A mobile robot self-organizing communication method based on dynamic relay nodes

Abstract

The application provides a mobile robot self-organizing communication method based on a dynamic relay node, relates to the technical field of wireless communication networks, and monitors the link quality between a mobile robot and a backbone node in real time, sends a relay encoding request to a dynamic relay node according to a communication strategy in a shielding area, triggers the mobile robot to switch the node transceiving mode through the relay encoding request, determines the routing hop count of the backbone node through the switched node transceiving mode and the routing resources of the mobile robot, dynamically configures the transmission encoding parameters on the transmission channel according to the routing hop count, maps the transmission encoding parameters to the to-be-forwarded queue of the dynamic relay node, obtains a relay transmission link, and releases the relay transmission link and restores the direct connection mode when it is monitored that the link quality recovers to above the communication quality threshold and it is determined that the mobile robot drives out of the communication shielding area. The application can adaptively and dynamically schedule the relay communication link, so as to improve the communication stability in a shielding environment.

Description

Technical Field

[0001] This application relates to the field of wireless communication network technology, and more specifically, to a self-organizing communication method for mobile robots based on dynamic relay nodes. Background Technology

[0002] Wireless communication networks are communication network systems that rely on wireless transmission media to achieve data interaction between multiple nodes. They are a fundamental technology supporting long-distance communication and collaborative operations for mobile terminal devices. This technology is widely used in industrial plant inspections, warehouse logistics scheduling, and mobile robot communication systems in special operation scenarios, providing real-time business data transmission and control command interaction channels for mobile operation terminals. These networks typically consist of a fixed backbone node forming the network backbone, coupled with various mobile terminal nodes and relay auxiliary nodes. Through link status awareness and routing scheduling mechanisms, they achieve end-to-end data transmission, overcoming the spatial limitations of wired transmission, adapting to the mobility requirements of terminals, and providing stable basic communication support for various intelligent mobile operation systems.

[0003] However, conventional mobile robot wireless communication systems mostly employ a single fixed threshold-triggered relay switching mechanism, lacking refined perception of link fading trends and the ability to adapt to differentiated strategies. This makes it difficult to adapt the relay initiation timing and relay node matching in communication obstruction scenarios to actual dynamic link changes. Consequently, the relay transmission path and encoding configuration cannot be dynamically adjusted according to multi-hop transmission conditions, making it difficult to achieve an effective balance between transmission reliability and latency performance. This results in insufficient communication continuity and low network resource utilization efficiency in obstructed areas, failing to stably support the real-time data transmission needs of mobile operations. Therefore, how to adaptively and dynamically schedule relay communication links to improve communication stability in obstructed environments is a key challenge facing the industry. Summary of the Invention

[0004] This application provides a self-organizing communication method for mobile robots based on dynamic relay nodes, which can adaptively and dynamically schedule relay communication links to improve communication stability in occluded environments.

[0005] In a first aspect, this application provides a self-organizing communication method for mobile robots based on dynamic relay nodes, the method comprising: Real-time monitoring of the link quality between the mobile robot and the backbone node; when the quality falls below the communication quality threshold, it is determined that the robot has entered the communication obstruction zone and a communication strategy for the obstruction zone is generated. According to the communication strategy for obstructed areas, a relay coding request is sent to the dynamic relay node. The relay coding request triggers the mobile robot to switch the node's transmit and receive mode. The number of routing hops of the backbone node is determined by the switched node transmit and receive mode and the routing resources of the mobile robot. Based on the routing hop count, the transmission coding parameters on the transmission channel are dynamically configured, and the transmission coding parameters are mapped to the forwarding queue of the dynamic relay node to obtain the relay transmission link; When the link quality is detected to have recovered to above the communication quality threshold, and the mobile robot is determined to have left the communication obstruction area, the relay transmission link is released and the direct connection mode is restored.

[0006] In this embodiment, determining entry into a communication obstruction zone when the communication quality threshold is lower, and generating an obstruction zone communication strategy specifically includes: The trend feature vector of link fading is determined by the attenuation slope of the link quality. The trend feature vector is matched in a preset switching strategy mapping table to determine the relay activation threshold and mode switching timing, thus forming a communication strategy for the obstructed area.

[0007] In this embodiment, sending a relay coding request to the dynamic relay node according to the obstruction area communication strategy specifically includes: Based on the relay activation threshold and mode switching sequence in the obstruction area communication strategy, extract the capability requirement descriptor of the target relay node; The candidate dynamic relay node set is filtered using the capability requirement descriptor, and the filtered nodes are prioritized based on link hold time to determine the target dynamic relay node. The policy identifier of the obstruction area communication policy and the node identifier of the target dynamic relay node are encapsulated into the relay coding request and sent to the target dynamic relay node.

[0008] In this embodiment, triggering the mobile robot to switch node transmission and reception modes through the relay coding request specifically includes: Based on the policy identifier, a matching search is performed in the local policy cache to obtain the corresponding node send / receive mode configuration description; By reconfiguring the transceiver timing parameters and antenna mapping relationship in the node transceiver mode configuration description, the transceiver link of the mobile robot is reconfigured to establish relay transmission timing synchronization with the target dynamic relay node. The reconfigured transmit and receive links are verified by a link handshake, and after receiving the confirmation response from the target dynamic relay node, the current communication mode of the mobile robot is marked as relay forwarding mode.

[0009] In this embodiment, determining the routing hop count of the backbone node by using the switched node transmit / receive mode and the routing resources of the mobile robot specifically includes: Based on the relay transceiver time slot mapping relationship in the switched node transceiver mode, the access link metric parameters from the mobile robot to the target dynamic relay node are extracted. The access link metric parameters are fused with the neighbor topology snapshots stored in the routing resources of the mobile robot to generate a candidate path metric spectrum. The candidate path metric spectrum is validated based on a hop count threshold to obtain the routing hop count of the backbone node.

[0010] In this embodiment, dynamically configuring the transmission coding parameters on the transmission channel based on the routing hop count specifically includes: Based on the routing hop count and the current moving speed of the mobile robot, calculate the equivalent delay spread prediction value of the relay transmission link; The set of candidate coding parameters that satisfy the target bit error rate constraint is determined based on the equivalent delay spread prediction value. The applicability of the candidate coding parameter set is verified to obtain the transmission coding parameters on the transmission channel.

