A device communication method, system, and storage medium

Abstract

This invention relates to a device communication method, system, and storage medium. The device communication method is applied to a first device and includes: acquiring network performance indicators of a target communication link; wherein the target communication link is a dedicated communication link between the first device and a second device established through a dedicated network identifier; comparing the network performance indicators with preset quality thresholds corresponding to various communication strategies, and determining a target communication strategy from among the various communication strategies based on the comparison results; and communicating with the second device through the target communication link according to the target communication strategy. The method provided in this application establishes an end-to-end dedicated communication link between devices, reduces network latency through network structure optimization, and monitors network status through network performance indicators. This allows for further reduction of network latency by adjusting communication strategies during network fluctuations, and ensures that the device's related services can still be executed normally and stably during network fluctuations.

Description

Technical Field

[0001] This invention relates to the field of device communication technology, and in particular to a device communication method, system and storage medium. Background Technology

[0002] Currently, real-time remote robot control has broad application prospects in many fields such as industrial inspection, emergency rescue, and telemedicine. However, current remote robot control systems generally lack adaptive service adjustment mechanisms and cannot dynamically switch data transmission strategies according to the network environment. In practical applications, network fluctuations such as an increase in the number of network access devices, an increase in network traffic, changes in wireless channels, and backbone network switching can all cause unexpected increases in transmission latency, leading to problems such as image transmission stuttering and delayed operation response, resulting in the inability to perform remote control services normally and posing significant security risks. Summary of the Invention

[0003] To address the aforementioned technical problems, embodiments of this disclosure provide a device communication method, system, and storage medium.

[0004] In a first aspect, embodiments of this disclosure provide a device communication method applied to a first device, the method comprising: Obtain network performance metrics of the target communication link; wherein, the target communication link is a dedicated communication link between the first device and the second device established through a dedicated network identifier; The network performance indicators and preset quality thresholds corresponding to various communication strategies are compared, and the target communication strategy is determined from the various communication strategies based on the comparison results. According to the target communication strategy, the first device communicates with the second device through the target communication link.

[0005] Optionally, the network performance metrics include round-trip time and packet loss rate, and the preset quality thresholds include a latency threshold and a packet loss rate threshold; the step of comparing the network performance metrics with the preset quality thresholds corresponding to various communication strategies, and determining the target communication strategy from the various communication strategies based on the comparison results, includes: The round-trip time and the packet loss rate are compared with the time delay threshold and packet loss rate threshold corresponding to each communication strategy, and the target communication strategy is determined from the multiple communication strategies based on the comparison results.

[0006] Optionally, the maximum bit rate of the video data to be transmitted and / or the processing mode of the control commands to be processed are set differently for each of the various communication strategies, and different processing modes correspond to different processing delays.

[0007] Optionally, the multiple communication strategies include a first communication strategy, a second communication strategy, and a third communication strategy: The maximum bit rate set in the first communication strategy is lower than the maximum bit rate set in the second communication strategy, and the maximum bit rate set in the second communication strategy is lower than the maximum bit rate set in the third communication strategy. And / or, the processing delay set in the first communication strategy is higher than the processing delay set in the second communication strategy, and the processing delay set in the second communication strategy is higher than the processing delay set in the third communication strategy.

[0008] Optionally, comparing the round-trip time and the packet loss rate with the time delay threshold and packet loss rate threshold corresponding to each communication strategy, and determining the target communication strategy from the multiple communication strategies based on the comparison results, includes: If the round-trip delay is greater than the first delay threshold, or the packet loss rate is greater than the first packet loss rate threshold, then the first communication strategy is determined as the target communication strategy. If the round-trip delay falls within the set delay threshold range, and the packet loss rate is less than or equal to the second packet loss rate threshold, then the second communication strategy is determined as the target communication strategy, and the first delay threshold is greater than the maximum delay threshold within the set delay threshold range. If the round-trip delay is less than the second delay threshold and the packet loss rate is less than or equal to the second packet loss rate threshold, then the third communication strategy is determined as the target communication strategy, and the second delay threshold is less than the minimum delay threshold within the set delay threshold range.

[0009] Optionally, the set delay threshold range includes a first threshold range and a second threshold range that partially overlap, the minimum value of the first threshold range is less than the minimum value of the second threshold range, and the second packet loss rate threshold includes a first threshold and a second threshold, the first threshold being less than the second threshold; The step of comparing the round-trip time and the packet loss rate with the time delay threshold and packet loss rate threshold corresponding to each communication strategy, respectively, and determining the target communication strategy from the multiple communication strategies based on the comparison results, includes: If the round-trip delay is greater than the first delay threshold, or the packet loss rate is greater than the first packet loss rate threshold, the second communication strategy is switched to the first communication strategy, or the third communication strategy is switched to the first communication strategy. If the round-trip time is within the first threshold range and the packet loss rate is equal to the first threshold, the first communication strategy is switched to the second communication strategy; if the round-trip time is within the second threshold range and the packet loss rate is less than the second threshold, the third communication strategy is switched to the second communication strategy. If the round-trip time is less than the second delay threshold and the packet loss rate is equal to the first threshold, the first communication strategy is switched to the third communication strategy; if the round-trip time is less than the second delay threshold and the packet loss rate is less than the second threshold, the second communication strategy is switched to the third communication strategy.

[0010] Optionally, the step of the first device communicating with the second device through the target communication link according to the target communication strategy includes: When the processing mode set by the target communication strategy is a delayed processing mode, the control command sent by the second device is received; Store the control commands into a pre-set buffer; The control command is read from the buffer according to the output frequency; wherein the output frequency is determined according to the transmission frequency of the control command, or is a pre-configured fixed frequency; Execute the control command and obtain the current video data after the control command is executed; wherein, the waiting time between receiving and executing the control command corresponds to the processing delay set by the delay processing mode; According to the target communication strategy, the current video data is transmitted to the second device through the target communication link.

[0011] Optionally, comparing the round-trip time and the packet loss rate with the delay threshold and packet loss rate threshold corresponding to each communication strategy includes: The round-trip delay is filtered to obtain the current filtered round-trip delay. The round-trip time is calculated based on the round-trip time, the round-trip time after the current filtering, and the set filtering coefficient; wherein the filtering coefficient corresponds to the switching frequency of the communication strategy. The round-trip delay after the next filtering and the packet loss rate are compared with the delay threshold and packet loss rate threshold corresponding to each communication strategy to generate a comparison result.

[0012] Optionally, the method further includes: In response to a communication link disconnection request, the target communication link is disconnected; In response to a communication link connection request, a third device in an idle state is identified; wherein, the third device refers to other control devices that have not established a communication link with the first device; A dedicated communication link is established between the first device and the third device using the dedicated network identifier.

