Mobile robot dynamic communication method and system based on star flash protocol

Abstract

The invention provides a mobile robot dynamic communication method and system based on a satellite flash protocol. The method comprises the following steps: deploying satellite flash wireless communication modules on a mobile robot and fixed equipment; in a preset wide area, each module automatically initiates a tree topology ad hoc network based on the same identification code to form a multi-node network, and each node is allocated with a unique MAC address; the fixed equipment module periodically sends an equipment information broadcast packet, and the mobile robot monitors and analyzes the broadcast packet to obtain an equipment identifier after entering an area; and the mobile robot selects target equipment based on an analysis result, initiates point-to-point connection through the MAC address, and performs control instruction or data transmission by using a multi-node network after establishing a communication link. A satellite flash protocol module and an automatic networking mechanism are adopted, complex wiring is not needed, and the construction and maintenance cost is reduced; and through dynamic priority calculation and a load balancing algorithm, the network connection efficiency and stability are improved, and the risk of communication interruption is reduced.

Description

Technical Field

[0001] This invention relates to the field of communication technology, and in particular to a dynamic communication method and system for mobile robots based on the StarFlash protocol. Background Technology

[0002] In the application scenarios of mobile robots, there are many scenarios where fixed equipment or sensors need to be controlled and communicated, such as when the robot moves to a designated area to control doors, stairs, and lights.

[0003] In existing technologies, common communication methods include Ethernet, Wi-Fi, and Bluetooth. However, each of these methods has its own problems, such as complex deployment, high cost, and difficult construction. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the present invention aims to provide a dynamic communication method and system for mobile robots based on the StarFlash protocol, thereby solving the technical problems of complex deployment, high cost, and difficult construction in existing technologies.

[0005] To achieve the above objectives, in a first aspect, the present invention provides: a dynamic communication method for mobile robots based on the StarFlash protocol, comprising the following steps: The StarSpark wireless communication module is deployed on a mobile robot and multiple fixed devices respectively. The StarSpark wireless communication module supports the StarSpark protocol and interacts with data through UART or IO interface. Within a preset wide area, each of the StarSpark wireless communication modules automatically initiates a tree-topology self-organizing network process based on the same identification code to form a multi-node network, wherein each node is assigned a unique MAC address and maintains a list of neighboring nodes. The fixed equipment module continuously and periodically sends equipment information broadcast packets. After the mobile robot module enters the area, it listens for all broadcast packets and parses the equipment identifier. The mobile robot selects a target fixed device based on the parsing results, initiates a point-to-point connection through the MAC address, establishes a communication link, and then sends control commands or transmits data to multiple fixed devices based on the multi-node network.

[0006] According to one aspect of the above technical solution, the method further includes: When the mobile robot leaves the communication range or receives a disconnect command, the connection is automatically terminated, and the network nodes update the topology status.

[0007] According to one aspect of the above technical solution, in the process of monitoring broadcast packets and parsing device identifiers, the method further includes: The signal strength index and packet loss rate are calculated in real time to obtain the connection priority value, and the target fixed device is dynamically selected based on the connection priority value.

[0008] According to one aspect of the above technical solution, the expression for calculating the connection priority value is: ; In the formula, q is the connection priority value, s is the signal strength index, and p is the packet loss rate.

[0009] According to one aspect of the above technical solution, the step of dynamically selecting the target fixed device based on the connection priority value specifically includes: Based on the dynamic load balancing algorithm, the current number of connections and signal stability index of each device are obtained, and the priority weight of the device is calculated so as to select the target fixed device based on the priority weight.

[0010] According to one aspect of the above technical solution, the calculation expression for the priority weight is: ; In the formula, w is the priority weight, k is the connection number adjustment coefficient, c is the current connection number, m is the stability adjustment coefficient, and r is the signal stability index.