[0011] In this embodiment, mapping the transmission coding parameters to the forwarding queue of the dynamic relay node to obtain the relay transmission link specifically includes: Based on the encoding type and code rate information in the transmission encoding parameters, a queue scheduling descriptor is generated for the queue to be forwarded by the dynamic relay node. The relay transmission link is obtained by parameterizing and binding the queue to be forwarded using the queue scheduling descriptor.

[0012] In this embodiment, the relay transmission link is obtained by parameterizing and binding the queue to be forwarded through the queue scheduling descriptor. Based on the encoding type and code rate information carried in the queue scheduling descriptor, calculate the scheduling weight and cache partition capacity of the queue to be forwarded; The queue to be forwarded is instantiated and configured using the scheduling weight and the cache partition capacity, and a mapping and binding with the relay transmit and receive time slots are established to obtain the relay transmission link.

[0013] In this embodiment, determining that the mobile robot has left the communication obstruction area after the link quality has recovered to above the communication quality threshold specifically includes: Perform trend stability analysis on the sampled values ​​of the link quality within a preset observation window to generate a link recovery trend feature vector; The link recovery trend feature vector is matched with the preset departure judgment threshold spectrum in a multi-dimensional condition to generate a comprehensive departure condition judgment factor. When the comprehensive judgment factor for the exit condition meets the preset exit confidence threshold, it is determined that the mobile robot has exited the communication obstruction area.

[0014] In this embodiment, releasing the relay transmission link and restoring the direct connection mode specifically includes: Send a link release command to the dynamic relay node, reclaim the scheduling resources of the queue to be forwarded, and receive the forwarding status summary returned by the dynamic relay node; After confirming that no data is lost based on the forwarding status summary, the mobile robot's transceiver link is unbound from the relay transceiver time slot, and the direct connection synchronization sequence with the backbone node is reactivated.

[0015] The technical solutions provided by the embodiments disclosed in this application have the following beneficial effects: The link quality between the mobile robot and the backbone node is monitored in real time. When the link quality falls below a communication quality threshold, the robot is determined to have entered a communication obstruction zone, and an obstruction zone communication strategy is generated. A relay coding request is sent to the dynamic relay node according to the obstruction zone communication strategy. This request triggers the mobile robot to switch node transmit / receive modes. The routing hop count of the backbone node is determined based on the switched node transmit / receive modes and the mobile robot's routing resources. Transmission coding parameters on the transmission channel are dynamically configured based on the routing hop count, and these parameters are mapped to the forwarding queue of the dynamic relay node to obtain a relay transmission link. When the link quality recovers to above the communication quality threshold, the mobile robot is determined to have left the communication obstruction zone. The relay transmission link is then released, and the direct connection mode is restored.

[0016] Therefore, in this application, when the link quality is detected to have recovered to above the communication quality threshold, and the mobile robot is determined to have left the communication obstruction area, the relay transmission link is released and the direct connection mode is restored. Determining the communication strategy for the obstruction area allows for the acquisition of differentiated relay activation thresholds and mode switching timing configurations adapted to the link fading trend, forming standardized communication scheduling rules for obstruction scenarios that cover node scheduling, mode switching, and configuration frameworks. This overcomes the inherent limitations of a single fixed threshold triggering mechanism in adapting to different link fading rates, avoiding the risk of invalid relay resource occupation and communication interruption caused by switching timing deviations. Ultimately, it achieves precise dynamic matching between the relay activation rhythm and the actual channel change state, effectively smoothing the communication mode switching process, reducing transmission quality fluctuations within the obstruction area, and improving the operational stability and network resource utilization efficiency of the mobile robot communication system in complex obstruction environments. Determining the relay transmission link allows for the acquisition of dynamic transmission coding configurations and queue scheduling rules that match the routing hop count characteristics, forming an end-to-end multi-hop relay transmission path with consistent parameters at both ends. This approach overcomes the shortcomings of existing technologies, such as fixed relay transmission coding and queue configuration, and difficulty in adapting to the dispersion and delay characteristics of multi-hop links. It avoids the increase in transmission errors and timing misalignment caused by parameter mismatch. Ultimately, it achieves dynamic adaptation of relay link transmission parameters to actual channel conditions, ensuring data transmission reliability and timing consistency in multi-hop scenarios, and effectively improving the transmission quality and overall system stability of relay communication in obstructed environments.

[0017] In summary, the technical solution adopted in this application can adaptively and dynamically schedule relay communication links to improve communication stability in obstructed environments. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only for this embodiment of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is an exemplary flowchart of a self-organizing communication method for mobile robots based on dynamic relay nodes, provided in this application. Figure 2 This is a flowchart illustrating the switching of node transmission and reception modes provided in this application; Figure 3 This is a schematic diagram of adaptive relay communication for occlusion areas of a mobile robot provided in this application. Detailed Implementation

[0020] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0021] This application provides a self-organizing communication method for mobile robots based on dynamic relay nodes. Its core is to monitor the link quality between the mobile robot and the backbone node in real time. When the link quality falls below a communication quality threshold, it is determined that the robot has entered a communication obstruction zone, and a communication strategy for the obstruction zone is generated. A relay coding request is sent to the dynamic relay node according to the obstruction zone communication strategy. This request triggers the mobile robot to switch node transmit / receive modes. The number of hops for the backbone node is determined based on the switched node transmit / receive modes and the mobile robot's routing resources. Transmission coding parameters on the transmission channel are dynamically configured according to the number of hops, and these parameters are mapped to the forwarding queue of the dynamic relay node to obtain a relay transmission link. When the link quality recovers to above the communication quality threshold, and the mobile robot is determined to have left the communication obstruction zone, the relay transmission link is released and the direct connection mode is restored.

[0022] To better understand the above technical solutions, a detailed description of the technical solutions will be provided below in conjunction with the accompanying drawings and specific embodiments. (Refer to...) Figure 1 As shown in the figure, this is an exemplary flowchart of a self-organizing communication method for mobile robots based on dynamic relay nodes according to this embodiment of the present application. The method includes the following steps: In step S1, the link quality between the mobile robot and the backbone node is monitored in real time. When the quality falls below the communication quality threshold, it is determined that the robot has entered the communication obstruction zone, and a communication strategy for the obstruction zone is generated.

