Communication link control method and device

Abstract

The invention provides a communication link control method and device, the method is applied to the field of Internet of Things communication, the method is executed by terminal equipment, a first communication link and a second communication link are always established between the terminal equipment and a robot, and the terminal equipment is used for controlling the robot to execute a task through the first communication link. The method comprises the following steps: acquiring state information reported by a robot through a first communication link, wherein the state information comprises link state information of the first communication link; according to the link state information of the first communication link, determining whether communication with the robot needs link switching; and switching the communication with the robot from the first communication link to the second communication link under the condition of determining that the link needs to be switched, and controlling the robot to execute the task through the second communication link. By implementing the method, the situation that the robot is out of control, and consequently operation is affected can be effectively prevented, and the service experience feeling of a user using the robot to conduct operation is effectively improved.

Description

Technical Field

[0001] The present application relates to the field of Internet of Things communications, and in particular to a communication link control method and device. Background Art

[0002] A lawn mower robot is an automated device used for mowing operations. It can complete mowing tasks autonomously and reduce manual labor. In order to facilitate the autonomous operation of the lawn mower robot, R&D personnel have developed an application for controlling the lawn mower robot to operate autonomously. Users can control the lawn mower robot to operate autonomously through the application on their mobile terminals.

[0003] The communication link between the mobile terminal and the lawn mower robot is usually specified by the user according to the service type. For example, the user specifies that the lawn mower and the mobile terminal are connected and communicated via Bluetooth or wireless network. However, when the environment around the lawn mower robot is not good, such as extreme weather conditions, or when the ambient noise is high, or when there are obstacles between the mobile terminal and the lawn mower robot, the communication between the mobile terminal and the lawn mower robot is easily disconnected, making the lawn mower robot uncontrollable and affecting the operation. Summary of the invention

[0004] The present application provides a communication link control method and device, which makes a pre-judgment based on the link status information of the current communication link to determine whether the link needs to be switched. If the link needs to be switched, the communication link is switched in time to avoid the situation where the communication link between the robot and the terminal device is disconnected, causing the robot to lose control. The implementation of the method embodiment of the present application can effectively prevent the robot from losing control and affecting the operation, and effectively improve the service experience of users using the robot to perform operations.

[0005] In a first aspect, the present application provides a communication link control method, which is applied to a terminal device, a first communication link and a second communication link are always established between the terminal device and the robot, and the terminal device is used to control the robot to perform a task through the first communication link, and the method includes:

[0006] Acquire status information reported by the robot through the first communication link, where the status information includes link status information of the first communication link;

[0007] Determining whether communication with the robot requires link switching based on link status information of the first communication link;

[0008] When it is determined that the link needs to be switched, the communication with the robot is switched from the first communication link to the second communication link, and the robot is controlled to perform the task through the second communication link.

[0009] It can be seen that the present application provides a communication link control method, wherein multiple communication links are established between the terminal device and the robot, but the terminal device controls the robot to perform tasks through only one of the communication links. The robot reports the link status information of the current link to the terminal device in real time, and the terminal device makes a judgment based on the link status information of the current link to determine whether it is necessary to switch the link. If it is necessary to switch the link, the current link is switched to another communication link, and the robot is controlled to perform tasks through another communication link. When implementing the embodiment of the present application, the terminal device can monitor the status of the current link in real time, and make a pre-judgment based on the status of the current link to pre-judgment whether it is necessary to switch the communication link. If it is necessary to switch the link, the communication link is switched in time, which can prevent the situation in which the communication link between the robot and the terminal device is disconnected and then the communication connection is re-established to affect the operation, and can effectively prevent the robot from losing control.

[0010] Based on the first aspect, in a possible implementation, the link state information includes one or more of signal strength, interference degree and signal delay.