[0011] Secondly, this solution also provides a dynamic communication system for mobile robots based on the StarFlash protocol, including: The deployment module is used to deploy the StarSpark wireless communication module on a mobile robot and multiple fixed devices respectively. The StarSpark wireless communication module supports the StarSpark protocol and interacts with data through UART or IO interface. The topology self-organizing network module is used to automatically initiate a tree-shaped topology self-organizing network process based on the same identification code within a preset wide area, forming a multi-node network, wherein each node is assigned a unique MAC address and maintains a list of neighboring nodes. The parsing module is used to continuously and periodically send device information broadcast packets from the fixed device module. After the mobile robot module enters the area, it listens for all broadcast packets and parses the device identifier. The link module is used by the mobile robot to select a target fixed device based on the parsing result, initiate a point-to-point connection through the MAC address, establish a communication link, and then send control commands or data to multiple fixed devices based on the multi-node network.

[0012] According to one aspect of the above technical solution, the system further includes: The disconnect module is used to automatically terminate the connection and update the network node topology status when the mobile robot leaves the communication range or receives a disconnect command.

[0013] According to one aspect of the above technical solution, the system further includes: The priority connection module is used to calculate signal strength indicators and packet loss rate in real time, thereby calculating the connection priority value, and dynamically selecting the target fixed device based on the connection priority value.

[0014] According to one aspect of the above technical solution, the priority connection module is specifically used for: Based on the dynamic load balancing algorithm, the current number of connections and signal stability index of each device are obtained, and the priority weight of the device is calculated so as to select the target fixed device based on the priority weight.

[0015] Compared with existing technologies, the advantages of this invention are as follows: by adopting the StarFlash protocol module and automatic networking mechanism, no complex wiring is required, which significantly reduces construction and maintenance costs; by using dynamic priority calculation and load balancing algorithms, network connection efficiency and stability are improved, and the risk of communication interruption is reduced; the disconnection and reconnection and topology update processes are optimized for mobile robot scenarios, ensuring continuous and reliable communication in a wide area, and providing practical support for applications such as smart warehousing and autonomous driving. Attached Figure Description

[0016] Figure 1 This is a flowchart illustrating the dynamic communication method for mobile robots based on the StarFlash protocol in the first embodiment of the present invention. Figure 2 This is a structural block diagram of the mobile robot dynamic communication system based on the Star Flash protocol in the fourth embodiment of the present invention; The following detailed description, in conjunction with the accompanying drawings, will further illustrate the present invention. Detailed Implementation

[0017] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Several embodiments of the invention are illustrated in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

[0018] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0020] Example 1 Please see Figure 1 The figure shows a flowchart of a mobile robot dynamic communication method based on the Star Flash protocol in the first embodiment of the present invention. As shown in the figure, the method includes the following steps: Step S100 involves deploying StarSpark wireless communication modules on the mobile robot and multiple fixed devices. These modules support the StarSpark protocol and interact with data via UART or I / O interfaces. Specifically, the StarSpark protocol stack software is written to the firmware via flashing or OTA. The initialization process includes configuring protocol parameters (such as frequency band and power consumption mode) to ensure the module supports the core functions of the StarSpark protocol, such as self-organizing networking and low-power communication; setting the baud rate, data bits, and parity bits for the UART (Universal Asynchronous Receiver / Transmitter) interface; and defining the digital signal pin functions for the I / O (Input / Output) interface. Configuration is completed via AT commands or hardware jumpers to ensure reliable communication between the module and the host device (such as the robot controller or fixed device processor). After deployment, a self-test process is executed, where the module sends test signals to verify the protocol stack and interface functions. For example, sending the "AT+TEST" command via UART confirms a normal response. Once ready, the module enters a low-power standby mode, awaiting subsequent self-organizing network commands. This step ensures deployment reliability and reduces on-site failures.