[0023] In practice, real-time monitoring of the link quality between the mobile robot and the backbone node can be achieved as follows: The wireless communication module on the mobile robot continuously collects multiple core characteristic parameters of the direct communication link between itself and the currently connected backbone node at a preset fixed monitoring period. These parameters include received signal strength indication, data packet reception success rate, and end-to-end transmission latency. Within each monitoring period, the communication module first preprocesses the raw data obtained from multiple samplings within that period, removing abnormal sampling points that exceed the physically reasonable value range. The remaining valid sampling values ​​are then averaged to obtain the statistical value of each individual parameter within that period. Subsequently, a linear weighted fusion method is used to calculate the comprehensive link quality value. A corresponding weight coefficient is pre-assigned to each individual parameter, with the sum of all weight coefficients being 1. The weight allocation can be pre-configured according to the actual requirements of the service for transmission reliability and latency. After calculation, the comprehensive link quality value is written to the local link state storage unit in real time, synchronously updating the time-series change record of link quality, and continuously comparing it with a preset communication quality threshold. When a data packet transmission failure occurs during the movement of the mobile robot, the communication module immediately triggers a temporary supplementary sampling to update the link quality value.

[0024] It should be noted that, in this application, backbone nodes refer to communication nodes that are fixedly deployed in the work environment, constitute the backbone of the wireless communication network, and undertake the functions of data aggregation and forwarding; link quality refers to the quantitative indicators of the transmission reliability and transmission efficiency of the wireless communication link between the mobile robot and the backbone node. In this embodiment, determining that a communication obstruction zone has been entered when the communication quality threshold is lowered, and generating an obstruction zone communication strategy, can be achieved through the following steps: The trend feature vector of link fading is determined by the attenuation slope of the link quality. The trend feature vector is matched in a preset switching strategy mapping table to determine the relay activation threshold and mode switching timing, thus forming a communication strategy for the obstructed area.

[0025] In practice, firstly, link quality time-series sampling data within a predetermined number of historical monitoring periods is acquired. Using the monitoring period number as the independent variable and the corresponding link quality value as the dependent variable, a univariate linear fit is performed on the time-series data using the least squares method to obtain the slope of the fitted line. This slope is the link quality attenuation slope. Three feature dimensions are extracted: the attenuation slope, the margin of the current link quality relative to the communication quality threshold, and the number of consecutive attenuation periods of the link quality. These three features are concatenated into a one-dimensional array in a fixed order, forming a link fading trend feature vector. The values ​​of each dimension are linearly normalized, with their ranges uniformly mapped to the interval 0 to 1. Then, a pre-built switching strategy mapping table is called. This table stores multiple sets of standard trend feature vectors and their corresponding relay activation thresholds and mode switching timing parameters. The calculated current trend feature vector is compared with each of the standard feature vectors in the mapping table using Euclidean distance. The standard feature vector with the smallest Euclidean distance is selected as the matching result, and its corresponding relay activation threshold and mode switching timing parameters are read. The matched parameters are integrated with the preset relay node scheduling rules and encoding configuration framework to form a complete communication strategy for obstructed areas.

[0026] It should be noted that in this application, the communication quality threshold refers to a pre-set critical value for link quality; the communication obstruction zone refers to the spatial area within the operational scenario where the direct communication quality is substandard; the attenuation slope refers to a characteristic value of the rate at which link quality decreases over time; link fading refers to the process of link quality continuously decreasing due to obstruction; the trend feature vector refers to a one-dimensional array composed of multiple link fading features; the switching strategy mapping table refers to a storage table that stores the correspondence between pre-stored feature vectors and strategy parameters; the relay activation threshold refers to the critical parameter that triggers the relay node to start the forwarding function; the mode switching timing refers to the time parameters that specify the execution nodes for each step of the communication mode switching; and the obstruction zone communication strategy refers to a set of communication control rules adapted to communication obstruction scenarios.

[0027] It should also be noted that in this application, the communication quality threshold can be set in the following way: It is set using an initial benchmark calibration combined with on-site environmental calibration. In the initial benchmark calibration stage, based on the reliability and latency requirements of the target service data transmission, and combined with the standard transmission performance parameters of the adopted wireless communication standard, the minimum link quality conditions required to ensure normal parsing and stable transmission of service data are derived and converted into a benchmark critical value for the comprehensive link quality score, which serves as the initial threshold benchmark. In the on-site environmental calibration stage, communication tests are conducted at typical open locations without obstructions within the operational scenario. Multiple sets of link quality sample data are collected under the direct communication state between the mobile robot and each backbone node. The arithmetic mean and standard deviation of the samples are statistically analyzed. The value obtained by subtracting twice the standard deviation from the mean is used as the calibrated communication quality threshold to offset the benchmark deviation caused by inherent environmental noise and spatial signal attenuation. For service data of different priorities, multiple communication quality thresholds can be set accordingly to adapt to differentiated relay triggering requirements.

[0028] In step S2, a relay coding request is sent to the dynamic relay node according to the obstruction area communication strategy. The relay coding request triggers the mobile robot to switch the node's transmit / receive mode. The routing hop count of the backbone node is determined by the switched node transmit / receive mode and the mobile robot's routing resources.

[0029] In this embodiment, sending a relay coding request to the dynamic relay node according to the obstruction area communication strategy can be done in the following way: Based on the relay activation threshold and mode switching sequence in the obstruction area communication strategy, extract the capability requirement descriptor of the target relay node; The candidate dynamic relay node set is filtered using the capability requirement descriptor, and the filtered nodes are prioritized based on link hold time to determine the target dynamic relay node. The policy identifier of the obstruction area communication policy and the node identifier of the target dynamic relay node are encapsulated into the relay coding request and sent to the target dynamic relay node.