[0013] Secondly, embodiments of this disclosure provide a device communication system, the device communication system including a first device, a second device, and a communication network layer, wherein: The communication network layer is used to establish a target communication link between the first device and the second device through a dedicated network identifier; The first device is used to acquire network performance indicators of the target communication link; compare the network performance indicators with preset quality thresholds corresponding to various communication strategies, determine the target communication strategy from the various communication strategies; and communicate with the second device through the target communication link according to the target communication strategy. The second device is used to receive data transmitted by the first device through the target communication link.

[0014] Optionally, the communication network layer includes multiple access layers, multiple aggregation layers, and a core layer, wherein the access layer corresponds to a 5G indoor distributed pico base station or a WiFi network device, and the WiFi network device is configured to provide network coverage via a fixed frequency band; the first device is located in a first geographical area, and the second device is located in a second geographical area; the target communication link is established sequentially via the access layer and aggregation layer of the first geographical area, the core layer, and the aggregation layer and access layer of the second geographical area.

[0015] Optionally, when multiple communication links are established between multiple devices at the communication network layer, the multiple communication links communicate in parallel; wherein the control devices and / or controlled devices corresponding to each of the multiple communication links are different.

[0016] Thirdly, embodiments of this disclosure provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described in the first aspect above.

[0017] This disclosure provides a device communication method applied to a first device, comprising: acquiring network performance indicators of a target communication link; wherein the target communication link is a dedicated communication link between the first device and a second device established through a dedicated network identifier; comparing the network performance indicators with preset quality thresholds corresponding to various communication strategies, and determining a target communication strategy from among the various communication strategies based on the comparison results; and communicating with the second device through the target communication link according to the target communication strategy. The method provided in this application establishes an end-to-end dedicated communication link between devices with a control relationship, reduces network latency through network structure optimization, and monitors network status through network performance indicators to further reduce network latency by adjusting communication strategies during network fluctuations, ensuring that the device's related services can still be executed normally and stably during network fluctuations. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0019] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A flowchart illustrating the device communication method provided in this embodiment of the disclosure; Figure 2 This is a schematic diagram of a device communication scenario provided in an embodiment of the present disclosure; Figure 3 A schematic flowchart illustrating another device communication method provided in an embodiment of this disclosure; Figure 4 A logical diagram illustrating various communication strategies provided in embodiments of this disclosure; Figure 5 This is a schematic diagram of the structure of the device communication system provided in the embodiments of this disclosure; Figure 6 This is a network topology diagram of a robot cranking system provided in an embodiment of this disclosure; Figure 7 This is a schematic diagram of the robot shaking operation process provided in an embodiment of the present disclosure; Figure 8 This is a schematic diagram of the structure of the device communication apparatus provided in the embodiments of this disclosure; Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure. Detailed Implementation

[0021] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the solutions disclosed herein will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0022] Numerous specific details are set forth in the following description in order to provide a full understanding of this disclosure, but this disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some, and not all, of the embodiments of this disclosure.

[0023] Specifically, real-time remote robot control has broad application prospects, including industrial inspection, emergency rescue, telemedicine, commercial services, and operations in special environments. Feasible wireless communication solutions for real-time remote robot control include Self-Organizing Wireless Networks (SDR), WiFi, and 5G. However, SDR is expensive and has limited range, generally within 20km. WiFi uses unlicensed frequency bands and is susceptible to interference. 5G, on the other hand, uses dedicated frequency bands and has a mature network architecture, making it more advantageous for real-time remote robot control (>100km). In recent years, 5G-based remote robot control has developed rapidly, but it generally lacks adaptive service adjustment mechanisms and does not dynamically switch data transmission strategies according to the network environment. Specifically, in real-time remote robot control scenarios, the increase in network access devices, the increase in network traffic, changes in wireless access channels, and the switching of backbone networks all cause increased latency, jitter, and packet loss rates, leading to problems such as image transmission stuttering, delayed operation response, and robot movement step jumps. This results in the inability to perform remote control services normally and poses significant security risks.

[0024] To address the aforementioned problem of severe network fluctuations significantly impacting remote control services, this disclosure provides a device communication method that optimizes 5G networks by proposing end-to-end communication between devices, reducing network latency and jitter. Secondly, it introduces network performance metrics and, when the communication network fluctuates, further reduces network latency by adjusting the maximum bit rate of image transmission and the packet aggregation logic of remote control commands, ensuring smooth execution of remote control services. Detailed explanations are provided through one or more of the following embodiments.

[0025] Figure 1 This is a flowchart illustrating a device communication method provided in an embodiment of the present disclosure, applied to a first device, specifically including as follows: Figure 1 The following steps are shown: S101. Obtain the network performance indicators of the target communication link; wherein, the target communication link is a dedicated communication link between the first device and the second device established through a dedicated network identifier.

[0026] Understandably, the target communication link is a dedicated communication link between the first and second devices, used to realize data transmission between the devices. Specifically, it can be a link established through a dedicated network identifier, featuring low latency and high isolation. The dedicated network identifier refers to the data network name, used to achieve network isolation and precise routing. In one embodiment, the communication link is an established 5G end-to-end private network DNN (Data Network Name), in which 5G wide area network communication forwards data between devices through the established 5G private network DNN, achieving end-to-end communication. In another embodiment, D2D (Device-to-Device) communication technology can also be used to achieve end-to-end communication. Here, the first device is the controlled device, and the second device is the controlling device. For example, the first device is robot A at the robot end in a robot remote-controlled scenario, and the second device is controller A at the control end in the same scenario. The target communication link is a dedicated communication link between robot A and controller A. For example... Figure 2 This is a schematic diagram of a device communication scenario provided in an embodiment of this disclosure. The control end includes multiple controllers, the robot end includes multiple robots, and an end-to-end dedicated communication link is established between robot A and controller A, and a dedicated communication link is established between robot B and controller C.

[0027] The network performance metrics include round-trip time and packet loss rate.

[0028] Understandably, network performance metrics are used to characterize the data transmission quality of a current communication link, including round-trip time (RTT) and packet loss rate (PLR). RTT and PLR are the two most critical fundamental metrics for measuring network quality. RTT measures the network's transmission speed, while PLR ​​measures the network's reliability.

[0029] Understandably, the first device sends probe data packets (such as ping packets) to the second device at fixed intervals (e.g., 200ms) and detects the responses from the second device. Subsequently, real-time network performance metrics are obtained through the ping packets. For example, the current round-trip time (RTTcurrent) of the first device is calculated based on the sending and receiving times of each ping packet. Simultaneously, using the most recent 100 consecutive probe results (corresponding to a 20-second time window) as a statistical period, the number of probe packets for which no response was received from the second device is recorded, thus obtaining the packet loss rate. For example, the percentage of lost ping packets within the statistical period relative to the total number of ping packets sent can be calculated to obtain the packet loss rate. Furthermore, considering the relatively stable communication link, to avoid frequent changes to the adaptive communication strategy due to abnormal RTT jumps, the RTT update frequency can be set to 5Hz. This allows the adaptive communication strategy to be triggered when significant changes occur in the channel environment, such as wireless channel obstruction or switching of the robot terminal.

