Outdoor robot communication positioning joint scheduling method and device based on task priority

Abstract

The invention provides an outdoor robot communication positioning joint scheduling method and device based on task priorities. The joint scheduling method is applied to an outdoor robot integrated with a multi-mode radio frequency module and comprises the following steps: acquiring a positioning task triggering instruction in real time, dynamically adjusting the number of main channels which are actually started, forming a main channel set by the number of the screened main channels, and marking residual channels as a redundant channel set; performing target locking scanning on the main channel set, and calculating a confidence coefficient parameter of each main channel; dynamically adjusting a confidence locking threshold according to the task priority level, and when a confidence parameter of any main channel in the main channel set reaches or exceeds the confidence locking threshold, generating a redundant channel closing instruction; and executing the redundant channel closing instruction to terminate the scanning operation of the redundant channel set. The method has the advantages that the energy efficiency is obviously optimized, the positioning capability is obviously improved, the hardware resource utilization rate is improved, and the anti-interference and stability are enhanced.

Description

Technical Field

[0001] The present invention relates to a method and device for joint scheduling of outdoor robot communication and positioning based on task priority, belonging to the technical field of outdoor robot communication methods. Background Art

[0002] With the rapid expansion of robotics applications, such as automated guided vehicles (AGVs), service robots, and unmanned delivery vehicles, the demand for wide-area communication and high-precision positioning for outdoor robots is becoming increasingly urgent. To meet these coverage requirements, existing outdoor robots often integrate multi-mode RF modules, including 4G / 5G cellular networks, dual-band Wi-Fi, UWB, and Bluetooth. These modules address the complex communication and positioning requirements of diverse scenarios.

[0003] Outdoor robots face varying degrees of urgency when implementing communication and positioning functions, resulting in different priority orders. For example, high-priority tasks, such as emergency obstacle avoidance and dynamic positioning, require millisecond-level response times, with positioning accuracy requirements of less than 10cm. Real-time performance is also extremely high to prevent obstacles from being detected by the LiDAR. Failure to quickly lock onto the target position could lead to collision risks. Low-priority tasks, such as background data synchronization and environmental map updates, allow for a certain degree of latency and are less sensitive to resource usage. If low-priority tasks compete indiscriminately with high-priority tasks for resources, critical task performance will be degraded.

[0004] The core problem of resource competition between low-priority tasks and high-priority tasks is: The lack of a dynamic resource scheduling mechanism driven by task priority leads to uncontrolled instantaneous load and power consumption under high-priority tasks. For example, to meet the real-time requirements of high-precision positioning (millisecond-level response for emergency obstacle avoidance), the system will simultaneously activate multiple communication modules for full-channel scanning, resulting in a surge in the instantaneous load of the RF front-end (mainly the power amplifier and ADC unit) and baseband processor. The peak current can even reach 3-5 times the normal value, causing a series of power supply instability, a sudden increase in heat dissipation pressure, and ineffective energy consumption contributed by redundant channel scanning.

[0005] Furthermore, even if the primary channel is locked in traditional solutions, the lack of a rational resource scheduling mechanism will result in continued scanning of redundant channels. This results in inefficient use of RF link resources, such as filters and ADC units, which cannot be allocated to high-priority tracking enhancement modes. For example, the single-channel positioning frequency is only 100 Hz, severely limiting the upper limit of positioning capabilities and the overall battery life. Summary of the Invention

[0006] In view of the above-mentioned deficiencies in the prior art, the object of the present invention is to provide a method and device for joint scheduling of outdoor robot communication and positioning based on task priority. According to an embodiment of the present invention, a first solution is provided: a method and device for joint scheduling of communication and positioning of outdoor robots based on task priority, which is applied to outdoor robots integrated with multi-mode radio frequency modules, comprising the following steps: Acquire a positioning task trigger instruction in real time, parse the positioning task trigger instruction to obtain a task priority level and corresponding positioning accuracy parameters, the positioning accuracy parameters including a maximum allowable positioning error, a response time threshold, and an environmental interference level; The preset activation rule library is queried based on the task priority level to determine the range of the number of primary channels [N_min, N_max]. Based on the number of available channels in the preset channel library that meet the historical success rate, signal interference level, and task priority level adaptation conditions, the actual number of activated primary channels N_act is dynamically adjusted. The number of activated primary channels N_act satisfies the following: N_min ≤ N_act ≤ min(N_max, number of available channels). The selected number of primary channels N_act constitutes the primary channel set, and the remaining channels are marked as redundant channels. Perform target lock scanning on the main channel set and calculate the confidence parameters of each main channel based on radio frequency signal strength, signal-to-noise ratio and inertial navigation data. The confidence parameters include signal quality index and positioning error stability index; Dynamically adjust the confidence lock threshold according to the task priority level. When the confidence parameter of any main channel in the main channel set reaches or exceeds the confidence lock value, and the confidence parameters of the remaining main channels are all higher than the preset safety threshold, generate a redundant channel shutdown instruction; Execute the redundant channel shutdown instruction to terminate the scanning operation of the redundant channel set, release the power amplifier supply current and ADC sampling bandwidth resources of the redundant channel, increase the power amplifier supply current of the released redundant channel to the transmission power of the locked main channel, and synchronously reallocate the ADC sampling bandwidth to the locked main channel.

[0007] Furthermore, the step of parsing the positioning task trigger instruction includes: the positioning task trigger instruction adopts a standardized data packet structure, and the positioning task trigger instruction includes key fields: task type identification code, priority level, and positioning accuracy parameter block; the task type identification code is a 1-byte code, and the task type that can be defined includes emergency obstacle avoidance, path navigation, and map update; the priority level is a 1-byte unsigned integer with a value range of 1-5; the positioning accuracy parameter block is a structured data segment, including the maximum allowable positioning error, response time threshold, and environmental interference level.

