A task-priority-based outdoor robot communication and positioning joint scheduling method and device

Abstract

The application provides a task priority-based outdoor robot communication and positioning joint scheduling method and device. The joint scheduling method of the application is applied to an outdoor robot integrated with a multi-mode radio frequency module and comprises the following steps: acquiring a positioning task trigger instruction in real time, dynamically adjusting the number of actually enabled main channels, constructing a main channel set by using the number of screened main channels, and marking the remaining channels as a redundant channel set; performing target locking scanning on the main channel set, and calculating the confidence parameters of the main channels; dynamically adjusting the confidence locking threshold according to the task priority level, generating a redundant channel closing instruction when the confidence parameter of any main channel in the main channel set reaches or exceeds the confidence locking threshold; and executing the redundant channel closing instruction to terminate the scanning operation of the redundant channel set. The method has the advantages of obvious energy efficiency optimization, significant improvement of positioning capability, improvement of hardware resource utilization rate, and enhancement of anti-interference and stability.

Description

Technical Field

[0001] This invention relates to a method and apparatus for joint scheduling of communication and positioning of outdoor robots based on task priority, belonging to the technical field of communication methods for outdoor robots. Background Technology

[0002] With the rapid expansion of robot application scenarios, such as the rapid deployment of AGVs, service robots, and unmanned delivery vehicles in various situations, the demand for wide-area communication and high-precision positioning for outdoor robots is becoming increasingly urgent. To meet coverage requirements, existing outdoor robots often integrate multi-mode radio frequency modules, including 4G / 5G cellular networks, dual-band Wi-Fi, UWB, Bluetooth, etc., to meet the complex communication and positioning needs in different scenarios.

[0003] Outdoor robots have varying degrees of urgency when performing communication and positioning functions, thus requiring different processing priorities. High-priority tasks, such as emergency obstacle avoidance and dynamic positioning, need to be completed within milliseconds, with positioning accuracy requirements within 10cm and extremely high real-time performance. Failure to quickly lock onto the target location after the LiDAR detects an obstacle could lead to a collision risk. Low-priority tasks, such as background data synchronization and environmental map updates, tolerate some delay and are less sensitive to resource consumption. If low-priority and high-priority tasks compete for resources indiscriminately, it can lead to a decline in the performance of critical tasks.

[0004] The core issue of resource competition between low-priority and high-priority tasks lies in:

[0005] The lack of a dynamic resource scheduling mechanism driven by task priority leads to instantaneous load and power consumption runaway under high-priority tasks. For example, in order to meet the real-time requirements of high-precision positioning (millisecond-level response for emergency obstacle avoidance), the system will activate multiple communication modules simultaneously to perform full-channel scanning, causing a surge in instantaneous load on the RF front-end (mainly referring to power amplifiers and ADC units) and baseband processor. The peak current may even reach 3-5 times the normal value, triggering a series of power instability, sudden increase in heat dissipation pressure, and ineffective energy consumption contributed by redundant channel scanning, etc.

[0006] Furthermore, in traditional solutions, even if the main channel is locked, without a reasonable resource scheduling mechanism, redundant channels will continue to be scanned, resulting 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 100Hz, which severely restricts the upper limit of positioning capability and the continuous battery life of the entire device. Summary of the Invention

[0007] To address the shortcomings of the existing technology, the present invention aims to provide a method and apparatus for joint scheduling of communication and positioning of outdoor robots based on task priority.

[0008] According to an embodiment of the present invention, a first solution is provided: a method and apparatus for joint scheduling of communication and positioning of outdoor robots based on task priority, applied to an outdoor robot integrating a multi-mode radio frequency module, comprising the following steps:

[0009] Real-time acquisition of positioning task triggering instructions; parsing of the positioning task triggering instructions to obtain task priority level and corresponding positioning accuracy parameters, the positioning accuracy parameters including maximum allowable positioning error, response time threshold and environmental interference level;

[0010] Based on the task priority level, the preset activation rule base is queried to determine the range of the number of main channels [N_min, N_max]. Based on the number of available channels in the preset channel base that meet the conditions of historical success rate, signal interference level and task priority level, the actual number of main channels N_act that are activated is dynamically adjusted. The number of main channels N_act that are activated satisfies: N_min≤ N_act≤ min(N_max, number of available channels). The selected number of main channels N_act constitutes the main channel set, and the remaining channels are marked as the redundant channel set.

[0011] The set of main channels is scanned for target locking. The confidence parameters of each main channel are calculated 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.

[0012] The confidence level locking threshold is dynamically adjusted according to the task priority level. When the confidence level parameter of any main channel in the main channel set reaches or exceeds the confidence level locking threshold, and the confidence level parameters of the other main channels are all higher than the preset safety threshold, a redundant channel shutdown command is generated.