[0011] Based on the first aspect, in a possible implementation, determining whether communication with the robot needs to switch links according to link status information of the first communication link includes:

[0012] When at least one of the following conditions exists, it is determined that the link needs to be switched:

[0013] 1) The signal strength of the first communication link is lower than a first threshold;

[0014] 2) The signal delay of the first communication link exceeds the second threshold;

[0015] 3) Perform a comprehensive analysis based on the link status information of the first communication link to obtain a first analysis result, where the first analysis result meets the condition for switching the link.

[0016] Based on the first aspect, in a possible implementation, a third communication link is always established between the terminal device and the robot;

[0017] Before switching the communication with the robot from the first communication link to the second communication link, the method further includes:

[0018] Obtaining link status information of the second communication link reported by the robot through the second communication link;

[0019] Obtaining link status information of the third communication link reported by the robot through the third communication link;

[0020] The link status information of the second communication link and the link status information of the third communication link are analyzed and compared respectively, and it is determined to switch the communication with the robot from the first communication link to the second communication link.

[0021] Based on the first aspect, in a possible implementation, analyzing and comparing the link status information of the second communication link and the link status information of the third communication link respectively, and determining to switch the communication with the robot from the first communication link to the second communication link, includes:

[0022] When at least one of the following conditions exists, it is determined to switch the communication with the robot from the first communication link to the second communication link:

[0023] 1) The signal strength of the second communication link is greater than the signal strength of the first communication link, and greater than the signal strength of the third communication link;

[0024] 2) The signal delay of the second communication link is less than the signal delay of the first communication link, and less than the signal delay of the third communication link;

[0025] 3) Comprehensively analyze the link status information of the second communication link to obtain a second analysis result, and comprehensively analyze the link status information of the third communication link to obtain a third analysis result, the second analysis result is better than the third analysis result, and the second analysis result is better than the first analysis result.

[0026] Based on the first aspect, in a possible implementation, the first communication link, the second communication link and the third communication link are respectively one of a Bluetooth communication link, a wireless network communication link and a virtual private network VPN communication link, and the first communication link, the second communication link and the third communication link are different.

[0027] Based on the first aspect, in a possible implementation, the status information further includes task status information, and the task status information includes a task identification ID and a task progress;

[0028] Controlling the robot to perform tasks via the second communication link includes:

[0029] Generate task instructions according to task status information, and the task instructions are used to instruct the robot to continue to perform the task;

[0030] The task instruction is sent to the robot via the second communication link.

[0031] In a second aspect, the present application provides a terminal device, a first communication link and a second communication link are established between the terminal device and the robot, the terminal device is used to control the robot to perform a task through the first communication link, and the terminal device includes:

[0032] A communication unit, used to obtain status information reported by the robot through the first communication link, where the status information includes link status information of the first communication link;

[0033] a determination unit, configured to determine whether the communication with the robot needs to switch the link according to the link status information of the first communication link;

[0034] The communication unit is used to control the robot to perform a task through a second communication link when it is determined that the link needs to be switched.

[0035] Based on the second aspect, in a possible implementation, the link state information includes one or more of signal strength, interference degree and signal delay.

[0036] Based on the second aspect, in a possible implementation, the determining unit is used to: determine that a link needs to be switched when at least one of the following situations exists:

[0037] 1) The signal strength of the first communication link is lower than a first threshold;

[0038] 2) The signal delay of the first communication link exceeds the second threshold;

[0039] 3) Perform a comprehensive analysis based on the link status information of the first communication link to obtain a first analysis result, where the first analysis result meets the condition for switching the link.

[0040] Based on the second aspect, in a possible implementation, a third communication link is always established between the terminal device and the robot; the communication unit is used to: obtain link status information of the second communication link reported by the robot through the second communication link; obtain link status information of the third communication link reported by the robot through the third communication link; and a determination unit is used to analyze and compare the link status information of the second communication link and the link status information of the third communication link, respectively, and determine to switch the communication with the robot from the first communication link to the second communication link.