[0021] In step S200, within a preset wide-area area, each of the StarShine wireless communication modules automatically initiates a tree-topology self-organizing network process based on the same identification code, forming a multi-node network. Each node is assigned a unique MAC address and maintains a list of neighboring nodes. Specifically, after deployment, each StarShine module automatically verifies whether its identification code (ID) is consistent. The module periodically sends broadcast beacon packets containing identification code information and listens for responses. Only modules with the same identification code are considered as nodes in the same group, forming a logical group. Among the nodes in the same group, one or more gateway nodes are automatically elected (based on signal stability or load capacity). The gateway node actively initiates a network formation command, sending a connection request through the StarShine protocol. Nodes automatically negotiate parent-child relationships, forming a tree structure. For example, a child node selects the parent node with the strongest signal to connect to, expanding level by level. Topology construction includes path optimization, avoiding loops through a variant of the spanning tree protocol. After the connection is established, the node records the parent-child relationship and neighbor information. After the topology stabilizes, each node is automatically assigned a unique MAC address. The allocation method can be derived from the hardware serial number or through central coordination (the gateway node allocates and verifies uniqueness). MAC addresses are used for device addressing in subsequent communications, ensuring accurate packet routing. Nodes initialize a neighbor node list based on connectivity, recording the MAC addresses, signal strength, and status of direct neighbors. The maintenance process includes periodic heartbeat checks (e.g., sending heartbeat packets every second) and updating the list based on responses: adding active neighbors and removing disconnected nodes.

[0022] Preferably, in this embodiment, the method further includes: automatically terminating the connection and updating the network topology status when the mobile robot leaves the communication range or receives a disconnection command. After completing the self-organizing topology network, a network consistency check (all nodes report the topology status) is performed periodically to verify the integrity of the tree structure. If an anomaly is detected (such as a node disconnection or signal attenuation), the networking process is automatically restarted to optimize the topology and minimize latency.

[0023] In step S300, the fixed device module continuously and periodically sends device information broadcast packets. After entering the area, the mobile robot module listens to all broadcast packets and parses the device identifier. Specifically, the fixed device module periodically prepares device information broadcast packets, the packet content of which includes device identifiers (such as MAC address and device type), status data (such as load status), and timestamps. The encapsulation process uses the StarScan protocol format to ensure data compatibility. The fixed device module broadcasts the encapsulated device information packets at fixed intervals (such as every 100 milliseconds) through the StarScan wireless channel. The transmission process includes power control to ensure signal coverage of the preset wide area. The mobile robot module detects whether it has entered the preset wide area using motion sensors or location data (such as GPS). After entering the area, the module automatically activates the listening mode and prepares to receive broadcast packets. The mobile robot module starts the wireless receiver, scans the StarScan protocol frequency band, and listens to all broadcast packets sent by the fixed devices. The receiving process includes signal filtering to eliminate interference packets and records the received timestamp and signal strength (such as RSSI value). The mobile robot module parses the received broadcast packets and extracts the device identifier information. The parsing process includes decoding the StarScan protocol header, verifying data integrity (such as CRC check), and filtering duplicate packets.

[0024] Preferably, during the process of monitoring broadcast packets and parsing device identifiers, the method further includes: Signal strength indicators and packet loss rate are calculated in real time to obtain a connection priority value, which is then used to dynamically select the target fixed device. The expression for calculating the connection priority value is as follows: ; In the formula, q is the connection priority value, s is the signal strength index, and p is the packet loss rate.

[0025] Furthermore, the step of dynamically selecting the target fixed device based on the connection priority value specifically includes: Based on a dynamic load balancing algorithm, the current number of connections and signal stability indicators of each device are obtained to calculate the device priority weight, and the target fixed device is selected based on the priority weight. The calculation expression for the priority weight is: ; In the formula, w is the priority weight, k is the connection number adjustment coefficient, c is the current connection number, m is the stability adjustment coefficient, and r is the signal stability index.

