Master-slave robot optical fiber and 5g communication automatic switching system

Abstract

The invention discloses a master-slave robot optical fiber and 5g communication automatic switching system which comprises a master end control cabin, a slave end robot and a robot communication box. Automatic switching of three communication links including an optical fiber private network communication link, a 5G private network communication link and a 5G public network communication link is achieved between the master end control cabin and the slave end robot through the robot communication box, and data interaction is achieved based on the switched communication links. By means of the system, automatic switching among an optical fiber private network communication link, a 5G private network communication link and a 5G public network communication link is achieved, a corresponding master-slave robot control method is provided, and the actual requirement for master-slave robot teleoperation tasks is met.

Description

Technical Field

[0001] The present invention belongs to the technical field of robot communication, and in particular to an automatic switching system between optical fiber and 5G communication of a master-slave robot. Background Art

[0002] In view of the actual needs of the master-slave robot remote operation tasks, control instructions and ultra-high-resolution videos of the multi-view mixed reality system need to be transmitted between the master robot and the slave robot. Therefore, the master-slave robot communication system must ensure low latency and high reliability of data transmission; at the same time, for different road terrains and different usage scenarios, the master-slave robot communication system needs to include fiber-optic private network communication, 5G private network communication and 5G public network communication, and the fiber-optic private network communication, 5G private network communication and 5G public network communication can be automatically switched.

[0003] In the prior art, for example, patent CN116437404, patent CN116390177, and patent CN115767657 respectively disclose methods for switching forwarding tunnels between 5G and 5G, switching between 4G gateway and 5G gateway, and switching between satellite communication and 5G, but none of them solves the problem of communication switching between 5G private network communication, 5G public network communication, and optical fiber communication, and the corresponding master-slave robot control method. Summary of the invention

[0004] The technology of the present invention solves the problem: Overcoming the shortcomings of the prior art, providing a master-slave robot optical fiber and 5G communication automatic switching system, realizing automatic switching among optical fiber private network communication links, 5G private network communication links and 5G public network communication links, and providing corresponding master-slave robot control methods to meet the actual needs of master-slave robot remote operation tasks.

[0005] In order to solve the above technical problems, the present invention discloses a master-slave robot optical fiber and 5G communication automatic switching system, comprising: a master-end control cabin, a slave-end robot and a robot communication box; wherein, the master-end control cabin and the slave-end robot are connected through the robot communication box to realize automatic switching of three communication links, namely, optical fiber private network communication link, 5G private network communication link and 5G public network communication link, and realize data interaction based on the switched communication link.

[0006] In the above-mentioned master-slave robot optical fiber and 5G communication automatic switching system, the master-end control cabin includes: a master-end device, a master-end wireless terminal access device and a master-end switch; wherein the master-end device is connected to the master-end wireless terminal access device through the master-end switch.

[0007] In the above-mentioned master-slave robot optical fiber and 5G communication automatic switching system, the slave robot includes: a slave device, an optical fiber switch B, a slave wireless terminal access device and a slave switch; wherein the slave device is connected to the slave wireless terminal access device through the slave switch, and the slave wireless terminal access device is connected to the optical fiber switch B.

[0008] In the above-mentioned master-slave robot optical fiber and 5g communication automatic switching system, the master-end device includes: an image workstation, a streaming server and an integrated controller; the slave-end device includes: a left arm controller, a right arm controller, a trunk chassis controller, a power controller, a binocular VR computing terminal, a chassis camera, a left-hand eye camera and a right-hand eye camera; wherein the integrated controller sends control instructions to the left arm controller, the right arm controller, the trunk chassis controller and the power controller; the left arm controller, the right arm controller, the trunk chassis controller and the power controller feedback the status to the integrated controller; the integrated controller sends the status to be displayed on the VR helmet to the image workstation; the image workstation sends a streaming instruction to the streaming server, and the streaming server pulls images from the binocular VR computing terminal, the chassis camera, the left-hand eye camera and the right-hand eye camera, and sends the images to the image workstation.

[0009] In the above-mentioned master-slave robot optical fiber and 5G communication automatic switching system, the robot communication box includes: 5G core network, integrated 5G base station, optical fiber switch A, optical fiber tethering box and 5G public network; among them, the robot communication box provides three communication links for the master control cabin and the slave robot to select and switch through the G core network, integrated 5G base station, optical fiber switch A, optical fiber tethering box and 5G public network.