[0008] Furthermore, the step of dynamically adjusting the number of main channels actually enabled N_act includes: enabling a rule base as a preset configuration file database, which can store a mapping relationship between task priority and the range of the number of main channels, and the enabling rule base can also store a dynamic correction rule for the maximum number of main channels due to the environmental interference level, and the preset channel base is a list of all physical channels supported by the multi-mode RF module, and each physical channel includes: frequency band identification, historical success rate, real-time signal interference level, and task adaptation mark; based on the preset enabling rule base, a mapping relationship between the priority task level P and the range of the number of main channels is established, wherein N_min=2P, N_max=2P+3, P∈[1,5]; the process of dynamically correcting the maximum number of main channels according to the environmental interference level I includes: rounding N_max'=N_max×1 / (1+0.1I) to obtain the adjusted range of the number of main channels [N_min, N_max']; select channels with a historical success rate ≥ 90%, a real-time signal interference level ≤ -90dBm, and a frequency band adapted to the current task priority from the preset channel library, sort them in descending order by historical success rate, and select the first N_act channels to form the main channel set, where N_act = min(N_max', number of available channels) and N_act ≥ N_min.

[0009] Furthermore, the method further includes the following steps: when the number of available channels is less than N_min, dynamically relaxing the historical success rate to 80% and re-screening until N_act≥N_min is satisfied.

[0010] Furthermore, the steps for calculating the confidence parameter of each primary channel include: performing real-time RF data acquisition on each primary channel to obtain the RF signal strength RSSI, signal-to-noise ratio SNR, and signal propagation time, independently resolving the robot's position (x_r, y_r) based on the real-time RF data of each primary channel above, obtaining the acceleration and angular velocity through inertial navigation data, predicting the current position of the robot (x_p, y_p), and quantifying the channel signal quality of the primary channel by comparing the position resolved by each channel with the predicted current position calculated from inertial navigation data; the signal quality index of the primary channel is: SQI_signal = 0.6×RSSI_norm + 0.4SNR_norm, where RSSI_norm is the RF signal strength index, RSSI_norm = (RSSI + 100) / 40, where the RSSI value range is [-100dBm, -60dBm], normalized to 0 - 1; SNR_norm is the signal-to-noise ratio index, SNR_norm = SNR / 30, where the SNR value range is [0dB, 30dB], normalized to 0 - 1; the positioning error stability index of the primary channel is: SQI_error = 1 - (ΔError / ΔError_max), ΔError is the error between the independently resolved position of each primary channel and the predicted current position calculated from inertial navigation data: ΔError = sqrt{(x_p - x_r)^2 + (y_p - y_r)^2}, sqrt is the square root formula, the smaller the error between the independently resolved position and the predicted current position indicates the higher the channel signal quality, ΔError_max is the maximum positioning error allowed for the task; the confidence parameter is: C = 0.7×SQI_signal + 0.3SQI_error.

[0011] Furthermore, the steps for dynamically adjusting the confidence lock threshold according to the task priority level include: the confidence lock threshold is T = 0.9 - 0.05×(P - 1) + 0.02×I, where P is the task priority level and I is the environmental interference level; if the channel confidence parameter C of a certain primary channel ≥ T, and the channel confidence parameters C of the remaining primary channels ≥ 0.6, then lock this primary channel and generate a redundant channel shutdown instruction; if the channel confidence parameter C of a certain primary channel < T, then maintain the target lock scan and continuously supplement inertial navigation data.

[0012] Furthermore, the steps of increasing the power amplifier supply current of the released redundant channel to the transmit power of the locked main channel and synchronously reallocating the ADC sampling bandwidth to the locked main channel include: writing a disable instruction to the power amplifier enable register of the baseband processor to cut off the power supply of the power amplifier PA of the redundant channel, and releasing the current resource as follows: ΔI=Σ(PA_redundant)×I_per_channel, where PA_redundant is the number of PAs actually shut down in the redundant channel set, and I_per_channel is the rated current of the PA of a single channel; and allocating ΔI to the transmit power of the locked main channel as follows: P_new=P_initial+ΔI×R_PA, where R_PA is the current-to-power conversion coefficient of the power amplifier, expressed in mW / mA, P_initial is the initial radiation power, and P_new is the new transmit power.

[0013] Furthermore, the step of reallocating the released ADC sampling bandwidth resources to the locked main channel includes: reallocating the released ADC sampling bandwidth ΔB (MHz) to the main channel through the baseband controller: f_sample_new=f_sample_initial+ΔB×k_ADC, where k_ADC is the ADC bandwidth sampling rate conversion coefficient in Hz / MHz, f_sample_initial is the initial sampling frequency, and f_sample_new is the new sampling frequency.

[0014] Furthermore, it also includes entering the main channel tracking enhancement mode: dynamically increasing the power amplifier supply current and ADC sampling bandwidth of the released redundant channel to the transmission power and ADC sampling frequency of the locked main channel, collecting RF signal data at a rate of not less than 500 Hz based on the increased ADC sampling frequency, adjusting the antenna array phase delay parameters of the main channel through the beamforming controller so that the RF signal energy is focused on the target direction, and detecting the signal-to-noise ratio (SNR) and positioning error change rate of the main channel in real time. If the SNR is lower than the preset anti-interference threshold or the positioning error change rate exceeds the dynamic safety threshold, the frequency band hopping mechanism is triggered to switch to the backup frequency band with a historical success rate of 90% in the preset channel library, and re-execute the target lock scan; the frequency band hopping mechanism includes: triggering the frequency band hopping when the SNR is <15dB or the positioning error change rate is >0.5m / s.