[0026] In step S400, the mobile robot selects a target fixed device based on the parsing result, initiates a point-to-point connection via the MAC address, and establishes a communication link. Then, based on the multi-node network, it sends control commands or transmits data to multiple fixed devices. Specifically, the mobile robot selects the fixed device with the highest connection priority as the target fixed device. The mobile robot initiates a point-to-point connection request to the target fixed device's MAC address via the StarFlash protocol. The request packet includes authentication information (such as an identification code) and session parameters (such as transmission rate). The initiation process is based on a wireless channel contention mechanism (such as CSMA / CA) to avoid collisions.

[0027] After receiving the request, the target stationary device returns an acknowledgment packet, completing the handshake protocol (e.g., a three-way handshake). Link establishment includes parameter negotiation (e.g., encryption keys, timeout settings) to ensure communication security. Once verification is successful, the link is marked as ready, supporting full-duplex data transmission. On the established link, the mobile robot sends control commands (e.g., turning devices on / off) or transmits data (e.g., sensor readings). Data transmission utilizes a multi-node network for relaying, such as forwarding through neighboring nodes, to expand coverage. Transmission modes include unicast (point-to-point) or multicast (to multiple devices), optimized based on actual needs. During communication, network resources are dynamically managed, such as bandwidth allocation and load monitoring. If transmission fails (e.g., signal interruption), automatic retry or path switching ensures communication continuity.

[0028] In summary, the mobile robot dynamic communication method based on the StarScan protocol in the above embodiments of the present invention adopts the StarScan protocol module and automatic networking mechanism, eliminating the need for complex wiring and significantly reducing construction and maintenance costs; through dynamic priority calculation and load balancing algorithms, it improves network connection efficiency and stability, reducing the risk of communication interruption; and it optimizes the disconnection and reconnection and topology update processes for mobile robot scenarios, ensuring continuous and reliable communication in a wide area, providing practical support for applications such as intelligent warehousing and autonomous driving.

[0029] Example 2 The second embodiment of this application also provides a dynamic communication system for mobile robots based on the StarFlash protocol. This system is used to implement the embodiments and preferred embodiments described above, and will not be repeated hereafter. As used below, the terms "module," "unit," "subunit," etc., can refer to a combination of software and / or hardware that performs a predetermined function. Although the system described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0030] like Figure 2 As shown, the system includes: a deployment module 100, a topology self-organizing network module 200, a resolution module 300, and a link module 400.

[0031] Deployment module 100 is used to deploy StarSpark wireless communication modules on mobile robots and multiple fixed devices respectively. The StarSpark wireless communication modules support the StarSpark protocol and interact with data through UART or IO interfaces. The topology self-organizing network module 200 is used to automatically initiate a tree-shaped topology self-organizing network process based on the same identification code within a preset wide area, forming a multi-node network, wherein each node is assigned a unique MAC address and maintains a list of neighboring nodes. The parsing module 300 is used for the fixed device module to continuously and periodically send device information broadcast packets. After the mobile robot module enters the area, it listens for all broadcast packets and parses the device identifier. The link module 400 is used by the mobile robot to select a target fixed device based on the parsing result, initiate a point-to-point connection through the MAC address, establish a communication link, and then send control commands or data to multiple fixed devices based on the multi-node network.

[0032] Preferably, in this embodiment, the system further includes: The disconnect module is used to automatically terminate the connection and update the network node topology status when the mobile robot leaves the communication range or receives a disconnect command.

[0033] Preferably, in this embodiment, the system further includes: The priority connection module is used to calculate signal strength indicators and packet loss rate in real time, thereby calculating the connection priority value, and dynamically selecting the target fixed device based on the connection priority value.

[0034] Preferably, in this embodiment, the priority connection module is specifically used for: Based on the dynamic load balancing algorithm, the current number of connections and signal stability index of each device are obtained, and the priority weight of the device is calculated so as to select the target fixed device based on the priority weight.

[0035] It should be noted that the modules can be functional modules or program modules, and can be implemented in software or hardware. For modules implemented in hardware, the modules can reside in the same processor; or the modules can be located in different processors in any combination.