[0030] In practical implementation, firstly, the relay activation threshold and mode switching timing parameters included in the communication strategy for obstructed areas are read. Based on the relay activation threshold, the minimum receiving sensitivity, minimum forwarding bandwidth, and encoding format compatibility requirements that relay nodes must meet are derived. Based on the mode switching timing, the maximum response latency and link establishment time requirements that nodes must meet are derived. These capability requirements are then structured into three categories: communication performance, functional support, and response time, forming a standardized capability requirement descriptor. Next, all detectable nodes with relay forwarding capabilities around the mobile robot are acquired, forming a candidate dynamic relay node set. Each requirement in the capability requirement descriptor is compared with the attribute parameters of each node in the set, eliminating nodes that do not meet any requirement, resulting in a list of qualified candidate nodes. Based on the mobile robot's current moving speed and direction of travel, combined with the effective signal coverage of each candidate node, the corresponding link holding time is calculated. The nodes are sorted from longest to shortest link holding time, and the node at the top of the sorted list is selected as the target dynamic relay node. Finally, the unique policy identifier corresponding to the currently effective communication policy in the obstructed area and the unique node identifier corresponding to the target dynamic relay node are extracted. These are then encapsulated using the standard Media Access Control (MAC) layer control frame format. The policy identifier and node identifier are sequentially written into the designated fields of the frame payload, and frame header addressing information and a frame check sequence are added to generate a complete relay coding request. The mobile robot then sends this request to the target dynamic relay node via the sidelink control channel and waits for the node to return an acknowledgment response.

[0031] It should be noted that, in this application, the target relay node refers to a relay communication node that is used to undertake communication data relay forwarding tasks and must meet specified communication capability requirements; the capability requirement descriptor refers to standardized structured descriptive information used to characterize the capability requirements of the relay node and support node screening and matching; the candidate dynamic relay node set refers to a set of candidate nodes composed of surrounding detectable nodes with relay forwarding capabilities; the link holding time refers to a quantitative characteristic parameter of the duration of continuous connection between the mobile robot and the relay node; the target dynamic relay node refers to the dynamic relay node finally selected after screening and sorting, used to perform data relay forwarding tasks; the policy identifier refers to the identity recognition code used to uniquely identify communication policies in different obstruction areas and support rapid retrieval of policy configuration; the node identifier refers to the encoding information for communication addressing and node identity recognition; and the relay encoding request refers to the control command that triggers the dynamic relay node to start relaying functions and synchronizes communication encoding configuration.

[0032] Preferably, in this embodiment, the mobile robot switches its node transceiver mode via the relay coding request, referring to... Figure 2 As shown in the figure, this is a flowchart illustrating the switching of node transmit / receive modes in some embodiments of this application. In this embodiment, switching of node transmit / receive modes can be achieved using the following steps: In step S21, a matching search is performed in the local policy cache according to the policy identifier to obtain the corresponding node send / receive mode configuration description; In step S22, the transceiver link of the mobile robot is reconfigured by using the transceiver timing parameters and antenna mapping relationship in the node transceiver mode configuration description, and relay transmission timing synchronization is established with the target dynamic relay node. In step S23, a link handshake verification is performed on the reconfigured transmit and receive link, and after receiving the confirmation response from the target dynamic relay node, the current communication mode of the mobile robot is marked as relay forwarding mode.

[0033] In practice, the mobile robot first parses the frame payload field of the relay coding request, extracts the policy identifier carried within, and obtains a unique policy code. Using this policy code as the search keyword, it accesses the local policy cache storage area. The local policy cache uses a key-value pair structure to store all predefined transmit / receive mode configuration entries, with the key field being the policy identifier and the value field being the corresponding complete configuration description. The retrieval process directly locates the target entry through hash mapping, without traversing all stored content. After a successful match, the complete content of the corresponding value field is read, and the node transmit / receive mode configuration description is output. Then, the node transmit / receive mode configuration description is parsed, and the transmit / receive timing parameters and antenna mapping relationships are extracted. The transmit / receive timing parameters include time slot allocation rules, transmit / receive switching periods, and frame synchronization offsets. The antenna mapping relationship defines the binding correspondence between the relay communication channel and the physical antenna port. The communication control unit adjusts the physical layer time slot scheduling logic according to the parameters, switches the specified antenna port to the relay communication channel, updates the transmit / receive switching time node and duration, calibrates the local timing reference according to the frame synchronization offset, completes the transmit / receive link reconfiguration, and achieves timing alignment with the target dynamic relay node. Finally, after the transmit / receive link reconfiguration is complete, the mobile robot sends a handshake verification frame to the target dynamic relay node via the relay communication channel. The frame carries a synchronization checksum and a link status identifier. Upon receiving the verification frame, the target dynamic relay node verifies the synchronization checksum and timing alignment. If the verification passes, it returns an acknowledgment response frame. The mobile robot continuously monitors the channel within a preset timeout period. Upon receiving a valid acknowledgment response, it determines that the reconfigured link is working correctly, updates its local communication mode status register, and marks the current communication mode as relay forwarding mode.

[0034] It should be noted that in this application, local policy cache refers to a dedicated storage unit deployed locally on the mobile robot for pre-storing the corresponding transmit / receive mode configurations of various communication policies; matching retrieval refers to a data lookup mechanism that uses the policy identifier as a keyword to locate and extract the target configuration from the stored configuration set; node transmit / receive mode configuration description refers to a set of configuration information containing transmit / receive timing and antenna mapping information to guide the reconfiguration of the transmit / receive link; transmit / receive timing parameters refer to a set of timing control parameters that specify the allocation of communication link time slots, transmit / receive switching cycles, and synchronization offsets; antenna mapping relationship refers to configuration mapping information that defines the binding rules between each communication channel and the physical antenna port; transmit / receive link refers to the physical communication link that enables the mobile robot to carry out wireless data transmit / receive functions and support end-to-end interaction of service data; relay transmission timing synchronization refers to aligning the mobile robot with the dynamic relay node to achieve timing reference alignment and ensure the timing matching state of transmit / receive collaboration; link handshake verification refers to a link validity verification mechanism that verifies the link connectivity and timing alignment state through bidirectional frame interaction; relay forwarding mode refers to the working mode in which the mobile robot relies on the dynamic relay node to forward data to achieve end-to-end communication.

[0035] In this embodiment, determining the routing hop count of the backbone node by using the switched node transmit / receive mode and the routing resources of the mobile robot can be achieved through the following steps: Based on the relay transceiver time slot mapping relationship in the switched node transceiver mode, the access link metric parameters from the mobile robot to the target dynamic relay node are extracted. The access link metric parameters are fused with the neighbor topology snapshots stored in the routing resources of the mobile robot to generate a candidate path metric spectrum. The candidate path metric spectrum is validated based on a hop count threshold to obtain the routing hop count of the backbone node.

