured to:

[0272] Selecting, from at least one neighboring device, a neighboring device that meets a first condition as the second device;

[0273] The first condition includes at least one of the following:

[0274] The robot receives the corresponding first-generation transmission response the earliest;

[0275] The first generation transmission response carried by the corresponding first generation transmission response has the earliest transmission time;

[0276] The corresponding first-generation transmission should carry the highest wireless signal strength of the wireless network module;

[0277] The corresponding first-generation transmission response carries the lowest busy level of the neighbor device.

[0278] In some embodiments, the first device is a control device; the second transmission module 1102 may be specifically used for:

[0279] Use the first millimeter wave antenna deployed on the robot to send the first communication state of the first wireless network module to the control device; use the first millimeter wave antenna to receive the self-test instruction sent by the control device according to the first communication state; according to the self-test instruction, use the first wireless network module to transmit a detection message to the control device to obtain a self-test result; use the first millimeter wave antenna to transmit the self-test result to the control device; or,

[0280] Use the first millimeter wave antenna deployed on the robot to receive the second communication status of neighboring devices around the robot sent by the control device; when the second communication status indicates that the wireless network module deployed on the neighboring device is normal, use the first wireless network module to transmit a detection message between the control device and obtain a self-test result; use the first millimeter wave antenna to transmit the self-test result between the control device and the robot.

[0281] In some embodiments, the first device is another robot; the second transmission module 1102 can be specifically used for:

[0282] Use the first millimeter wave antenna deployed on the robot to obtain device information of other robots in the direction of the robot's travel path;

[0283] Using a first millimeter wave antenna deployed on the robot, sending an operation instruction to at least one other robot whose device information meets a second condition;

[0284] The second condition includes at least one of the following:

[0285] The distance between the other robots indicated by the device information and the travel path is less than the first distance;

[0286] The distance between the other robots and the robot indicated by the device information is smaller than the second distance;

[0287] The working state indicated by the device information is standby state;

[0288] The remaining power indicated by the device information is greater than the preset power;

[0289] The work progress indicated by the equipment information is greater than the preset progress.

[0290] In some embodiments, the second transmission module 1102 may also be used to:

[0291] When the wireless signal strength of the first wireless network module is greater than or equal to the first preset strength, the first millimeter wave antenna is used to receive the second generation transmission request sent by the third device; if the robot meets the third condition, the first millimeter wave antenna is used to send a second generation transmission response corresponding to the second generation transmission request to the third device;

[0292] Among them, the third condition is:

[0293] The robot is in standby mode; or

[0294] The robot's working state is active, and the robot's busy level is less than the preset level.

[0295] In some embodiments, the data transmission device may further include:

[0296] The first control module is used to turn off the receiving function of the first millimeter wave antenna if the working state of the robot is in an activated state and the busy level of the robot is greater than or equal to the preset level when the wireless signal strength of the first wireless network module is greater than or equal to the first preset strength; if the working state of the robot is in a standby state, or the working state of the robot is in an activated state and the busy level of the robot is less than the preset level, then turn on the receiving function of the first millimeter wave antenna.

[0297] In some embodiments, the data transmission device may further include:

[0298] The second control module is configured to, when the wireless signal strength of the first wireless network module is less than a first preset strength, perform at least one of the following operations on the first millimeter wave antenna deployed on the robot before transmitting data with the first device:

[0299] Increasing the transmission power of the first millimeter wave antenna;

[0300] Increasing the height of the first millimeter wave antenna;

[0301] Adjust the position of the first millimeter wave antenna.

[0302] In some embodiments, the first millimeter wave antenna is deployed on the end effector of the robot; the second control module can be specifically used for:

[0303] Raise the height of the end effector; and / or,

[0304] Raises the robot to its highest position vertically.

[0305] In some embodiments, the second control module may be specifically used to:

[0306] Move within the robot's corresponding feasible range; and / or,

[0307] Adjust the posture of the first millimeter wave antenna.

[0308] Corresponding to the above data transmission method, the embodiment of the present application also provides a robot, such as Fig.12 As shown, it includes a processor 1201, a first wireless network module 1202, a first millimeter wave antenna 1203, a memory 1204 and a communication bus 1205, wherein the processor 1201, the first wireless network module 1202, the first millimeter wave antenna 1203, and the memory 1204 communicate with each other through the communication bus 1205.