[0041] Based on the second aspect, in a possible implementation, the determining unit is used to: determine to switch the communication with the robot from the first communication link to the second communication link when at least one of the following conditions exists:

[0042] 1) The signal strength of the second communication link is greater than the signal strength of the first communication link, and greater than the signal strength of the third communication link;

[0043] 2) The signal delay of the second communication link is less than the signal delay of the first communication link, and less than the signal delay of the third communication link;

[0044] 3) Comprehensively analyze the link status information of the second communication link to obtain a second analysis result, and comprehensively analyze the link status information of the third communication link to obtain a third analysis result, the second analysis result is better than the third analysis result, and the second analysis result is better than the first analysis result.

[0045] Based on the second aspect, in a possible implementation, the first communication link, the second communication link and the third communication link are respectively one of a Bluetooth communication link, a wireless network communication link and a virtual private network VPN communication link, and the first communication link, the second communication link and the third communication link are different.

[0046] Based on the second aspect, in a possible implementation method, the status information also includes task status information, and the task status information includes a task identification ID and a task progress; the communication unit is used to: generate a task instruction based on the task status information, and the task instruction is used to instruct the robot to continue to perform the task; and send the task instruction to the robot through a second communication link.

[0047] Each module in the second aspect and any possible implementation manner of the second aspect is used to implement the method described in the above-mentioned first aspect or any possible implementation manner of the first aspect.

[0048] In a third aspect, the present application provides a terminal device, including a memory and a processor, wherein the memory stores instructions, and the processor is used to execute the instructions stored in the memory so that the terminal device executes the method described in the first aspect or any possible implementation of the first aspect.

[0049] In a fourth aspect, the present application provides a computer-readable storage medium, comprising computer program instructions, which, when executed on a computer, cause the computer to execute the method described in the first aspect or any possible implementation of the first aspect.

[0050] In a fifth aspect, the present application provides a computer program product, comprising program instructions, which, when a computing device executes the program instructions, causes the computing device to execute the method described in the first aspect or any possible implementation of the first aspect.

[0051] In a sixth aspect, the present application provides a system, including a terminal device and at least one robot, wherein the terminal device is used to implement the method described in the above-mentioned first aspect or any possible implementation manner of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the background technology, the drawings required for use in the embodiments of the present application or the background technology will be described below.

[0053] Figure 1 A schematic diagram of a system architecture provided for this application;

[0054] Figure 2 A flow chart of a communication link control method provided by the present application;

[0055] Figure 3 A flowchart of a method for determining to use a second communication link for communication provided in the present application;

[0056] Figure 4 A schematic diagram of the structure of a terminal device provided for this application;

[0057] Figure 5 A schematic diagram of the structure of another terminal device provided in this application. DETAILED DESCRIPTION

[0058] The embodiments of the present application are described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0059] It should be noted that the terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms of "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0060] It should be noted that when used in this specification and the appended claims, the terms "comprises" and any of their variations are intended to cover non-exclusive inclusions. For example, a system, product or device including a series of units / devices is not limited to the listed units / devices, but may optionally include units / devices not listed, or may also optionally include other units / devices inherent to these products or devices.

[0061] It will also be understood that the term “if” may be interpreted as “when” or “upon” or “in response to determining” or “in response to detecting” or “in the event of…” depending on the context.

[0062] First, let me introduce the system and application scenarios involved in this application. Figure 1 , Figure 1 A schematic diagram of a system architecture provided for this application, the system involves a terminal device, an intermediate device and at least one robot.

[0063] The robot may be, for example, a lawn mowing robot. The robot is used to perform tasks. For example, when the robot is a lawn mowing robot, it can be used to perform a lawn mowing task.