[0010] In the above master-slave robot optical fiber and 5g communication automatic switching system,

[0011] The optical fiber private network communication link is as follows: the master-end device is connected to the master-end wireless terminal access device through the master-end switch, the master-end wireless terminal access device is connected to the optical fiber switch A through a network cable, the optical fiber switch A is connected to the optical fiber switch B through a fiber optic mooring box, the optical fiber switch B is connected to the slave-end wireless terminal access device through a network cable, and the slave-end wireless terminal access device is connected to the slave-end device through the slave-end switch;

[0012] The 5G private network communication link is as follows: the master-end device is connected to the master-end wireless terminal access device through the master-end switch, the master-end wireless terminal access device is connected to the 5G core network through the air interface, and the 5G core network is connected to the integrated 5G base station through the network cable; the slave-end device is connected to the slave-end wireless terminal access device through the slave-end switch, and the slave-end wireless terminal access device is connected to the integrated 5G base station through the air interface;

[0013] The 5G public network communication link is as follows: the master-end device is connected to the master-end wireless terminal access device through the master-end switch, and the master-end wireless terminal access device is connected to the 5G public network through the air interface; the slave-end device is connected to the slave-end wireless terminal access device through the slave-end switch, and the slave-end wireless terminal access device is connected to the 5G public network through the air interface.

[0014] In the above master-slave robot optical fiber and 5g communication automatic switching system,

[0015] The IP configuration of the master control cabin and the slave robot is as follows: the LAN ports of the master device, the slave device, the master wireless terminal access device, and the slave wireless terminal access device are configured with the same network segment IP address;

[0016] The GRE tunnel configuration of the 5G private network communication link is as follows: configure a 5G private network EoGRE tunnel from the master wireless terminal access device to the slave wireless terminal access device, the proximal tunnel address is the IP address of SIM card 1 of the master wireless terminal access device, and the remote tunnel address is the IP address of SIM card 1 of the slave wireless terminal access device; configure a 5G private network EoGRE tunnel from the slave wireless terminal access device to the master wireless terminal access device, the proximal tunnel address is the IP address of SIM card 1 of the master wireless terminal access device, and the remote tunnel address is the IP address of SIM card 1 of the master wireless terminal access device;

[0017] The GRE tunnel configuration of the 5G public network communication link is as follows: configure a 5G public network EoGRE tunnel from the master wireless terminal access device to the slave wireless terminal access device, the proximal tunnel address is the IP address of SIM card 2 of the master wireless terminal access device, and the remote tunnel address is the IP address of SIM card 2 of the slave wireless terminal access device; configure a 5G public network EoGRE tunnel from the slave wireless terminal access device to the master wireless terminal access device, the proximal tunnel address is the IP address of SIM card 2 of the slave wireless terminal access device, and the remote tunnel address is the IP address of SIM card 2 of the master wireless terminal access device.

[0018] In the above master-slave robot optical fiber and 5g communication automatic switching system,

[0019] The br-lan1 ports of the master wireless terminal access device and the slave wireless terminal access device are configured for optical fiber private network communication links;

[0020] The br-lan2 ports of the master wireless terminal access device and the slave wireless terminal access device are configured for the 5G private network communication link;

[0021] The br-lan3 ports of the master wireless terminal access device and the slave wireless terminal access device are configured for 5G public network communication links;

[0022] The br-lan port configuration of the master wireless terminal access device and the slave wireless terminal access device is used for management and maintenance;

[0023] The port 3 of the master wireless terminal access device is configured to connect to the master switch, and the port 3 of the slave wireless terminal access device is configured to connect to the slave switch.

[0024] In the above-mentioned master-slave robot optical fiber and 5G communication automatic switching system, the automatic switching process of the communication link between the master control cabin and the slave robot is as follows:

[0025] S11, after starting to establish a communication connection, the optical fiber private network communication link is used for communication by default;

[0026] S12, every 500ms, the br-lan1 port of the master wireless terminal access device pings the slave wireless terminal access device. If the ping succeeds, the optical fiber private network communication link is used for communication, and the communication is judged to be excellent. If the ping fails for 5 times, the 5G private network communication link is switched to communication by default.

[0027] S13, every 500ms, obtain the rate S from the br-lan2 port of the master wireless terminal access device to the slave wireless terminal access device 专 and time delay T 专 , and the rate S from the br-lan3 port of the master wireless terminal access device to the slave wireless terminal access device 公 and time delay T 公 ;

[0028] S14, determine whether S is satisfied 专 >S max And T 专 <T min ; If satisfied, use the 5G private network communication link to communicate, and determine that the communication is excellent; if not satisfied, execute step S15; wherein, S max T represents the communication rate required to transmit data with optimal image quality and maximum communication data volume according to task requirements. min represents the expected minimum communication delay to meet the task requirements;

[0029] S15, determine whether S is satisfied 公 >S max And T 公 <T min ; If satisfied, use the 5G public network communication link for communication and determine that the communication is excellent; if not satisfied, execute step S16;