[0013] The redundant channel shutdown command is executed to terminate the scanning operation of the redundant channel set, release the power amplifier supply current and ADC sampling bandwidth resources of the redundant channels, increase the power amplifier supply current of the released redundant channels to the transmit power of the locked main channel, and simultaneously reallocate the ADC sampling bandwidth to the locked main channel.

[0014] Furthermore, the steps for parsing the positioning task trigger instruction include: the positioning task trigger instruction adopts a standardized data packet structure, and the positioning task trigger instruction includes key fields: task type identifier code, priority level, and positioning accuracy parameter block; the task type identifier code is a 1-byte encoding, and the defined task type 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.

[0015] Further, the step of dynamically adjusting the actual number of activated main channels N_act includes: the activation rule base is a preset configuration file database, which can store the mapping relationship between task priority and the range of main channel numbers. The activation rule base can also store dynamic correction rules for the maximum number of main channels based on the environmental interference level. The preset channel database is a list of all physical channels supported by the multi-mode radio frequency module. Each physical channel includes: frequency band identifier, historical success rate, real-time signal interference level, and task adaptation flag. Based on the preset activation rule base, a mapping relationship between the priority task level P and the range of main channel numbers is established, where 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: N_max' = N_max × 1 / (1 + 0.1I) rounded down to obtain the adjusted range of main channel numbers [N_min, ..., ...]. [N_max']; Select channels from the preset channel library that have a historical success rate ≥90%, a real-time signal interference level ≤-90dBm, and whose frequency bands are compatible with the current task priority. Sort them in descending order of 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.

[0016] Furthermore, it also includes the following steps: when the number of available channels is less than N_min, dynamically relax the historical success rate to 80% and re-filter until N_act≥N_min is satisfied.

[0017] Further, the steps for calculating the confidence parameter of each main channel include: performing real-time RF data acquisition on each main channel to obtain the RF signal strength RSSI, signal-to-noise ratio SNR, and signal propagation time, independently calculating the position of the robot based on the real-time RF data of each main channel: (x_r, y_r), obtaining the acceleration and angular velocity through inertial navigation data, predicting the current position of the robot (x_p, y_p), quantifying the channel signal quality of the main channel by comparing the position calculated by each channel with the predicted current position calculated by inertial navigation data; the signal quality index of the main 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 main channel is: SQI_error = 1 - (ΔError / ΔError_max), ΔError is the error between the independently calculated 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 calculated position and the predicted current position indicates the higher the channel signal quality, ΔError_max is the maximum positioning error allowed by the task; the confidence parameter is: C = 0.7×SQI_signal + 0.3SQI_error.

[0018] Further, 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 main channel ≥ T, and the channel confidence parameters C of the remaining main channels ≥ 0.6, then lock this main channel and generate a redundant channel closing instruction; if the channel confidence parameter C of a certain main channel < T, then maintain the target lock scan and continuously supplement inertial navigation data.

[0019] Furthermore, the steps of increasing the power amplifier supply current of the released redundant channels to the transmit power of the locked main channel and simultaneously reallocating the ADC sampling bandwidth to the locked main channel include: cutting off the power amplifier PA supply of the redundant channels by writing a disabling instruction into the power amplifier enable register of the baseband processor, releasing the current resource as: ΔI=Σ(PA_redundant)×I_per_channel, where PA_redundant is the number of PAs actually turned off in the redundant channel set, and I_per_channel is the rated current of a single channel PA; the steps of allocating ΔI to the transmit power of the locked main channel are: P_new=P_initial+ΔI×R_PA, where R_PA is the current-to-power conversion factor of the power amplifier in mW / mA, P_initial is the initial transmit power, and P_new is the new transmit power.

[0020] Furthermore, the step of reallocating the released ADC sampling bandwidth resources to the locked main channel includes: the released ADC sampling bandwidth ΔB 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 coefficient in Hz / MHz, f_sample_initial is the initial sampling frequency, and f_sample_new is the new sampling frequency.

[0021] 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 channels to the transmit power and ADC sampling frequency of the locked main channel; acquiring radio frequency signal data at a rate of not less than 500Hz based on the increased ADC sampling frequency; adjusting the antenna array phase delay parameters of the main channel through the beamforming controller to focus the radio frequency signal energy in the target direction; 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, triggering the frequency band switching mechanism to switch to a backup frequency band with a historical success rate of 90% in the preset channel library, and re-executing the target locking scan; the frequency band switching mechanism includes: triggering the frequency band switching when SNR < 15dB or positioning error change rate > 0.5m / s.