[0064] The intermediate device may be a base station, a router, or other devices. The intermediate device may also include any two or more of the base station, router, and other devices. The intermediate device is used to provide communication between the terminal device and the robot. For example, in an application scenario, the intermediate device may be a base station, and the terminal device establishes wireless network communication with the robot through the base station, wherein the wireless network communication may be a communication technology such as 4G, 5G, and 6G. For another example, in an application scenario, the intermediate device may be a router, and the terminal device, the router, and at least one robot form a local area network, and the terminal device establishes a connection and communicates with the robot through the router. For another example, in an application scenario, the intermediate device may be a device that has the function of establishing a connection with at least one robot via Bluetooth. That is, the terminal device establishes a connection with the intermediate device via Bluetooth, and the intermediate device establishes a connection with at least one robot via Bluetooth, thereby enabling the terminal device to communicate with at least one robot via Bluetooth.

[0065] The terminal device, for example, can be any one of a server, a mobile phone, a tablet computer and a wearable device. The terminal device establishes a connection with at least one robot through an intermediate device and communicates. Specifically, the terminal device can be used to control at least one robot to perform a task through an intermediate device, such as being used to control at least one robot to perform a mowing task. In the case where the intermediate device includes multiple devices, in the present application, the terminal device is also used to control which intermediate device is used to communicate with the robot, that is, to control which communication method or communication link is used to communicate with the robot. It should be noted that different robots can communicate with the terminal device using different communication methods / communication links, or they can communicate with the terminal device using the same communication method / communication link. For example, the terminal device communicates with robot 1 via Bluetooth (Bluetooth communication link), the terminal device communicates with robot 2 via a wireless network (wireless communication link), and the terminal device communicates with robot 3 via an established virtual private network (VPN).

[0066] It should be noted that if the Bluetooth on the terminal device has the function of establishing connections with multiple robots, the terminal device and at least one robot can be directly connected and communicated via Bluetooth without the need for an intermediate device.

[0067] Figure 1The system architecture shown is only an example and does not constitute any limitation. In actual applications, the system may also include other devices or may be other system architectures, which is not limited in this application.

[0068] The present application provides a communication link control method. Figure 2 , Figure 2 A flow chart of a communication link control method provided in the present application, the method includes but is not limited to the description of the following content.

[0069] It should be noted that the system and method provided in the present application may involve multiple robots, but for the convenience of description, the method embodiment of the present application is mainly described by taking one of the robots as an example, and the method embodiment provided in the present application is also applicable to other robots.

[0070] S101. A first communication link, a second communication link, and a third communication link are established between the terminal device and the robot.

[0071] Multiple communication links are established between the terminal device and the robot. This application takes three communication links as an example. In actual applications, two or more communication links can be established between the terminal device and the robot, and this application does not limit this.

[0072] The first communication link, the second communication link and the third communication link are respectively one of a Bluetooth communication link, a wireless network communication link and a VPN communication link, and the first communication link, the second communication link and the third communication link are different from each other.

[0073] S102: The terminal device communicates with the robot via a first communication link.

[0074] The terminal device communicates with the robot via the first communication link. Specifically, the terminal device controls the robot to perform tasks via the first communication link. For example, the terminal device sends task instructions and communication messages to the robot via the first communication link, and the robot reports information to the terminal device via the first communication link.

[0075] S103. The robot reports status information to the terminal device through the first communication link. Correspondingly, the terminal device receives the status information reported by the robot through the first communication link, where the status information includes link status information of the first communication link.

[0076] During the process of communicating with the robot via the first communication link, the terminal device receives the status information reported by the robot via the first communication link, wherein the status information includes the link status information and the task status information of the first communication link.

[0077] The link status information of the first communication link includes one or more of the signal strength, interference and signal delay of the first communication link. The robot is provided with a signal sensing module, which can sense / collect the signal strength, interference and signal delay. The interference is caused by the environment in which the robot is located. For example, the environment is noisy and the noise is loud. For example, there is a wall or obstacle near the robot's location that causes signal interference, and so on. When the robot's position has not changed, the interference is usually basically unchanged. The task status information includes a task identification document (ID) and a task progress. The robot reports the task identification and task progress of the currently executed task to the terminal device. The status information is collected and reported by the robot in real time.