[0015] According to an embodiment of the present invention, using the outdoor robot communication and positioning joint scheduling method based on task priority in the first solution provided by the present invention, a second solution is provided: A communication and positioning joint scheduling device for outdoor robots based on task priority, comprising: A trigger instruction parsing unit is used to obtain a positioning task trigger instruction in real time, parse the positioning task trigger instruction to obtain a task priority level and corresponding positioning accuracy parameters, wherein the positioning accuracy parameters include a maximum allowable positioning error, a response time threshold, and an environmental interference level; The primary channel screening unit is used to query the preset activation rule library according to the task priority level, determine the range of the number of primary channels [N_min, N_max], and dynamically adjust the actual number of activated primary channels N_act based on the number of available channels in the preset channel library that meet the historical success rate, signal interference level and task priority level adaptation conditions. The number of activated primary channels N_act satisfies: N_min ≤ N_act ≤ min(N_max, number of available channels). The filtered number of primary channels N_act constitutes the primary channel set, and the remaining channels are marked as redundant channel sets; A target lock module is used to perform target lock scanning on the main channel set and calculate the confidence parameters of each main channel based on the radio frequency signal strength, signal-to-noise ratio and inertial navigation data. The confidence parameters include signal quality index and positioning error stability index; A redundant channel shutdown instruction generation module is configured to dynamically adjust the confidence lock threshold according to the task priority level, and generate a redundant channel shutdown instruction when the confidence parameter of any primary channel in the primary channel set reaches or exceeds the confidence lock value and the confidence parameters of the remaining primary channels are all above a preset safety threshold; The resource release module is used to execute the redundant channel shutdown instruction to terminate the scanning operation of the redundant channel set, release the power amplifier supply current and ADC sampling bandwidth resources of the redundant channel, increase the power amplifier supply current of the released redundant channel to the transmission power of the locked main channel, and synchronously reallocate the ADC sampling bandwidth to the locked main channel.

[0016] Compared with the existing technology, the technical solution provided by this application has the following unique beneficial effects: Energy efficiency optimization: By dynamically shutting down redundant channels and releasing their power amplifier (PA) and ADC resources, the overall power consumption of the RF module is reduced by 25%-40%, and the proportion of redundant energy consumption is reduced from 40% to less than 5%; positioning performance improvement: After resource reallocation of the main channel, the positioning solution frequency is increased from the initial value of 100Hz to 500Hz, the response time is ≤10ms, and the positioning error is ≤preset threshold (such as 10cm); hardware resource utilization is improved: the utilization rate of power amplifiers and ADC units is increased by 30%-50%, extending the robot's outdoor endurance time by 20%-30%; anti-interference and stability are enhanced: through dynamic adjustment of the confidence threshold and redundant channel supplementation mechanism, the positioning error change rate is still guaranteed to be ≤0.5m / s when the environmental interference level is I≥7, and the system reliability is improved by more than 60%. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] in: Figure 1 Flowchart of a method for joint scheduling of outdoor robot communication and positioning based on task priority in one embodiment; Figure 2 A structural block diagram of a communication, positioning and joint scheduling device for outdoor robots based on task priority in one embodiment; Figure 3 FIG. 1 is a structural block diagram of a computer device in one embodiment. DETAILED DESCRIPTION

[0019] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making any creative efforts shall fall within the scope of protection of this application.

[0020] Example 1 The technical problem addressed by this embodiment is that outdoor robots face varying degrees of urgency when implementing communication and positioning functions, resulting in different priority orders. For example, high-priority tasks, such as emergency obstacle avoidance and dynamic positioning, require millisecond-level response times, require positioning accuracy within 10cm, and have extremely high real-time requirements to avoid obstacles detected by the lidar. Failure to quickly lock onto the target position could lead to collision risks. Low-priority tasks, such as background data synchronization and environmental map updates, allow for a certain degree of latency and are less sensitive to resource usage. If low-priority tasks indiscriminately compete with high-priority tasks for resources, the performance of critical tasks will be degraded. The core issue of resource competition between low-priority and high-priority tasks lies in the lack of a dynamic resource scheduling mechanism driven by task priority. This leads to momentary load and power consumption runaway for high-priority tasks. For example, to meet the real-time requirements of high-precision positioning (millisecond-level response for emergency obstacle avoidance), the system simultaneously activates multiple communication modules to perform full-channel scanning. This causes a surge in the instantaneous load on the RF front-end (primarily the power amplifier and ADC unit) and baseband processor, with peak currents reaching 3-5 times the normal value. This leads to a series of problems, including power supply instability, increased heat dissipation pressure, and inefficient energy consumption due to redundant channel scanning. Furthermore, in traditional solutions, even after the primary channel is locked, the lack of a proper resource scheduling mechanism causes the scanning of redundant channels to continue. This results in inefficient use of RF link resources, such as filters and ADC units, preventing them from being allocated to the tracking enhancement mode of high-priority tasks. For example, the single-channel positioning frequency is limited to 100Hz, severely limiting the upper limit of positioning capabilities and the overall battery life.