[0309] Memory 1204, used for storing computer programs;

[0310] The processor 1201 is used to implement the following steps when executing the program stored in the memory 1204:

[0311] Using a first wireless network module deployed on the robot to transmit data to a first device;

[0312] When the wireless signal strength of the first wireless network module is less than the first preset strength, the first millimeter wave antenna deployed on the robot is used to transmit data to the first device.

[0313] In the technical solution provided in the embodiment of the present application, a wireless network module and a millimeter wave antenna are deployed on the robot. The robot first uses the wireless network module to transmit data with other devices (such as the first device). When the wireless signal strength of the wireless network module is less than the first preset strength, it means that the signal of the wireless network is unstable. At this time, the robot uses the millimeter wave antenna deployed on the robot to transmit data with the first device. The millimeter waves emitted by the millimeter wave antenna have strong penetrating power, and the impact of obstruction on the millimeter wave antenna is much smaller than the impact of obstruction on the signal of the wireless network. When the signal of the wireless network is unstable, the millimeter wave antenna is used instead of the wireless network module to transmit data, which effectively solves the problem of robot operation interruption caused by the unstable signal of the wireless network and improves the robot operation efficiency.

[0314] The communication bus mentioned in the above robot can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0315] The first wireless network module and the first millimeter wave antenna are used for communication between the robot and other devices.

[0316] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0317] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0318] In another embodiment provided in the present application, a computer-readable storage medium is provided, in which a computer program is stored. When the computer program is executed by a processor, any of the above-mentioned data transmission methods is implemented.

[0319] In another embodiment provided by the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute any of the data transmission methods in the above embodiments.

[0320] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive Solid State Disk (SSD)), etc.

[0321] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0322] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the robot, data transmission device, storage medium, and program product embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0323] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A data transmission method, It is characterized in that Applied to a robot, the method comprises: Using a first wireless network module deployed on the robot to transmit data to a first device; When the wireless signal strength of the first wireless network module is less than a first preset strength, the data is transmitted between the first device and the first millimeter wave antenna deployed on the robot.

2. The method according to claim 1, It is characterized in that After transmitting the data to the first device using a first millimeter wave antenna deployed on the robot, the method further includes: When the wireless signal strength of the first wireless network module is greater than or equal to a second preset strength, the first wireless network module is used to transmit the data to the first device, and the second preset strength is greater than or equal to the first preset strength.

3. The method according to claim 1, It is characterized in that The step of using the first millimeter wave antenna deployed on the robot to transmit the data to the first device includes: Determine a second device around the robot, wherein the wireless signal strength of the wireless network module deployed on the second device is greater than or equal to the first preset strength; The data is transmitted between the robot and the second device using the first millimeter wave antenna deployed on the robot, so that the second device uses the second millimeter wave antenna deployed on the second device to transmit the data between the robot and the second wireless network module deployed on the second device to transmit the data between the robot and the first device.

4. The method according to claim 3, It is characterized in that The step of determining the second device around the robot comprises: Using the first millimeter wave antenna, broadcasting a first generation transmission request, and receiving a first generation transmission response corresponding to the first generation transmission request fed back by at least one neighboring device around the robot, the wireless signal strength of the wireless network module deployed on the at least one neighboring device is greater than or equal to the first preset strength; if the number of the at least one neighboring device is one, using the neighboring device as the second device; if the number of the at least one neighboring device is multiple, selecting the second device from the at least one neighboring device; or, Use the first millimeter wave antenna to scan neighbor devices around the robot; use the first millimeter wave antenna to send a first generation transmission request to the scanned neighbor device, and receive a first generation transmission response corresponding to the first generation transmission request fed back by at least one neighbor device, and the wireless signal strength of the wireless network module deployed on the at least one neighbor device is greater than or equal to the first preset strength; if the number of the at least one neighbor device is one, then the neighbor device is used as the second device; if the number of the at least one neighbor device is multiple, then the second device is selected from the at least one neighbor device.

5. The method according to claim 4, It is characterized in that The step of using the first millimeter wave antenna to scan at least one neighboring device around the robot includes: Using the first millimeter wave antenna, scanning neighboring devices within the coverage of the first millimeter wave antenna; or, Using the first millimeter wave antenna, scanning neighbor devices within the coverage of the first millimeter wave antenna; if the number of scanned neighbor devices is less than the first number, performing a first operation, and re-performing the step of using the first millimeter wave antenna to scan neighbor devices within the coverage of the first millimeter wave antenna until the number of scanned neighbor devices is greater than or equal to the first number; The first operation includes at least one of the following operations: Scanning the millimeter-wave antenna deployed on the neighboring device as the new first millimeter-wave antenna; increasing the transmission power of the first millimeter wave antenna; and / or, The step of selecting a second device from the at least one neighboring device includes: Selecting, from the at least one neighboring device, a neighboring device that meets the first condition as the second device; The first condition includes at least one of the following: The robot receives the corresponding first-generation transmission response the earliest; The first generation transmission response carried by the corresponding first generation transmission response has the earliest transmission time; The corresponding first-generation transmission should carry the highest wireless signal strength of the wireless network module; The corresponding first-generation transmission response carries the lowest busy level of the neighbor device.