[0022] According to an embodiment of the present invention, utilizing the task priority-based outdoor robot communication and positioning joint scheduling method in the first solution provided by the present invention, a second solution is provided as follows:

[0023] An outdoor robot communication, positioning, and joint scheduling device based on task priority includes:

[0024] The trigger command parsing unit is used to acquire the positioning task trigger command in real time, parse the positioning task trigger command to obtain the task priority level and the corresponding positioning accuracy parameters, the positioning accuracy parameters including the maximum allowable positioning error, response time threshold and environmental interference level;

[0025] The main channel filtering unit is used to query the preset activation rule base according to the task priority level, determine the range of the number of main channels [N_min, N_max], and dynamically adjust the actual number of main channels N_act based on the number of available channels in the preset channel base that meet the conditions of historical success rate, signal interference level and task priority level. The number of main channels N_act that are activated satisfies: N_min ≤ N_act ≤ min(N_max, number of available channels). The filtered number of main channels N_act constitutes the main channel set, and the remaining channels are marked as the redundant channel set.

[0026] The target locking module is used to perform target locking scanning on the set of main channels 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.

[0027] The redundancy shutdown command generation module is used to 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 threshold, and the confidence parameters of the other main channels are all higher than the preset safety threshold, a redundancy channel shutdown command is generated.

[0028] The resource release module is used to execute the redundant channel shutdown command to terminate the scanning operation of the redundant channel set, release the power amplifier supply current and ADC sampling bandwidth resources of the redundant channels, increase the power amplifier supply current of the released redundant channels to the transmit power of the locked main channel, and simultaneously reallocate the ADC sampling bandwidth to the locked main channel.

[0029] Compared with the prior art, the unique advantages of the technical solution provided in this application are as follows:

[0030] 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 below 5%; Improved positioning performance: After resource reallocation, the positioning calculation frequency of the main channel is increased from the initial value of 100Hz to 500Hz, the response time is ≤10ms, and the positioning error is ≤10cm (preset threshold); Improved hardware resource utilization: The utilization rate of the power amplifier and ADC unit is increased by 30%-50%, and the robot's outdoor endurance is extended by 20%-30%; Enhanced anti-interference and stability: Through dynamic adjustment of the confidence threshold and the redundant channel supplementation mechanism, the positioning error change rate is still guaranteed to be ≤0.5m / s when the environmental interference level I≥7, and the system reliability is improved by more than 60%. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] in:

[0033] Figure 1 This is a flowchart of a task priority-based joint scheduling method for communication, positioning, and scheduling of outdoor robots in one embodiment.

[0034] Figure 2 This is a structural block diagram of an outdoor robot communication and positioning joint scheduling device based on task priority in one embodiment.

[0035] Figure 3 This is a structural block diagram of a computer device in one embodiment. Detailed Implementation

[0036] 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 with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0037] Example 1

[0038] The technical problem addressed in this embodiment is that outdoor robots have varying degrees of urgency when performing communication and positioning functions, resulting in different priority orders. For example, high-priority tasks, such as emergency obstacle avoidance and dynamic positioning, need to be completed within millisecond response times, requiring positioning accuracy within 10cm and extremely high real-time performance to avoid collision risks if the LiDAR detects obstacles and cannot quickly lock onto the target location. Low-priority tasks, such as background data synchronization and environmental map updates, allow for a certain delay and are less sensitive to resource consumption. If low-priority and high-priority tasks compete for resources indiscriminately, it will lead to a decline in the performance of critical tasks. 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 instantaneous load and power consumption runaway 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 may simultaneously activate multiple communication modules for full-channel scanning. This causes a surge in instantaneous load on the RF front-end (mainly referring to power amplifiers and ADC units) and baseband processor, with peak current reaching 3-5 times the normal value. This triggers a series of issues such as unstable power supply, increased heat dissipation pressure, and ineffective power consumption contributed by redundant channel scanning. Furthermore, in traditional solutions, even if the main channel is locked, the lack of a reasonable resource scheduling mechanism will lead to the continuous scanning of redundant channels. This results in inefficient use of RF link resources, such as filters and ADC units, which cannot be allocated to the tracking enhancement mode of high-priority tasks. For example, the single-channel positioning frequency may be only 100Hz, severely limiting the upper limit of positioning capability and the overall continuous power consumption of the system.

[0039] To address the aforementioned issues, this embodiment provides a task-priority-based joint scheduling method and apparatus for communication and positioning of outdoor robots, applied to outdoor robots integrating multi-mode radio frequency modules, comprising the following steps:

[0040] S101: Real-time acquisition of positioning task triggering instructions, parsing of the positioning task triggering instructions to obtain task priority level and corresponding positioning accuracy parameters, the positioning accuracy parameters including maximum allowable positioning error, response time threshold and environmental interference level;

[0041] S102: Query the preset activation rule base according to the task priority level to determine the range of the number of main channels [N_min, N_max]. Based on the number of available channels in the preset channel base that meet the conditions of historical success rate, signal interference level and task priority level, dynamically adjust the actual number of main channels N_act that are activated. The number of main channels N_act that are activated satisfies: N_min ≤ N_act ≤ min(N_max, number of available channels). The selected number of main channels N_act constitutes the main channel set, and the remaining channels are marked as the redundant channel set.