[0036] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. 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 dynamic communication method for mobile robots based on the StarFlash protocol, characterized in that, Includes the following steps: The StarSpark wireless communication module is deployed on a mobile robot and multiple fixed devices respectively. The StarSpark wireless communication module supports the StarSpark protocol and interacts with data through UART or IO interface. Within a preset wide area, each of the StarSpark wireless communication modules automatically initiates a tree-topology self-organizing network process based on the same identification code to form a multi-node network, wherein each node is assigned a unique MAC address and maintains a list of neighboring nodes. The fixed equipment module continuously and periodically sends equipment information broadcast packets. After the mobile robot module enters the area, it listens for all broadcast packets and parses the equipment identifier. The mobile robot selects a target fixed device based on the parsing results, initiates a point-to-point connection through the MAC address, establishes a communication link, and then sends control commands or transmits data to multiple fixed devices based on the multi-node network.

2. The mobile robot dynamic communication method based on the StarFlash protocol according to claim 1, characterized in that, The method further includes: When the mobile robot leaves the communication range or receives a disconnect command, the connection is automatically terminated, and the network nodes update the topology status.

3. The mobile robot dynamic communication method based on the Star Flash protocol according to claim 1, characterized in that, During the process of listening to broadcast packets and parsing device identifiers, the method further includes: The signal strength index and packet loss rate are calculated in real time to obtain the connection priority value, and the target fixed device is dynamically selected based on the connection priority value.

4. The mobile robot dynamic communication method based on the Star Flash protocol according to claim 3, characterized in that, The expression for calculating the connection priority value is: ； In the formula, q is the connection priority value, s is the signal strength index, and p is the packet loss rate.

5. The mobile robot dynamic communication method based on the Star Flash protocol according to claim 1, characterized in that, The steps for dynamically selecting a target fixed device based on connection priority include: Based on the dynamic load balancing algorithm, the current number of connections and signal stability index of each device are obtained, and the priority weight of the device is calculated so as to select the target fixed device based on the priority weight.

6. The dynamic communication method for mobile robots based on the StarFlash protocol according to claim 5, characterized in that, The expression for calculating the priority weight is: ； In the formula, w is the priority weight, k is the connection number adjustment coefficient, c is the current connection number, m is the stability adjustment coefficient, and r is the signal stability index.

7. A dynamic communication system for mobile robots based on the StarFlash protocol, characterized in that, include: The deployment module is used to deploy the StarSpark wireless communication module on a mobile robot and multiple fixed devices respectively. The StarSpark wireless communication module supports the StarSpark protocol and interacts with data through UART or IO interface. The topology self-organizing network module is used to automatically initiate a tree-shaped topology self-organizing network process based on the same identification code within a preset wide area, forming a multi-node network, wherein each node is assigned a unique MAC address and maintains a list of neighboring nodes. The parsing module is used to continuously and periodically send device information broadcast packets from the fixed device module. After the mobile robot module enters the area, it listens for all broadcast packets and parses the device identifier. The link module is used by the mobile robot to select a target fixed device based on the parsing result, initiate a point-to-point connection through the MAC address, establish a communication link, and then send control commands or data to multiple fixed devices based on the multi-node network.

8. The mobile robot dynamic communication system based on the StarFlash protocol according to claim 7, characterized in that, The system also includes: The disconnect module is used to automatically terminate the connection and update the network node topology status when the mobile robot leaves the communication range or receives a disconnect command.

9. The mobile robot dynamic communication system based on the StarFlash protocol according to claim 7, characterized in that, The system also includes: The priority connection module is used to calculate signal strength indicators and packet loss rate in real time, thereby calculating the connection priority value, and dynamically selecting the target fixed device based on the connection priority value.

10. The mobile robot dynamic communication system based on the StarFlash protocol according to claim 7, characterized in that, The priority connection module is specifically used for: Based on the dynamic load balancing algorithm, the current number of connections and signal stability index of each device are obtained, and the priority weight of the device is calculated so as to select the target fixed device based on the priority weight.

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