[0030] S102. Compare the network performance indicators with the preset quality thresholds corresponding to the various communication strategies, and determine the target communication strategy from the various communication strategies based on the comparison results.

[0031] Understandably, the first device has multiple pre-set communication strategies to adapt to different network qualities, environments, and states. Each communication strategy is associated with a set of preset quality thresholds. The currently measured network performance indicators are compared with the preset quality thresholds for each communication strategy to determine whether the current indicator falls within the quality range defined by that strategy, generating a comparison result. Subsequently, based on the comparison result, a target communication strategy is determined from the multiple strategies. This target strategy is suitable for the current network quality or state. By comparing the current network performance indicators with the corresponding quality thresholds of the communication strategies, the controlled device can dynamically respond to network changes and adaptively switch to an appropriate communication strategy. This avoids transmission stuttering and other issues caused by using a fixed communication strategy in different network environments, thus ensuring the stability of the controlled device.

[0032] The preset quality thresholds include a latency threshold and a packet loss rate threshold.

[0033] Understandably, the quality threshold can be a single value (less than or equal to this value) or a range. The specific value of the threshold can be preset according to the actual network environment and business requirements.

[0034] Optionally, the step of comparing the network performance indicators with preset quality thresholds corresponding to various communication strategies, and determining the target communication strategy from the various communication strategies based on the comparison results, includes: The round-trip time and the packet loss rate are compared with the time delay threshold and packet loss rate threshold corresponding to each communication strategy, and the target communication strategy is determined from the multiple communication strategies based on the comparison results.

[0035] Understandably, the currently measured round-trip time is compared with the latency threshold of the communication strategy, and the currently calculated packet loss rate is compared with the packet loss rate threshold of the communication strategy. If both conditions are met, the applicable conditions of the communication strategy are considered met, and the communication strategy is determined as the target communication strategy. This allows the robot to adaptively switch to the appropriate data transmission strategy based on the current transmission latency and packet loss rate, and interact with the bound controller under this transmission strategy.

[0036] Optionally, comparing the round-trip time and the packet loss rate with the delay threshold and packet loss rate threshold corresponding to each communication strategy includes: The round-trip delay is filtered to obtain the current filtered round-trip delay; the round-trip delay after the next filtering is calculated based on the round-trip delay, the current filtered round-trip delay, and the set filtering coefficients; wherein the filtering coefficients correspond to the switching frequency of the communication strategy; the next filtered round-trip delay and the packet loss rate are compared with the delay threshold and packet loss rate threshold corresponding to each communication strategy, respectively, to generate a comparison result.

[0037] Understandably, before comparing the round-trip time (RTT) with the delay threshold corresponding to each communication strategy, the current RTT is filtered first. Specifically, after obtaining the real-time RTT through ping packets, the real-time RTT is filtered to obtain the current filtered RTT; then, based on the real-time RTT and the pre-set filtering coefficients, the current filtered RTT is updated to obtain the next filtered RTT, and the next filtered RTT is used as the judgment index. Considering the stability of the communication link and to avoid frequent changes in communication strategies, the real-time RTT is filtered multiple times. The specific filtering method is not limited. For example, the next filtered RTT can be obtained by using a first-order α filter with a 5Hz update frequency and a filtering coefficient of 0.1 to perform real-time smoothing of RTT, as shown in formula (1).

[0038] RTT_filtered1 = alpha * RTT_current + (1 - alpha) * RTT_filtered0 formula (1) In the formula, alpha is the filtering coefficient, which can be set according to the requirements, such as 0.1; RTT_current is the real-time round-trip time; RTT_filtered0 is the round-trip time after the current filtering; and RTT_filtered1 is the round-trip time after the next filtering.

[0039] S103. According to the target communication strategy, the first device communicates with the second device through the target communication link.

[0040] Understandably, once the target communication strategy is determined, actual data transmission occurs with the second device through the established target communication link, according to the parameters and rules defined by that strategy. For example, the robot transmits collected video data to the controller, providing high-quality real-time video feedback to the controller as closely as possible to the network environment, so that the controller can give accurate control commands based on the real-time video.

[0041] Understandably, the target communication link is a dedicated communication link established through a 5G private network DNN. It serves as a logical channel for data exchange between the robot and the control unit, characterized by end-to-end connectivity, resource isolation, and no need for cloud-based routing. Furthermore, the communication based on the target communication link is bidirectional, including both the robot receiving control commands from the control unit (referred to as the downlink) and the robot sending video data to the control unit (referred to as the uplink).

[0042] Optionally, the method further includes: In response to a communication link disconnection request, the target communication link is disconnected; in response to a communication link connection request, a third device in an idle state is identified; wherein, the third device refers to other control devices that have not established a communication link with the first device; a dedicated communication link is established between the first device and the third device through the dedicated network identifier.

[0043] Understandably, after establishing a communication link between the first and second devices, they can flexibly switch to other communication links. In one embodiment, the second device (i.e., the control device) can actively disconnect the communication link with the currently bound first device (i.e., the controlled device) as needed, without requiring a response from the first device. Alternatively, the second device can send a communication link disconnection request to the first device, which will then respond to the request and disconnect the communication link with the second device. Subsequently, the second device can re-establish a 5G intercity communication tunnel with any other idle robot, enabling cross-city robot rotation and control, i.e., flexible switching control.

[0044] Understandably, after the first device disconnects the target communication link with the second device, it can re-establish a dedicated communication link with other control devices. Specifically, in response to a communication link connection request, a third device in an idle state is identified. The third device refers to other control devices that have not yet established a communication link with the first device. The communication link connection request can be initiated by the third device and sent to the first device. This connection request carries the device identifier of the third device or other information that facilitates the establishment of an end-to-end dedicated communication link. Subsequently, a dedicated communication link between the first device and the third device is established through a dedicated network identifier (i.e., a 5G private network DNN). The specific establishment process is described in the following embodiment and will not be repeated here.

[0045] Optionally, the method further includes: In the case where the first device corresponds to multiple communication links, in response to a communication link switching request, the device switches to other communication links among the multiple communication links besides the target communication link; wherein, the fourth device corresponding to the other communication link is a backup device of the second device.

[0046] Understandably, the second device is the master control device of the first device, and the fourth device is the backup control device of the first device. The first device, the second device, and the fourth device each establish communication links, meaning the first device corresponds to multiple communication links. In this case, in response to a communication link switching request, the device switches to a communication link other than the target communication link, that is, to the communication link established with the backup control device. This allows for direct switching to other established communication links in the event of a communication link failure, reducing waiting time and improving the user's experience operating the robot. The communication link switching request can be generated when a target communication link failure is detected; for example, it can be issued by the fourth device or generated by the first device itself.

[0047] Optionally, the method further includes: Acquire the latency jitter data of the target communication link; adjust the settings of the target communication strategy based on the latency jitter data.

[0048] Understandably, when the first device adopts the target communication strategy and communicates with the second device through the target communication link, that is, during the execution of the remote control service, it obtains the latency jitter data of the target communication link and adjusts the settings of the target communication strategy based on the latency jitter data, for example, adjusting the maximum bit rate set in the target communication strategy.

