Information transmission path selection method and device of topology network for displacement device and medium

Abstract

The invention provides an information transmission path selection method and device of a topology network for a displacement device and a medium. The method comprises the steps that S1, a current node obtains data packet information sent from a previous node; s2, the current node automatically generates a data transmission decision and updates the meta information of the data packet through a self-evolution rule based on the meta information and the environment information; s3, the current node sends the updated data packet to the next node according to the data transmission decision; and S4, repeating the above steps, and executing a termination instruction until the data packet is transmitted to the target node. According to the information transmission path selection method of the topological network, each node independent of the host autonomously selects a transmission path, so that the problems of low efficiency, slow speed and untimely transmission of the traditional host control path selection are avoided, the throughput of the system and the flexibility and timeliness of the information transmission path are remarkably improved, and the system reliability is improved. And under the condition that normal operation of the system is not influenced, part of the hosts can be maintained.

Description

Technical Field

[0001] The present invention belongs to the technical field of node path transmission, and particularly relates to a method, device and medium for selecting an information transmission path of a topological network for a displacement device. Background Art

[0002] A planar drive system, i.e., a displacement device, is an advanced conveying system based on magnetic levitation technology and is widely used in fields such as industrial automation and intelligent warehousing. In such a system, the displacement device includes a stator and one or more movable platforms. A plurality of stators can be assembled into a topological network system as nodes, and the movable platforms move on the stator through the acting force generated by the magnetic field interaction between the stator and the movable platforms. When a workpiece is placed on the movable platform, the transportation task of the workpiece is completed through magnetic force drive.

[0003] Currently, the displacement device is applied in various technical fields to perform various different tasks, such as moving an object from one position to another as required, or driving a workpiece to be processed carried thereon by the movable platform to complete different technological processes by performing different actions.

[0004] During the operation of the mobile device, in addition to the host controlling the corresponding stator below the movable platform to drive the movement of the movable platform, various information transmissions are carried out between the stators, between the stator and the host, and between the hosts. In the prior art, the information transmission paths between the above nodes are planned by the host, and the entire process requires the control of the host. Therefore, the host faces problems such as a large amount of data processing, high energy consumption and high communication complexity, and problems such as real-time control delay and communication channel congestion are likely to occur, affecting the performance and stability of the system. And as the scale of the mobile device expands, the above problems become more serious.

[0005] In addition, when a certain stator node fails, since the information transmission path cannot be adjusted in real time, the movable platform depending on this node cannot find an alternative path, resulting in the interruption of part or all of the displacement function of the entire displacement device. It must wait for repair or manual intervention before it can run again, thus prolonging the downtime of the device and increasing the maintenance cost. Summary of the Invention

[0006] In order to solve the problems existing in the above prior art, the present invention provides a method, device and medium for selecting an information transmission path for a displacement device based on a semi-redundant topological network, which does not affect the normal operation of the entire displacement device when a single node fails, and the path selection is flexible.

[0007] To solve the above technical problems, the present invention provides the following technical solutions:

[0008] In a first aspect, the present application provides a method for selecting an information transmission path for a displacement device based on a semi-redundant topology network, where the topology network is composed of multiple nodes, and the method includes:

[0009] S1. The current node obtains the data packet information sent from the previous node. The data packet includes meta information and data to be transmitted. The meta information includes: target node location information and current node location information; the previous node is the initial node or an intermediate node;

[0010] S2. Based on the meta information in the data packet and the environmental information independently obtained by the current node, the current node automatically generates a data transmission decision through a self-evolution rule and updates the data packet meta information. The data transmission decision specifies the next node for data packet transmission;

[0011] S3. According to the above data transmission decision, the current node sends the updated data packet to the next node;

[0012] S4. Repeat the above steps until a termination instruction is executed when the data packet is transmitted to the target node or an instruction to send the feedback information of the target node back to the initial node is executed.

[0013] Optionally, in the information transmission path selection method, the environmental information includes: whether the links between the detected current node and each adjacent node are faulty;

[0014] Step S2 includes:

[0015] S21. Based on the environmental information, count the link fault conditions between the current node and each adjacent node, and determine whether there are adjacent links without faults;

[0016] S22. If there are adjacent links without faults, generate a data transmission decision based on the meta information through a self-evolution rule, and select one of the adjacent nodes with fault-free links as the next node for data packet transmission.

[0017] Optionally, in the information transmission path selection method, step S2 further includes:

[0018] S23. If there are no adjacent links without faults, use the previous node as the next node for data packet transmission, send the data packet back to the previous node, and repeat step S1.

[0019] Optionally, in the information transmission path selection method, the environmental information further includes: information on whether the links between the detected current node and each adjacent node are busy;

[0020] In step S22, the step of selecting one of the adjacent nodes with fault-free links as the next node for data packet transmission includes the following steps:

[0021] S221. Based on the information on whether the links between the current node and each adjacent node are busy, identify the adjacent nodes with non-busy links.

[0022] S222. Based on the above judgment result and through the self-evolution rule, select an adjacent node with a non-busy link from the adjacent nodes with no link faults as the next node for data packet transmission.

[0023] Optionally, in the information transmission path selection method, in step S2, the step of selecting one from the adjacent nodes with no link faults as the next node for data packet transmission further includes:

[0024] S2231. If all adjacent nodes with no link faults are busy, divide the busy adjacent nodes into busy levels according to the ascending order of the busy levels.

[0025] S2232. Based on the busy levels of the above adjacent nodes and the self-evolution rule, preferentially use the adjacent node with the lowest busy level as the next node for data packet transmission.

[0026] Preferably, one of the factors for dividing the busy levels is: the number of failed transmission attempts between the current position node in the meta-information of the data packet and each adjacent node.

[0027] Optionally, in the information transmission path selection method, in step S2, the step of selecting one from the adjacent nodes with no link faults as the next node for data packet transmission further includes:

[0028] S2233. If all adjacent nodes with no link faults are busy and their busy levels all exceed the preset busy level, stay at the current node and wait until at least one adjacent node becomes non-busy or its busy level is lower than the preset busy level, and use this adjacent node as the next node for data packet transmission.

[0029] Optionally, in the information transmission path selection method, the meta-information of the data packet further includes: the waiting duration at the current position;

[0030] After step S2233, it further includes:

[0031] S224. If the waiting duration at the current position exceeds the preset waiting time, use the previous node as the next node for data packet transmission, send the data packet back to the previous node, re-find other suitable adjacent nodes, and mark the current node as an unavailable adjacent node;

[0032] If the waiting duration at the current position does not exceed the preset waiting time, continue to wait until at least one adjacent node becomes non-busy and use this adjacent node as the next node for data packet transmission.

[0033] Optionally, in the information transmission path selection method, steps S1, S2 and / or S3 further include the following steps:

[0034] S51, if the total duration from the initial node to the current node exceeds the preset total duration, the data packet is discarded, and the current node sends data packet loss information to the switchboard / initial node;

[0035] S52: The initial node resends the data packet and continues to execute steps S1 to S4.

[0036] Optionally, the information transmission path selection method further includes:

[0037] S6. If the number of repetitions of steps S51 to S52 exceeds a preset number, the area where each node through which the data packet previously passed is marked as a fault area, and the fault type of each node in the fault area is detected;

[0038] The faulty area is excluded from the adjacent node list, and steps S1 to S4 are executed again.

[0039] Optionally, in the information transmission path selection method, the meta information further includes: a single passage time T, and the self-evolution rule is set to satisfy the following condition: a preset maximum delay upper bound < a single passage time T < a preset maximum delay lower bound.

[0040] Optionally, in the information transmission path selection method, in step S2, the self-evolution rule includes one of the following three modes:

[0041] Uninspired random walk mode, that is, randomly selecting a node from all available neighboring nodes of the current node as the next node for data packet transmission;

[0042] There is an heuristic shortest distance mode, that is, the available adjacent node that makes the data packet closest to the target node is preferentially selected as the next node for data packet transmission;

[0043] Or the advanced heuristic mode, which dynamically adjusts the path selection strategy based on historical transmission data and network status information to determine the next node for data packet transmission.

[0044] Optionally, in the information transmission path selection method, the current node is a single node, two or more nodes.

[0045] Optionally, the data transmission mode between adjacent nodes includes the following types: single-point writing or reading back, multi-point writing or reading back, or broadcast writing or reading back.

[0046] 1) Single-point write or read back: The data packet is transmitted from a single initial node to a single next node.

