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A Communication Method of Distributed Dispatch System Based on Local Area Network Multicast Group

A technology of dispatching system and communication method, which is applied in the direction of transmission system, electrical components, etc., and can solve problems such as the weakness of the center of the central dispatching system

Active Publication Date: 2019-09-10
SHENZHEN PUDU TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The invention solves the problem that the center of the central dispatching system of the CS model is weak
And there is no need to add additional central nodes to save costs

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0017] 1. System topology

[0018] The system adopts a distributed P2P model, each robot acts as a client, and the two communicate directly without any central node.

[0019] 2. Communication scheme

[0020] The system consists of a wifi network covering all robot operating environments to form a communication network. All robots join a udp multicast group for synchronizing IP addresses. Each robot uses the multicast group to broadcast its own ip and receive the ip of other robots. In actual communication, use tcp to communicate with the corresponding ip address.

[0021] 3. Positioning method

[0022] The system uses indoor base stations, combined with GPS positioning algorithm to realize the positioning of each robot.

[0023] 4. Map construction

[0024] The system uses lidar to scan the map before the robot runs, and stores the map on each robot and the central server.

[0025] 5. Path planning algorithm

[0026] Based on the map scanned by lidar, on this map, each...

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PUM

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Abstract

The invention relates to a communication method of a distributed scheduling system based on a local area network multicast group. Since the IP addresses in the same network segment must be different in the method, the random number sequences must be incongruent, and an arbitration result must be obtained. Since multiple robots use exactly the same algorithm, the results of their respective arbitration pairs are also exactly the same. Accordingly, after a conflict occurs, the arbitration can be completed without any communication between the conflicting robots. That is, arbitration does not consume any bandwidth at all, except for the necessary information such as robot position, direction, and resource application that need to be transmitted during scheduling. Logging in and out also only results in very small data transfers at boot time. This method enables multiple robots moving indoors to share scheduling information with the minimum network bandwidth, and supports adding new robots at any time without any configuration.

Description

technical field [0001] The invention relates to a multi-robot dispatching system, in particular to a dispatching system based on a distributed dispatching scheme. Background technique [0002] Indoor robots with localization and navigation have more and more applications. However, if only two identical robots are placed in the same environment, mutual interference will occur. This requires a scheduling system to reasonably allocate tasks and resources according to the status of each robot to avoid mutual interference between robots. And this scheduling system involves the mutual communication of multiple robots. If the CS model is adopted, it is only necessary to send the status of each robot (client) to the server, run the scheduling algorithm on the server, and then feed back the decision information to the client. But in this way, an additional device needs to be added to Chen Ben, and there is a central weak link in the system. The invention discloses a distributed sc...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H04L29/08
CPCH04L67/104H04L67/1074H04L67/61
Inventor 虞坤霖张涛
Owner SHENZHEN PUDU TECH CO LTD
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