[0049] The device communication method provided in this disclosure acquires network performance indicators that reflect network fluctuations in real time, and determines a communication strategy that adapts to the current network conditions when the communication network fluctuates. Under this strategy, the maximum bit rate of image transmission and the packet aggregation logic for remote operation commands are adjusted to reduce network latency and ensure the smooth execution of remote operation services.

[0050] Based on the above embodiments, Figure 3 This is a flowchart illustrating another device communication method provided in an embodiment of this disclosure. Optionally, the step of comparing the round-trip time and the packet loss rate with the delay threshold and packet loss rate threshold corresponding to each communication strategy, and determining the target communication strategy from the multiple communication strategies based on the comparison results, specifically includes, as follows: Figure 3 The following steps are shown: The various communication strategies each have different maximum bitrates for the video data to be transmitted and / or different processing modes for the control commands to be processed, and different processing modes correspond to different processing delays.

[0051] Understandably, each communication strategy sets a maximum bit rate and a processing mode for control commands. Different communication strategies have different maximum bit rates and / or processing modes for control commands, and different processing modes correspond to different processing delays. In other words, different communication strategies have at least one different setting when configuring the maximum bit rate and processing mode. Here, processing delay refers to the time spent processing a single control command. For example, in a poor network environment, a lower maximum bit rate can be set, while a higher processing delay can also be set; conversely, in a good network environment, a higher maximum bit rate can be set, while a lower processing delay can also be set.

[0052] Understandably, when the target communication strategy uses a packet-accumulation mode, the robot temporarily stores multiple received control commands in a buffer and waits for a preset processing delay (e.g., 100ms) before executing the commands in the buffer sequentially at a fixed output frequency (e.g., 90Hz). By introducing this processing delay, multiple control commands can accumulate in the buffer, thus outputting them at uniform time intervals. This effectively offsets the uneven arrival time of commands caused by network jitter and prevents robot motion stuttering.

[0053] The multiple communication strategies include a first communication strategy, a second communication strategy, and a third communication strategy; the maximum bit rate set in the first communication strategy is lower than the maximum bit rate set in the second communication strategy, the maximum bit rate set in the second communication strategy is lower than the maximum bit rate set in the third communication strategy, and / or, the processing delay set in the first communication strategy is higher than the processing delay set in the second communication strategy, and the processing delay set in the second communication strategy is higher than the processing delay set in the third communication strategy.

[0054] In one embodiment, three communication strategies are set, wherein the maximum bit rate set in the first communication strategy is lower than the maximum bit rate set in the second communication strategy, the maximum bit rate set in the second communication strategy is lower than the maximum bit rate set in the third communication strategy, and / or the processing latency set in the first communication strategy is higher than the processing latency set in the second communication strategy, and the processing latency set in the second communication strategy is higher than the processing latency set in the third communication strategy. That is, the first communication strategy is more suitable for poor network environments than the second and third communication strategies. The number of communication strategies and other possible communication strategies can be set according to communication requirements.

[0055] S301. If the round-trip delay is greater than the first delay threshold, or the packet loss rate is greater than the first packet loss rate threshold, then the first communication strategy is determined as the target communication strategy.

[0056] Understandably, if the round-trip latency exceeds a first latency threshold, or the packet loss rate exceeds a first packet loss rate threshold, then the first communication strategy is determined as the target communication strategy. For example, the first communication strategy is a guaranteed quality of service strategy, with a corresponding first latency threshold of 150ms and a corresponding first packet loss rate threshold of 3%. The maximum bitrate set in the first communication strategy is 1Mbps (guaranteed image quality), and the processing mode is a delayed processing mode (i.e., packet aggregation mode).

[0057] S302. If the round-trip delay falls within the set delay threshold range, and the packet loss rate is less than or equal to the second packet loss rate threshold, then the second communication strategy is determined as the target communication strategy.

[0058] The first delay threshold is greater than the maximum delay threshold within the set delay threshold range.

[0059] Understandably, if the round-trip latency is within a set latency threshold range (hereinafter referred to as the set range), and the packet loss rate is less than or equal to the second packet loss rate threshold, then the second communication strategy is determined as the target communication strategy. Specifically, the first latency threshold is greater than the maximum latency threshold within the set range, and the first packet loss rate threshold is greater than the second packet loss rate threshold. For example, the second communication strategy is a normal strategy providing normal service quality, with a corresponding set range of 80ms to 150ms, and a corresponding second packet loss rate threshold between 0% and 3%. The maximum bitrate set in the second communication strategy is 4Mbps (standard definition), and the processing mode is a non-delay processing mode (i.e., no packet accumulation mode).

[0060] S303. If the round-trip delay is less than the second delay threshold and the packet loss rate is less than or equal to the second packet loss rate threshold, then the second communication strategy is determined as the target communication strategy.

[0061] The second delay threshold is less than the smallest delay threshold within the set delay threshold range.

[0062] Understandably, if the round-trip time is less than the second delay threshold and the packet loss rate is less than or equal to the second packet loss rate threshold, then the third communication strategy is determined as the target communication strategy. The second delay threshold is less than the minimum delay threshold within the set range. For example, if the third communication strategy is a high-configuration strategy providing advanced quality of service, the second delay threshold is 80ms.

[0063] Optionally, different communication strategies can be switched. The threshold conditions for switching between different strategies are different. That is, the threshold conditions for switching from the first communication strategy to the second communication strategy are different from the threshold conditions for switching from the second communication strategy to the first communication strategy. The threshold conditions for switching from the same communication strategy to different communication strategies are also different; that is, the threshold conditions for switching from the first communication strategy to the second or the third communication strategy are different; and the threshold conditions for switching from the third communication strategy to the first or the second communication strategy are also different.

[0064] For example, the threshold conditions for switching from the first communication strategy to the second communication strategy are: the round-trip time is between 80ms and 130ms and the packet loss rate is 0%, while the threshold conditions for switching from the second communication strategy to the first communication strategy are: the round-trip time is greater than 150ms or the packet loss rate is greater than 3%.

[0065] Optional, The set delay threshold range includes a first threshold range and a second threshold range that partially overlap, the minimum value of the first threshold range is less than the minimum value of the second threshold range, and the second packet loss rate threshold includes a first threshold and a second threshold, the first threshold being less than the second threshold.

[0066] In one embodiment, the first threshold ranges from 80ms to 130ms, and the second threshold ranges from 100ms to 150ms. The first threshold is 0%, and the second threshold is 3%.