[0036] In specific implementation, firstly, the relay transmit / receive time slot mapping relationship contained in the node transmit / receive mode after the switch is analyzed, and the relay channel time slot allocation ratio, transmit / receive switching interval duration, and time slot synchronization deviation benchmark defined by this relationship are extracted. Combining the currently measured received signal strength indication and physical layer bit error rate (BER) two real-time parameters between the mobile robot and the target dynamic relay node, three quantitative indicators are calculated: equivalent transmission loss, single-hop effective throughput, and maximum achievable frame length. These three indicators are combined in a fixed structure to form access link metric parameters. Then, the neighbor topology snapshot stored in the mobile robot's routing resources is read. This snapshot records the adjacency relationships of surrounding communication nodes, the historical metric values ​​of each link, and the known path information from each node to the backbone node. The access link metric parameters obtained in step one are cumulatively added to the hop-by-hop link metric values ​​of each candidate path in the neighbor topology snapshot to calculate the total routing metric value of each complete path from the mobile robot, through intermediate nodes, to the backbone node. All candidate paths are categorized by hop count and their total metric values ​​are organized to generate a candidate path metric spectrum. Finally, a pre-set hop count threshold is invoked. This threshold is determined based on the maximum permissible end-to-end latency of the service data and is used to limit the maximum hop count range for relay transmission. The validity of each candidate path within the candidate path metric spectrum is verified, and paths with hop counts exceeding the hop count threshold are deemed invalid and removed. From the remaining set of valid paths, the path with the optimal total routing metric is selected as the final transmission path, and the hop count corresponding to this path is the routing hop count of the backbone node.

[0037] It should be noted that, in this application, routing resources refer to the set of routing-related data stored locally by the mobile robot, which includes network topology, link status, and path information; relay transceiver time slot mapping relationship refers to the mapping configuration that defines the time slot allocation and transceiver rules under the relay communication mode, used to guide link scheduling; access link metric parameters refer to the set of quantitative parameters that measure the transmission capability of the access link between the mobile robot and the target dynamic relay node; neighbor topology snapshot refers to the topology state snapshot that records the adjacency relationship and link metric of surrounding nodes; route metric fusion refers to the process of integrating and calculating the metric values ​​of multiple links to obtain the total transmission cost of the complete path; candidate path metric spectrum refers to the structured path metric set that summarizes all candidate paths to reachable targets and their corresponding total metric values; hop count threshold refers to the pre-set maximum allowable hop count threshold value of the relay, used to verify the validity and compliance of the route path; validity verification refers to the verification processing mechanism that selects qualified route paths and eliminates paths that do not meet the constraints according to preset rules; route hop count refers to the number of intermediate nodes that data passes through from the source to the target backbone node.

[0038] In step S3, the transmission coding parameters on the transmission channel are dynamically configured according to the routing hop count, and the transmission coding parameters are mapped to the forwarding queue of the dynamic relay node to obtain the relay transmission link.

[0039] In this embodiment, dynamically configuring the transmission coding parameters on the transmission channel based on the routing hop count can be achieved through the following steps: Based on the routing hop count and the current moving speed of the mobile robot, calculate the equivalent delay spread prediction value of the relay transmission link; The set of candidate coding parameters that satisfy the target bit error rate constraint is determined based on the equivalent delay spread prediction value. The applicability of the candidate coding parameter set is verified to obtain the transmission coding parameters on the transmission channel.

[0040] In practical implementation, firstly, the currently determined route hop count and the current moving speed of the mobile robot are obtained. A baseline delay spread value for a single-hop link is pre-set, which is obtained through statistical measurements based on typical multipath environments in the operational scenario. The product of the route hop count and the baseline delay spread value for a single hop is used as the base value for the static delay spread accumulated over multiple hops. The Doppler shift is calculated based on the current moving speed and the communication carrier wavelength. Combining the correlation model between channel time-varying characteristics and delay spread, the delay spread increment caused by mobility is calculated. The base value for static delay spread and the delay spread increment are added to obtain the equivalent delay spread prediction value for the relay transmission link. Then, a pre-set target bit error rate constraint is retrieved. This constraint is the maximum bit error rate limit that the service data transmission must meet, determined by the service reliability requirements. Based on the equivalent delay spread prediction value, the channel coherence bandwidth and inter-symbol interference intensity are derived. Combining the Shannon channel capacity formula and the bit error rate calculation model, the locally stored coding parameter library is traversed. All coding parameter combinations that, under the current equivalent delay spread channel conditions, have a theoretical bit error rate (BER) no higher than the target BER constraint are selected. These combinations include error correction coding rate, modulation order, and interleaving depth, forming a candidate coding parameter set. Finally, each set of parameters within the candidate set is read sequentially, and its applicability is verified by considering the current transmission channel's time slot allocation rules and hardware encoding / decoding capabilities. The effective data throughput per time slot and the encoding / decoding processing delay per frame are calculated for each set of parameters, and parameter combinations with throughput lower than the minimum service requirements or processing delays exceeding the permissible range for a single time slot are eliminated. From the remaining effective parameters, the set with the highest spectral efficiency is selected as the final transmission coding parameters adopted by the transmission channel.

[0041] It should be noted that in this application, dynamic configuration refers to a configuration mechanism that adjusts transmission coding parameters according to the real-time status of the link to adapt to changes in channel characteristics and ensure transmission performance; transmission channel refers to a dedicated communication path that carries relay service data transmission and has independent coding configuration and time slot scheduling logic; current moving speed refers to the motion state parameter of the mobile robot's real-time movement speed, used to support the prediction of channel time-varying characteristics; relay transmission link refers to a multi-hop data transmission link composed of mobile robots, dynamic relay nodes, and backbone nodes; equivalent delay spread prediction value refers to the predicted quantitative value of the overall multipath delay dispersion of the entire relay link; target bit error rate constraint refers to the maximum bit error rate upper limit that the service transmission must meet, serving as a reliability judgment benchmark for coding parameter selection; candidate coding parameter set refers to multiple sets of coding parameter combinations that meet the bit error rate constraint; applicability verification refers to a parameter compliance verification mechanism that selects coding parameters based on actual transmission conditions and eliminates infeasible schemes; transmission coding parameters refer to the set of communication configuration parameters that regulate data coding methods, modulation rules, and error correction mechanisms.

[0042] In this embodiment, mapping the transmission coding parameters to the forwarding queue of the dynamic relay node to obtain the relay transmission link can be achieved through the following steps: Based on the encoding type and code rate information in the transmission encoding parameters, a queue scheduling descriptor is generated for the queue to be forwarded by the dynamic relay node. The relay transmission link is obtained by parameterizing and binding the queue to be forwarded using the queue scheduling descriptor.