[0042] S103: Perform target locking scan on the set of main channels, 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.

[0043] S104: 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 threshold, and the confidence parameters of the other main channels are all higher than the preset safety threshold, generate a redundant channel shutdown command.

[0044] S105: Execute the redundant channel shutdown command to terminate the scanning operation of the redundant channel set, release the power amplifier supply current and ADC sampling bandwidth resources of the redundant channels, increase the power amplifier supply current of the released redundant channels to the transmit power of the locked main channel, and simultaneously reallocate the ADC sampling bandwidth to the locked main channel.

[0045] Specifically, the steps for parsing the location task trigger instruction include: the location task trigger instruction adopts a standardized data packet structure, such as SON or binary protocol. The location task trigger instruction includes key fields: task type identifier code, priority level, and location accuracy parameter block.

[0046] The task type identifier is a 1-byte code, defining task types including emergency obstacle avoidance, path navigation, and map update. For example, 0x01 represents emergency obstacle avoidance, 0x02 represents path navigation, and 0x03 represents map update. The priority level is a 1-byte unsigned integer, ranging from 1 to 5, with 1 being the lowest and 5 the highest. The positioning accuracy parameter block is a structured data segment, including the maximum allowable positioning error, response time threshold, and environmental interference level. The maximum allowable positioning error is a 2-byte integer in millimeters; for example, 100 indicates a word order error ≤ 10cm. The response time threshold is a 2-byte integer in millimeters; for example, 50 indicates the task must complete positioning within 50ms. The environmental interference level is a 1-byte integer, ranging from 0 to 100, calculated by the upper-layer system based on real-time signal strength, such as RSSI or historical regional interference data.

[0047] The parsing process of the location task trigger command includes extracting the task type identifier code, matching the fields of the data packet with the preset task type table, decoding the priority level, directly reading the number of fields of the priority level, parsing the location 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.

[0048] Specifically, the steps for dynamically adjusting the actual number of activated primary channels N_act include:

[0049] The enabled 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 enabled rule base can also store 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 radio frequency module. Each physical channel includes: frequency band identifier, historical success rate, real-time signal interference level, and task adaptation flag.

[0050] Enabling a rule base can be represented as a software-defined mapping table, stored in the system's Flash memory and accessed via API. The preset channel library is a list of all physical channels supported by the multi-mode RF module. Each channel includes the following attributes: frequency band identifier (e.g., 4G Band 1, Wi-Fi 5GHz); historical success rate (the percentage of targets successfully locked in the past 100 scans); real-time signal interference level (the difference between the current channel's RSSI and noise floor, in dBm); and task adaptation flag (e.g., high-priority tasks are flagged as "Supports UWB high-frequency bands").

[0051] Based on the preset activation rule base, a mapping relationship is established between the priority task level P and the range of the number of main channels, where N_min=2P, N_max=2P+3, and P∈[1,5].

[0052] The process of dynamically correcting the maximum number of main channels based on the environmental interference level I includes: N_max' = N_max × 1 / (1 + 0.1I) rounded down to obtain the adjusted range of the number of main channels [N_min, N_max']. The environmental interference level I is read in real time through the RSSI register of the RF chip (e.g., address 0x20) and the signal-to-noise ratio (SNR) is calculated.

[0053] Select channels from the preset channel library that have a historical success rate of ≥90%, a real-time signal interference level of ≤-90dBm, and whose frequency bands are compatible with the current task priority. Sort them in descending order of 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.

[0054] It also includes the following steps: when the number of available channels is less than N_min, dynamically relax the historical success rate to 80% and re-filter until N_act≥N_min is satisfied.

[0055] The filtering 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 compatible with the current task (e.g., priority 5 task only selects UWB or 5GHz Wi-Fi channels).

[0056] Eligible channels are prioritized as follows: First priority: descending order of historical success rate; Second priority: ascending order of signal interference level (lower interference, higher priority). Through dynamic filtering and degradation mechanisms, invalid channel scanning is avoided, reducing overall RF module power consumption by 30%-40%. Real-time performance is guaranteed: high-priority tasks utilize more high-quality channels, increasing the positioning frequency from 100Hz to 500Hz, with a response time ≤10ms. Based on standard RF chip register operation, no custom hardware is required, making it suitable for AGVs, service robots, and other scenarios.

[0057] Specifically, the steps for calculating the confidence parameters of each main channel include:

[0058] Real-time radio frequency data acquisition is performed on each main channel to obtain the radio frequency signal strength RSSI, signal-to-noise ratio SNR, and signal propagation time. Based on the real-time radio frequency data of each main channel, the robot position is independently calculated (x_r, y_r). Acceleration and angular velocity are obtained through inertial navigation data to predict the robot's current position (x_p, y_p). By comparing the independently calculated position of each channel with the predicted current position calculated by inertial navigation data, the channel signal quality of the main channel is quantified.