[0067] Optionally, comparing the round-trip time and the packet loss rate with the time delay threshold and packet loss rate threshold corresponding to each communication strategy, and determining the target communication strategy from the multiple communication strategies based on the comparison results, includes: If the round-trip time is greater than a first delay threshold, or the packet loss rate is greater than a first packet loss rate threshold, the second communication strategy switches to the first communication strategy, or the third communication strategy switches to the first communication strategy; if the round-trip time is within the range of the first threshold and the packet loss rate is equal to the first threshold, the first communication strategy switches to the second communication strategy; if the round-trip time is within the range of the second threshold and the packet loss rate is less than the second threshold, the third communication strategy switches to the second communication strategy; if the round-trip time is less than a second delay threshold and the packet loss rate is equal to the first threshold, the first communication strategy switches to the third communication strategy; if the round-trip time is less than the second delay threshold and the packet loss rate is less than the second threshold, the second communication strategy switches to the third communication strategy.

[0068] Understandably, the threshold conditions for switching from the first communication strategy to the second or third communication strategy are different. For example, the threshold conditions for switching from the first to the third communication strategy are: the round-trip time is less than the second delay threshold (80ms), and the packet loss rate is equal to the first threshold (0%). The threshold conditions for switching from the first to the second communication strategy are: the round-trip time is within the range of the first threshold (80ms to 130ms), and the packet loss rate is equal to the first threshold (0%).

[0069] Understandably, the threshold conditions for switching from the second communication strategy to the third communication strategy or the first communication strategy are also different. For example, the threshold conditions for switching from the second communication strategy to the first communication strategy are: round-trip time greater than the first delay threshold (150ms), or packet loss rate greater than the first packet loss rate threshold (3%). The threshold conditions for switching from the second communication strategy to the third communication strategy are: round-trip time less than the second delay threshold (80ms), and packet loss rate less than the second threshold (3%).

[0070] Understandably, the threshold conditions for switching from the third communication strategy to the second or first communication strategy are also different. For example, the threshold conditions for switching from the third communication strategy to the first communication strategy are: the round-trip time is greater than the first delay threshold (150ms), or the packet loss rate is greater than the first packet loss rate threshold (3%). The threshold conditions for switching from the third communication strategy to the second communication strategy are: the round-trip time is within the second threshold range (100ms to 150ms), and the packet loss rate is less than the second threshold (3%).

[0071] In addition, the threshold conditions for switching from a high level to a low level may be the same. For example, the threshold conditions for switching from the third or second communication strategy to the first communication strategy are the same. For example, Figure 4The diagram illustrates the logic of various communication strategies provided in this embodiment. Three communication strategies are shown: a first strategy providing a minimum quality of service (QoS), a second strategy providing normal QoS, and a third strategy providing high-quality of service (QHS). The third strategy sets a maximum bitrate of 10 Mbps (HD quality) and uses a non-delayed processing mode (i.e., no packet aggregation). Figure 4 The adaptive switching logic of the communication strategy shown is as follows: if the RTT is less than 80ms and the packet loss rate PLR ​​is less than 3%, the service is switched from normal service (i.e., the second communication strategy) to high-end service (i.e., the third communication strategy); if the RTT is greater than 150ms or the packet loss rate PLR ​​is greater than 3%, the service is switched from normal service to backup service (i.e., the first communication strategy); if the RTT is less than 150ms and greater than 100ms, and the packet loss rate PLR ​​is less than 3%, the service is switched from high-end service to normal service; if the RTT is greater than 150ms or the packet loss rate PLR ​​is greater than 3%, the service is switched from high-end service to backup service; if the RTT is less than 130ms and greater than 80ms, and the packet loss rate PLR ​​is 0%, the service is switched from backup service to normal service; if the RTT is less than 80ms and the packet loss rate PLR ​​is 0%, the service is switched from backup service to high-end service; if the RTT is between 80ms and 150ms and the PLR ​​is less than 3%, the service is determined to be normal service.

[0072] Understandably, in the communication strategy settings, you can directly set whether to enable packet aggregation. When packet aggregation is disabled, you can set different processing delays, and when packet aggregation is enabled, you can also set different processing delays. For example, based on the above example, if neither the third nor the second communication strategy enables packet aggregation, one example is that they have different maximum bit rates and different processing delays; another example is that they have different maximum bit rates and use the fixed processing delay corresponding to not enabling packet aggregation; yet another example is that they have the same maximum bit rate and different processing delays.

[0073] Understandably, after setting the maximum bitrate, the maximum bitrate can be used as the actual bitrate to transmit video data to the second device. Alternatively, the bitrate can be adjusted within the maximum bitrate range using a congestion control algorithm, meaning the actual bitrate will be less than or equal to the maximum bitrate (highest bitrate). The bitrate threshold can be set based on the video transmission experience; for example, 10Mbps for high-definition quality, 4Mbps for standard-definition quality, and 1Mbps for minimum quality.

[0074] Optionally, the step of the first device communicating with the second device through the target communication link according to the target communication strategy includes: When the processing mode set by the target communication strategy is a delayed processing mode, the system receives a control command sent by the second device; stores the control command in a pre-set buffer; reads the control command from the buffer according to the output frequency; wherein the output frequency is determined based on the sending frequency of the control command or a pre-configured fixed frequency; executes the control command and obtains the current video data after the execution of the control command; wherein the waiting time between receiving and executing the control command corresponds to the processing delay set by the delayed processing mode; and transmits the current video data to the second device through the target communication link according to the target communication strategy.

[0075] Understandably, when the target communication strategy is a delayed processing mode, the received control commands from the second device are stored in a pre-set buffer in the first device. For example, control commands from the controller are placed in the buffer, meaning the robot caches multiple control commands. Subsequently, commands are read sequentially from the buffer according to the output frequency. The output frequency is determined by the transmission frequency of the control commands; for example, the output frequency can be equal to the transmission frequency (e.g., 90Hz) or a multiple of the transmission frequency, in which case the processing delay can be set to 100ms. Alternatively, the output frequency can be determined based on a fixed frequency, such as an independently set fixed frequency (e.g., 80Hz), in which case the processing delay can be set to 125ms. Furthermore, the processing delay and output frequency also determine the number of commands that need to be pre-accumulated in the buffer, thus smoothing out changes in the command arrival interval caused by network jitter. Subsequently, the read control command is executed, and the current video data obtained after the command is executed is uploaded to the second device. The waiting time and processing delay between receiving and storing the control command in the buffer and reading it from the buffer for execution correspond to the control command's processing delay (e.g., 100ms). Then, according to the maximum bitrate set in the target communication strategy, the current video data is uploaded to the second device via the target communication link.

[0076] The device communication method provided in this embodiment achieves an adaptive haptic control strategy through a dynamic start control command packet buffering mechanism, which effectively reduces robot motion stuttering.

[0077] Based on the above embodiments, Figure 5 This is a schematic diagram of the structure of a device communication system provided in an embodiment of the present disclosure, wherein the device communication system includes a first device, a second device, and a communication network layer.

[0078] The communication network layer is used to establish a target communication link between the first device and the second device through a dedicated network identifier; the first device is used to obtain network performance indicators of the target communication link; compare the network performance indicators with preset quality thresholds corresponding to various communication strategies, and determine a target communication strategy from the various communication strategies; communicate with the second device through the target communication link according to the target communication strategy; the second device is used to receive data transmitted by the first device through the target communication link.