[0021] To solve the above problems, this embodiment provides a method and device for joint scheduling of communication and positioning of outdoor robots based on task priority, which is applied to outdoor robots integrated with multi-mode radio frequency modules, including the following steps: S101: Acquire a positioning task trigger instruction in real time, parse the positioning task trigger instruction to obtain a task priority level and corresponding positioning accuracy parameters, wherein the positioning accuracy parameters include a maximum allowable positioning error, a response time threshold, and an environmental interference level; S102: Query a preset activation rule library based on the task priority level to determine the range of the number of primary channels [N_min, N_max]. Dynamically adjust the actual number of activated primary channels N_act based on the number of available channels in the preset channel library that meet the historical success rate, signal interference level, and task priority level adaptation conditions. The number of activated primary channels N_act satisfies the following: N_min ≤ N_act ≤ min(N_max, number of available channels). The selected number of primary channels N_act constitutes the primary channel set, and the remaining channels are marked as the redundant channel set. S103: Performing target lock scanning on the primary channel set, and calculating confidence parameters of each primary channel based on radio frequency signal strength, signal-to-noise ratio, and inertial navigation data. The confidence parameters include a signal quality index and a positioning error stability index. S104: Dynamically adjust the confidence lock threshold according to the task priority level. When the confidence parameter of any primary channel in the primary channel set reaches or exceeds the confidence lock value, and the confidence parameters of the remaining primary channels are all higher than the preset safety threshold, generate a redundant channel close instruction; S105: Execute the redundant channel closing instruction to terminate the scanning operation of the redundant channel set, release the power amplifier supply current and ADC sampling bandwidth resources of the redundant channel, increase the power amplifier supply current of the released redundant channel to the transmission power of the locked main channel, and synchronously reallocate the ADC sampling bandwidth to the locked main channel.

[0022] Specifically, the step of parsing the positioning task trigger instruction includes: the positioning task trigger instruction adopts a standardized data packet structure, such as the positioning task trigger instruction of the SON or binary protocol, which includes key fields: task type identification code, priority level, and positioning accuracy parameter block; The task type identification code is a 1-byte code, which can define task types including emergency obstacle avoidance, path navigation and map update. For example, 0x01 indicates emergency obstacle avoidance, 0x02 indicates path navigation, and 0x03 indicates map update. The priority level is a 1-byte unsigned integer with a value range of 1-5, with 1 being the lowest and 5 being the highest. The positioning accuracy parameter block is a structured data segment, including the maximum allowable positioning error, the response time threshold and the environmental interference level. Among them, the maximum allowable positioning error is a 2-byte integer in millimeters, for example, 100 indicates that the word order error is ≤10cm, the response time threshold is a 2-byte integer in milliseconds, for example, 50 indicates that the task needs to complete positioning within 50ms, and the environmental interference level is a 1-byte integer with a value range of 0-100, which is calculated by the upper system based on real-time signal strength, such as RSSI or historical regional interference data.

[0023] The parsing process of the positioning task trigger instruction includes extracting the task type identification code, matching the preset task type table by reading the fields of the data packet, decoding the priority level, directly reading the number of fields of the priority level, parsing the positioning accuracy parameter block, extracting MaxError and ResponseTime from PrecisionParams by byte offset, and reading the environmental interference level InterferenceLevel directly from the fixed position of PrecisionParams.

[0024] Specifically, the steps of dynamically adjusting the number of active primary channels N_act include: The activation rule base is a preset configuration file database that can store the mapping relationship between task priority and the range of the number of main channels. The activation rule base can also store the dynamic correction rules for the maximum number of main channels based on the environmental interference level. The preset channel library is a list of all physical channels supported by the multi-mode RF module. Each physical channel includes: frequency band identification, historical success rate, real-time signal interference level, and task adaptation mark; The activation rule base can be represented as a software-defined mapping table stored in the system's Flash memory and accessed through an API. The preset channel library is a list of all physical channels supported by the multi-mode radio module. Each channel includes the following attributes: frequency band identifier (e.g., 4G Band 1, Wi-Fi 5GHz); historical success rate (the percentage of successful target locks in the past 100 scans); real-time signal interference level (the difference between the RSSI and the noise floor of the current channel, in dBm); and task adaptation flags (e.g., high-priority tasks are marked as "UWB high frequency band supported").

[0025] Based on the preset activation rule base, a mapping relationship between the priority task level P and the number of primary channels is established, where N_min=2P, N_max=2P+3, P∈[1,5]; The process of dynamically adjusting the maximum number of primary channels based on the environmental interference level I includes: N_max' = N_max × 1 / (1 + 0.1I) rounded to the nearest integer, resulting in the adjusted primary channel number range [N_min, N_max']. The environmental interference level I is read in real time through the RSSI register (for example, address 0x20) of the radio chip, and the signal-to-noise ratio (SNR) is calculated.

[0026] Select channels from the preset channel library with a historical success rate ≥ 90%, a real-time signal interference level ≤ -90dBm, and a frequency band that is adapted to the current task priority. Arrange them in descending order by historical success rate, and select the first N_act channels to form the main channel set, where N_act = min(N_max', number of available channels) and N_act ≥ N_min.

[0027] The method further includes the following steps: when the number of available channels is less than N_min, dynamically relaxing the historical success rate to 80% and rescreening until N_act ≥ N_min is satisfied.

[0028] The screening logic includes: preliminary filtering: selecting channels from the preset channel library that meet the following conditions: historical success rate ≥ 90%; real-time signal interference level ≤ -90dBm; frequency band adaptation to the current task (for example, priority 5 tasks only select UWB or 5GHz Wi-Fi channels).

[0029] Eligible channels are prioritized as follows: First priority: descending historical success rate; Second priority: ascending signal interference level (lower interference, higher priority). A dynamic screening and downgrading mechanism prevents invalid channel scanning, reducing overall RF module power consumption by 30%-40%. Real-time performance is guaranteed: High-priority tasks utilize more high-quality channels, with positioning frequency increased from 100Hz to 500Hz and response time ≤10ms. Based on standard RF chip register operations, no custom hardware is required, making it suitable for scenarios such as automated guided vehicles (AGVs) and service robots.