[0047] 2) Multi - point writing or reading back: The target nodes are multiple nodes. Taking the farthest target node as the final target node, starting from the initial node, the data packet is successively sent to each target node along the way until the final target node. Thus, the task of sending the data packet from the initial node to multiple target nodes one after another is completed.

[0048] Broadcast writing or reading back: A certain data packet is synchronously sent from the initial node to multiple target nodes. For example, when an emergency shutdown is required currently, the host, as the initial node, simultaneously sends data packets to all stator nodes in a broadcast manner. The data to be transmitted in the data packet is: stator shutdown control information.

[0049] In a second aspect, the present application also provides an information transmission path selection device for a topological network of a displacement device, which includes:

[0050] An information acquisition module, which is used for the current node to obtain the data packet information sent from the previous node. The data packet includes meta - information and data to be transmitted. The meta - information includes: target node location information and current node location information;

[0051] A processing module, which is used for the current node to automatically generate a data transmission decision and update the data packet meta - information based on the meta - information in the data packet and the environmental information independently obtained by the current node through a self - evolution rule. The data transmission decision specifies the next node for data packet transmission;

[0052] An execution module, which is used for the current node to send the updated data packet to the next node according to the above - mentioned data transmission decision generated by the processing module;

[0053] A termination module, which is used to repeat the steps of the information acquisition module, the processing module, and the execution module until a termination instruction is executed when the data packet transmission reaches the target node.

[0054] Optionally, in the above, the environmental information includes: environmental information on whether the links between the current node and each adjacent node are faulty detected;

[0055] The processing module includes:

[0056] A link fault analysis unit, which is used to count the link fault situations between the current node and each adjacent node based on the environmental information and determine whether there is an adjacent link without a fault;

[0057] A fault - free node selection unit, which is used to, if there is an adjacent link without a fault, generate a data transmission decision based on the meta - information through a self - evolution rule and select one of the adjacent nodes without a link fault as the next node for data packet transmission.

[0058] Optionally, in the information transmission path selection device for the topological network of the displacement device, the processing module further includes:

[0059] A fault feedback unit, configured to, if there is no fault-free adjacent link, use the previous node as the next node for data packet transmission and send the data packet back to the previous node.

[0060] Optionally, in the information transmission path selection device of the displacement device using a topological network, the fault-free node selection unit further includes:

[0061] A busy node analysis subunit, configured to determine whether the links between the current node and its adjacent nodes are busy;

[0062] A non-busy node selection subunit, configured to, based on the determination result and through a self-evolution rule, select a non-busy adjacent node from the adjacent nodes with fault-free links as the next node for data packet transmission.

[0063] Optionally, in the information transmission path selection device of the displacement device using a topological network, the fault-free node selection unit includes:

[0064] A busy level analysis subunit, configured to, if all adjacent nodes with fault-free links are busy, divide the busy adjacent nodes into busy levels according to the busy level from low to high;

[0065] A busy priority determination subunit, configured to, based on the busy levels of the above adjacent nodes and a self-evolution rule, preferentially use the adjacent node with the lowest busy level as the next node for data packet transmission.

[0066] Preferably, the fault-free node selection unit further includes:

[0067] A busy waiting subunit, configured to, if all adjacent nodes with fault-free links are busy or the busy levels all exceed a preset busy condition, stay at the current node and wait until at least one adjacent node becomes non-busy or the busy level is lower than the preset busy condition, and use this adjacent node as the next node for data packet transmission.

[0068] Further preferably, the busy waiting subunit further includes:

[0069] A waiting time determination subunit, configured to determine that if the waiting duration at the current position exceeds a preset waiting time, use the previous node as the next node for data packet transmission, send the data packet back to the previous node, re-find other suitable adjacent nodes, and mark the current node as an unavailable adjacent node;

[0070] If the waiting duration at the current position does not exceed the preset waiting time, repeat step S2233.

[0071] Preferably, the information acquisition module, the processing module, and / or the execution module further includes:

[0072] A total duration evaluation module, configured to discard the data packet if the total duration from the initial node to the current node exceeds a preset total duration, and the current node sends data packet loss information to the switchboard / initial node;

[0073] A data packet retransmission module, configured to, based on the result sent by the total duration evaluation module, execute the initial node to retransmit the data packet, and continue to execute steps S1 to S4.

[0074] Preferably, the displacement device's information transmission path selection device for the topology network further includes:

[0075] A fault analysis module, configured to, when the number of times the data packet retransmission module retransmits the data packet exceeds a preset number of times, mark the areas where each node that the data packet passed through before as fault areas, and detect the fault types of each node in the fault areas; and exclude the fault areas from the adjacent node list, and re-run steps S1 to S4.

[0076] In a third aspect, the present application further provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor is configured to implement the steps of the foregoing method when executing the computer program.

[0077] In a fourth aspect, the present application further provides a computer-readable storage medium, where the computer-readable storage medium has a computer program, and the computer program implements the steps of the foregoing method when executed by a processor.

[0078] In a fifth aspect, the present application further provides a distributed topology network system for a displacement device, where the distributed topology network system includes the following various nodes: at least one host, stators of a plurality of position devices that are communicatively connected to each other and are in control connection with the host, each node is communicatively connected to at least one adjacent node, and information communication between the nodes is implemented by using the foregoing information transmission path selection method. Optionally, the distributed topology network system is a semi-redundant topology network, each node is communicatively connected to at least two adjacent nodes, the number of hosts is multiple, and each host is set to be in control connection with the nodes in a preset area; different hosts communicate through the nodes adjacent between the preset areas.

[0079] Optionally, the node further includes various sensors connected to the topology network system.

[0080] Compared with the prior art, the present invention has the following beneficial effects:

[0081] 1. The path selection method provided by this application autonomously selects the node transmission path based on the meta-information and environmental information of the data packet and through self-evolution rules, avoiding the problems of low efficiency, slow speed, and untimely transmission in traditional host-controlled path selection. It not only significantly improves the throughput of the system and the flexibility and timeliness of the information transmission path.

[0082] 2. The path selection method provided by this application operates independently of the host, greatly liberating the host, significantly reducing the data processing volume of the host, reducing the energy consumption of the host, and improving the efficiency and timeliness of information transmission. In the topology network system applying the above method, multiple hosts can be dynamically introduced to share the load. Without affecting the normal operation of the system, some hosts can be repaired, improving the stability of the system operation.

[0083] 3. The above path selection method of this application includes various implementation methods of self-evolution rules, from simple random walks to complex heuristic strategies, which can be flexibly selected according to the requirements of the actual application scenario to balance the implementation complexity and transmission efficiency. The path selection method can, according to the self-evolution rules, preferentially select the direction close to the target node for transmission. If the preferentially selected direction is unavailable, other feasible paths are calculated and selected according to the rules or wait until the preferential direction becomes available. This flexible path selection mechanism greatly improves the utilization rate of the path, reducing path congestion and resource waste.

[0084] 4. Adopting a semi-redundant network topology structure, each node is connected to at least two adjacent nodes, and key nodes can be connected to more adjacent nodes, providing multiple alternative paths to cope with link failures and high-load situations, not only enhancing the fault tolerance of the system but also being able to automatically switch to other links when the link of a certain node is unavailable, ensuring the continuity and stability of the transmission process.

[0085] 5. By recording historical information and environmental status, it supports the continuous optimization and learning of self-evolution rules, enabling the system to adapt to the ever-changing network conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0086] Figure 1 It is a flowchart of the information transmission path selection method for the displacement device based on the semi-redundant topology network in Embodiment 1 of this application;

[0087] Figure 2 It is a schematic diagram of a semi-redundant topology structure in Embodiment 1 of this application;

[0088] Figure 3 It is a flowchart of the information transmission path selection method in Embodiment 2 of this application;

[0089] Figure 4 It is a flowchart of the information transmission path selection method in Embodiment 3 of this application. Detailed implementation manners

[0090] In order to make the objectives, technical solutions and advantages of the present application more clear and understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0091] The present application provides a method for selecting an information transmission path of a topological network for a displacement device. The method is based on a network topological structure, and the topological network structure is composed of several nodes, and the nodes are connected by wire or wireless.

[0092] The information transmission path selection method of the present application is applicable to various existing topological networks. The adjacent nodes connected around each node can be one, two or more, and can be reasonably set according to needs. The topological network to which it is applied is not limited to the Figure 2 type of Figure 2 only examples are given without representation.

[0093] Preferably, the topological network structure is a semi-redundant topological network, but not limited thereto. Each node is connected to at least two adjacent nodes; a redundant topological network can also be adopted, that is, the current node is connected to adjacent nodes in multiple directions of up, down, front, back, left and right.