[0079] Understandably, the device communication system includes a control end, a controlled end, and a communication network layer. The controlled end includes a first device, such as a robot, and the control end includes a second device, such as a controller. Specifically, the communication network layer is used to establish a dedicated communication link between the control end and the controlled end through a dedicated network identifier, including a target communication link between the first and second devices. The first device is used to acquire network performance indicators of the target communication link in real time, such as round-trip time and packet loss rate. It is also used to determine a target communication strategy suitable for the current network environment from a variety of preset communication strategies based on the network performance indicators. Furthermore, it is used to respond to control commands issued by the second device according to the processing delay set in the target communication strategy, and, in response to the control command, transmit video data to the second device at the maximum bitrate set in the target communication strategy. The second device is used to receive the video data transmitted by the first device through the target communication link, and to generate new control commands based on the video data and send the new control commands to the first device. Accordingly, when the communication network fluctuates, it adjusts the maximum bitrate of image transmission and the packet aggregation logic of remote control commands to ensure smooth execution of remote control services.

[0080] Optionally, the communication network layer includes multiple access layers, multiple aggregation layers, and a core layer. The access layer corresponds to a 5G indoor distributed base station or a WiFi network device, and the WiFi network device is configured to provide network coverage via a fixed frequency band. The first device is located in a first geographical area, and the second device is located in a second geographical area. The target communication link is established sequentially via the access layer and aggregation layer of the first geographical area, the core layer, and the aggregation layer and access layer of the second geographical area.

[0081] Understandably, the communication network layer comprises a three-layer network architecture: access layer, aggregation layer, and core layer. The control end includes at least one access layer and at least one aggregation layer, and the controlled end also includes at least one access layer and at least one aggregation layer. The access layer, the edge layer closest to the devices, is responsible for providing wireless access services, including 5G indoor distributed base stations and WiFi network devices (for wireless LAN access). Its main function is to receive data from devices and upload it to the aggregation layer, or to send data from the aggregation layer to devices. One embodiment optimizes indoor wireless network coverage by deploying 3.5GHz active indoor distributed systems in the access layer, ensuring high throughput and high concurrency. Another embodiment uses 5.2GHz WiFi devices in the access layer for network coverage, suitable for scenarios with multiple devices operating concurrently. The channels used avoid other channels allocated on the same channel or the first adjacent channel, preventing co-channel and adjacent channel interference. The aggregation layer is the intermediate layer between the access layer and the core layer, responsible for collecting data from the core layer and access layer, and performing aggregation, forwarding, and preliminary processing. The core layer is responsible for data exchange and routing between different geographical regions and between different aggregation layers. Based on this, the three-layer network architecture enables one-to-one or one-to-many control in long-distance communication scenarios without relying on cloud server deployment and forwarding. This not only reduces network latency but also provides highly reliable low-latency network assurance.

[0082] In one embodiment, a first device is located in a first geographical region, and a second device is located in a second geographical region. The first geographical region includes an access layer and an aggregation layer, and the second geographical region also includes an access layer and an aggregation layer. In this scenario, the transmission path (i.e., the video upload path) between the first and second devices via the target communication link is as follows: the access layer and aggregation layer, the core layer are deployed in the first geographical region, and the aggregation layer and access layer are deployed in the second geographical region, thereby enabling the upload of video data. This upload path does not pass through the public internet or a cloud server. The path for transmitting control commands is similar and will not be described in detail here.

[0083] In one embodiment, after video data is sent from the first device, it directly enters the core layer via the access layer and aggregation layer of the first geographical region. The core layer, based on a dedicated network identifier (such as a 5G private network DNN), directly forwards the data across geographical regions to the aggregation layer of the second geographical region, without sending the data out of the operator's network. Subsequently, it reaches the second device via the aggregation layer and access layer of the second geographical region. The entire data flow occurs only within the operator's network (access network, bearer network, core network), without relying on cloud relay, significantly shortening the end-to-end transmission distance, reducing latency, and avoiding additional packet loss and jitter caused by public network congestion or cloud processing bottlenecks, thereby ensuring the real-time performance and reliability of the robot remote control service.

[0084] For example, Figure 6The robot control network topology provided in this embodiment features multiple controllers in city A and multiple robots in cities B and C respectively. Each city has a convergence layer and an access layer, all using the same core layer to achieve long-distance end-to-end communication while minimizing network latency and ensuring real-time robot control. Simultaneously, 5G indoor pico base stations are deployed in the access layers of different cities to provide wireless network coverage at both the robot and controller ends, ensuring high throughput and high concurrency.

[0085] Understandably, high-level network priority can also be assigned to robot control services (such as video data and control commands) to improve the network service priority of the control end and the robot end.

[0086] Optionally, when multiple communication links are established between multiple devices at the communication network layer, the multiple communication links communicate in parallel; wherein, the control devices and / or controlled devices corresponding to each of the multiple communication links are different.

[0087] Understandably, when multiple communication links are established between multiple devices at the communication network layer, multiple independent point-to-point communications can operate concurrently. This means multiple control terminals can each establish their own dedicated communication link without competing for link resources. For example, the first communication link might be a dedicated link between controller A and robot A, and the second communication link might be a dedicated link between controller B and robot C. These two communication links can communicate independently point-to-point in parallel. One embodiment involves the same control terminal establishing communication links with multiple robot terminals. Another embodiment involves the same robot establishing communication links with multiple control terminals. Yet another embodiment involves a single control terminal controlling only one robot at a time.

[0088] For example, Figure 7 This is a schematic diagram of the robot shaking process provided in the embodiments of this disclosure, specifically including as follows: Figure 7 The following steps are shown: (1) The control end and the robot end successfully dialed up through the private network DNN and were assigned a specific IP address; (2) The robot end started the video transmission program and motion control program; (3) The control end started the motion control middleware, and the operator put on the motion capture suit to perform joint calibration; (4) The robot end collected and encoded data through the camera sensor and transmitted it to the control end through 5G; (5) After receiving the video data, the control end decoded it and rendered and displayed the decoded data on the host computer and / or transmitted it to the VR head-mounted display device for rendering and display; (6) The motion capture operator saw the screen from the robot end's perspective and switched the robot to the rocking mode; (7) After the operator's movements were collected by the host computer, they were mapped into control commands and sent to the robot end for execution through 5G; (8) The robot end executed the control commands.

[0089] Understandably, when the robot performs (4) and (8) above, an adaptive communication strategy can be adopted, which will not be elaborated here.

[0090] Figure 8 This is a schematic diagram of a device communication apparatus provided in an embodiment of this disclosure. The device communication apparatus provided in this embodiment can execute the processing flow provided in the device communication method embodiment, such as... Figure 8 As shown, the device communication device 800 includes: The acquisition unit 801 is used to acquire network performance indicators of the target communication link; wherein, the target communication link is a dedicated communication link between the first device and the second device established through a dedicated network identifier; The determining unit 802 is used to compare the network performance indicators with preset quality thresholds corresponding to various communication strategies, and determine the target communication strategy from the various communication strategies based on the comparison results. The communication unit 803 is used to enable the first device to communicate with the second device through the target communication link according to the target communication strategy.