[0030] Specifically, the step of calculating the confidence parameter of each main channel includes: Real-time RF data is collected for each main channel to obtain RF signal strength RSSI, signal-to-noise ratio (SNR), and signal propagation time. Based on the real-time RF data from each main channel, the robot's position (x_r, y_r) is independently calculated. Acceleration and angular velocity are obtained from inertial navigation data to predict the robot's current position (x_p, y_p). The signal quality of the main channel is quantified by comparing the independently calculated position of each channel with the predicted current position calculated using inertial navigation data. The signal quality indicators of the main channel are: SQI_signal=0.6×RSSI_norm+0.4SNR_norm, RSSI_norm is the RF signal strength indicator, RSSI_norm = (RSSI + 100) / 40, where the RSSI value range is [-100dBm, -60dBm], normalized to 0-1; SNR_norm is the signal-to-noise ratio indicator, SNR_norm = SNR / 30, where the SNR value range is [0dB, 30dB], normalized to 0-1; The positioning error stability index of the main channel is: SQI_error=1-(ΔError / ΔError_max), ΔError is the error between the independently solved position of each main channel and the predicted current position calculated by inertial navigation data: ΔError=sqrt{(x_p-x_r)^2+(y_p-y_r)^2}, sqrt is the square root formula. The smaller the error between the independently solved position and the predicted current position, the higher the channel signal quality. ΔError_max is the maximum positioning error allowed by the mission; The confidence parameters are: C=0.7×SQI_signal+0.3SQI_error.

[0031] Target locking scan is a signal quality evaluation and positioning solution process performed on each channel in the primary channel set. It locks the primary channel with the optimal quality through scanning and monitors its reliability in real time. High-priority tasks are quickly responded to through dynamic thresholds, and high-precision guarantee is provided in a low-interference environment. Redundant channels are timely closed to reduce invalid scans, and the overall power consumption is reduced by 30%-40%. Based on standard register operations (such as PA enabling, ADC bandwidth configuration), it is adapted to mainstream RF chips. Through the above methods, the system realizes efficient resource scheduling of software and hardware collaboration in complex environments and solves the pain points of the industry.

[0032] The steps of dynamically adjusting the confidence locking threshold according to the task priority level include: The confidence locking threshold is T = 0.9 - 0.05×(P - 1) + 0.02×I, where P is the task priority level and I is the environmental interference level; If the channel confidence parameter C of a certain primary channel ≥ T, and the channel confidence parameters C of the remaining primary channels ≥ 0.6, then lock this primary channel and generate a redundant channel closing instruction; If the channel confidence parameter C of a certain primary channel < T, then maintain the target locking scan and continuously supplement inertial navigation data.

[0033] Simulation tests show that the simplified scheme increases the positioning error by about 5% in static scenarios and 10%-15% in dynamic scenarios, still meeting the requirements of most tasks (such as the allowable error for AGV handling ≤ 20 cm). The SQI calculation time is reduced from 1.2 ms to 0.3 ms. The update frequency of the confidence parameter can reach 1 kHz, adapting to high-speed motion scenarios.

[0034] Specifically, the steps of boosting the power amplifier supply current of the released redundant channel to the transmit power of the locked primary channel and synchronously reallocating the ADC sampling bandwidth to the locked primary channel include: writing a no-entry instruction to the power amplifier enable register of the baseband processor to cut off the power amplifier PA supply of the redundant channel, and the released current resource is: ΔI = Σ(PA_redundant)×I_per_channel, where PA_redundant is the actual number of PAs closed in the redundant channel set, and I_per_channel is the rated current of a single channel's PA; The step of allocating ΔI to the transmit power of the locked primary channel is: P_new = P_initial + ΔI×R_PA, where R_PA is the current-power conversion coefficient of the power amplifier, with the unit of mW / mA, P_initial is the initial transmit power, and P_new is the new transmit power.

[0035] The steps for reallocating the released ADC sampling bandwidth resources to the locked primary channel include: The released ADC sampling bandwidth ΔB (MHz) is reallocated to the main channel through the baseband controller: f_sample_new = f_sample_initial + ΔB × k_ADC, where k_ADC is the ADC bandwidth sampling rate conversion factor in Hz / MHz, f_sample_initial is the initial sampling frequency, and f_sample_new is the new sampling frequency.

[0036] In a multi-mode radio module, each channel (such as 4G / 5G / Wi-Fi) is independently configured with a PA, whose power supply status is controlled by the baseband controller via registers. When the primary channel set locks onto a target, the software reads the PA enable status of the redundant channel set (e.g., the bit flag at register address 0x40). A "disable" instruction is written to the PA control bit of the corresponding register, physically shutting off power to the PA. The released current resource ΔI is proportionally distributed to the PA locked onto the primary channel, increasing its transmit power. By disabling the redundant PA, inefficient power consumption is reduced (instantaneous current savings of approximately 20% can be achieved by disabling a single PA). This design is compatible with mainstream radio chipsets (such as the Qualcomm QCA4020 and TI CC2652), eliminating the need for custom hardware. This PA_redundant disabling and resource reallocation mechanism significantly improves system energy efficiency and hardware utilization.

[0037] The relationship between DC bandwidth and sampling rate is determined by the hardware architecture (such as the clock divider and filter configuration). k_ADC can be calibrated experimentally. Mainstream RF chips (such as the ADI AD9361) support dynamic bandwidth allocation and sampling rate adjustment.

[0038] Specifically, it also includes entering the main channel tracking enhancement mode: The power amplifier supply current and ADC sampling bandwidth of the released redundant channel are dynamically increased to the transmit power and ADC sampling frequency of the locked primary channel. RF signal data is collected at a rate of no less than 500 Hz based on the increased ADC sampling frequency. The beamforming controller adjusts the phase delay parameters of the antenna array of the primary channel to focus the RF signal energy in the target direction. The signal-to-noise ratio (SNR) and positioning error change rate of the primary channel are monitored in real time. If the SNR falls below the preset anti-interference threshold or the positioning error change rate exceeds the dynamic safety threshold, the frequency band hopping mechanism is triggered to switch to a backup frequency band with a historical success rate of 90% in the preset channel library, and the target lock scan is re-executed. The frequency band hopping mechanism includes: triggering frequency band hopping when SNR is less than 15dB or the positioning error change rate is greater than 0.5m / s.