[0030] S16, determine whether S is satisfied min 公 / 专 max And T​​公 / 专 <T max , or T min <T 公 / 专 <T max And S 公 / 专 >S min If satisfied, then execute step S17 and determine that the communication is good; if not satisfied, then execute step S18; wherein, S min It represents the communication rate required to transmit data with the lowest image quality and the minimum communication data volume according to the task requirements, T max represents the expected maximum communication delay to meet the task requirements;

[0031] S17, calculate the communication quality C of the 5G public network communication link and the 5G private network communication link respectively 公 and C 专 ; Among them, if max(C 公 ,C 专 )=C 公 , then use the 5G public network communication link for communication; if max(C 公 ,C 专 )=C 专 , then use the 5G private network communication link to communicate; C 公 =S 公 / T 公 , C = S / T; max(C , C ) means to find C and C 公 The maximum value in ;

[0032] S18, determine whether S is satisfied 公 / 专 min And T max <T 公 / 专 If the conditions are met, the network is considered to be unable to meet the task requirements and is judged to be poor or disconnected.

[0033] In the above master-slave robot optical fiber and 5G communication automatic switching system, the command timing of the system under different network conditions is as follows:

[0034] When the network condition is excellent, the system command sequence is as follows:

[0035] S21, the master wireless terminal accesses port 3 of the device to inform the integrated controller and the image workstation of the current communication link and communication status;

[0036] S22, the image workstation sends a streaming instruction with the best image quality to the streaming server;

[0037] S23, the streaming server sends an instruction to adjust image transmission with optimal image quality to the binocular VR computing terminal;

[0038] ​S24, the streaming server sends an instruction to adjust the image transmission with the optimal image quality to the chassis camera, the left-hand eye camera, and the right-hand eye camera;

[0039] When the network condition is good for communication, the system command sequence is as follows:

[0040] S31, the master wireless terminal accesses port 3 of the device to inform the integrated controller and the image workstation of the current communication link and communication status;

[0041] S32, the image workstation sends a stream pulling instruction to the stream pulling server based on the current communication state;

[0042] S33, the streaming server sends an instruction to adjust the image resolution, frame rate, and bit rate to the binocular VR computing terminal;

[0043] S34, the streaming server sends an instruction to adjust the image resolution, frame rate, bit rate or turn off the camera to the chassis camera, the left-hand eye camera, and the right-hand eye camera;

[0044] When the network condition is poor or disconnected, the system command sequence is as follows:

[0045] S41, the master wireless terminal accesses port 3 of the device to inform the integrated controller and the image workstation of the current communication link and communication status;

[0046] S42, the integrated controller sends an emergency stop command to the power controller to disconnect the power supply of the slave robot;

[0047] S43, the image workstation sends a stop streaming instruction to the streaming server;

[0048] S44, the streaming server sends a stop streaming instruction to the binocular VR computing terminal;

[0049] S45, the streaming server sends a camera closing instruction to the chassis camera, the left-hand eye camera, and the right-hand eye camera.

[0050] The present invention has the following advantages:

[0051] (1) The present invention discloses an automatic switching system for optical fiber and 5G communications of master-slave robots, which realizes automatic switching among optical fiber private network communication links, 5G private network communication links and 5G public network communication links when a single static IP is configured for the master control cabin and the slave robot.

[0052] (2) The present invention discloses an automatic switching system between optical fiber and 5G communication of a master-slave robot, which realizes low-latency and high-reliability communication between the master and slave robots at 200 meters, 1000 meters and beyond line of sight, and ensures remote teleoperation of the master and slave robots.

[0053] (3) The present invention discloses an automatic switching system between optical fiber and 5G communication of a master-slave robot, provides a method for determining the communication status between the master and slave robots, and a method for controlling the video and data transmission of the master and slave robots under different communication states, thereby ensuring the smooth progress of the operation tasks of the master and slave robots under different communication states.

[0054] (4) The present invention discloses an automatic switching system for optical fiber and 5G communications of a master-slave robot, and provides an automatic switching method for optical fiber and 5G communications of a master-slave robot, which realizes that when the current communication quality can meet the optimal requirements of the task, the communication mode will not be switched, thereby avoiding the jamming and waste of resources caused by frequent switching of communication modes.

[0055] (5) The present invention discloses an automatic switching system between optical fiber and 5G communication of master-slave robots, which adopts the communication methods of optical fiber private network communication link, 5G private network communication link and 5G public network communication link. Based on the security mechanism of 5G communication, it avoids the risk of master-slave robots being hijacked and controlled during remote operation.

[0056] (6) The present invention discloses an automatic switching system for optical fiber and 5G communications of master-slave robots. The three communication modes of optical fiber private network communication link, 5G private network communication link and 5G public network communication link serve as hot backup for each other, greatly reducing the communication failure rate and ensuring the smooth progress of the task.