[0091] The network performance metrics include round-trip time and packet loss rate, and the preset quality thresholds include a latency threshold and a packet loss rate threshold.

[0092] Optionally, the determining unit 802 is used for: The round-trip time and the packet loss rate are compared with the time delay threshold and packet loss rate threshold corresponding to each communication strategy, and the target communication strategy is determined from the multiple communication strategies based on the comparison results.

[0093] Optionally, the maximum bit rate of the video data to be transmitted and / or the processing mode of the control commands to be processed are set differently for each of the various communication strategies, and different processing modes correspond to different processing delays.

[0094] Optionally, the multiple communication strategies include a first communication strategy, a second communication strategy, and a third communication strategy; The maximum bit rate set in the first communication strategy is lower than the maximum bit rate set in the second communication strategy, and the maximum bit rate set in the second communication strategy is lower than the maximum bit rate set in the third communication strategy. And / or, the processing delay set in the first communication strategy is higher than the processing delay set in the second communication strategy, and the processing delay set in the second communication strategy is higher than the processing delay set in the third communication strategy.

[0095] Optionally, the determining unit 802 is used for: If the round-trip delay is greater than the first delay threshold, or the packet loss rate is greater than the first packet loss rate threshold, then the first communication strategy is determined as the target communication strategy. If the round-trip delay falls within the set delay threshold range, and the packet loss rate is less than or equal to the second packet loss rate threshold, then the second communication strategy is determined as the target communication strategy, and the first delay threshold is greater than the maximum delay threshold within the set delay threshold range. If the round-trip delay is less than the second delay threshold and the packet loss rate is less than or equal to the second packet loss rate threshold, then the third communication strategy is determined as the target communication strategy, and the second delay threshold is less than the minimum delay threshold within the set delay threshold range.

[0096] Optionally, the set delay threshold range includes a first threshold range and a second threshold range that partially overlap, the minimum value of the first threshold range is less than the minimum value of the second threshold range, and the second packet loss rate threshold includes a first threshold and a second threshold, the first threshold being less than the second threshold.

[0097] Optionally, the determining unit 802 is used for: If the round-trip delay is greater than the first delay threshold, or the packet loss rate is greater than the first packet loss rate threshold, the second communication strategy is switched to the first communication strategy, or the third communication strategy is switched to the first communication strategy. If the round-trip time is within the first threshold range and the packet loss rate is equal to the first threshold, the first communication strategy is switched to the second communication strategy; if the round-trip time is within the second threshold range and the packet loss rate is less than the second threshold, the third communication strategy is switched to the second communication strategy. If the round-trip time is less than the second delay threshold and the packet loss rate is equal to the first threshold, the first communication strategy is switched to the third communication strategy; if the round-trip time is less than the second delay threshold and the packet loss rate is less than the second threshold, the second communication strategy is switched to the third communication strategy.

[0098] Optionally, the communication unit 803 is used for: When the processing mode set by the target communication strategy is a delayed processing mode, the control command sent by the second device is received; Store the control commands into a pre-set buffer; The control command is read from the buffer according to the output frequency; wherein the output frequency is determined according to the transmission frequency of the control command, or is a pre-configured fixed frequency; Execute the control command and obtain the current video data after the control command is executed; wherein, the waiting time between receiving and executing the control command corresponds to the processing delay set by the delay processing mode; According to the target communication strategy, the current video data is transmitted to the second device through the target communication link.

[0099] Optionally, the determining unit 802 is used for: The round-trip delay is filtered to obtain the current filtered round-trip delay. The round-trip time is calculated based on the round-trip time, the round-trip time after the current filtering, and the set filtering coefficient; wherein the filtering coefficient corresponds to the switching frequency of the communication strategy. The round-trip delay after the next filtering and the packet loss rate are compared with the delay threshold and packet loss rate threshold corresponding to each communication strategy to generate a comparison result.

[0100] Optionally, the device communication device 800 is used for: In response to a communication link disconnection request, the target communication link is disconnected; In response to a communication link connection request, a third device in an idle state is identified; wherein, the third device refers to other control devices that have not established a communication link with the first device; A dedicated communication link is established between the first device and the third device using the dedicated network identifier.

[0101] Figure 8 The device communication apparatus of the illustrated embodiment can be used to execute the technical solutions of the above method embodiments. Its implementation principle and technical effects are similar, and will not be repeated here.

[0102] Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure. See below for details. Figure 9 The diagram illustrates a structural schematic suitable for implementing the electronic device 900 in the embodiments of this disclosure. The electronic device 900 in the embodiments of this disclosure may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), wearable electronic devices, etc., as well as fixed terminals such as digital TVs, desktop computers, smart home devices, etc. Figure 9 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments disclosed herein.

[0103] like Figure 9As shown, the electronic device 900 may include a processing device 901 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 902 or a program loaded from a storage device 908 into a random access memory (RAM) 903 to implement the device communication method as described in the embodiments of this disclosure. The RAM 903 also stores various programs and data required for the operation of the electronic device 900. The processing device 901, ROM 902, and RAM 903 are interconnected via a bus 904. An input / output (I / O) interface 905 is also connected to the bus 904.

[0104] Typically, the following devices can be connected to I / O interface 905: input devices 906 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 907 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 908 including, for example, magnetic tapes, hard disks, etc.; and communication devices 909. Communication device 909 allows electronic device 900 to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 9 An electronic device 900 with various devices is shown; however, it should be understood that it is not required to implement or possess all of the devices shown. More or fewer devices may be implemented or possessed alternatively.

[0105] In particular, according to embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts, thereby implementing the device communication method as described above. In such embodiments, the computer program can be downloaded and installed from a network via communication device 909, or installed from storage device 908, or installed from ROM 902. When the computer program is executed by processing device 901, it performs the functions defined in the methods of embodiments of this disclosure.

[0106] It should be noted that the computer-readable medium described in this disclosure can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this disclosure, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this disclosure, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0107] In some implementations, clients and servers can communicate using any currently known or future-developed network protocol such as HTTP (Hypertext Transfer Protocol) and can interconnect with digital data communication (e.g., communication networks) of any form or medium. Examples of communication networks include local area networks (“LANs”), wide area networks (“WANs”), the Internet (e.g., the Internet of Things), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future-developed networks.

[0108] The aforementioned computer-readable medium may be included in the aforementioned electronic device; or it may exist independently and not assembled into the electronic device.

[0109] Optionally, when one or more of the above-described procedures are executed by the electronic device, the electronic device may also perform other steps described in the above embodiments.

[0110] Computer program code for performing the operations of this disclosure can be written in one or more programming languages ​​or a combination thereof, including but not limited to object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0111] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0112] The units described in the embodiments of this disclosure can be implemented in software or hardware. The names of the units are not, in some cases, intended to limit the specific unit.