[0039] AGV handling scenario: In enhanced tracking mode, the AGV's positioning error is ≤3cm at a moving speed of 10m / s, a 70% improvement compared to the traditional solution (error ≥10cm). The overall power consumption of the RF module is reduced from 8W to 5W, extending the battery life by 37.5%.

[0040] Drone inspection scenario: The 500Hz positioning frequency supports high-speed obstacle avoidance (response time ≤ 5ms), reducing the collision rate by 90% compared to the 100Hz solution.

[0041] Through resource spatiotemporal multiplexing (ΔI, ΔB reallocation) and adaptive anti-interference (frequency band hopping + error monitoring), high-precision tracking and enhanced stability are achieved within a single RF module.

[0042] Example 2 like Figure 2 As shown, this embodiment provides a communication and positioning joint scheduling device for outdoor robots based on task priority, including: The trigger instruction parsing unit 100 is used to obtain the positioning task trigger instruction in real time, parse the positioning task trigger instruction to obtain the task priority level and the corresponding positioning accuracy parameters, wherein the positioning accuracy parameters include the maximum allowable positioning error, the response time threshold and the environmental interference level; The primary channel screening unit 200 is configured to query a preset activation rule library based on the task priority level to determine the range of primary channels [N_min, N_max]. Based on the number of available channels in the preset channel library that meet the historical success rate, signal interference level, and task priority level adaptation conditions, the unit dynamically adjusts the actual number of activated primary channels N_act. The activated primary channels N_act satisfies the following conditions: N_min ≤ N_act ≤ min(N_max, number of available channels). The selected primary channels N_act constitute the primary channel set, and the remaining channels are marked as the redundant channel set. The target lock module 300 is used to perform target lock scanning on the main channel set and calculate the confidence parameters of each main channel based on the radio frequency signal strength, signal-to-noise ratio and inertial navigation data. The confidence parameters include signal quality index and positioning error stability index; A redundant channel shutdown instruction generation module 400 is configured to dynamically adjust a confidence lock threshold based on a task priority level and generate a redundant channel shutdown instruction when the confidence parameter of any primary channel in the primary channel set reaches or exceeds the confidence lock value and the confidence parameters of the remaining primary channels are all above a preset safety threshold; The resource release module 500 is used to execute the redundant channel shutdown instruction to terminate the scanning operation of the redundant channel set, release the power amplifier supply current and ADC sampling bandwidth resources of the redundant channel, increase the power amplifier supply current of the released redundant channel to the transmission power of the locked main channel, and simultaneously reallocate the ADC sampling bandwidth to the locked main channel.

[0043] Example 3 Figure 3 FIG1 shows an internal structure diagram of a computer device in an embodiment. The computer device can be a terminal or a server. Figure 3 As shown, the computer device includes a processor, a memory, and a network interface connected via a system bus. The memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and may also store a computer program. When the computer program is executed by the processor, the processor can implement the communication positioning joint scheduling method. The memory may also store a computer program. When the computer program is executed by the processor, the processor can implement the communication positioning joint scheduling method. Those skilled in the art will understand that Figure 3 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0044] In one embodiment, a computer device is provided, comprising a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the following steps: Acquire a positioning task trigger instruction in real time, parse the positioning task trigger instruction to obtain a task priority level and corresponding positioning accuracy parameters, the positioning accuracy parameters including a maximum allowable positioning error, a response time threshold, and an environmental interference level; The preset activation rule library is queried based on the task priority level to determine the range of the number of primary channels [N_min, N_max]. Based on the number of available channels in the preset channel library that meet the historical success rate, signal interference level, and task priority level adaptation conditions, the actual number of activated primary channels N_act is dynamically adjusted. The number of activated primary channels N_act satisfies the following: N_min ≤ N_act ≤ min(N_max, number of available channels). The selected number of primary channels N_act constitutes the primary channel set, and the remaining channels are marked as redundant channels. Perform target lock scanning on the main channel set and calculate the confidence parameters of each main channel based on radio frequency signal strength, signal-to-noise ratio and inertial navigation data. The confidence parameters include signal quality index and positioning error stability index; Dynamically adjust the confidence lock threshold according to the task priority level. When the confidence parameter of any main channel in the main channel set reaches or exceeds the confidence lock value, and the confidence parameters of the remaining main channels are all higher than the preset safety threshold, generate a redundant channel shutdown instruction; Execute the redundant channel shutdown instruction to terminate the scanning operation of the redundant channel set, release the power amplifier supply current and ADC sampling bandwidth resources of the redundant channel, increase the power amplifier supply current of the released redundant channel to the transmission power of the locked main channel, and synchronously reallocate the ADC sampling bandwidth to the locked main channel.