[0094] The information transmission path selection method of the topological network of the present application is applied in a displacement device (or displacement system). The nodes of its topological network include: stators of multiple displacement devices, at least one host that is control-connected to the stators, and other sensors or actuators that access this network. Various information transmissions (including various information that needs to be written to each node and various types of information read back from each node) between the nodes of this topological network are realized through the above information transmission path selection method.

[0095] The stator of the displacement device is used to generate a magnetic field to drive the movable platform above to move. Multiple interconnected stators form a larger displacement system, which can realize various different functions and applications. The stator node not only provides the driving force for the suspension and movement of the movable platform, but also undertakes functions such as data transmission and status monitoring between nodes. Data exchange can be carried out between stators and between the stator and the movable platform to transmit status information. Moreover, each stator node needs to send the data of its own sensor and receive the control data from the main control.

[0096] There are multiple links between the nodes (including the host and each stator) of the semi-redundant or redundant topology structure, which not only provides multiple optional information transmission paths but also provides multiple alternative paths when the original path is infeasible. The method of the present application improves the flexibility of the selection of information transmission paths based on this topology network. The shape of the semi-redundant or redundant topology structure is determined by the actual application scenario, with high flexibility and diversity. Its shape can be a two-dimensional or three-dimensional structure to adapt to different site layouts and task requirements.

[0097] In the subsequent embodiments of the present application, the semi-redundant topology structure is taken as an example for illustration. In other embodiments, different topology structures can be designed according to site conditions and task requirements, without being limited to the specific form of the topology network in the embodiments. The scale and function of the topology network can be expanded by adding or adjusting stator nodes, host nodes, other sensor nodes and their connection methods.

[0098] Embodiment 1

[0099] This embodiment provides a method for selecting an information transmission path of a topology network for a displacement device. The information transmission path selection method can be applied to various existing topology networks, and the adjacent nodes connected around each node can be one, two or more.

[0100] In this embodiment, a topology network such as Figure 2 is taken as an example for illustration. In this topology network, the nodes in the middle area are connected to the four adjacent nodes above, below, left and right, and the nodes at the edge are connected to 2 or 3 surrounding nodes. Figure 2 The topology network of Figure 2 is almost the smallest specification of the semi-redundant topology network structure and is shown for easy understanding and illustration. In other embodiments, the structure of the topology network is not limited to the Figure 2 result and specification and can be set according to the actual shape. In other embodiments, the number of adjacent nodes around the current node can be set to 1, not limited to the

[0101] The nodes in the topology network include a host and the stators of multiple position devices connected to the host, and can also include various sensors accessing this network.

[0102] To ensure normal operation and system running, a large amount of information transmission is required between the nodes in the topology network, and the information transmission path is realized by the information transmission path selection method provided by the present application. The information transmission between the nodes includes: information transceiver between the host and the stator, between the stator and the stator, and between the host and the host. By reading or sending different types of information between the nodes, the subsequent further tasks of each node can be executed and various specific functions can be realized.

[0103] As Figure 1 shown, the method for selecting an information transmission path for the displacement device includes the following steps:

[0104] S1. The current node obtains the packet information sent from the previous node.

[0105] The packet includes meta information and data to be transmitted. The meta information includes: target node location information, current node location information, and other information. The meta information is auxiliary information that affects packet transmission. In other embodiments, the meta information further includes: waiting duration at the current location, single-pass duration T, number of failed transmission attempts of each node at the current location, etc.

[0106] The data to be transmitted in the packet is payload data, which includes: data to be written to the target node and / or various data read from the target node. These data include: various sensor data of the node (such as current, voltage, temperature data, magnetic field data, etc.) and operating status or other data that needs to be read or written.

[0107] The previous node is an initial node or an intermediate node. The intermediate node is other nodes passed on the path between the initial node and the target node.

[0108] The initial node can be a specific stator node or a host node in the topology network. For example, the host, as the initial node, sends a specific packet to the nearest adjacent node. The meta information in the packet includes the location of the initial node, the location of the target node, and the specific task data to be transmitted.

[0109] For example, the packet is sent from the initial node (such as a certain host) to the target node (a certain stator). The host controls the stator to perform certain tasks by sending control information, such as starting or stopping or adjusting the state or sending its own data, or obtains the current information or state of a certain stator node at any time by reading back the data of the target node. On the other hand, information communication can also be carried out between host nodes through the transmission of packets, so as to coordinate the work of each host. For example, when each host controls different mobile stations, the positions of the currently controlled mobile stations can be mutually informed through information transmission between the hosts, so as to avoid collisions between mobile stations.

[0110] Optionally, according to the different types of protocols used for packet transmission between nodes, in step S1, the current node can be a single node or two or more parallel nodes.

[0111] Specifically, through different types of communication protocols, the data transmission methods between adjacent nodes (such as between the current node and the previous node's packet or the next node) include the following types:

[0112] 1) Single-point writing or reading back: The data packet is transmitted from a single initial node A to a single next node B.

[0113] 2) Multi-point writing or reading back: The target nodes are multiple nodes (such as nodes A, B, C, and D). Taking the farthest target node D as the final target node, after starting from the initial node, the data packet is successively sent to each of the target nodes A, B, C along the way until the final target node D. Thus, the task of sending the data packet from the initial node to multiple target nodes in sequence is completed.

[0114] 3) Broadcast writing or reading back: A certain data packet is synchronously sent from the initial node A to multiple target nodes B, C, and D. For example: When an emergency shutdown is required currently, the host, as the initial node, sends the data packet to all stator nodes simultaneously in a broadcast manner. The data to be transmitted in the data packet is: stator shutdown control information.

[0115] S2. Based on the meta-information in the data packet and the environmental information obtained by the current node, the current node automatically generates a data transmission decision through the self-evolution rule and updates the data packet meta-information. The data transmission decision specifies the next node for data packet transmission.

[0116] In this implementation, the adjacent nodes are interpreted as: other adjacent nodes except the previous node.

[0117] The environmental information obtained by the current node includes: the environmental information detected whether the links between the current node and each adjacent node are faulty or busy, which can be achieved by detecting from the physical link layer. Preferably, the environmental information is not limited to the link conditions of directly connected adjacent nodes, but may also include the link information of non-adjacent nodes within a certain range around.

[0118] In this embodiment, the environmental information is the information independently obtained by the current stator node based on various sensors and built-in programs set thereon.

[0119] In other embodiments, the environmental information is the information actively sent by other nodes. For example, the adjacent nodes or non-adjacent nodes within a certain range around actively send information to the current node to inform it of the link failure, link busyness, or idleness of their nodes, guiding the current node to quickly determine the next feasible node for data transmission and improving the efficiency of data transmission.

[0120] In this step, in the face of two or more optional adjacent nodes, the current node, based on the meta-information in the data packet received from the previous node and the above-mentioned environmental information obtained by the current node, automatically generates a data transmission decision that specifies which node is the next node through the self-evolution rule set for each node and updates the data packet meta-information.

[0121] The self-evolution rule is set to ensure the following conditions: the preset maximum delay upper bound < the single-pass duration T < the preset maximum delay lower bound. The single-pass duration T refers to the duration for a data packet to be transmitted from the current node to the target node and then feedback to the current node. Such a setting can ensure that: the duration T for a data packet to be transmitted from the current node to the target node and then feedback to the current node is always less than the preset maximum delay lower bound, meeting the slowest speed requirement for data transmission, thereby ensuring the timeliness of data transmission.

[0122] In this embodiment, the self-evolution rule adopts: a non-heuristic random walk mode, that is, randomly select one from all available adjacent nodes of the current node as the next node for data packet transmission.

[0123] For example, when selecting the next node in data transmission, at any clock moment, the current node will transmit from adjacent nodes in the non-busy state; and since the topological network system has boundaries, therefore, the data transmitted in this random walk manner will definitely come back after making a detour or after a certain period of time and finally be transmitted to the target node position. In other embodiments, a further optimized self-evolution rule can also be adopted.

[0124] In addition, the self-evolution rule can be embedded in the switch node hardware module, and according to the self-evolution rule of the current switch node, select the next switch node for transmission.

[0125] S3. According to the above data transmission decision, the current node sends the updated data packet to the next node.

[0126] The next node can be other nodes adjacent to the current node. Step S3 is manifested as: according to the above data transmission decision, send the updated data packet to the adjacent next node.

[0127] Or, the current node can continue to be the next node, then step S3 is manifested as: according to the above data transmission decision, cache the data packet at the current node and stay. In subsequent preferred embodiments, various situations of staying at the current node will be further elaborated.