[0059] The signal quality indicators for the main channel are:

[0060] SQI_signal=0.6×RSSI_norm+0.4SNR_norm,

[0061] Among them, RSSI_norm is the radio frequency signal strength index, RSSI_norm=(RSSI+100) / 40, where RSSI values ​​range from [-100dBm, -60dBm] and are normalized to 0-1; SNR_norm is the signal-to-noise ratio index, SNR_norm=SNR / 30, where SNR values ​​range from [0dB, 30dB] and are normalized to 0-1;

[0062] The positioning error stability index of the main channel is:

[0063] SQI_error = 1 - (ΔError / ΔError_max), where ΔError is the error between the independently calculated position of each main 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 calculated position and the predicted current position, the higher the signal quality of the channel. ΔError_max is the maximum positioning error allowed for the task;

[0064] The confidence parameter is:

[0065] C = 0.7×SQI_signal + 0.3×SQI_error.

[0066] Target locking scan is a signal quality assessment and positioning calculation process performed on each channel in the main channel set. By scanning, the main channel with the optimal quality is locked, and its reliability is monitored in real time. High-priority task fast response and high-precision guarantee in a low-interference environment are achieved through dynamic thresholds. Redundant channels are closed in a timely manner to reduce ineffective 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 has achieved efficient resource scheduling of software and hardware collaboration in complex environments, and solved the pain points of the industry.

[0067] The steps for dynamically adjusting the confidence locking threshold according to the task priority level include:

[0068] 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;

[0069] If the channel confidence parameter C of a certain main channel ≥ T, and the channel confidence parameters C of the other main channels ≥ 0.6, then lock this main channel and generate a redundant channel closing instruction;

[0070] If the channel confidence parameter C of a certain main channel < T, then maintain the target locking scan and continuously supplement inertial navigation data.

[0071] 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.

[0072] Specifically, 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: cutting off the power amplifier PA supply of the redundant channel by writing a disable instruction to the power amplifier enable register of the baseband processor, and releasing the current resources as follows:

[0073] ΔI = Σ(PA_redundant) × I_per_channel, where PA_redundant is the number of PAs that are actually turned off in the redundant channel set, and I_per_channel is the rated current of a single channel PA.

[0074] The steps to allocate ΔI to the transmit power of the locked master channel are as follows:

[0075] P_new = P_initial + ΔI × R_PA, where R_PA is the current-to-power conversion factor of the power amplifier, in mW / mA, P_initial is the initial emission power, and P_new is the new emission power.

[0076] The steps for reallocating the released ADC sampling bandwidth resources to the locked master channel include:

[0077] The released ADC sampling bandwidth ΔB is reallocated to the main channel via the baseband controller:

[0078] f_sample_new = f_sample_initial + ΔB × k_ADC, where k_ADC is the ADC bandwidth-to-sampling-rate conversion coefficient in Hz / MHz, f_sample_initial is the initial sampling frequency, and f_sample_new is the new sampling frequency.

[0079] In the multi-mode RF module, each channel (e.g., 4G / 5G / Wi-Fi) is independently configured with a power amplifier (PA), and its power supply status is controlled by the baseband controller via registers. When the main 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 corresponding PA control bit in the register, physically cutting off its power supply. The released current resource ΔI is proportionally allocated to the PA locked onto the main channel, increasing its transmit power. By disabling redundant PAs, ineffective power consumption is reduced (actual measurements show that disabling a single PA can save approximately 20% of instantaneous current). It is compatible with mainstream RF chips (e.g., Qualcomm QCA4020, TI CC2652), requiring no custom hardware. Through the above design, the PA_redundant disabling and resource reallocation mechanism significantly improves the system's energy efficiency and hardware utilization.

[0080] The relationship between bandwidth and sampling rate in a DC converter is determined by the hardware architecture (such as clock divider and filter configuration), and k_ADC can be calibrated experimentally. Mainstream RF chips (such as ADI AD9361) support dynamic bandwidth allocation and sampling rate adjustment.

[0081] Specifically, this also includes entering the main channel tracking enhancement mode:

[0082] 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 main channel. Based on the increased ADC sampling frequency, radio frequency signal data is collected at a rate of not less than 500Hz. The antenna array phase delay parameters of the main channel are adjusted by the beamforming controller to focus the radio frequency signal energy in the target direction. The signal-to-noise ratio (SNR) and positioning error change rate of the main channel are detected 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 switching mechanism is triggered to switch to the backup frequency band with a historical success rate of 90% in the preset channel library, and the target locking scan is re-executed.

[0083] The frequency band switching mechanism includes: triggering a frequency band switch when SNR < 15dB or the positioning error change rate > 0.5m / s.