[0045] In one embodiment, a computer-readable storage medium is provided, storing a computer program. When the computer program is executed by a processor, the processor performs the following steps: Acquire a positioning task trigger instruction in real time, parse the positioning task trigger instruction to obtain a task priority level and corresponding positioning accuracy parameters, the positioning accuracy parameters including a maximum allowable positioning error, a response time threshold, and an environmental interference level; The preset activation rule library is queried based on the task priority level to determine the range of the number of primary channels [N_min, N_max]. Based on the number of available channels in the preset channel library that meet the historical success rate, signal interference level, and task priority level adaptation conditions, the actual number of activated primary channels N_act is dynamically adjusted. The number of activated primary channels N_act satisfies the following: N_min ≤ N_act ≤ min(N_max, number of available channels). The selected number of primary channels N_act constitutes the primary channel set, and the remaining channels are marked as redundant channels. Perform target lock scanning on the main channel set and calculate the confidence parameters of each main channel based on radio frequency signal strength, signal-to-noise ratio and inertial navigation data. The confidence parameters include signal quality index and positioning error stability index; Dynamically adjust the confidence lock threshold according to the task priority level. When the confidence parameter of any main channel in the main channel set reaches or exceeds the confidence lock value, and the confidence parameters of the remaining main channels are all higher than the preset safety threshold, generate a redundant channel shutdown instruction; Execute the redundant channel shutdown instruction to terminate the scanning operation of the redundant channel set, release the power amplifier supply current and ADC sampling bandwidth resources of the redundant channel, increase the power amplifier supply current of the released redundant channel to the transmission power of the locked main channel, and synchronously reallocate the ADC sampling bandwidth to the locked main channel.

[0046] Those skilled in the art will appreciate that all or part of the processes in the above-described method embodiments can be implemented by instructing the relevant hardware through a computer program. The program can be stored in a non-volatile computer-readable storage medium. When executed, the program can include the processes of the above-described method embodiments. Any reference to memory, storage, database, or other media used in the various embodiments provided herein may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct RAMbus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM).

[0047] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0048] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A method and device for joint scheduling of outdoor robot communication and positioning based on task priority, applied to outdoor robots integrated with multi-mode radio frequency modules, characterized in that: The steps include: Acquire a positioning task trigger instruction in real time, parse the positioning task trigger instruction to obtain a task priority level and corresponding positioning accuracy parameters, the positioning accuracy parameters including a maximum allowable positioning error, a response time threshold, and an environmental interference level; The preset activation rule library is queried based on the task priority level to determine the range of the number of primary channels [N_min, N_max]. Based on the number of available channels in the preset channel library that meet the historical success rate, signal interference level, and task priority level adaptation conditions, the actual number of activated primary channels N_act is dynamically adjusted. The number of activated primary channels N_act satisfies the following: N_min ≤ N_act ≤ min(N_max, number of available channels). The selected number of primary channels N_act constitutes the primary channel set, and the remaining channels are marked as the redundant channel set. Perform target lock scanning on the main channel set and calculate the confidence parameters of each main channel based on radio frequency signal strength, signal-to-noise ratio and inertial navigation data. The confidence parameters include signal quality index and positioning error stability index; Dynamically adjust the confidence lock threshold according to the task priority level. When the confidence parameter of any main channel in the main channel set reaches or exceeds the confidence lock value, and the confidence parameters of the remaining main channels are all higher than the preset safety threshold, generate a redundant channel shutdown instruction; Execute the redundant channel shutdown instruction to terminate the scanning operation of the redundant channel set, release the power amplifier supply current and ADC sampling bandwidth resources of the redundant channel, increase the power amplifier supply current of the released redundant channel to the transmission power of the locked main channel, and synchronously reallocate the ADC sampling bandwidth to the locked main channel.

2. The outdoor robot communication and positioning joint scheduling method based on task priority according to claim 1 is characterized in that: The steps for parsing the trigger instruction of the positioning task include: The positioning task trigger instruction adopts a standardized data packet structure, and the positioning task trigger instruction includes key fields: task type identification code, priority level, positioning accuracy parameter block; The task type identification code is a 1-byte code, and the task types that can be defined include emergency obstacle avoidance, path navigation, and map update; The priority level is a 1-byte unsigned integer with a value range of 1-5; The positioning accuracy parameter block is a structured data segment, including a maximum allowable positioning error, a response time threshold, and an environmental interference level.

3. The outdoor robot communication and positioning joint scheduling method based on task priority according to claim 1 is characterized in that: The steps of dynamically adjusting the number of active primary channels N_act include: The activation rule base is a preset configuration file database that can store the mapping relationship between task priority and the range of the number of main channels. The activation rule base can also store the dynamic correction rules for the maximum number of main channels based on the environmental interference level. The preset channel library is a list of all physical channels supported by the multi-mode RF module. Each physical channel includes: frequency band identification, historical success rate, real-time signal interference level, and task adaptation mark; Based on the preset activation rule base, a mapping relationship between the priority task level P and the number of primary channels is established, where N_min=2P, N_max=2P+3, P∈[1,5]; The process of dynamically correcting the maximum number of primary channels according to the environmental interference level I includes: N_max'=N_max×1 / (1+0.1I) rounded to obtain the adjusted range of primary channel numbers [N_min, N_max']; Select channels from the preset channel library with a historical success rate ≥ 90%, a real-time signal interference level ≤ -90dBm, and a frequency band that is adapted to the current task priority. Arrange them in descending order by historical success rate, and select the first N_act channels to form the main channel set, where N_act = min(N_max', number of available channels) and N_act ≥ N_min.

4. The outdoor robot communication and positioning joint scheduling method based on task priority according to claim 3 is characterized in that: Also includes the steps: When the number of available channels is less than N_min, the historical success rate is dynamically relaxed to 80% and re-screened until N_act ≥ N_min is satisfied.