[0128] S4. Repeat the above steps S1 to S3 until a termination instruction is executed when the data packet is transmitted to the target node or an instruction to send the feedback information of the target node back to the initial node is executed.

[0129] In some embodiments, the data packet only needs to be sent to the target node and written by the target node, that is, the current data transmission task is completed.

[0130] In some embodiments, after the data packet arrives at the target node, and after the target node writes a certain amount of data, it is also necessary to send some data of the target node (such as the sensor data or the current state of the node, etc.) back to the initial node to complete this data transmission task.

[0131] In the prior art, the transmission path of the data packet is designed in advance by the host, and the host controls each step of the transmission of the data packet between nodes. Although the transmission route of the data packet can be accurately controlled, it lacks flexibility. Once a node on the path has a problem, it is necessary to stop the machine for maintenance.

[0132] Compared with the above prior art, in the information transmission path selection method of this embodiment, the host does not control the transmission path of the data packet between nodes. After the data packet is sent from the host, the transmission path of the data packet is no longer controlled by the host. The current node that receives the data packet is based on the meta-information in the data packet (such as the target node location and the current node location, etc.) and the environmental information of the current node (such as the status information of adjacent nodes, etc.), and automatically generates a data transmission decision and updates the data packet meta-information through a self-evolution rule, and then sends the updated data packet to a feasible next node; and the next node that receives the data packet will automatically generate a data transmission decision and update the data packet meta-information again according to the meta-information of its data packet and the environmental information of the node, and then send the updated data packet to the next adjacent node (including the case of staying at the current node).

[0133] It can be seen that in the above method, the transmission direction of each node to the next node is variable, specifically combined with the situation of surrounding adjacent nodes (such as failure or busy or idle, etc.). Therefore, the transmission path of the data packet is flexible and changeable. In the topological network system applying the above method, when any node is removed or fails, the current node can still ensure the normal transmission of data by finding a detour path, greatly avoiding the outage caused by node failures and reducing the maintenance cost.

[0134] Since the information transmission path selection method of the above topological network runs independently of the host, it greatly liberates the host, significantly reduces the data processing volume of the host, reduces the energy consumption of the host, and improves the efficiency and timeliness of information transmission.

[0135] This embodiment provides an information transmission path selection device for a topological network of a displacement device, which includes:

[0136] An information acquisition module, configured to obtain, for the current node, data packet information sent from the previous node, where the data packet includes meta-information and data to be transmitted, and the meta-information includes: target node location information and current node location information;

[0137] A processing module, configured to enable a current node to automatically generate a data transmission decision based on meta-information in the data packet and environmental information independently obtained by the current node through a self-evolution rule, and update the meta-information of the data packet, where the data transmission decision specifies the next node for data packet transmission;

[0138] An execution module, configured to enable the current node to send the updated data packet to the next node according to the data transmission decision generated by the processing module;

[0139] A termination module, configured to repeat the steps of the information acquisition module, the processing module, and the execution module until a termination instruction is executed when the data packet transmission reaches the target node or an instruction to send feedback information of the target node back to the initial node is executed.

[0140] Optionally, in the information transmission path selection device of the topology network using the displacement device, the environmental information includes: environmental information on whether the links between the detected current node and each adjacent node are faulty.

[0141] This embodiment further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor is configured to implement the steps of the method described above in this embodiment when executing the computer program.

[0142] Wherein, the memory is connected to the processor, and the memory may include one or more computer-readable storage media, and the computer-readable storage media may be non-transitory. The memory may further include a high-speed random access memory and a non-volatile memory, such as one or more disk storage devices and flash storage devices. The processor may include one or more processors, and the processor may be implemented in at least one hardware form of a digital signal processor, a field programmable gate array, and a programmable logic array. The processor may also include a main processor and a co-processor. The main processor is a processor for processing data in the wake state, also known as a central processing unit; the co-processor is a low-power processor for processing data in the standby state.

[0143] In addition, this embodiment further provides a computer-readable storage medium, where the computer-readable storage medium has a computer program, and the computer program is configured to implement the steps of the method described above in this embodiment when executed by a processor.

[0144] Embodiment 2

[0145] As Figure 3 shown, on the basis of Embodiment 1, this embodiment further provides another specific implementation of the information transmission path selection method for a topology network, and the topology network structure adopted can refer to Figure 2 but is not limited to Figure 2 .

[0146] The method for selecting the information transmission path of the topological network includes the following steps:

[0147] S1. The current node obtains the data packet information sent from the previous node.

[0148] The data packet includes meta-information and data to be transmitted. The meta-information includes: target node location information and current node location information, and also includes: current location waiting duration, total passing duration, single passing duration T, etc.

[0149] S21. Based on the environmental information, count the link failure situations of the current node and each adjacent node, and determine whether there is a fault-free adjacent link.

[0150] The link failure situations of the adjacent nodes include: the link of the adjacent node is in a disconnected state; or the states of all the surrounding adjacent nodes of the adjacent node are busy, indicating that the state of the adjacent node is abnormal and is a fault state.

[0151] S22. If there is a fault-free adjacent link, generate a data transmission decision based on the meta-information of the data packet through the self-evolution rule, and select one of the adjacent nodes with a fault-free link as the next node for data packet transmission.

[0152] Each data of the meta-information (such as the current location waiting duration, total passing duration, single passing duration T, etc.) or the above environmental information can be used as the respective parameters required by the self-evolution rule. By setting corresponding weights for each parameter and performing weighted scoring, the final data transmission decision is determined.

[0153] Further preferably, the step of selecting one of the adjacent nodes with a fault-free link as the next node for data packet transmission includes the following steps:

[0154] S221. Based on the information on whether the links between the current node and each adjacent node are busy, identify the adjacent nodes with non-busy links.

[0155] S222. Based on the judgment result through the self-evolution rule, select an adjacent node with a non-busy link from the adjacent nodes with a fault-free link as the next node for data packet transmission.

[0156] By selecting a non-busy node from multiple adjacent nodes with a fault-free link as the next node for data packet transmission, the time wasted waiting at a busy node is avoided, thereby saving the time for data transmission and improving the data transmission speed.

[0157] S223. If all the adjacent nodes with a fault-free link are busy, stay at the current node and wait until at least one adjacent node becomes non-busy (i.e., idle) and use this adjacent node as the next node for data packet transmission.

[0158] If all current nodes are busy, it is necessary to sacrifice a certain amount of time to wait for adjacent nodes to become idle to ensure the feasibility and flexibility of the data transmission path.

[0159] Furthermore, to avoid delays or stagnation in information transmission caused by excessive waiting at the current node, step S223 further includes the following steps:

[0160] S224. If the waiting duration at the current position exceeds the preset waiting time, the previous node is used as the next node for data packet transmission, the data packet is sent back to the previous node, other suitable adjacent nodes are searched for again, and the current node is marked as an unavailable adjacent node.

[0161] If the waiting duration at the current position does not exceed the preset waiting time, continue to wait until at least one adjacent node becomes not busy and use this adjacent node as the next node for data packet transmission.

[0162] The setting of this step causes the data packet to be sent back to the previous node after waiting too long at the current node, search for other available and faster transmission paths, improve the flexibility of data transmission, and ensure the timeliness of data transmission.

[0163] S23. If there is no fault-free adjacent link (i.e., the links between the current node and all adjacent nodes have failed), the previous node is used as the next node for data packet transmission, and the data packet is sent back to the previous node.

[0164] The setting of this step prevents the data packet from being sent to the faulty area, enables it to flexibly return to the previous node and search for other suitable paths, and ensures the effectiveness of the data transmission path.

[0165] S3. The current node sends the updated data packet to the next node according to the data transmission decision in the previous step.

[0166] The next node can be other nodes adjacent to the current node. Step S3 is manifested as: sending the updated data packet to the adjacent next node according to the above data transmission decision. Or, the current node can continue to be the next node, then step S3 is manifested as: caching the data packet at the current node and staying according to the above data transmission decision. In subsequent preferred embodiments, various situations of staying at the current node will be further elaborated.

[0167] S4. Repeat steps S1 - S3 until a termination instruction is executed when the data packet is transmitted to the target node or an instruction to send the feedback information of the target node back to the initial node is executed.

[0168] The self-evolution rule is set to meet the following conditions: the preset maximum delay upper bound < the single-pass duration T < the preset maximum delay lower bound. The single-pass duration T refers to the actual total duration for a data packet to be transmitted from the current node to the target node and then return to the departure node. Specifically, based on the known network topology, calculate all possible transmission times from the current node to the target node and back, obtaining the longest time and the shortest time. The longest time is the maximum delay upper bound, and the shortest time is the maximum delay lower bound.