[0078] S104: The terminal device determines whether the communication with the robot needs to switch links based on the link status information of the first communication link.

[0079] The terminal device determines whether the communication with the robot needs to switch links based on the link status information of the first communication link. Specifically, when at least one of the following conditions exists, it is determined that the communication with the robot needs to switch links: 1) the signal strength of the first communication link is lower than the first threshold, 2) the signal delay of the first communication link exceeds the second threshold, 3) a comprehensive analysis is performed based on the link status information of the first communication link to obtain a first analysis result, and the first analysis result meets the conditions for switching links. A comprehensive analysis can be performed based on the signal strength, interference and signal delay of the first communication link through an algorithm to obtain a first analysis result, and it is determined whether the first analysis result meets the conditions for switching links. Among them, the first threshold, the second threshold and the conditions for switching links can be set according to the actual application scenario. When none of the above conditions exist, it is determined that there is no need to switch links.

[0080] S105. When determining that the link needs to be switched, the terminal device switches the communication with the robot from the first communication link to the second communication link, and communicates with the robot through the second communication link.

[0081] When the terminal device determines that the link needs to be switched, it switches the communication with the robot from the first communication link to the second communication link, communicates with the robot through the second communication link, and controls the robot to perform the task. In this case, the terminal device generates a task instruction based on the task status information in the status information, and the task instruction is used to instruct the robot to continue to perform the task, and sends the task instruction to the robot through the second communication link so that the robot continues to perform the task.

[0082] The following describes how to determine to communicate through the second communication link. Figure 3A flowchart of a method for determining to use a second communication link for communication provided in the present application includes but is not limited to the description of the following content.

[0083] S1051. The terminal device obtains link status information of the second communication link reported by the robot through the second communication link.

[0084] S1052: The terminal device obtains link status information of the third communication link reported by the robot through the third communication link.

[0085] The link status information of the second communication link includes one or more of the signal strength, interference and signal delay of the second communication link, and the link status information of the third communication link includes one or more of the signal strength, interference and signal delay of the third communication link. Among them, because the second communication link and the third communication link are always established between the terminal device and the robot, the robot not only reports the status information of the first communication link to the terminal device through the first communication link, but also reports the signal strength of the second communication link through the second communication link, and reports the signal strength of the third communication link through the third communication link, and the signal strength of the second communication link and the signal strength of the third communication link are also collected and reported by the robot in real time. Among them, when the robot is located at the same position, since the interference is caused by the environment, the interference of the second communication link and the interference of the third communication link are the same as the interference of the first communication link, and the interference of the second communication link and the interference of the third communication link can be reported or not reported to the terminal device. The signal delay of the second communication link is sent by the terminal device to the robot through the second communication link, and the robot determines the signal delay according to the time of receiving the message, and then reports it to the terminal device. The signal delay of the third communication link is determined by the terminal device sending a message to the robot through the third communication link. The robot determines the signal delay according to the time when the message is received and then reports it to the terminal device.

[0086] It can be understood that the signal delay of the second communication link and the signal delay of the third communication link are obtained in real time only when the terminal device determines that the link needs to be switched. If it is determined that the link does not need to be switched, the terminal device does not need to send messages to the robot through the second communication link and the third communication link respectively to obtain the signal delay.

[0087] S1053: The terminal device analyzes and compares the link status information of the second communication link and the link status information of the third communication link respectively, and determines to switch the communication with the robot from the first communication link to the second communication link.