[0084] AGV handling scenario: In tracking enhancement mode, the AGV positioning error is ≤3cm at a moving speed of 10m / s, which is 70% higher than the traditional solution (error ≥10cm); the overall power consumption of the RF module is reduced from 8W to 5W, and the battery life is extended by 37.5%.

[0085] Drone inspection scenario: 500Hz positioning frequency supports high-speed obstacle avoidance (response time ≤ 5ms), reducing the collision rate by 90% compared to the 100Hz solution.

[0086] By using spatiotemporal resource reuse (ΔI, ΔB reallocation) and adaptive anti-interference (frequency band switching + error monitoring), high-precision tracking and enhanced stability are achieved within a single RF module.

[0087] Example 2

[0088] like Figure 2 As shown, this embodiment provides a joint scheduling device for communication and positioning of outdoor robots based on task priority, including:

[0089] The trigger command parsing unit 100 is used to acquire the positioning task trigger command in real time, parse the positioning task trigger command to obtain the task priority level and the corresponding positioning accuracy parameters, the positioning accuracy parameters including the maximum allowable positioning error, response time threshold and environmental interference level;

[0090] The main channel filtering unit 200 is used to query the preset activation rule base according to the task priority level, determine the range of the number of main channels [N_min, N_max], and dynamically adjust the actual number of main channels N_act based on the number of available channels in the preset channel base that meet the conditions of historical success rate, signal interference level and task priority level. The number of main channels N_act that are activated satisfies: N_min ≤ N_act ≤ min(N_max, number of available channels). The filtered number of main channels N_act constitutes the main channel set, and the remaining channels are marked as the redundant channel set.

[0091] The target locking module 300 is used to perform target locking scanning on the set of main channels 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.

[0092] The redundancy shutdown instruction generation module 400 is used to 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 threshold, and the confidence parameters of the other main channels are all higher than the preset safety threshold, a redundancy channel shutdown instruction is generated.

[0093] The resource release module 500 is used to execute the redundant channel shutdown command to terminate the scanning operation of the redundant channel set, release the power amplifier supply current and ADC sampling bandwidth resources of the redundant channels, increase the power amplifier supply current of the released redundant channels to the transmit power of the locked main channel, and simultaneously redistribute the ADC sampling bandwidth to the locked main channel.

[0094] Example 3

[0095] Figure 3 An internal structural diagram of a computer device in one embodiment is shown. This computer device can specifically be a terminal or a server. Figure 3 As shown, the computer device includes a processor, memory, and network interface connected via a system bus. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and may also store a computer program. When executed by the processor, this computer program enables the processor to implement a communication-location joint scheduling method. The memory may also store a computer program, which, when executed by the processor, enables the processor to implement the communication-location joint scheduling method. Those skilled in the art will understand that... Figure 3The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0096] In one embodiment, a computer device is provided, including a memory and a processor, the memory storing a computer program that, when executed by the processor, causes the processor to perform the following steps:

[0097] Real-time acquisition of positioning task triggering instructions; parsing of the positioning task triggering instructions to obtain task priority level and corresponding positioning accuracy parameters, the positioning accuracy parameters including maximum allowable positioning error, response time threshold and environmental interference level;

[0098] Based on the task priority level, the preset activation rule base is queried to determine the range of the number of main channels [N_min, N_max]. Based on the number of available channels in the preset channel base that meet the conditions of historical success rate, signal interference level and task priority level, the actual number of main channels N_act that are activated is dynamically adjusted. The number of main channels N_act that are activated satisfies: N_min≤ N_act≤ min(N_max, number of available channels). The selected number of main channels N_act constitutes the main channel set, and the remaining channels are marked as the redundant channel set.

[0099] The set of main channels is scanned for target locking. The confidence parameters of each main channel are calculated 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.

[0100] The confidence level locking threshold is dynamically adjusted according to the task priority level. When the confidence level parameter of any main channel in the main channel set reaches or exceeds the confidence level locking threshold, and the confidence level parameters of the other main channels are all higher than the preset safety threshold, a redundant channel shutdown command is generated.

[0101] The redundant channel shutdown command is executed to terminate the scanning operation of the redundant channel set, release the power amplifier supply current and ADC sampling bandwidth resources of the redundant channels, increase the power amplifier supply current of the released redundant channels to the transmit power of the locked main channel, and simultaneously reallocate the ADC sampling bandwidth to the locked main channel.

[0102] In one embodiment, a computer-readable storage medium is provided storing a computer program that, when executed by a processor, causes the processor to perform the following steps:

[0103] Real-time acquisition of positioning task triggering instructions; parsing of the positioning task triggering instructions to obtain task priority level and corresponding positioning accuracy parameters, the positioning accuracy parameters including maximum allowable positioning error, response time threshold and environmental interference level;

[0104] Based on the task priority level, the preset activation rule base is queried to determine the range of the number of main channels [N_min, N_max]. Based on the number of available channels in the preset channel base that meet the conditions of historical success rate, signal interference level and task priority level, the actual number of main channels N_act that are activated is dynamically adjusted. The number of main channels N_act that are activated satisfies: N_min≤ N_act≤ min(N_max, number of available channels). The selected number of main channels N_act constitutes the main channel set, and the remaining channels are marked as the redundant channel set.