[0169] The above setting can ensure that: the single-pass duration T for a data packet to be transmitted from the departure node to the target node and then feedback to the departure node is always less than the preset maximum delay lower bound, meeting the slowest speed requirement for data transmission, thereby ensuring the timeliness of data transmission.

[0170] In this embodiment, the self-evolution rule adopts the heuristic shortest distance mode:

[0171] The current node preferentially selects an available adjacent node that makes the data packet closest to the target node as the next node for data packet transmission, that is, each time it selects an available adjacent node in the direction not far from the target point as the next node for data packet transmission. Under this self-evolution rule, when selecting the next node each time, the current node must select an adjacent node that can make the data packet closest to the target node, specifically including the following steps:

[0172] 1) Calculate the distances between all available adjacent nodes and the target node;

[0173] 2) Select the nearest non-busy node to the target node as the next node;

[0174] 3) If multiple nodes have the same distance to the target node, randomly select one of them;

[0175] 4) If there are no qualified nodes (such as all adjacent nodes are busy), wait until an adjacent node becomes available (such as a node changes to idle).

[0176] This strategy can significantly reduce the random walk of invalid paths and obtain the optimal transmission speed and shorten the transmission time in the case of no congestion.

[0177] To facilitate the understanding of the above method, take Figure 2Taking the topological network shown as an example for illustration, the current node is (0, 0), the adjacent nodes are (0, 1) and (1, 0), and the target node is (2, 2); after the current node obtains the data packet information, it communicates with the adjacent nodes (0, 1) and (1, 0) respectively, and obtains the status information of these two adjacent nodes (i.e., environmental information, such as: whether the adjacent links are fault-free, busy, etc.) as: the link between the current node and the adjacent node (0, 1) is faulty, and the link between the current node and the adjacent node (1, 0) is normal; the current node is based on the meta-information in the data packet (the current node position (0, 0) and the target node (2, 2), etc.) and the above status information of the two adjacent nodes, and based on the above self-evolution rule, automatically generates a data transmission decision and updates the data packet meta-information, takes the adjacent node (1, 0) as the next node for data packet transmission, and sends the updated data packet information to the adjacent node (1, 0).

[0178] Next, the current node is (1, 0). At this time, this node has 3 adjacent nodes. Among them, the nodes (2, 0) and (1, 1) are adjacent nodes closer to the target node, and (0, 0) is its previous node. Analyze and judge again according to the above steps. If the node (1, 1) is idle and (2, 0) is busy, then the current node is based on the meta-information in the data packet and the above status information of the two adjacent nodes, and based on the self-evolution rule, automatically generates a data transmission decision, takes the node (1, 1) as the next node, and sends the updated data packet information to the node (1, 1). If the node (1, 1) is busy and (2, 0) is faulty, it will stay at the current node and wait. Within the preset time range, when (1, 1) becomes idle, the current node sends the updated data packet to the node (1, 1).

[0179] Then, the current node is (1, 1). This node has 4 adjacent nodes (0, 1), (1, 2), (2, 1), (1, 0). Among them, the node (1, 0) is the previous node. At this time, if the adjacent nodes (0, 1), (1, 2), and (2, 1) are all normal and idle, then according to the self-evolution rule of the heuristic shortest distance mode, select a node (1, 2) or (2, 1) closer to the target node from the above three adjacent nodes as the next node for data packet transmission.

[0180] According to the above method steps, until the data packet is sent and written to the target node (2, 2), or further execute the read-back instruction, the read-back instruction is an instruction to send the feedback information (such as sensor information or status information) of the target node (2, 2) back to the initial node. And complete the information transmission and terminate the task.

[0181] In a second aspect, the present embodiment further provides an information transmission path selection device for a topological network of a displacement device, which includes:

[0182] An information acquisition module, which is used for the current node to obtain the data packet information sent from the previous node. The data packet includes meta information and data to be transmitted. The meta information includes: target node location information and current node location information;

[0183] A processing module, which is used for the current node to automatically generate a data transmission decision and update the data packet meta information based on the meta information in the data packet and the environment information independently obtained by the current node through self-evolution rules. The data transmission decision specifies the next node for data packet transmission;

[0184] An execution module, which is used for the current node to send the updated data packet to the next node according to the above data transmission decision generated by the processing module;

[0185] A termination module, which is used to repeat the steps of the information acquisition module, the processing module, and the execution module until a termination instruction is executed when the data packet transmission reaches the target node.

[0186] The environment information includes: the environment information on whether the links between the detected current node and each adjacent node are faulty.

[0187] The processing module includes:

[0188] A link fault analysis unit, which is used to count the link fault situations between the current node and each adjacent node based on the environment information and judge whether there is an adjacent link without faults;

[0189] A fault-free node selection unit, which is used to, if there is an adjacent link without faults, generate a data transmission decision based on the meta information through self-evolution rules and select one of the adjacent nodes with fault-free links as the next node for data packet transmission.

[0190] A fault sending-back unit, which is used to, if there is no adjacent link without faults, use the previous node as the next node for data packet transmission and send the data packet back to the previous node.

[0191] The fault-free node selection unit further includes:

[0192] A busy node analysis subunit, which is used to judge whether the links between the current node and each adjacent node are busy;

[0193] A non-busy node selection subunit, which is used to, based on the judgment result through self-evolution rules, select a non-busy adjacent node from the adjacent nodes with fault-free links as the next node for data packet transmission.

[0194] On the above basis, the fault-free node selection unit further includes:

[0195] A busy waiting subunit, which is used to stay at the current node and wait if all adjacent nodes of the link without faults are busy, until at least one adjacent node becomes not busy and use this adjacent node as the next node for data packet transmission.

[0196] The busy waiting subunit further includes:

[0197] A waiting time judgment subunit, which is used to judge that if the waiting duration at the current position exceeds the preset waiting time, use the previous node as the next node for data packet transmission, send the data packet back to the previous node, re - find other suitable adjacent nodes, and mark the current node as an unavailable adjacent node;

[0198] It is also used to continue waiting if the waiting duration at the current position does not exceed the preset waiting time, until at least one adjacent node becomes not busy and use this adjacent node as the next node for data packet transmission.

[0199] In a third aspect, this embodiment further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. The processor is used to implement the steps of the foregoing method when executing the computer program.

[0200] In a fourth aspect, this embodiment further provides a computer - readable storage medium, which has a computer program. The computer program is used to implement the steps of the foregoing method when executed by a processor.

[0201] Embodiment 3

[0202] In a first aspect, as Figure 4 shown, this embodiment provides a method for selecting an information transmission path of a topology network. The topology network structure adopted can refer to Figure 2 , but is not limited to Figure 2 . The information transmission path selection method includes the following steps:

[0203] S1. The current node obtains the data packet information sent from the previous node. The data packet includes meta - information and data to be transmitted. The meta - information includes: target node location information and current node location information; the previous node is an initial node or an intermediate node.

[0204] The meta - information further includes: the waiting duration at the current position, the total elapsed duration, the single - pass duration T, the preset total duration, the number of failed attempts for each node at the current position, and so on.

[0205] S2. Based on the meta - information in the data packet and the environmental information independently obtained by the current node, the current node automatically generates a data transmission decision through a self - evolution rule and updates the data packet meta - information. The data transmission decision specifies the next node for data packet transmission.

[0206] The environmental information includes information such as whether the links between the detected current node and each adjacent node are faulty, idle or busy, and the busy level.

[0207] In this embodiment, the step S2 specifically includes:

[0208] S21. Based on the environmental information, count the link failure conditions between the current node and each adjacent node, and determine whether there are adjacent links without failures.

[0209] S22. If there are adjacent links without failures, generate a data transmission decision based on the meta-information through the self-evolution rule, and select one of the adjacent nodes with no link failures as the next node for data packet transmission.

[0210] To improve the information transmission efficiency, the step of selecting one of the adjacent nodes with no link failures as the next node for data packet transmission includes the following steps:

[0211] S221. Based on the information on whether the links between the current node and each adjacent node are busy, identify the adjacent nodes with non-busy links.

[0212] S222. Based on the above judgment results through the self-evolution rule, select an adjacent node with a non-busy (i.e., idle) link from the adjacent nodes with no link failures as the next node for data packet transmission.