[0088] The terminal device analyzes and compares the link status information of the second communication link and the link status information of the third communication link respectively, and determines to communicate with the robot through the second communication link instead of the third communication link when at least one of the following conditions exists: 1) the signal strength of the second communication link is greater than the signal strength of the first communication link and greater than the signal strength of the third communication link; 2) the signal delay of the second communication link is less than the signal delay of the first communication link and less than the signal delay of the third communication link; 3) the signal strength, signal delay and interference of the second communication link are comprehensively analyzed to obtain a second analysis result, the signal strength, signal delay and interference of the third communication link are comprehensively analyzed to obtain a third analysis result, the second analysis result is better than the third analysis result, and the second analysis result is better than the first analysis result.

[0089] S106: When determining that there is no need to switch the link, the terminal device continues to use the first communication link to communicate with the robot.

[0090] It can be seen that the present application provides a communication link control method, and multiple communication links are established between the terminal device and the robot, but the terminal device only controls the robot to perform tasks through one of the communication links. The robot reports the link status information of the current link to the terminal device in real time, and the terminal device makes a judgment based on the link status information of the current link to determine whether it is necessary to switch the link. If it is necessary to switch the link, the current link is switched to another communication link, and the robot is controlled to perform tasks through another communication link. In the implementation of the present application embodiment, the terminal device can monitor the status of the current link in real time, and make a pre-judgment based on the status of the current link, and pre-judgment whether it is necessary to switch the communication link. In the case of switching the link, the communication link is switched in time to avoid the situation where the communication link between the robot and the terminal device is disconnected, causing the robot to lose control. The implementation of the method embodiment of the present application can effectively prevent the robot from losing control and affecting the operation, and effectively improve the user's service experience of using the robot to perform operations.

[0091] The above is a description of a method embodiment. The following is an introduction to a device embodiment corresponding to the method embodiment.

[0092] This application provides a terminal device, see Figure 4 , Figure 4 This is a schematic diagram of the structure of a terminal device 400 provided in the present application. A first communication link and a second communication link are established between the terminal device 400 and the robot. The terminal device 400 is used to control the robot to perform a task through the first communication link. The terminal device 400 includes:

[0093] The communication unit 401 is used to obtain the status information reported by the robot through the first communication link, where the status information includes the link status information of the first communication link;

[0094] A determination unit 402, configured to determine whether the communication with the robot needs to switch the link according to the link status information of the first communication link;

[0095] The communication unit 401 is used to control the robot to perform a task through the second communication link when it is determined that the link needs to be switched.

[0096] In a possible implementation, the link status information includes one or more of signal strength, interference, and signal delay.

[0097] In a possible implementation, the determining unit 402 is configured to: determine that a link needs to be switched when at least one of the following situations exists:

[0098] 1) The signal strength of the first communication link is lower than a first threshold;

[0099] 2) The signal delay of the first communication link exceeds the second threshold;

[0100] 3) Perform a comprehensive analysis based on the link status information of the first communication link to obtain a first analysis result, and the first analysis result meets the condition for switching the link.

[0101] In a possible implementation, a third communication link is always established between the terminal device 400 and the robot; the communication unit 401 is used to: obtain the link status information of the second communication link reported by the robot through the second communication link; obtain the link status information of the third communication link reported by the robot through the third communication link; the determination unit 402 is used to analyze and compare the link status information of the second communication link and the link status information of the third communication link, respectively, and determine to switch the communication with the robot from the first communication link to the second communication link.

[0102] In a possible implementation, the determining unit 402 is used to determine to switch the communication with the robot from the first communication link to the second communication link when at least one of the following conditions exists:

[0103] 1) The signal strength of the second communication link is greater than the signal strength of the first communication link, and greater than the signal strength of the third communication link;

[0104] 2) The signal delay of the second communication link is less than the signal delay of the first communication link, and less than the signal delay of the third communication link;

[0105] 3) Comprehensively analyze the link status information of the second communication link to obtain a second analysis result, and comprehensively analyze the link status information of the third communication link to obtain a third analysis result, the second analysis result is better than the third analysis result, and the second analysis result is better than the first analysis result.