[0057] (7) The present invention discloses an automatic switching system between optical fiber and 5G communication of a master-slave robot, which reserves an interface and provides convenient conditions for the later realization of one-to-many and many-to-many master-slave remote control of a master-slave robot cluster. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 It is a block diagram of a master-slave robot optical fiber and 5g communication automatic switching system in an embodiment of the present invention;

[0059] Figure 2 is a schematic diagram of a communication configuration in an embodiment of the present invention;

[0060] Figure 3 is a schematic diagram of automatic switching configuration of a communication link in an embodiment of the present invention;

[0061] Figure 4 is a flow chart of automatic switching of a communication link in an embodiment of the present invention;

[0062] Figure 5 This is a system instruction timing diagram when communication is excellent in an embodiment of the present invention;

[0063] Figure 6 This is a system instruction timing diagram when communication is good in an embodiment of the present invention;

[0064] Figure 7 This is a system instruction timing diagram when the network is poor or disconnected in an embodiment of the present invention. DETAILED DESCRIPTION

[0065] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments disclosed in the present invention will be further described in detail below with reference to the accompanying drawings.

[0066] Reference Figure 1 In this embodiment, the master-slave robot optical fiber and 5G communication automatic switching system includes: a master control cabin 100, a slave robot 200 and a robot communication box 300. Among them, the master control cabin 100 and the slave robot 200 realize automatic switching of three communication links, namely, optical fiber private network communication link, 5G private network communication link and 5G public network communication link, through the robot communication box 300, and realize data interaction based on the switched communication link.

[0067] In this embodiment, the master-end control cabin 100 mainly includes: a master-end device, a master-end wireless terminal access device 104 and a master-end switch 105; the master-end device is connected to the master-end wireless terminal access device 104 through the master-end switch 105. The slave-end robot 200 mainly includes: a slave-end device, a fiber optic switch B209, a slave-end wireless terminal access device 210 and a slave-end switch 211; the slave-end device is connected to the slave-end wireless terminal access device 210 through the slave-end switch 211, and the slave-end wireless terminal access device 210 is connected to the fiber optic switch B209. Further, the master-end device mainly includes: an image workstation 101, a streaming server 102 and an integrated controller 103; the slave-end device mainly includes: a left arm controller 201, a right arm controller 202, a trunk chassis controller 203, a power controller 204, a binocular VR computing terminal 205, a chassis camera 206, a left-hand eye camera 207 and a right-hand eye camera 208. Among them, the integrated controller 103 sends control instructions to the left arm controller 201, the right arm controller 202, the torso chassis controller 203, and the power controller 204; the left arm controller 201, the right arm controller 202, the torso chassis controller 203, and the power controller 204 feedback the status to the integrated controller 103; the integrated controller 103 sends the status to be displayed on the VR helmet to the image workstation 101; the image workstation 101 sends a streaming instruction to the streaming server 102, and the streaming server 102 pulls images from the binocular VR computing terminal 205, the chassis camera 206, the left hand eye camera 207, and the right hand eye camera 208, and sends the image to the image workstation 101.

[0068] In this embodiment, the robot communication box 300 mainly includes: 5G core network 301, integrated 5G base station 302, fiber switch A303, fiber tether box 304 and 5G public network 305. Among them, the robot communication box 300 provides three communication links for the master control cabin 100 and the slave robot 200 to select and switch through the G core network 301, integrated 5G base station 302, fiber switch A303, fiber tether box 304 and 5G public network 305. The integrated 5G base station 302 integrates the remote radio unit RRU and the baseband processing unit BBU; the fiber tether box 304 uses a single-mode dual-core optical fiber.

[0069] In this embodiment, the master-slave robot optical fiber and 5g communication automatic switching system includes three communication links as follows:

[0070] Fiber-optic private network communication link: the master-end device is connected to the master-end wireless terminal access device 104 through the master-end switch 105, the master-end wireless terminal access device 104 is connected to the fiber-optic switch A303 through a network cable, the fiber-optic switch A303 is connected to the fiber-optic switch B209 through the fiber-optic mooring box 304, the fiber-optic switch B209 is connected to the slave-end wireless terminal access device 210 through a network cable, and the slave-end wireless terminal access device 210 is connected to the slave-end device through the slave-end switch 211.

[0071] The 5G private network communication link is as follows: the master-end device is connected to the master-end wireless terminal access device 104 through the master-end switch 105, the master-end wireless terminal access device 104 is connected to the 5G core network 301 through the air interface, and the 5G core network 301 is connected to the integrated 5G base station 302 through a network cable; the slave-end device is connected to the slave-end wireless terminal access device 210 through the slave-end switch 211, and the slave-end wireless terminal access device 210 is connected to the integrated 5G base station 302 through the air interface.