[0213] By selecting a non-busy node from multiple adjacent nodes with no failures as the next node for data packet transmission, the time wasted waiting at busy nodes is avoided, thus saving the time for data transmission and increasing the speed of data transmission.

[0214] In this embodiment, the self-evolution rule adopts an advanced heuristic mode, that is, based on the historical transmission data of each adjacent node and the environmental network status information, the path selection strategy is dynamically adjusted to determine the next node for data packet transmission.

[0215] For example: based on the historical congestion records of adjacent nodes within a certain period of time and the probabilities of each path being selected under such historical congestion records, or based on the predicted load balancing strategy, and based on the adaptive path selection algorithm and the strategy of comprehensively evaluating by combining the above multiple indicators, etc. These advanced heuristic strategies can be dynamically adjusted according to the actual operating conditions of the topological network to achieve a more optimized path selection than the basic shortest distance strategy.

[0216] For example, it is not limited to selecting a single key indicator (such as the shortest time, the shortest path, or the highest reliability, etc.) to evaluate the quality of the path. Multiple indicators can be comprehensively considered, and a new evaluation value can be obtained by weighted summation. The determination of the weights can be set according to actual requirements and experience.

[0217] The model based on the selection probabilities of each path is as follows: Analyze the selection probabilities of adjacent nodes in historical data. For example, through statistics, it is found that the selection probability of adjacent node 1 is 60%, that of adjacent node 2 is 30%, and that of adjacent node 3 is 10%. When making a new path selection, random selection can be made according to these probabilities, and at the same time, as new data is continuously added, these probabilities are dynamically updated.

[0218] Optionally, the advanced heuristic mode of the self-evolution rule can update the rules over time and with the accumulation of new data. It can support the continuous optimization and learning of the self-evolution rule by recording historical accumulated data and environmental states, enabling the system to adapt to the changing network conditions. The new data may reflect changes in the topological network, such as changes in traffic patterns and increased communication requirements. By updating the model, the path selection strategy can always adapt to the latest situation.

[0219] If there are no idle adjacent nodes, to ensure the feasibility and efficiency of the selection of the information transmission path, the steps further include:

[0220] S2231. If all adjacent nodes with no link faults are busy, then divide the busy adjacent nodes into busy levels according to the ascending order of their busy levels.

[0221] Preferably, one of the factors for dividing the busy level is: the number of failed transmission attempts between the current node and each adjacent node in the meta-information of the data packet. The more the number of failed transmission attempts within a certain time, the higher the busy level. In addition, the busy level can also be determined by referring to other data.

[0222] S2232. Based on the above busy levels of the adjacent nodes and the self-evolution rule, preferentially use the adjacent node with the lowest busy level as the next node for data packet transmission.

[0223] The failed transmission attempts between the current node and each adjacent node can reflect the busy situation of the link of this adjacent node. By counting the number of failed transmission attempts between the current node and each adjacent node per unit time, and dividing the busy levels of the adjacent nodes according to this number of failed transmission attempts, the adjacent nodes can be ranked and scored according to the ascending order of their busy levels. The lower the number of failed transmission attempts per unit time, the lower the busy level, and the more preferentially this adjacent node is selected as the next node for data packet transmission.

[0224] S2233. If all adjacent nodes with no link faults are busy and their busy levels all exceed the preset busy level, then stay at the current node and wait until at least one adjacent node becomes not busy or its busy level is lower than the preset busy level, and use this adjacent node as the next node for data packet transmission.

[0225] If all adjacent nodes are busy and the busy level exceeds the feasible degree (i.e., exceeds the preset busy level), at this time, there is no available path for the current node, and it waits first. If an adjacent node becomes available (idle or the busy level decreases) within a certain time, it can continue to move forward along this path to avoid path repetition and the resulting time waste caused by prematurely returning to the previous node.

[0226] S224. If the waiting duration at the current position exceeds the preset waiting time, then use the previous node as the next node for data packet transmission, send the data packet back to the previous node, re - find other suitable adjacent nodes, and mark the current node as an unavailable adjacent node.

[0227] If the waiting time of the current node exceeds the preset waiting time, it may be that the adjacent nodes are always busy, or it may be that the adjacent nodes are in a fault state. Therefore, to ensure the timeliness of data transmission, it should not continue to wait, but return to the previous node and find other feasible paths.

[0228] If the waiting duration at the current position does not exceed the preset waiting time, then continue to wait until at least one adjacent node becomes not busy and use this adjacent node as the next node for data packet transmission.

[0229] S23. If there is no fault - free adjacent link, then use the previous node as the next node for data packet transmission, send the data packet back to the previous node, and repeat step S1.

[0230] S3. The current node sends the updated data packet to the next node according to the above - mentioned data transmission decision.

[0231] S4. Repeat the above steps until the termination instruction is executed when the data packet is transmitted to the target node or the instruction to send the feedback information of the target node back to the initial node is executed.

[0232] Optionally, the meta - information of the data packet further includes: the single - pass duration T, and the self - evolution rule is set to meet the following conditions: the preset maximum delay upper bound < the single - pass duration T < the preset maximum delay lower bound. This setting can ensure that: the single - pass duration T for the data packet to be transmitted from the departure node to the target node and then feedback back to the departure node is always less than the preset maximum delay lower bound, meeting the slowest speed requirement for data transmission, thereby ensuring the timeliness of data transmission.

[0233] Furthermore, to ensure the transmission success rate of the data packet within the preset time and avoid wasting time by the data packet lingering in the fault area, the method further includes the following steps:

[0234] S51. If the total time from the initial node to the current node exceeds the preset total time, discard the data packet, and the initial node / host marks the data packet as timed out.

[0235] In this embodiment, if the total time from the initial node to the current node has exceeded the preset total time, it indicates that the data transmission route is infeasible, faulty or too congested, and the data transmission task cannot be completed within the preset time. Therefore, the current node discards the data packet, and the data packet is determined to be timed out by the initial node (such as a host or other stator node). Subsequently, to ensure the completion of the data transmission task, the initial node will resend the data packet.

[0236] S52. The initial node resends the data packet and continues to execute steps S1 - S4.

[0237] S6. If the number of repetitions of steps S51 - S52 exceeds the preset number, mark the regions where each node that the data packet has passed through before as faulty regions, and detect the fault types of each node in the faulty regions. And exclude the faulty regions from the adjacent node list, and then re - run steps S1 - S4.

[0238] For example, if after the initial node resends the data packet 3 times and still fails to complete sending the data packet from the initial node to the target node within the preset total time, mark the regions where each node that the data packet has passed through before as faulty regions to avoid data transmission failure or delay caused by using this region during subsequent information transmission. On this basis, send detection data packets to each faulty node to clarify the fault types of each node, which is convenient for subsequent maintenance.

[0239] In a second aspect, the present application also provides an information transmission path selection device for a topological network of a displacement device, which includes:

[0240] An information acquisition module, configured to obtain, by the current node, data packet information sent from the previous node, where the data packet includes meta - information and data to be transmitted, and the meta - information includes: target node location information and current node location information;

[0241] A processing module, configured to, based on the meta - information in the data packet and the environmental information independently obtained by the current node, automatically generate a data transmission decision through a self - evolution rule and update the data packet meta - information, where the data transmission decision specifies the next node for data packet transmission;

[0242] An execution module, configured to send the updated data packet to the next node according to the above - mentioned data transmission decision generated by the processing module;

[0243] A termination module, configured to repeat the steps of the information acquisition module, the processing module, and the execution module until a termination instruction is executed when the data packet is transmitted to the target node.

[0244] The environmental information includes environmental information such as whether the links between the detected current node and each adjacent node are faulty, idle or busy.

[0245] Among them, the processing module includes:

[0246] A link fault analysis unit, configured to count the link fault conditions between the current node and each adjacent node based on the environmental information, and determine whether there is an adjacent link without a fault;

[0247] A fault-free node selection unit, configured to, if there is an adjacent link without a fault, generate a data transmission decision based on the meta information through a self-evolution rule, and select one of the adjacent nodes without a link fault as the next node for data packet transmission.

[0248] A fault sending-back unit, configured to, if there is no adjacent link without a fault, use the previous node as the next node for data packet transmission and send the data packet back to the previous node.

[0249] Among them, the fault-free node selection unit further includes:

[0250] A busy node analysis subunit, configured to determine whether the links between the current node and each adjacent node are busy;

[0251] A non-busy node selection subunit, configured to select, based on the judgment result through a self-evolution rule, a non-busy adjacent node from the adjacent nodes without a link fault as the next node for data packet transmission.