[0113] The functions described above in this document can be performed at least in part by one or more hardware logic components. For example, exemplary types of hardware logic components that can be used, without limitation, include: field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-a-chip (SoCs), complex programmable logic devices (CPLDs), and so on.

[0114] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0115] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or gateway that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or gateway. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or gateway that includes said element.

[0116] The above description is merely a specific embodiment of this disclosure, enabling those skilled in the art to understand or implement it. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A device communication method, characterized in that, Applied to a first device, the method includes: Obtain network performance metrics of the target communication link; wherein, the target communication link is a dedicated communication link between the first device and the second device established through a dedicated network identifier; The network performance indicators and preset quality thresholds corresponding to various communication strategies are compared, and the target communication strategy is determined from the various communication strategies based on the comparison results. According to the target communication strategy, the first device communicates with the second device through the target communication link.

2. The method according to claim 1, characterized in that, The network performance metrics include round-trip time and packet loss rate, and the preset quality thresholds include a latency threshold and a packet loss rate threshold; the step of comparing the network performance metrics with the preset quality thresholds corresponding to various communication strategies, and determining the target communication strategy from the various communication strategies based on the comparison results, includes: The round-trip time and the packet loss rate are compared with the time delay threshold and packet loss rate threshold corresponding to each communication strategy, and the target communication strategy is determined from the multiple communication strategies based on the comparison results.

3. The method according to claim 2, characterized in that, The various communication strategies each have different maximum bitrates for the video data to be transmitted and / or different processing modes for the control commands to be processed, and different processing modes correspond to different processing delays.

4. The method according to claim 3, characterized in that, The multiple communication strategies include a first communication strategy, a second communication strategy, and a third communication strategy; The maximum bit rate set in the first communication strategy is lower than the maximum bit rate set in the second communication strategy, and the maximum bit rate set in the second communication strategy is lower than the maximum bit rate set in the third communication strategy. And / or, the processing delay set in the first communication strategy is higher than the processing delay set in the second communication strategy, and the processing delay set in the second communication strategy is higher than the processing delay set in the third communication strategy.

5. The method according to claim 4, characterized in that, The step of comparing the round-trip time and the packet loss rate with the time delay threshold and packet loss rate threshold corresponding to each communication strategy, respectively, and determining the target communication strategy from the multiple communication strategies based on the comparison results, includes: If the round-trip delay is greater than the first delay threshold, or the packet loss rate is greater than the first packet loss rate threshold, then the first communication strategy is determined as the target communication strategy. If the round-trip delay falls within the set delay threshold range, and the packet loss rate is less than or equal to the second packet loss rate threshold, then the second communication strategy is determined as the target communication strategy, and the first delay threshold is greater than the maximum delay threshold within the set delay threshold range. If the round-trip delay is less than the second delay threshold and the packet loss rate is less than or equal to the second packet loss rate threshold, then the third communication strategy is determined as the target communication strategy, and the second delay threshold is less than the minimum delay threshold within the set delay threshold range.

6. The method according to claim 5, characterized in that, The set delay threshold range includes a first threshold range and a second threshold range that partially overlap, the minimum value of the first threshold range is less than the minimum value of the second threshold range, and the second packet loss rate threshold includes a first threshold and a second threshold, the first threshold being less than the second threshold. The step of comparing the round-trip time and the packet loss rate with the time delay threshold and packet loss rate threshold corresponding to each communication strategy, respectively, and determining the target communication strategy from the multiple communication strategies based on the comparison results, includes: If the round-trip delay is greater than the first delay threshold, or the packet loss rate is greater than the first packet loss rate threshold, the second communication strategy is switched to the first communication strategy, or the third communication strategy is switched to the first communication strategy. If the round-trip time is within the first threshold range and the packet loss rate is equal to the first threshold, the first communication strategy is switched to the second communication strategy; if the round-trip time is within the second threshold range and the packet loss rate is less than the second threshold, the third communication strategy is switched to the second communication strategy. If the round-trip time is less than the second delay threshold and the packet loss rate is equal to the first threshold, the first communication strategy is switched to the third communication strategy; if the round-trip time is less than the second delay threshold and the packet loss rate is less than the second threshold, the second communication strategy is switched to the third communication strategy.

7. The method according to claim 3, characterized in that, According to the target communication strategy, the first device communicates with the second device through the target communication link, including: When the processing mode set by the target communication strategy is a delayed processing mode, the control command sent by the second device is received; Store the control commands into a pre-set buffer; The control command is read from the buffer according to the output frequency; wherein the output frequency is determined according to the transmission frequency of the control command, or is a pre-configured fixed frequency; Execute the control command and obtain the current video data after the control command is executed; wherein, the waiting time between receiving and executing the control command corresponds to the processing delay set by the delay processing mode; According to the target communication strategy, the first device transmits the current video data to the second device through the target communication link.

8. The method according to claim 2, characterized in that, The step of comparing the round-trip time and the packet loss rate with the time delay threshold and packet loss rate threshold corresponding to each communication strategy includes: The round-trip delay is filtered to obtain the current filtered round-trip delay. The round-trip time is calculated based on the round-trip time, the round-trip time after the current filtering, and the set filtering coefficient; wherein the filtering coefficient corresponds to the switching frequency of the communication strategy. The round-trip delay after the next filtering and the packet loss rate are compared with the delay threshold and packet loss rate threshold corresponding to each communication strategy to generate a comparison result.

9. The method according to any one of claims 1-8, characterized in that, The method further includes: In response to a communication link disconnection request, the target communication link is disconnected; In response to a communication link connection request, a third device in an idle state is identified; wherein, the third device refers to other control devices that have not established a communication link with the first device; A dedicated communication link is established between the first device and the third device using the dedicated network identifier.

10. A device communication system, characterized in that, The device communication system includes a first device, a second device, and a communication network layer, wherein: The communication network layer is used to establish a target communication link between the first device and the second device through a dedicated network identifier; The first device is used to acquire network performance indicators of the target communication link; compare the network performance indicators with preset quality thresholds corresponding to various communication strategies, determine the target communication strategy from the various communication strategies; and communicate with the second device through the target communication link according to the target communication strategy. The second device is used to receive data transmitted by the first device through the target communication link.

11. The system according to claim 10, characterized in that, The communication network layer includes multiple access layers, multiple aggregation layers, and a core layer. The access layer corresponds to a 5G indoor distributed base station or a WiFi network device. The WiFi network device is configured to provide network coverage via a fixed frequency band. The first device is located in a first geographical region, and the second device is located in a second geographical region. The target communication link is established sequentially via the access layer and aggregation layer of the first geographical region, the core layer, and the aggregation layer and access layer of the second geographical region.

12. The system according to any one of claims 10-11, characterized in that, When multiple communication links are established between multiple devices in the communication network layer, the multiple communication links communicate in parallel; wherein, the control devices and / or controlled devices corresponding to each of the multiple communication links are different.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the device communication method as described in any one of claims 1 to 9.

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