[0106] In a possible implementation, the first communication link, the second communication link and the third communication link are respectively one of a Bluetooth communication link, a wireless network communication link and a virtual private network VPN communication link, and the first communication link, the second communication link and the third communication link are different.

[0107] In a possible implementation, the status information also includes task status information, which includes a task identification ID and task progress; the communication unit 401 is used to: generate a task instruction based on the task status information, the task instruction is used to instruct the robot to continue to perform the task; and send the task instruction to the robot via a second communication link.

[0108] Figure 4 The various functional modules in are used to implement Figure 2 and Figure 3 For details of the steps of the method embodiment, please refer to Figure 2 and Figure 3 The description of the relevant contents in the method embodiment will not be repeated here for the sake of brevity of the specification.

[0109] This application also provides a terminal device, see Figure 5 , Figure 5 This is a schematic diagram of the structure of a terminal device 500 provided in this application, and the terminal device 500 is used to implement Figure 2 and Figure 3 In the method embodiment, the terminal device 500 includes: a processor 510, a communication interface 520 and a memory 530. The processor 510, the communication interface 520 and the memory 530 can be interconnected through an internal bus 540, or can communicate through other means such as wireless transmission.

[0110] Taking the connection through bus 540 as an example, bus 540 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. Bus 540 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0111] The processor 510 may be composed of at least one general-purpose processor, such as a CPU, or a combination of a CPU and a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof. The processor 510 executes various types of digital storage instructions, such as software or firmware programs stored in the memory 530, which enables the terminal device 500 to provide a wide variety of services.

[0112] The memory 530 is used to store program codes and is controlled by the processor 510 to execute the above Figures 1 to 4 For the steps described in the embodiment, please refer to the relevant description of the embodiment shown above, which will not be elaborated here.

[0113] The memory 530 may include a volatile memory, such as a RAM; the memory 530 may also include a non-volatile memory, such as a ROM, a flash memory; the memory 530 may also include a combination of the above types.

[0114] The communication interface 520 can be a wired interface (such as an Ethernet interface), an internal interface (such as a high-speed serial computer expansion bus (peripheral component interconnect express, PCIE) bus interface), a wired interface (such as an Ethernet interface) or a wireless interface (such as a cellular network interface or a wireless local area network interface) for communicating with other devices or modules.

[0115] The processor 510, the communication interface 520, etc. in the terminal device 500 can implement the functions and / or various steps and methods implemented in the above-mentioned various method embodiments, and for the sake of brevity, they are not repeated here. The determination unit 402 in the terminal device 400 can be located in the processor 510 in the terminal device 500, and the communication unit 401 in the terminal device 400 can be located in the communication interface 520 in the terminal device 500.

[0116] Need to explain, Figure 5This is only a possible implementation of the embodiment of the present application. In practical applications, the terminal device may also include more or fewer components, which is not limited here. For the contents not shown or described in the embodiment of the present application, please refer to the relevant description in the embodiment described in the aforementioned method, which will not be repeated here.

[0117] The present application also provides a storage medium, including program instructions, which, when executed by a terminal device, enable the terminal device to execute part or all of the steps described in the above method embodiment.

[0118] The present application also provides a computer program product, including program instructions, which, when executed by a terminal device, enable the terminal device to execute part or all of the steps described in the above method embodiment.

[0119] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0120] In the above embodiments, it can be implemented in whole or in part by software, hardware 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 may include code. When the computer program product is read and executed by a computer, some or all steps of the method recorded in the above method embodiment may be implemented. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. 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) 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 integration. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium, or a semiconductor medium, etc.

[0121] The steps in the method of the embodiment of the present application can be adjusted in order, combined or deleted according to actual needs; the units in the device of the embodiment of the present application can be divided, combined or deleted according to actual needs.