[0072] The 5G public network communication link is as follows: the master-end device is connected to the master-end wireless terminal access device 104 through the master-end switch 105, and the master-end wireless terminal access device 104 is connected to the 5G public network 305 through the air interface; the slave-end device is connected to the slave-end wireless terminal access device 210 through the slave-end switch 211, and the slave-end wireless terminal access device 210 is connected to the 5G public network 305 through the air interface.

[0073] In this embodiment, if Figure 2 As shown, the communication configuration strategy of the system is as follows:

[0074] The IP configurations of the master control cabin 100 and the slave robot 200 are as follows: the LAN ports of the master device, the slave device, the master wireless terminal access device 104 and the slave wireless terminal access device 210 are configured with the same network segment IP addresses.

[0075] The GRE tunnel configuration of the 5G private network communication link is as follows: configure a 5G private network EoGRE tunnel from the master wireless terminal access device 104 to the slave wireless terminal access device 210, the proximal tunnel address is the IP address of SIM card 1 of the master wireless terminal access device 104, and the remote tunnel address is the IP address of SIM card 1 of the slave wireless terminal access device 210; configure a 5G private network EoGRE tunnel from the slave wireless terminal access device 210 to the master wireless terminal access device 104, the proximal tunnel address is the IP address of SIM card 1 of the master wireless terminal access device 104, and the remote tunnel address is the IP address of SIM card 1 of the master wireless terminal access device 104.

[0076] The GRE tunnel configuration of the 5G public network communication link is as follows: configure a 5G public network EoGRE tunnel from the master wireless terminal access device 104 to the slave wireless terminal access device 210, the proximal tunnel address is the IP address of SIM card 2 of the master wireless terminal access device 104, and the remote tunnel address is the IP address of SIM card 2 of the slave wireless terminal access device 210; configure a 5G public network EoGRE tunnel from the slave wireless terminal access device 210 to the master wireless terminal access device 104, the proximal tunnel address is the IP address of SIM card 2 of the slave wireless terminal access device 210, and the remote tunnel address is the IP address of SIM card 2 of the master wireless terminal access device 104.

[0077] In this embodiment, if Figure 3 As shown, the system's communication link automatic switching configuration strategy is as follows:

[0078] The br-lan1 port (port4 port) of the master wireless terminal access device 104 and the slave wireless terminal access device 210 is configured for a fiber-optic private network communication link;

[0079] The br-lan2 port (EoGRE1 port) of the master wireless terminal access device 104 and the slave wireless terminal access device 210 is configured for a 5G private network communication link;

[0080] The br-lan3 port (EoGRE2 port) of the master wireless terminal access device 104 and the slave wireless terminal access device 210 is configured for a 5G public network communication link;

[0081] The br-lan ports (port0 / 1 ports) of the master wireless terminal access device 104 and the slave wireless terminal access device 210 are configured for management and maintenance;

[0082] The port 3 of the master wireless terminal access device 104 is configured to connect to the master switch 105 , and the port 3 of the slave wireless terminal access device 210 is configured to connect to the slave switch 211 .

[0083] In this embodiment, if Figure 4 As shown, the system's communication link automatic switching process is as follows:

[0084] S11, after starting to establish a communication connection, the optical fiber private network communication link is used for communication by default.

[0085] S12, every 500ms, the br-lan1 port of the master wireless terminal access device 104 pings the slave wireless terminal access device 210. If the ping is successful, the optical fiber private network communication link is used for communication, and the communication is determined to be excellent; if the ping fails for 5 times, the default is to switch to using the 5G private network communication link for communication.

[0086] S13, every 500ms, obtain the rate S of the br-lan2 port of the master wireless terminal access device 104 to the slave wireless terminal access device 210 专 and time delay T 专 , and the rate S from the br-lan3 port of the master wireless terminal access device 104 to the slave wireless terminal access device 210 公 and time delay T 公 .

[0087] S14, determine whether S is satisfied 专 >S max And T 专 <T min ; If satisfied, use the 5G private network communication link to communicate, and determine that the communication is excellent; if not satisfied, execute step S15; wherein, S max T represents the communication rate required to transmit data with optimal image quality and maximum communication data volume according to task requirements. min Represents the expected minimum communication delay to meet the task requirements.

[0088] S15, determine whether S is satisfied 公 >S max And T 公 <T min ; If satisfied, use the 5G public network communication link to communicate, and determine that the communication is excellent; if not satisfied, execute step S16.

[0089] S16, determine whether S is satisfied min 公 / 专 max And T 公 / 专 <T max , or T min <T 公 / 专 <T max And S 公 / 专 >S min ​​If satisfied, then execute step S17 and determine that the communication is good; if not satisfied, then execute step S18; wherein, S min It represents the communication rate required to transmit data with the lowest image quality and the minimum communication data volume according to the task requirements, T max Represents the expected maximum communication delay that meets the task requirements.