[0252] A busy level analysis subunit, configured to, if all adjacent nodes without a link fault are busy, divide the busy adjacent nodes into busy levels from low to high according to the busy level;

[0253] A busy priority judgment subunit, configured to, based on the busy levels of the above adjacent nodes and the self-evolution rule, preferentially use the adjacent node with the lowest busy level as the next node for data packet transmission.

[0254] A busy waiting subunit, configured to, if all adjacent nodes without a link fault are busy or the busy levels all exceed a preset busy condition, stay at the current node and wait until at least one adjacent node becomes non-busy or the busy level is lower than the preset busy condition, and use this adjacent node as the next node for data packet transmission.

[0255] The busy waiting subunit further includes:

[0256] A waiting time judgment sub-unit, configured to judge that if the waiting duration at the current position exceeds a preset waiting time, then use the previous node as the next node for data packet transmission, send the data packet back to the previous node, re-find other suitable adjacent nodes, and mark the current node as an unavailable adjacent node;

[0257] If the waiting duration at the current position does not exceed the preset waiting time, then continue to wait until at least one adjacent node becomes not busy and use this adjacent node as the next node for data packet transmission.

[0258] In this embodiment, the information acquisition module, the processing module, and / or the execution module further include:

[0259] A total duration evaluation module, configured to discard the data packet if the total duration from the initial node to the current node exceeds a preset total duration, and the current node sends data packet loss information to the switchboard / initial node;

[0260] A data packet retransmission module, configured to, based on the result sent by the total duration evaluation module, execute the initial node to retransmit the data packet, and continue to execute steps S1 to S4.

[0261] In addition, the displacement device's information transmission path selection device for the topology network further includes: a fault analysis module, configured to, when the number of times the data packet retransmission module retransmits the data packet exceeds a preset number of times, mark the regions where each node that the data packet passed through before as fault regions, and detect the fault types of the nodes in the fault regions; and exclude the fault regions from the adjacent node list, and re-run steps S1 to S4.

[0262] In a third aspect, this embodiment further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor is configured to implement the steps of the foregoing method of this embodiment when executing the computer program.

[0263] In a fourth aspect, this embodiment further provides a computer-readable storage medium, which has a computer program, and the computer program implements the steps of the foregoing method of this embodiment when being executed by a processor.

[0264] Embodiment 4 Application in the Topology Network System and Application of the Displacement Device

[0265] This embodiment provides a distributed topology network system for a displacement device. The distributed topology network system includes the following various interconnected nodes: at least one host, and stators of a plurality of position devices that are communicatively connected to each other and control-connected to the host. Each node is communicatively connected to adjacent nodes around it, and the number of adjacent nodes of each node is at least one, such as one, two, or more, which is specifically set reasonably according to application needs. The various information transmissions between the nodes of the topology network (including various information to be written to each node and various types of information read back from each node) are implemented by using the information transmission path selection method of the topology network in Embodiment 1 or Embodiment 2 or Embodiment 3. The number of hosts can be set to one, two, or more according to the situation.

[0266] To ensure the normal operation and running of the topology network system based on the position device, a large number of various information transmissions are required between the various nodes in the topology network, and the information transmission path is implemented by the information transmission path selection method of this application.

[0267] The information transmission between the nodes includes: information transceiver between the host and the stator, between the stator and the stator, between the host and the host, and communication between the host / stator and other types of nodes (such as sensors separately accessing this network). In this topology network, any node can be the initiator or receiver of communication. Only by reading or sending different types of information between the nodes can the subsequent further tasks of each node be executed and various specific functions be realized.

[0268] The displacement device includes a conveying line formed by splicing a plurality of stators, and at least one movable platform moves above the conveying line. The movable platform is driven by the magnetic field generated by the coil current in the stator to levitate and move. By controlling the stator, the movement of the movable platform can be controlled. Based on the differences in the objects carried on the movable platform, the movement routes, and different actions, specific functions in various different application scenarios can be realized. Commonly, for example, using the movable platform to carry objects.

[0269] And the data transmission between the nodes occurs at various stages before, during, or after the movement of the movable platform, ensuring the normal, reliable, and efficient operation of the entire system.

[0270] To facilitate the understanding of the solution of this application, the following provides various application examples to specifically illustrate its application scenarios, but its application scenarios are not limited to the following situations.

[0271] Before the movable table is run, the system needs to set a certain stator node A as the loading position first. Subsequently, the robot will move the movable table to this loading position. Therefore, the host needs to obtain the data on this stator node. The data on the stator node A can be periodically transmitted to the host through the method of this application. Once the host receives the information that the movable table appears on node A, the host will send a data packet (such as instruction data for driving the movement of the movable table) with node A as the target node. After receiving this data packet, node A lifts the movable table and drives its movement.

[0272] This method can also be used for the selection of the movable table path. Based on the initial node, target node, and environmental information of adjacent nodes in the meta-information of the data packet, through the self-evolution rule, the data packet is gradually transmitted from one stator node to another stator node. After the current stator node that receives the data packet is activated, it drives the movable table to move above this stator node through the magnetic field effect, completing step-by-step movement until it moves to the target stator node. The attitude control and driving of specific actions of each stator for the movable table need to be regulated through communication with the host, but its path planning is independent of the host. Thus, it can be seen that the movement trajectory of the movable table is consistent with the signal transmission between the stators. Corresponding to the data transmission between the stator nodes, the movable table makes corresponding movements until it moves to the target stator node.

[0273] During the simultaneous operation of multiple movable tables, each host controls one movable table. To avoid the collision risk caused by route crossing between the movable tables, timely communication between the hosts is required. For example, one host needs to send the information related to the stator node occupied by the movement of its movable table to other hosts to prevent other hosts from controlling their movable tables to move to this stator node at the same time, thereby avoiding collisions between the movable tables.

[0274] In case of an emergency when the entire network system needs to be shut down in the shortest time, since there are multiple hosts, it is relatively slow to perform the shutdown operation through the hosts. The shutdown instruction data packet can be synchronously sent to all surrounding nodes in the shortest time (such as 10 s) in a broadcast manner from the initial node through the method of this application, so as to complete the rapid shutdown of all nodes.

[0275] In addition, the alternation of the host's control over the mobile station and its stator can also be achieved through the above methods. For example, if a host A originally controls the movement of a mobile station a, it controls the actions and running routes of the mobile station by transmitting information to each stator below the mobile station. If there is a problem with the current host A and it is necessary to seamlessly transfer the control rights of the mobile station and the underlying stator to host B, then within a predetermined time (during which the mobile station remains suspended), host A can send a data packet to host B. The data packet includes: the current stator node position of the mobile station, the preset target node position, the control current corresponding to the required output of the stator for driving the mobile station to levitate and move, and other control information, etc. Thus, the seamless handover of the work between the two hosts can be quickly achieved without affecting the current working state.

[0276] The node also includes sensors connected to the topology network system, such as barcode scanners or other sensors. Through the above data transmission method, the host can obtain the data of the barcode scanner or other sensors at any time according to the settings.

[0277] Due to the adoption of the information transmission path selection method of the present application in the topology network system, the control of the information transmission path between its nodes is independent of the host, greatly liberating the host, significantly reducing the data processing volume of the host, reducing the energy consumption of the host, and remarkably improving the throughput of the system as well as the efficiency and timeliness of information transmission. Based on this advantage, in a topology network system with a larger scale, the greater the advantage of applying this method.

[0278] On this basis, in order to further optimize the performance of the system, multiple hosts can be dynamically introduced into the above topology network system to share the load and improve the overall efficiency of the system. Different hosts communicate through the nodes between preset regions.

[0279] In actual application, the nodes in a certain area can be set to be occupied by a certain host A within a certain time, and the occupancy information is sent to other hosts to notify other hosts that within this time period, the nodes in this area are occupied by host A, avoiding the control of other hosts over the nodes in this area.

[0280] Therefore, each host can be set to establish a control connection with the nodes in each preset region, and each host is used to manage the nodes in different regions, greatly reducing the data processing volume and energy consumption of each host and ensuring the timeliness of data transmission. In addition, if a certain host B (or two or more) fails or needs to be repaired, the area originally managed by this host B can be flexibly and timely handed over to another normal-running host A, so that the maintenance of host B can be achieved without affecting the normal operation of the system, and the stability of the system operation can be improved. Therefore, when some hosts fail or need to be maintained, the system can still operate normally.

[0281] The above are only the preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

[0282] Although the specific implementation manners of the present invention are described above, they do not limit the protection scope of the present invention. Those skilled in the art should understand that, based on the technical solution of the present invention, various modifications or deformations that can be made without creative efforts by those skilled in the art are still within the protection scope of the present invention.