[0043] In practical implementation, firstly, the structured configuration fields of the transmission encoding parameters are parsed to extract the encoding type and bitrate information. The encoding type specifies the algorithm category of the error correction encoding, and the bitrate defines the ratio of valid information bits to the total code length. Combining the standardized configuration interface specification of the dynamic relay node's forwarding queue, the encoding type is mapped to the corresponding codec engine index, and the bitrate is mapped to the queue's frame length verification threshold and forwarding processing latency quota. After supplementing the queue service level identifier, it is encapsulated with fixed fields to form a queue scheduling descriptor that can be directly parsed and invoked. Then, the mobile robot encapsulates the queue scheduling descriptor into a configuration instruction frame and sends it to the dynamic relay node through the side link control channel. The queue management unit of the dynamic relay node receives the instruction, parses the descriptor, locates the corresponding service's forwarding queue, and writes parameters such as the codec engine index, frame length verification threshold, and latency quota into the queue's configuration register, completing the parameterized binding configuration. After the dynamic relay node returns a configuration confirmation frame, the mobile robot confirms that the configurations at both ends are consistent, and the end-to-end relay transmission path officially takes effect, forming a relay transmission link.

[0044] It should be noted that, in this application, the queue to be forwarded refers to a data buffer unit deployed inside the dynamic relay node, used to temporarily store data to be forwarded and schedule the output according to rules; the encoding type refers to the specific algorithm category of the error correction encoding, used to identify the encoding attribute parameters of the encoding and decoding processing logic; the code rate information refers to the ratio of effective information bits to the total code length, used to measure the degree of encoding redundancy; the queue scheduling descriptor refers to the structured description information that carries the encoding configuration and scheduling rules, used to guide the queue to be forwarded to complete the parameterized configuration; the parameterized binding configuration refers to writing the scheduling parameters into the queue configuration register, so that the queue performs the forwarding configuration operation according to the specified rules; the relay transmission link refers to the multi-hop relay data transmission path jointly composed of the mobile robot, the dynamic relay node, and the backbone node.

[0045] In addition, in this embodiment, the relay transmission link is obtained by parameterizing and binding the queue to be forwarded through the queue scheduling descriptor using the following steps: Based on the encoding type and code rate information carried in the queue scheduling descriptor, calculate the scheduling weight and cache partition capacity of the queue to be forwarded; The queue to be forwarded is instantiated and configured using the scheduling weight and the cache partition capacity, and a mapping and binding with the relay transmit and receive time slots are established to obtain the relay transmission link.

[0046] In practical implementation, firstly, the encoding type and bitrate information carried in the queue scheduling descriptor are parsed. Based on the encoding type, a single-frame processing latency benchmark for the corresponding encoding and decoding operations is determined. This benchmark is pre-calibrated based on the computational complexity of different encoding algorithms. Then, the effective data volume and total encoded data volume flowing through the queue per unit time are calculated using the bitrate value. According to the weighted fair scheduling rules, the scheduling weight of the queue to be forwarded is calculated based on the data processing load ratio. Simultaneously, based on the preset maximum allowable queuing latency and the data length after single-frame encoding, the minimum buffer space that satisfies the latency constraint is derived, obtaining the buffer partition capacity of the queue to be forwarded. Then, after receiving the scheduling weight and buffer partition capacity parameters, the queue management unit of the dynamic relay node allocates a dedicated buffer partition of the corresponding capacity in the node's shared buffer storage space, creates an independent queue instance to be forwarded, and writes the scheduling weight into the priority configuration register of the queue scheduler, completing the instantiation configuration of the queue. Subsequently, the correspondence between the enqueue and dequeue operation nodes of the queue to be forwarded and the relay transmit / receive time slots is established, completing the mapping and binding to ensure that the data forwarding and time slot scheduling timing are aligned. After the configurations at both ends are verified, a complete relay transmission link is formed.

[0047] It should be noted that, in this application, scheduling weight refers to the scheduling priority of the queue to be forwarded, which is a quantitative configuration parameter that determines the proportion of queue time slot resource allocation; cache partition capacity refers to the size of the dedicated cache space allocated to the queue to be forwarded, which is used to limit the maximum scale of data that the queue can temporarily store; instantiation configuration refers to the queue initialization operation of creating a dedicated queue instance and allocating corresponding resources according to the configuration parameters; mapping binding refers to the configuration operation of establishing the correspondence between the queue to be forwarded and the relay transmit and receive time slots to ensure the coordination of forwarding timing.

[0048] In step S4, when the link quality is detected to have recovered to above the communication quality threshold, and it is determined that the mobile robot has left the communication obstruction area, the relay transmission link is released and the direct connection mode is restored.

[0049] In this embodiment, the following steps can be used to determine that the mobile robot has left the communication obstruction area after the link quality has recovered to above the communication quality threshold: Perform trend stability analysis on the sampled values ​​of the link quality within a preset observation window to generate a link recovery trend feature vector; The link recovery trend feature vector is matched with the preset departure judgment threshold spectrum in a multi-dimensional condition to generate a comprehensive departure condition judgment factor. When the comprehensive judgment factor for the exit condition meets the preset exit confidence threshold, it is determined that the mobile robot has exited the communication obstruction area.

[0050] In practice, firstly, all link quality sample values ​​within a preset observation window are extracted to form a continuous time-series sampling sequence. The least squares method is used to linearly fit this time-series sequence to obtain the link quality recovery slope. The standard deviation of all sample values ​​within the sequence is calculated to quantify the degree of fluctuation, and the percentage of points with sample values ​​exceeding the communication quality threshold is statistically analyzed. The recovery slope, fluctuation standard deviation, and compliance percentage are linearly normalized and mapped to a unified numerical range before being concatenated in a fixed order to generate a link recovery trend feature vector. Then, a pre-constructed departure judgment threshold spectrum is called. This threshold spectrum stores the qualified threshold intervals and corresponding dimension weight coefficients for each feature dimension. Each dimension of the link recovery trend feature vector is compared with its corresponding threshold interval one by one to calculate the matching degree value for each dimension, with the matching degree value limited to the range of 0 to 1. The matching degrees of each dimension are weighted and summed according to the preset dimension weights of the threshold spectrum to obtain a comprehensive departure condition judgment factor with a value range of 0 to 1. A higher value indicates a higher degree of confidence in departure. Finally, the pre-set exit confidence threshold is read. This threshold is pre-calibrated based on the service's tolerance requirements for mode switching jitter and is used to define the credible critical standard for exit determination. The calculated comprehensive exit condition judgment factor is compared with the exit confidence threshold. If the comprehensive exit condition judgment factor is greater than or equal to the exit confidence threshold, the mobile robot is determined to have exited the communication obstruction area; if the threshold is not reached, the current relay communication status is maintained, and link quality monitoring continues.