[0090] S17, calculate the communication quality C of the 5G public network communication link and the 5G private network communication link respectively 公 and C 专 ; Among them, if max(C 公 ,C 专 )=C 公 , then use the 5G public network communication link for communication; if max(C 公 ,C 专 )=C 专 , then use the 5G private network communication link to communicate; C 公 =S 公 / T 公 , C = S / T; max(C , C ) means to find C and C 公 The maximum value in .

[0091] S18, determine whether S is satisfied 公 / 专 min And T max <T 公 / 专 If the conditions are met, the network is considered to be unable to meet the task requirements and is judged to be poor or disconnected.

[0092] In this embodiment, the command timing of the system under different network conditions is as follows:

[0093] like Figure 5 As shown in the figure, when the network condition is excellent, the system command timing is as follows:

[0094] S21, the master wireless terminal accesses port 3 of the device 104 to inform the integrated controller 103 and the image workstation 101 of the currently used communication link and communication status.

[0095] S22, the image workstation 101 sends a streaming instruction with the best image quality to the streaming server 102.

[0096] S23, the streaming server 102 sends an instruction to adjust the image transmission with the optimal image quality to the binocular VR computing terminal 205.

[0097] S24, the streaming server 102 sends an instruction to adjust the image transmission with the optimal image quality to the chassis camera 206, the left-hand eye camera 207, and the right-hand eye camera 208.

[0098] like Figure 6 ​As shown in the figure, when the network condition is good for communication, the system command sequence is as follows:

[0099] S31, the master wireless terminal accesses port 3 of the device 104 to inform the integrated controller 103 and the image workstation 101 of the currently used communication link and communication status.

[0100] S32, the image workstation 101 sends a stream pulling instruction to the stream pulling server 102 for adjusting the stream pulling according to the current communication state.

[0101] S33, the streaming server 102 sends instructions for adjusting image resolution, frame rate, and bit rate to the binocular VR computing terminal 205.

[0102] S34, the streaming server 102 sends an instruction to adjust the image resolution, frame rate, bit rate or a camera shutdown instruction to the chassis camera 206, the left-hand eye camera 207, and the right-hand eye camera 208.

[0103] like Figure 7 As shown in the figure, when the network condition is poor or disconnected, the system command sequence is as follows:

[0104] S41, the master wireless terminal accesses port 3 of the device 104 to inform the integrated controller 103 and the image workstation 101 of the currently used communication link and communication status.

[0105] S42, the integrated controller 103 sends an emergency stop command to the power controller 204 to disconnect the power supply of the slave robot 200.

[0106] S43, the image workstation 101 sends a stop streaming instruction to the streaming server 102.

[0107] S44, the streaming server 102 sends a stop streaming instruction to the binocular VR computing terminal 205.

[0108] S45, the streaming server 102 sends a camera closing instruction to the chassis camera 206, the left-hand eye camera 207, and the right-hand eye camera 208.

[0109] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

[0110] The contents not described in detail in the specification of the present invention belong to the common knowledge of the professionals in this field.

Claims

1. A master-slave robot optical fiber and 5G communication automatic switching system, characterized in that: include: A master-end control cabin (100), a slave-end robot (200) and a robot communication box (300); wherein the master-end control cabin (100) and the slave-end robot (200) are connected via the robot communication box (300) to realize automatic switching of three communication links, namely, a fiber-optic private network communication link, a 5G private network communication link and a 5G public network communication link, and realize data interaction based on the switched communication links.

2. The master-slave robot optical fiber and 5g communication automatic switching system according to claim 1 is characterized in that: The master-end control cabin (100) comprises: a master-end device, a master-end wireless terminal access device (104) and a master-end switch (105); wherein the master-end device is connected to the master-end wireless terminal access device (104) via the master-end switch (105).

3. The master-slave robot optical fiber and 5g communication automatic switching system according to claim 2 is characterized in that: The slave robot (200) comprises: a slave device, an optical fiber switch B (209), a slave wireless terminal access device (210) and a slave switch (211); wherein the slave device is connected to the slave wireless terminal access device (210) via the slave switch (211), and the slave wireless terminal access device (210) is connected to the optical fiber switch B (209).