[0105] The set of main channels is scanned for target locking. The confidence parameters of each main channel are calculated 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.

[0106] The confidence level locking threshold is dynamically adjusted according to the task priority level. When the confidence level parameter of any main channel in the main channel set reaches or exceeds the confidence level locking threshold, and the confidence level parameters of the other main channels are all higher than the preset safety threshold, a redundant channel shutdown command is generated.

[0107] The redundant channel shutdown command is executed to terminate the scanning operation of the redundant channel set, release the power amplifier supply current and ADC sampling bandwidth resources of the redundant channels, increase the power amplifier supply current of the released redundant channels to the transmit power of the locked main channel, and simultaneously reallocate the ADC sampling bandwidth to the locked main channel.

[0108] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can 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), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0109] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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.

[0110] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A task-priority-based joint scheduling method for outdoor robot communication positioning, applied to an outdoor robot integrated with a multi-mode radio frequency module, characterized in that, Includes the following steps: Real-time acquisition of positioning task triggering instructions; parsing of the positioning task triggering instructions to obtain task priority level and corresponding positioning accuracy parameters, the positioning accuracy parameters including maximum allowable positioning error, response time threshold and environmental interference level; The system queries the preset activation rule base based on the task priority level to determine the range of the number of main channels [N_min, N_max]. Based on the number of available channels in the preset channel base that meet the conditions of historical success rate, signal interference level and task priority level, the system dynamically adjusts the actual number of main channels N_act that are activated. The number of main channels N_act that are activated satisfies: N_min ≤ N_act ≤ min(N_max, number of available channels). The selected number of main channels N_act constitutes the main channel set, and the remaining channels are marked as the redundant channel set. The set of main channels is scanned for target locking. The confidence parameters of each main channel are calculated 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. The confidence level locking threshold is dynamically adjusted according to the task priority level. When the confidence level parameter of any main channel in the main channel set reaches or exceeds the confidence level locking threshold, and the confidence level parameters of the other main channels are all higher than the preset safety threshold, a redundant channel shutdown command is generated. The redundant channel shutdown command is executed to terminate the scanning operation of the redundant channel set, release the power amplifier supply current and ADC sampling bandwidth resources of the redundant channels, allocate the released power amplifier supply current of the redundant channels to the transmit power of the locked main channel, and simultaneously reallocate the ADC sampling bandwidth to the locked main channel. 2.The task priority based outdoor robot communication positioning joint scheduling method according to claim 1, characterized in that, The steps for parsing the location task trigger command include: The location task triggering instruction adopts a standardized data packet structure, and the location task triggering instruction includes key fields: task type identifier code, priority level, and location accuracy parameter block; The task type identifier is a 1-byte encoding, and the defined task types 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 the maximum permissible positioning error, response time threshold, and environmental interference level. 3.The task priority based outdoor robot communication positioning joint scheduling method according to claim 1, characterized in that, The steps for dynamically adjusting the actual number of active primary channels N_act include: The enabled 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 enabled rule base can also store 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 radio frequency module. Each physical channel includes: frequency band identifier, historical success rate, real-time signal interference level, and task adaptation flag. Based on the preset activation rule base, a mapping relationship is established between the priority task level P and the range of the number of main channels, where N_min=2P, N_max=2P+3, and P∈[1,5]. The process of dynamically correcting the maximum number of main channels based on the environmental interference level I includes: N_max' = N_max × 1 / (1 + 0.1I) rounded down to obtain the adjusted range of the number of main channels [N_min, N_max']; Select channels from the preset channel library that have a historical success rate of ≥90%, a real-time signal interference level of ≤-90dBm, and whose frequency bands are compatible with the current task priority. Sort them in descending order of 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 task priority based joint scheduling method for outdoor robot communication localization according to claim 3, characterized in that, It also includes the following steps: When the number of available channels is less than N_min, the historical success rate is dynamically relaxed to 80% and the channels are re-selected until N_act ≥ N_min is satisfied.