[0051] It should be noted that, in this application, the preset observation window refers to a pre-defined continuous sampling time range; trend stability analysis refers to an analysis mechanism for evaluating the stability of link quality recovery; link recovery trend feature vector refers to a multi-dimensional feature set of link quality recovery status; exit judgment threshold spectrum refers to a pre-stored configuration set of multi-dimensional judgment thresholds and weights; multi-dimensional condition matching refers to a matching judgment mechanism that integrates multi-dimensional feature judgment results to generate judgment conclusions; exit condition comprehensive judgment factor refers to a value that quantifies the credibility of exiting the obstruction area; the preset exit confidence threshold refers to a pre-defined judgment critical value used to define whether the exit judgment result meets the credibility standard; and the communication obstruction area refers to the spatial area in the work scenario where the direct communication quality is substandard.

[0052] In this embodiment, releasing the relay transmission link and restoring the direct connection mode can be achieved through the following steps: Send a link release command to the dynamic relay node, reclaim the scheduling resources of the queue to be forwarded, and receive the forwarding status summary returned by the dynamic relay node; After confirming that no data is lost based on the forwarding status summary, the mobile robot's transceiver link is unbound from the relay transceiver time slot, and the direct connection synchronization sequence with the backbone node is reactivated.

[0053] In practice, the mobile robot first generates a link release command carrying the target queue identifier and resource reclamation timing requirements, and sends it to the dynamic relay node via the side link control channel. Upon receiving the command, the dynamic relay node immediately stops the data enqueueing operation for the corresponding queue, emptys the queue of residual data, and reclaims the scheduling weight slot quota and dedicated buffer partition capacity corresponding to the queue, completing the scheduling resource reclamation. Then, it counts the cumulative number of received data packets, the number of successfully forwarded data packets, and the number of dropped data packets within the relay cycle, encapsulates this into a forwarding status digest, and returns it to the mobile robot. Next, after receiving the forwarding status digest, the mobile robot extracts the number of successfully forwarded data packets and compares it with the locally recorded cumulative number of data packets sent during the relay phase. If the two values ​​match, it confirms that no data has been lost, and immediately performs a transmit / receive link configuration update, unbinding the mapping relationship between the relay transmit / receive slots and the queue to be forwarded, and closing the relay communication channel. Then, it calls the pre-stored direct connection synchronization sequence parameters to initiate a synchronization handshake with the backbone node, completing timing alignment and channel parameter calibration, and rebuilding the direct connection communication link.

[0054] It should be noted that in this application, the direct connection mode refers to a communication mode in which the mobile robot and the backbone node directly conduct end-to-end data interaction without going through intermediate nodes; the link release instruction refers to a control instruction that notifies the dynamic relay node to terminate the relay forwarding service and triggers the corresponding scheduling resource reclamation; the scheduling resources refer to the time slot scheduling quota and cache storage space allocated to the queue to be forwarded; the forwarding status summary refers to the record of data forwarding statistics during the relay stage; and the direct connection synchronization sequence refers to the reference synchronization signal sequence used for the mobile robot and the backbone node to establish direct connection timing alignment and support the reconstruction of the direct connection link.

[0055] In this embodiment, reference Figure 3 As shown in the diagram, this is a schematic diagram of adaptive relay communication in obstructed areas for a mobile robot. The diagram includes the mobile robot, multiple dynamic relay nodes, a communication obstruction area, a backbone node, and a remote control center. The communication obstruction area is marked with a dashed box, representing the spatial region where the direct communication quality cannot meet the service transmission requirements. In unobstructed scenarios, the mobile robot establishes end-to-end communication with the backbone node through a direct link. Service data is forwarded to the remote control center via the backbone node. The control link carries control commands such as node scheduling, parameter configuration, and status synchronization. When the mobile robot enters a communication obstruction area, the direct link is attenuated due to obstacles and cannot meet the transmission quality requirements. The system then selects dynamic relay nodes within the obstruction area that meet the capability requirements and sequentially constructs multi-hop relay transmission links from the mobile robot to the first dynamic relay node, between dynamic relay nodes, and from the last dynamic relay node to the backbone node. Dynamic relay forwarding ensures the continuity of service data transmission and avoids communication interruptions.

[0056] Therefore, in this application, when the link quality is detected to have recovered to above the communication quality threshold, and the mobile robot is determined to have left the communication obstruction area, the relay transmission link is released and the direct connection mode is restored. Determining the communication strategy for the obstruction area allows for the acquisition of differentiated relay activation thresholds and mode switching timing configurations adapted to the link fading trend, forming standardized communication scheduling rules for obstruction scenarios that cover node scheduling, mode switching, and configuration frameworks. This overcomes the inherent limitations of a single fixed threshold triggering mechanism in adapting to different link fading rates, avoiding the risk of invalid relay resource occupation and communication interruption caused by switching timing deviations. Ultimately, it achieves precise dynamic matching between the relay activation rhythm and the actual channel change state, effectively smoothing the communication mode switching process, reducing transmission quality fluctuations within the obstruction area, and improving the operational stability and network resource utilization efficiency of the mobile robot communication system in complex obstruction environments. Determining the relay transmission link allows for the acquisition of dynamic transmission coding configurations and queue scheduling rules that match the routing hop count characteristics, forming an end-to-end multi-hop relay transmission path with consistent parameters at both ends. This approach overcomes the shortcomings of existing technologies, such as fixed relay transmission coding and queue configuration, and difficulty in adapting to the dispersion and delay characteristics of multi-hop links. It avoids the increase in transmission errors and timing misalignment caused by parameter mismatch. Ultimately, it achieves dynamic adaptation of relay link transmission parameters to actual channel conditions, ensuring data transmission reliability and timing consistency in multi-hop scenarios, and effectively improving the transmission quality and overall system stability of relay communication in obstructed environments.