4. The master-slave robot optical fiber and 5G communication automatic switching system according to claim 3 is characterized in that: The master device includes: an image workstation (101), a streaming server (102) and an integrated controller (103); the slave device includes: a left arm controller (201), a right arm controller (202), a trunk chassis controller (203), a power controller (204), a binocular VR computing terminal (205), a chassis camera (206), a left hand eye camera (207) and a right hand eye camera (208); wherein the integrated controller (103) sends control instructions to the left arm controller (201), the right arm controller (202), the trunk chassis controller (203) and the power controller (204). The left arm controller (201), the right arm controller (202), the trunk chassis controller (203), and the power supply controller (204) feedback the status to the integrated controller (103); the integrated controller (103) sends the status to be displayed on the VR helmet to the image workstation (101); the image workstation (101) sends the streaming instruction to the streaming server (102), and the streaming server (102) pulls the image from the binocular VR computing terminal (205), the chassis camera (206), the left hand eye camera (207), and the right hand eye camera (208), and sends the image to the image workstation (101).

5. The master-slave robot optical fiber and 5g communication automatic switching system according to claim 4 is characterized in that: A robot communication box (300) comprises: a 5G core network (301), an integrated 5G base station (302), an optical fiber switch A (303), an optical fiber tethering box (304) and a 5G public network (305); wherein the robot communication box (300) provides three communication links for selection and switching for a master control cabin (100) and a slave robot (200) through the G core network (301), the integrated 5G base station (302), the optical fiber switch A (303), the optical fiber tethering box (304) and the 5G public network (305).

6. The master-slave robot optical fiber and 5G communication automatic switching system according to claim 5 is characterized in that: The optical fiber private network communication link is as follows: the master-end device is connected to the master-end wireless terminal access device (104) through the master-end switch (105), the master-end wireless terminal access device (104) is connected to the optical fiber switch A (303) through a network cable, the optical fiber switch A (303) is connected to the optical fiber switch B (209) through the optical fiber mooring box (304), the optical fiber switch B (209) is connected to the slave-end wireless terminal access device (210) through the network cable, and the slave-end wireless terminal access device (210) is connected to the slave-end device through the slave-end switch (211); The 5G private network communication link is as follows: the master-end device is connected to the master-end wireless terminal access device (104) through the master-end switch (105), the master-end wireless terminal access device (104) is connected to the 5G core network (301) through the air interface, and the 5G core network (301) is connected to the integrated 5G base station (302) through a network cable; the slave-end device is connected to the slave-end wireless terminal access device (210) through the slave-end switch (211), and the slave-end wireless terminal access device (210) is connected to the integrated 5G base station (302) through the air interface; The 5G public network communication link is as follows: the master-end device is connected to the master-end wireless terminal access device (104) through the master-end switch (105), and the master-end wireless terminal access device (104) is connected to the 5G public network (305) through the air interface; the slave-end device is connected to the slave-end wireless terminal access device (210) through the slave-end switch (211), and the slave-end wireless terminal access device (210) is connected to the 5G public network (305) through the air interface.

7. The master-slave robot optical fiber and 5G communication automatic switching system according to claim 6 is characterized in that: The IP configuration of the master-end control cabin (100) and the slave-end robot (200) is as follows: the LAN port of the master-end device, the slave-end device, the master-end wireless terminal access device (104) and the LAN port of the slave-end wireless terminal access device (210) are configured with the same network segment IP address; The GRE tunnel configuration of the 5G private network communication link is as follows: configure a 5G private network EoGRE tunnel from the master wireless terminal access device (104) to the slave wireless terminal access device (210), the proximal tunnel address is the IP address of SIM card 1 of the master wireless terminal access device (104), and the remote tunnel address is the IP address of SIM card 1 of the slave wireless terminal access device (210); configure a 5G private network EoGRE tunnel from the slave wireless terminal access device (210) to the master wireless terminal access device (104), the proximal tunnel address is the IP address of SIM card 1 of the master wireless terminal access device (104), and the remote tunnel address is the IP address of SIM card 1 of the master wireless terminal access device (104); The GRE tunnel configuration of the 5G public network communication link is as follows: configure a 5G public network EoGRE tunnel from the master wireless terminal access device (104) to the slave wireless terminal access device (210), the proximal tunnel address is the IP address of the SIM card 2 of the master wireless terminal access device (104), and the remote tunnel address is the IP address of the SIM card 2 of the slave wireless terminal access device (210); configure a 5G public network EoGRE tunnel from the slave wireless terminal access device (210) to the master wireless terminal access device (104), the proximal tunnel address is the IP address of the SIM card 2 of the slave wireless terminal access device (210), and the remote tunnel address is the IP address of the SIM card 2 of the master wireless terminal access device (104).

8. The master-slave robot optical fiber and 5G communication automatic switching system according to claim 7 is characterized in that: The br-lan1 ports of the master wireless terminal access device (104) and the slave wireless terminal access device (210) are configured for a fiber-optic private network communication link; The br-lan2 ports of the master wireless terminal access device (104) and the slave wireless terminal access device (210) are configured for a 5G private network communication link; The br-lan3 ports of the master wireless terminal access device (104) and the slave wireless terminal access device (210) are configured for a 5G public network communication link; The br-lan ports of the master wireless terminal access device (104) and the slave wireless terminal access device (210) are configured for management and maintenance; The port 3 of the master wireless terminal access device (104) is configured to connect to the master switch (105), and the port 3 of the slave wireless terminal access device (210) is configured to connect to the slave switch (211).