6. The method according to claim 1, It is characterized in that The first device is a control device; the step of using a first millimeter wave antenna deployed on the robot to transmit the data to the first device includes: Using the first millimeter wave antenna deployed on the robot, sending the first communication state of the first wireless network module to the control device; using the first millimeter wave antenna, receiving the self-test instruction sent by the control device according to the first communication state; according to the self-test instruction, using the first wireless network module, transmitting a detection message to the control device to obtain a self-test result; using the first millimeter wave antenna to transmit the self-test result to the control device; or, Using the first millimeter wave antenna deployed on the robot, receiving the second communication status of the neighboring devices around the robot sent by the control device; when the second communication status indicates that the wireless network module deployed on the neighboring device is normal, using the first wireless network module to transmit a detection message to the control device to obtain a self-test result; using the first millimeter wave antenna to transmit the self-test result to the control device; or, The first device is another robot; the step of using a first millimeter wave antenna deployed on the robot to transmit the data to the first device includes: Using a first millimeter wave antenna deployed on the robot, acquiring device information of other robots in the direction of the robot's travel path; Using a first millimeter wave antenna deployed on the robot, sending an operation instruction to at least one other robot whose device information meets a second condition; The second condition includes at least one of the following: The distance between the other robot and the travel path indicated by the device information is less than the first distance; The distance between the other robot and the robot indicated by the device information is smaller than the second distance; The working state indicated by the device information is standby state; The remaining power indicated by the device information is greater than the preset power; The work progress indicated by the equipment information is greater than the preset progress.

7. The method according to claim 1, It is characterized in that When the wireless signal strength of the first wireless network module is greater than or equal to the first preset strength, the method further includes: Using the first millimeter wave antenna, receiving a second generation transmission request sent by a third device; If the robot meets the third condition, the robot uses the first millimeter wave antenna to send a second generation transmission response corresponding to the second generation transmission request to the third device; Wherein, the third condition is: The working state of the robot is standby state; or The working state of the robot is an activated state, and the busy level of the robot is less than a preset level; and / or, When the wireless signal strength of the first wireless network module is greater than or equal to the first preset strength, the method further includes: If the working state of the robot is an activated state and the busy level of the robot is greater than or equal to a preset level, turning off the receiving function of the first millimeter wave antenna; If the working state of the robot is a standby state, or the working state of the robot is an active state, and the busy level of the robot is less than a preset level, the receiving function of the first millimeter wave antenna is turned on; or, When the wireless signal strength of the first wireless network module is less than the first preset strength, before using the first millimeter wave antenna deployed on the robot to transmit the data to the first device, the method further includes: Perform at least one of the following operations on the first millimeter wave antenna: Increasing the transmission power of the first millimeter wave antenna; Increasing the height of the first millimeter wave antenna; adjusting the posture of the first millimeter wave antenna; and / or, The first millimeter wave antenna is deployed on the end effector of the robot; the step of increasing the height of the first millimeter wave antenna includes: raising the height of the end effector; and / or, longitudinally raising the highest position of the robot; and / or, The step of adjusting the position and posture of the first millimeter wave antenna includes: moving within a feasible range corresponding to the robot; and / or adjusting the posture of the first millimeter wave antenna.

8. A data transmission device, It is characterized in that Applied to a robot, the device comprises: A first transmission module, used to transmit data between a first device and a first wireless network module deployed on the robot; The second transmission module is used to transmit the data between the first device using the first millimeter wave antenna deployed on the robot when the wireless signal strength of the first wireless network module is less than a first preset strength.

9. A robot, It is characterized in that It includes a processor, a first wireless network module, a first millimeter wave antenna, a memory and a communication bus, wherein the processor, the first wireless network module, the first millimeter wave antenna and the memory communicate with each other through the communication bus; The memory is used to store computer programs; The processor is used to implement the method described in any one of claims 1 to 7 when executing the program stored in the memory.

10. A computer-readable storage medium, It is characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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