[0057] In summary, the technical solution adopted in this application can adaptively and dynamically schedule relay communication links to improve communication stability in obstructed environments.

[0058] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0059] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-Erasable Programmable Read-Only Memory (EEPROM), compactdisc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium capable of carrying or storing data.

[0060] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

Claims

1. A self-organizing communication method for mobile robots based on dynamic relay nodes, characterized in that, The method includes: Real-time monitoring of the link quality between the mobile robot and the backbone node; when the quality falls below the communication quality threshold, it is determined that the robot has entered the communication obstruction zone and a communication strategy for the obstruction zone is generated. According to the communication strategy for obstructed areas, a relay coding request is sent to the dynamic relay node. The relay coding request triggers the mobile robot to switch the node's transmit and receive mode. The number of routing hops of the backbone node is determined by the switched node transmit and receive mode and the routing resources of the mobile robot. Based on the routing hop count, the transmission coding parameters on the transmission channel are dynamically configured, and the transmission coding parameters are mapped to the forwarding queue of the dynamic relay node to obtain the relay transmission link; When the link quality is detected to have recovered to above the communication quality threshold, and the mobile robot is determined to have left the communication obstruction area, the relay transmission link is released and the direct connection mode is restored.

2. The self-organizing communication method for mobile robots based on dynamic relay nodes as described in claim 1, characterized in that, When the communication quality threshold is lowered, it is determined that the area has entered a communication obstruction zone, and a communication strategy for the obstruction zone is generated, specifically including: The trend feature vector of link fading is determined by the attenuation slope of the link quality. The trend feature vector is matched in a preset switching strategy mapping table to determine the relay activation threshold and mode switching timing, thus forming a communication strategy for the obstructed area.

3. The self-organizing communication method for mobile robots based on dynamic relay nodes as described in claim 1, characterized in that, Sending relay coding requests to dynamic relay nodes according to the obstructed area communication strategy specifically includes: Based on the relay activation threshold and mode switching sequence in the obstruction area communication strategy, extract the capability requirement descriptor of the target relay node; The candidate dynamic relay node set is filtered using the capability requirement descriptor, and the filtered nodes are prioritized based on link hold time to determine the target dynamic relay node. The policy identifier of the obstruction area communication policy and the node identifier of the target dynamic relay node are encapsulated into the relay coding request and sent to the target dynamic relay node.

4. The self-organizing communication method for mobile robots based on dynamic relay nodes as described in claim 1, characterized in that, Triggering the mobile robot to switch node transmit / receive modes via the relay coding request specifically includes: Based on the policy identifier, a matching search is performed in the local policy cache to obtain the corresponding node send / receive mode configuration description; By reconfiguring the transceiver timing parameters and antenna mapping relationship in the node transceiver mode configuration description, the transceiver link of the mobile robot is reconfigured to establish relay transmission timing synchronization with the target dynamic relay node. The reconfigured transmit and receive links are verified by a link handshake, and after receiving the confirmation response from the target dynamic relay node, the current communication mode of the mobile robot is marked as relay forwarding mode.

5. The self-organizing communication method for mobile robots based on dynamic relay nodes as described in claim 1, characterized in that, Determining the routing hop count of the backbone node by using the switched node transmit / receive modes and the routing resources of the mobile robot specifically includes: Based on the relay transceiver time slot mapping relationship in the switched node transceiver mode, the access link metric parameters from the mobile robot to the target dynamic relay node are extracted. The access link metric parameters are fused with the neighbor topology snapshots stored in the routing resources of the mobile robot to generate a candidate path metric spectrum. The candidate path metric spectrum is validated based on a hop count threshold to obtain the routing hop count of the backbone node.

6. The self-organizing communication method for mobile robots based on dynamic relay nodes as described in claim 1, characterized in that, The dynamic configuration of transmission coding parameters on the transmission channel based on the routing hop count specifically includes: Based on the routing hop count and the current moving speed of the mobile robot, calculate the equivalent delay spread prediction value of the relay transmission link; The set of candidate coding parameters that satisfy the target bit error rate constraint is determined based on the equivalent delay spread prediction value. The applicability of the candidate coding parameter set is verified to obtain the transmission coding parameters on the transmission channel.

7. The self-organizing communication method for mobile robots based on dynamic relay nodes as described in claim 1, characterized in that, Mapping the transmission coding parameters to the forwarding queue of the dynamic relay node to obtain the relay transmission link specifically includes: Based on the encoding type and code rate information in the transmission encoding parameters, a queue scheduling descriptor is generated for the queue to be forwarded by the dynamic relay node. The relay transmission link is obtained by parameterizing and binding the queue to be forwarded using the queue scheduling descriptor.

8. The self-organizing communication method for mobile robots based on dynamic relay nodes as described in claim 7, characterized in that, The relay transmission link is specifically obtained by parameterizing and binding the queue to be forwarded using the queue scheduling descriptor. Based on the encoding type and code rate information carried in the queue scheduling descriptor, calculate the scheduling weight and cache partition capacity of the queue to be forwarded; The queue to be forwarded is instantiated and configured using the scheduling weight and the cache partition capacity, and a mapping and binding with the relay transmit and receive time slots are established to obtain the relay transmission link.

9. The self-organizing communication method for mobile robots based on dynamic relay nodes as described in claim 1, characterized in that, Detecting that the link quality has recovered to above the communication quality threshold, determining that the mobile robot has left the communication obstruction area specifically includes: Perform trend stability analysis on the sampled values ​​of the link quality within a preset observation window to generate a link recovery trend feature vector; The link recovery trend feature vector is matched with the preset departure judgment threshold spectrum in a multi-dimensional condition to generate a comprehensive departure condition judgment factor. When the comprehensive judgment factor for the exit condition meets the preset exit confidence threshold, it is determined that the mobile robot has exited the communication obstruction area.

10. The self-organizing communication method for mobile robots based on dynamic relay nodes as described in claim 1, characterized in that, Releasing the relay transmission link and restoring the direct connection mode specifically includes: Send a link release command to the dynamic relay node, reclaim the scheduling resources of the queue to be forwarded, and receive the forwarding status summary returned by the dynamic relay node; After confirming that no data is lost based on the forwarding status summary, the mobile robot's transmit / receive link is unbound from the relay transmit / receive time slot, and the direct connection synchronization sequence with the backbone node is reactivated.

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