5. The task priority based joint scheduling method for outdoor robot communication localization according to claim 1, wherein, The steps for calculating the confidence parameters of each main channel include: Real-time radio frequency data acquisition is performed on each main channel to obtain the radio frequency signal strength RSSI, signal-to-noise ratio SNR, and signal propagation time. Based on the real-time radio frequency data of each main channel, the robot's position is independently calculated (x_r, y_r). Acceleration and angular velocity are obtained through inertial navigation data to predict the robot's current position (x_p, y_p). By comparing the position calculated by each channel with the predicted current position calculated by the inertial navigation data, the channel signal quality of the main channel is quantified. The signal quality indicators for the main channel are: SQI_signal=0.6×RSSI_norm+0.4SNR_norm, Among them, RSSI_norm is the radio frequency signal strength index, RSSI_norm=(RSSI+100) / 40, where RSSI values ​​range from [-100dBm, -60dBm] and are normalized to 0-1; SNR_norm is the signal-to-noise ratio index, SNR_norm=SNR / 30, where SNR values ​​range from [0dB, 30dB] and are normalized to 0-1; The positioning error stability index of the main channel is: SQI_error = 1 - (ΔError / ΔError_max), where ΔError is the error between the independently calculated position of each master channel and the predicted current position calculated from the inertial navigation data: ΔError = sqrt{(x_p-x_r)^2 + (y_p-y_r)^2}, where sqrt is the square root formula. The smaller the error between the independently calculated position and the predicted current position, the higher the channel signal quality. ΔError_max is the maximum positioning error allowed by the task. The confidence level parameter is: 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, characterized in that... The steps for dynamically adjusting the confidence level locking threshold based on task priority include: The confidence level 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 ≥ T of a certain primary channel, and the channel confidence parameter C ≥ 0.6 of the other primary channels, then the primary channel is locked and a redundant channel shutdown command is generated. If the channel confidence parameter C < T of a certain primary channel, then maintain target lock scanning and continuously supplement inertial navigation data.

7. The outdoor robot communication and positioning joint scheduling method based on task priority according to claim 1, characterized in that, The steps of allocating the power amplifier supply current of the released redundant channels 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 to the power amplifier PA of the redundant channel is cut off, thus releasing current resources. ΔI = Σ(PA_redundant) × I_per_channel, where PA_redundant is the number of PAs that are actually turned off in the redundant channel set, and I_per_channel is the rated current of a single channel PA. The steps to allocate ΔI to the transmit power of the locked master channel are as follows: P_new = P_initial + ΔI × R_PA, where R_PA is the current-to-power conversion factor of the power amplifier, in mW / mA, P_initial is the initial emission power, and P_new is the new emission power.

8. The outdoor robot communication and positioning joint scheduling method based on task priority according to claim 1, characterized in that, The steps for reallocating the released ADC sampling bandwidth resources to the locked master channel include: The released ADC sampling bandwidth ΔB is reallocated to the main channel via the baseband controller: f_sample_new = f_sample_initial + ΔB × k_ADC, where k_ADC is the ADC bandwidth-to-sampling-rate conversion coefficient 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, characterized in that, This also includes entering the main channel tracking enhancement mode: The power amplifier supply current and ADC sampling bandwidth of the released redundant channels are dynamically allocated to the transmit power and ADC sampling frequency of the locked main channel. Based on the improved ADC sampling frequency, radio frequency signal data is collected at a rate of not less than 500Hz. The antenna array phase delay parameters of the main channel are adjusted by the beamforming controller to focus the radio frequency signal energy in the target direction. The signal-to-noise ratio (SNR) and positioning error change rate of the main channel are detected 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 switching mechanism is triggered to switch to the backup frequency band with a historical success rate of 90% in the preset channel library, and the target locking scan is re-executed. The frequency band switching mechanism includes: triggering a frequency band switch when the SNR is < 15dB or the positioning error change rate is > 0.5m / s.

10. A joint scheduling device for communication, positioning, and operation of outdoor robots based on task priority, characterized in that, include: The trigger command parsing unit is used to acquire the positioning task trigger command in real time, parse the positioning task trigger command to obtain the task priority level and the corresponding positioning accuracy parameters, the positioning accuracy parameters including the maximum allowable positioning error, response time threshold and environmental interference level; The main channel filtering unit is used to query the preset activation rule base according to the task priority level, determine the range of the number of main channels [N_min, N_max], and dynamically adjust the actual number of main channels N_act based on the number of available channels in the preset channel base that meet the conditions of historical success rate, signal interference level and task priority level. The number of main channels N_act that are activated satisfies: N_min ≤ N_act ≤ min(N_max, number of available channels). The filtered number of main channels N_act constitutes the main channel set, and the remaining channels are marked as the redundant channel set. The target locking module is used to perform target locking scanning on the set of main channels 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. The redundancy shutdown command generation module is used to 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 threshold, and the confidence parameters of the other main channels are all higher than the preset safety threshold, a redundancy channel shutdown command is generated. The resource release module is used to execute the redundant channel shutdown command to terminate the scanning operation of the redundant channel set, release the power amplifier supply current and ADC sampling bandwidth resources of the redundant channels, allocate the released power amplifier supply current of the redundant channels to the transmit power of the locked main channel, and simultaneously reallocate the ADC sampling bandwidth to the locked main channel.

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