5. The outdoor robot communication and positioning joint scheduling method based on task priority according to claim 1 is characterized in that: The steps of calculating the confidence parameters of each main channel include: Real-time RF data is collected for each main channel to obtain RF signal strength RSSI, signal-to-noise ratio (SNR), and signal propagation time. Based on the real-time RF data from each main channel, the robot's position (x_r, y_r) is independently calculated. Acceleration and angular velocity are obtained from inertial navigation data to predict the robot's current position (x_p, y_p). The signal quality of the main channel is quantified by comparing the positions calculated for each channel with the predicted current position calculated using inertial navigation data. The signal quality indicators of the main channel are: SQI_signal=0.6×RSSI_norm+0.4SNR_norm, RSSI_norm is the RF signal strength indicator, RSSI_norm = (RSSI + 100) / 40, where the RSSI value range is [-100dBm, -60dBm], normalized to 0-1; SNR_norm is the signal-to-noise ratio indicator, SNR_norm = SNR / 30, where the SNR value range is [0dB, 30dB], normalized to 0-1; The positioning error stability index of the main channel is: SQI_error=1-(ΔError / ΔError_max), ΔError is the error between the independently solved position of each main channel and the predicted current position calculated by inertial navigation data: ΔError=sqrt{(x_p-x_r)^2+(y_p-y_r)^2}, sqrt is the square root formula. The smaller the error between the independently solved position and the predicted current position, the higher the channel signal quality. ΔError_max is the maximum positioning error allowed by the mission; The confidence parameters are: C=0.7×SQI_signal+0.3SQI_error.

6. The outdoor robot communication and positioning joint scheduling method based on task priority according to claim 5 is characterized in that The steps of dynamically adjusting the confidence lock threshold according to the task priority level include: The confidence lock threshold is T = 0.9-0.05×(P-1)+0.02×I, where P is the task priority level and I is the environmental interference level; If the channel confidence parameter C ≥ T of a primary channel and the channel confidence parameters C ≥ 0.6 of the remaining primary channels, the primary channel is locked and a redundant channel close instruction is generated; If the channel confidence parameter C < T of a main channel, the target lock scan is maintained and the inertial navigation data is continuously supplemented.

7. The outdoor robot communication and positioning joint scheduling method based on task priority according to claim 1 is characterized in that: The steps of increasing the power amplifier supply current of the released redundant channel to the transmit power of the locked main channel and simultaneously reallocating the ADC sampling bandwidth to the locked main channel include: By writing a disable instruction into the power amplifier enable register of the baseband processor, the power supply of the redundant channel power amplifier PA is cut off, and the current resources released are: ΔI = Σ (PA_redundant) × I_per_channel, where PA_redundant is the number of PAs actually shut down in the redundant channel set, and I_per_channel is the rated current of the PA per channel. The steps to allocate ΔI to the transmit power of the locked primary channel are: P_new = P_initial + ΔI × R_PA, where R_PA is the current-to-power conversion coefficient of the power amplifier (mW / mA), P_initial is the initial radiated power, and P_new is the new radiated power.

8. The outdoor robot communication and positioning joint scheduling method based on task priority according to claim 1 is characterized in that: The steps for reallocating the released ADC sampling bandwidth resources to the locked primary channel include: The released ADC sampling bandwidth ΔB (MHz) is reallocated to the main channel through the baseband controller: f_sample_new = f_sample_initial + ΔB × k_ADC, where k_ADC is the ADC bandwidth sampling rate conversion factor in Hz / MHz, f_sample_initial is the initial sampling frequency, and f_sample_new is the new sampling frequency.

9. The outdoor robot communication and positioning joint scheduling method based on task priority according to claim 8 is characterized in that: Also included is entering the main channel tracking enhancement mode: The power amplifier supply current and ADC sampling bandwidth of the released redundant channel are dynamically increased to the transmit power and ADC sampling frequency of the locked primary channel. RF signal data is collected at a rate of no less than 500 Hz based on the increased ADC sampling frequency. The beamforming controller adjusts the phase delay parameters of the antenna array of the primary channel to focus the RF signal energy in the target direction. The signal-to-noise ratio (SNR) and positioning error change rate of the primary channel are monitored in real time. If the SNR falls below the preset anti-interference threshold or the positioning error change rate exceeds the dynamic safety threshold, the frequency band hopping mechanism is triggered to switch to a backup frequency band with a historical success rate of 90% in the preset channel library, and the target lock scan is re-executed. The frequency band hopping mechanism includes: triggering frequency band hopping when the SNR is less than 15dB or the positioning error change rate is greater than 0.5m / s.

10. A communication and positioning joint scheduling device for outdoor robots based on task priority, characterized in that: include: A trigger instruction parsing unit is used to obtain a positioning task trigger instruction in real time, parse the positioning task trigger instruction to obtain a task priority level and corresponding positioning accuracy parameters, wherein the positioning accuracy parameters include a maximum allowable positioning error, a response time threshold, and an environmental interference level; The primary channel screening unit is used to query the preset activation rule library according to the task priority level, determine the range of the number of primary channels [N_min, N_max], and dynamically adjust the actual number of activated primary channels N_act based on the number of available channels in the preset channel library that meet the historical success rate, signal interference level and task priority level adaptation conditions. The number of activated primary channels N_act satisfies: N_min ≤ N_act ≤ min(N_max, number of available channels). The filtered number of primary channels N_act constitutes the primary channel set, and the remaining channels are marked as redundant channel sets; A target lock module is used to perform target lock scanning on the main channel set and calculate the confidence parameters of each main channel based on the radio frequency signal strength, signal-to-noise ratio and inertial navigation data. The confidence parameters include signal quality index and positioning error stability index; A redundant channel shutdown instruction generation module is configured to dynamically adjust the confidence lock threshold according to the task priority level, and generate a redundant channel shutdown instruction when the confidence parameter of any primary channel in the primary channel set reaches or exceeds the confidence lock value and the confidence parameters of the remaining primary channels are all above a preset safety threshold; The resource release module is used to execute the redundant channel shutdown instruction to terminate the scanning operation of the redundant channel set, release the power amplifier supply current and ADC sampling bandwidth resources of the redundant channel, increase the power amplifier supply current of the released redundant channel to the transmission power of the locked main channel, and synchronously reallocate the ADC sampling bandwidth to the locked main channel.

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