9. The master-slave robot optical fiber and 5G communication automatic switching system according to claim 8 is characterized in that: The automatic switching process of the communication link between the master control cabin (100) and the slave robot (200) is as follows: S11, after starting to establish a communication connection, the optical fiber private network communication link is used for communication by default; S12, every 500ms, the br-lan1 port of the master wireless terminal access device (104) pings the slave wireless terminal access device (210), if the ping is successful, the optical fiber private network communication link is used for communication, and it is determined that the communication is excellent; if the ping fails for 5 times, the communication is switched to the 5G private network communication link by default; S13, every 500ms, obtain the rate S from the br-lan2 port of the master wireless terminal access device (104) to the slave wireless terminal access device (210) 专 and time delay T 专 , and the rate S from the br-lan3 port of the master wireless terminal access device (104) to the slave wireless terminal access device (210) 公 and time delay T 公 ; S14, determine whether S is satisfied 专 >S max And T 专 <T min ; If satisfied, use the 5G private network communication link to communicate, and determine that the communication is excellent; if not satisfied, execute step S15; wherein, S max T represents the communication rate required to transmit data with optimal image quality and maximum communication data volume according to task requirements. min represents the expected minimum communication delay to meet the task requirements; S15, determine whether S is satisfied 公 >S max And T 公 <T min ; If satisfied, use the 5G public network communication link for communication and determine that the communication is excellent; if not satisfied, execute step S16; S16, determine whether S is satisfied min 公 / 专 max And T 公 / 专 <T max , or T min <T 公 / 专 <T max And S 公 / 专 >S min If satisfied, then execute step S17 and determine that the communication is good; if not satisfied, then execute step S18; wherein, S min It represents the communication rate required to transmit data with the lowest image quality and the minimum communication data volume according to the task requirements, T max represents the expected maximum communication delay to meet the task requirements;​​ S17, calculate the communication quality C of the 5G public network communication link and the 5G private network communication link respectively 公 and C 专 ; Among them, if max(C 公 ,C 专 )=C 公 , then use the 5G public network communication link for communication; if max(C 公 ,C 专 )=C 专 , then use the 5G private network communication link to communicate; C 公 =S 公 / T 公 , C = S / T; max(C , C ) means to find C and C 公 The maximum value in ; S18, determine whether S is satisfied 公 / 专 min And T max <T 公 / 专 If the conditions are met, the network is considered to be unable to meet the task requirements and is judged to be poor or disconnected.​ 10. The master-slave robot optical fiber and 5G communication automatic switching system according to claim 9 is characterized in that: The command timing of the system under different network conditions is as follows: When the network condition is excellent, the system command sequence is as follows: S21, the port 3 of the master wireless terminal access device (104) informs the integrated controller (103) and the image workstation (101) of the currently used communication link and communication status; S22, the image workstation (101) sends a streaming instruction with the best image quality to the streaming server (102); S23, the streaming server (102) sends an instruction to adjust image transmission with optimal image quality to the binocular VR computing terminal (205); S24, the streaming server (102) sends an instruction to adjust the image transmission with the best image quality to the chassis camera (206), the left-hand eye camera (207), and the right-hand eye camera (208); When the network condition is good for communication, the system command sequence is as follows: S31, the port 3 of the master wireless terminal access device (104) informs the integrated controller (103) and the image workstation (101) of the currently used communication link and communication status; S32, the image workstation (101) sends a stream pulling instruction to the stream pulling server (102) for adjusting the stream pulling instruction based on the current communication state; S33, the streaming server (102) sends an instruction to adjust the image resolution, frame rate, and bit rate to the binocular VR computing terminal (205); S34, the streaming server (102) sends an instruction to adjust the image resolution, frame rate, bit rate or a camera shutdown instruction to the chassis camera (206), the left-hand eye camera (207), and the right-hand eye camera (208); When the network condition is poor or disconnected, the system command sequence is as follows: S41, the port 3 of the master wireless terminal access device (104) informs the integrated controller (103) and the image workstation (101) of the currently used communication link and communication status; S42, the integrated controller (103) sends an emergency stop command to the power controller (204) to disconnect the power supply of the slave robot (200); S43, the image workstation (101) sends a stop streaming instruction to the streaming server (102); S44, the streaming server (102) sends a stop streaming instruction to the binocular VR computing terminal (205); S45, the streaming server (102) sends a camera closing instruction to the chassis camera (206), the left-hand eye camera (207), and the right-hand eye camera (208).

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