[0122] The embodiments of the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A communication link control method, characterized in that: The method is applied to a terminal device, a first communication link and a second communication link are always established between the terminal device and the robot, and the terminal device is used to control the robot to perform a task through the first communication link. The method includes: Acquire status information reported by the robot through the first communication link, where the status information includes link status information of the first communication link; Determining whether communication with the robot requires link switching according to link status information of the first communication link; When it is determined that the link needs to be switched, the communication with the robot is switched from the first communication link to the second communication link, and the robot is controlled to perform the task through the second communication link.

2. The method according to claim 1, characterized in that The link status information includes one or more of signal strength, interference degree and signal delay.

3. The method according to claim 2, characterized in that The determining, based on the link status information of the first communication link, whether communication with the robot needs to switch links comprises: When at least one of the following conditions exists, it is determined that the link needs to be switched: 1) The signal strength of the first communication link is lower than a first threshold; 2) The signal delay of the first communication link exceeds a second threshold; 3) Perform a comprehensive analysis based on the link status information of the first communication link to obtain a first analysis result, where the first analysis result meets the condition for switching the link.

4. The method according to claim 2 or 3, characterized in that: A third communication link is always established between the terminal device and the robot; Before switching the communication with the robot from the first communication link to the second communication link, the method further includes: Acquire link status information of the second communication link reported by the robot through the second communication link; Acquire link status information of the third communication link reported by the robot through the third communication link; The link status information of the second communication link and the link status information of the third communication link are analyzed and compared respectively, and it is determined to switch the communication with the robot from the first communication link to the second communication link.

5. The method according to claim 4, characterized in that The analyzing and comparing the link status information of the second communication link and the link status information of the third communication link respectively, and determining to switch the communication with the robot from the first communication link to the second communication link, comprises: When at least one of the following conditions exists, it is determined to switch the communication with the robot from the first communication link to the second communication link: 1) The signal strength of the second communication link is greater than the signal strength of the first communication link, and greater than the signal strength of the third communication link; 2) The signal delay of the second communication link is shorter than the signal delay of the first communication link, and shorter than the signal delay of the third communication link; 3) Performing a comprehensive analysis on the link status information of the second communication link to obtain a second analysis result, and performing a comprehensive analysis on the link status information of the third communication link to obtain a third analysis result, wherein the second analysis result is better than the third analysis result, and the second analysis result is better than the first analysis result.

6. The method according to claim 4 or 5, characterized in that: The first communication link, the second communication link and the third communication link are respectively one of a Bluetooth communication link, a wireless network communication link and a virtual private network VPN communication link, and the first communication link, the second communication link and the third communication link are different from each other.

7. The method according to any one of claims 1 to 6, characterized in that: The status information also includes task status information, and the task status information includes a task ID and task progress; The controlling the robot to perform a task through the second communication link comprises: generating a task instruction according to the task status information, wherein the task instruction is used to instruct the robot to continue to perform the task; The task instruction is sent to the robot through the second communication link.

8. A terminal device, characterized in that: A first communication link and a second communication link are established between the terminal device and the robot, and the terminal device is used to control the robot to perform a task through the first communication link. The terminal device includes: a communication unit, configured to obtain status information reported by the robot through the first communication link, wherein the status information includes link status information of the first communication link; a determining unit, configured to determine whether the communication with the robot needs to switch links according to the link status information of the first communication link; The communication unit is used to control the robot to perform a task through the second communication link when it is determined that the link needs to be switched.

9. A terminal device, characterized in that: The method comprises a memory and a processor, wherein the memory is used to store instructions, and the processor is used to execute the instructions stored in the memory to implement the method according to any one of claims 1 to 7.

10. A computer storage medium, characterized in that: The method comprises program instructions, and when the program instructions are executed on a computer, the computer is caused to execute the method according to any one of claims 1 to 7.

11. A system, characterized in that: The method comprises a terminal device and at least one robot, wherein the terminal device is used to execute the method according to any one of claims 1 to 7.

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