Claims

1. A method for selecting an information transmission path of a topological network for a displacement device, the topological network being composed of multiple nodes, characterized in that, The method includes: S1. The current node obtains the packet information sent from the previous node. The packet includes meta-information and data to be transmitted. The meta-information includes: target node location information and current node location information; the previous node is the initial node or an intermediate node. S2. Based on the meta-information in the packet and the environmental information obtained by the current node, the current node automatically generates a data transmission decision through a self-evolution rule and updates the packet meta-information. The data transmission decision specifies the next node for packet transmission. S3. According to the above data transmission decision, the current node sends the updated packet to the next node. S4. Repeat the above steps until a termination instruction is executed when the packet is transmitted to the target node or an instruction to send the feedback information of the target node back to the initial node is executed.

2. The information transmission path selection method for the topological network of the displacement device according to claim 1, wherein Step S2 includes: S21. Based on the environmental information, count the link failure situations between the current node and each adjacent node, and determine whether there is an adjacent link without failure; the environmental information includes: whether the links between the detected current node and each adjacent node are faulty; the number of adjacent nodes is at least one. S22. If there is an adjacent link without failure, generate a data transmission decision based on the meta-information through a self-evolution rule, and select one of the adjacent nodes with a non-faulty link as the next node for packet transmission.

3. The method for selecting an information transmission path of the topological network for the displacement device according to claim 2, wherein Step S2 also includes: S23. If there is no adjacent link without failure, use the previous node as the next node for packet transmission, send the packet back to the previous node, and repeat step S1.

4. The method for selecting an information transmission path of the topological network for the displacement device according to claim 2, wherein, The environmental information also includes: information on whether the links between the detected current node and each adjacent node are busy. In step S22, the step of selecting one of the adjacent nodes with a non-faulty link as the next node for packet transmission includes the following steps: S221. Based on the information on whether the links between the current node and each adjacent node are busy, identify the adjacent nodes with non-busy links. S222. Based on the judgment result through a self-evolution rule, select an adjacent node with a non-faulty and non-busy link as the next node for packet transmission from the adjacent nodes with non-faulty links.

5. The path selection method based on a semi-redundant topology network according to claim 4, characterized in that, In step S2, the step of selecting one of the adjacent nodes with unobstructed links as the next node for packet transmission further includes: S2231. If all adjacent nodes with non-faulty links are busy, divide the busy adjacent nodes into busy levels according to the ascending order of the busy levels. S2232. Based on the busy levels of the above adjacent nodes and the self-evolution rule, preferentially use the adjacent node with the lowest busy level as the next node for packet transmission. S2233. If all adjacent nodes with non-faulty links are busy and the busy levels all exceed the preset busy level, stay at the current node and wait until at least one adjacent node becomes non-busy or the busy level is lower than the preset busy level, and use this adjacent node as the next node for packet transmission.

6. The method for selecting an information transmission path of the topological network for the displacement device according to claim 5, characterized in that, The meta-information also includes: the waiting duration at the current location. After step S2233, it further includes: S224. If the waiting duration at the current position exceeds the preset waiting time, then use the previous node as the next node for data packet transmission, send the data packet back to the previous node, and re - search for other suitable adjacent nodes; If the waiting duration at the current position does not exceed the preset waiting time, then continue to wait until at least one adjacent node becomes not busy and use this adjacent node as the next node for data packet transmission.

7. The information transmission path selection method for the topology network of the displacement device based on the semi-redundant topology network according to claim 1, characterized in that, The steps S1, S2 and / or S3 further include the following steps: S51. If the total duration from the initial node to the current node exceeds the preset total duration, then discard the data packet; S52. The initial node resends the data packet and continues to execute steps S1 - S4.

8. The information transmission path selection method for the topology network of the displacement device based on the semi-redundant topology network according to claim 7, characterized in that, It further includes: S6. If the number of repetitions of the steps of S51 - S52 exceeds the preset number of times, then mark the regions where each node that the data packet has passed through as fault regions, and detect the fault types of the nodes in the fault regions; And exclude the fault regions from the adjacent node list, and re - run steps S1 - S4.

9. The information transmission path selection method for the topology network of the displacement device based on the semi-redundant topology network according to claim 1, wherein, The meta - information further includes: the single - pass duration T, and the self - evolution rule is set to satisfy the following condition: preset maximum delay upper bound < single - pass duration T < preset maximum delay lower bound.

10. The information transmission path selection method for the topological network of the displacement device according to claim 9, wherein, In step S2, the self - evolution rule includes one of the following three modes: The un - heuristic random walk mode, that is, randomly select one from all available adjacent nodes of the current node as the next node for data packet transmission; The heuristic shortest - distance mode, that is, preferentially select the available adjacent node that makes the data packet closest to the target node as the next node for data packet transmission; Or the advanced heuristic mode, that is, dynamically adjust the path - selection strategy based on historical transmission data and network status information to determine the next node for data packet transmission.

11. The path selection method based on a semi-redundant topology network according to claim 1, wherein The data transmission methods between adjacent nodes include the following writing and reading methods: single - point writing or read - back, multi - point writing or read - back, or broadcast writing or read - back.

12. The information transmission path selection method for the topology network of the displacement device based on the semi-redundant topology network according to claim 1, wherein, The current node is a single node, two or more nodes.

13. An information transmission path selection device for a topological network of a displacement device, characterized in that, It includes: An information acquisition module, used for the current node to obtain the data packet information sent from the previous node. The data packet includes meta - information and data to be transmitted. The meta - information includes: target node location information and current node location information; A processing module, used for the current node to automatically generate a data - transmission decision and update the data - packet meta - information based on the meta - information in the data packet and the environment information independently obtained by the current node through the self - evolution rule. The data - transmission decision specifies the next node for data packet transmission; An execution module, used for the current node to send the updated data packet to the next node according to the above data - transmission decision generated by the processing module; A termination module, used for repeating the steps of the information acquisition module, the processing module, and the execution module until the termination instruction is executed when the data packet transmission reaches the target node or the instruction to send the feedback information of the target node back to the initial node is executed.

14. The information transmission path selection device for the topological network of the displacement device according to claim 13, characterized in that, The environment information includes: the environment information on whether the links between the detected current node and each adjacent node are faulty, The processing module includes: A link - fault analysis unit, used for based on the environment information, statistically analyzing the link - fault situations between the current node and each adjacent node, and judging whether there are adjacent links without faults; A fault-free node selection unit, which, if there are fault-free adjacent links, generates a data transmission decision based on meta-information through a self-evolution rule, and selects one of the adjacent nodes with fault-free links as the next node for data packet transmission.

15. The information transmission path selection device for the topological network of the displacement device according to claim 14, characterized in that, The processing module further includes: A fault feedback unit, which, if there are no fault-free adjacent links, uses the previous node as the next node for data packet transmission and sends the data packet back to the previous node.

16. The information transmission path selection device for the topological network of the displacement device according to claim 15, characterized in that, The fault-free node selection unit further includes: A busy node analysis subunit, which is used to determine whether the links between the current node and each adjacent node are busy; A non-busy node selection subunit, which, based on the judgment result through a self-evolution rule, selects a non-busy adjacent node with a fault-free link from the adjacent nodes as the next node for data packet transmission.

17. The information transmission path selection device for the topological network of the displacement device according to claim 16, characterized in that, The fault-free node selection unit further includes: A busy level analysis subunit, which, if all adjacent nodes with fault-free links are busy, divides the busy adjacent nodes into busy levels from low to high according to the busy level; A busy priority judgment subunit, which, based on the busy levels of the above adjacent nodes and a self-evolution rule, preferentially uses the adjacent node with the lowest busy level as the next node for data packet transmission.

18. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor is used to execute the computer program, the steps of the method described in any one of claims 1-12 are implemented.

19. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the steps of the method described in any one of claims 1-12 are implemented.

20. A distributed topology network system of a displacement device, characterized in that The distributed topology network system includes the following various nodes: at least one host, stators of a plurality of position devices that are communicatively connected to each other and are control-connected to the host. Each node is communicatively connected to at least one adjacent node, and the information communication between the nodes is implemented by using the information transmission path selection method described in any one of claims 1-12.

21. The distributed topology network system of the displacement device according to claim 20, characterized in that, The number of the hosts is multiple, and each host is set to be control-connected to the nodes in a preset area; different hosts communicate through the nodes adjacent between the preset areas; the nodes further include sensors connected to the topology network system.

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