WO2022068554A1 - 多设备协作方法、装置、系统及介质 - Google Patents

多设备协作方法、装置、系统及介质 Download PDF

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Publication number
WO2022068554A1
WO2022068554A1 PCT/CN2021/117696 CN2021117696W WO2022068554A1 WO 2022068554 A1 WO2022068554 A1 WO 2022068554A1 CN 2021117696 W CN2021117696 W CN 2021117696W WO 2022068554 A1 WO2022068554 A1 WO 2022068554A1
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cooperation
requesting
short
wireless communication
range wireless
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PCT/CN2021/117696
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English (en)
French (fr)
Inventor
闵令吉
姚秀军
桂晨光
崔丽华
邓超
赵庆祥
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京东科技信息技术有限公司
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Priority to EP21874215.3A priority Critical patent/EP4224892A4/en
Priority to US18/246,910 priority patent/US20230371087A1/en
Publication of WO2022068554A1 publication Critical patent/WO2022068554A1/zh

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/06—Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W40/00—Communication routing or communication path finding
    • H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
    • H04W40/20—Communication route or path selection, e.g. power-based or shortest path routing based on geographic position or location
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W40/00—Communication routing or communication path finding
    • H04W40/24—Connectivity information management, e.g. connectivity discovery or connectivity update
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W76/00—Connection management
    • H04W76/10—Connection setup
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W76/00—Connection management
    • H04W76/10—Connection setup
    • H04W76/14—Direct-mode setup
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L45/00—Routing or path finding of packets in data switching networks
    • H04L45/74—Address processing for routing
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/03—Protecting confidentiality, e.g. by encryption
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W8/00—Network data management
    • H04W8/005—Discovery of network devices, e.g. terminals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
    • H04W88/02—Terminal devices
    • H04W88/04—Terminal devices adapted for relaying to or from another terminal or user
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Definitions

  • the present disclosure generally relates to the technical field of intelligent interaction, and more particularly, to a multi-device cooperation method, apparatus, system and medium.
  • the present disclosure relates to a multi-device cooperation method, which is applied to any requesting device, the cooperation method comprising:
  • a short-range wireless communication connection is established with the cooperative device, and data interaction is performed with the cooperative device based on the short-range wireless communication.
  • the collaborative method further comprises:
  • the location information and identification mark of the cooperative device are used as neighbor information, and are stored in the neighbor table correspondingly.
  • the collaborative method further comprises:
  • the corresponding neighbor information is updated according to the identification flag of the cooperating device in response to the unicast packet.
  • the requesting devices include: a central processing unit, a microcontroller and a short-range wireless communication device; the central processing unit and the microcontroller are connected through a controller area network bus; the microcontroller the controller is connected with the short-range wireless communication device;
  • establishing a short-range wireless communication connection with the cooperation device includes:
  • the short-range wireless communication device of the requesting device is wirelessly connected to the short-range wireless communication device of the cooperation device.
  • the data interaction with the cooperative device based on the short-range wireless communication includes:
  • the central processor of the requesting device determines neighbor information corresponding to the data acquisition requirements from the neighbor list according to the data acquisition requirements;
  • the central processor of the requesting device generates a data acquisition request according to the data acquisition requirement, and sends the data acquisition request to the microcontroller through a subcontracting protocol;
  • the microcontroller parses the data acquisition request to obtain a complete data acquisition request, encrypts the data acquisition request and sends it to the short-range wireless communication device;
  • the short-range wireless communication device sends the encrypted data acquisition request to the short-range wireless communication device of the cooperative device corresponding to the neighbor information.
  • the collaborative method further comprises:
  • the short-range wireless communication device When the short-range wireless communication device receives data sent by any requesting device, the short-range wireless communication device sends the data to the microcontroller;
  • the microcontroller sends the data to the central processing unit.
  • the broadcasting of the cooperation request; determining other requesting devices that respond to the cooperation request, and using the other requesting devices that respond to the cooperation request as cooperation devices including:
  • the requesting device that sends the feedback data When receiving the feedback data in response to the broadcast packet, use the requesting device that sends the feedback data as a cooperation device; wherein, the feedback data includes: the location information and identification of the requesting device, sending the The location information and identification of other requesting devices that feed back data.
  • the present disclosure relates to a multi-device cooperation apparatus, including at least two requesting devices, each of which includes:
  • a first processing unit configured to broadcast a collaboration request
  • the first processing unit is further configured to determine other requesting devices that respond to the cooperation request, and use the other requesting devices that respond to the cooperation request as cooperation devices;
  • a connection unit configured to establish a short-range wireless communication connection with the cooperation device, and perform data interaction with the cooperation device based on the short-range wireless communication.
  • the requesting device further includes:
  • the second processing unit is configured to acquire the location information and identification mark of the cooperation device; and store the position information and identification mark of the cooperation device as neighbor information correspondingly in a neighbor table.
  • the requesting device further includes:
  • the third processing unit is configured to send unicast packets to the corresponding cooperation devices at preset time intervals according to the neighbor information recorded in the neighbor list, and send unicast packets to the corresponding cooperation devices according to the neighbor information recorded in the neighbor list.
  • the device sends a unicast packet; obtains the communication address location information and identification mark of each cooperating device that responds to the unicast packet; deletes the neighbor information corresponding to the cooperating device that does not respond to the unicast packet from the neighbor list ; and in the neighbor list, update the corresponding neighbor information according to the identification tag of the cooperating device responding to the unicast packet.
  • the requesting devices each include: a central processing unit, a microcontroller, and a short-range wireless communication device; the central processing unit comprises: the first processing unit and the second processing unit;
  • the distance wireless communication device includes: the connection unit;
  • the central processing unit and the microcontroller are connected through a controller area network bus; the microcontroller is connected with the short-range wireless communication device; and
  • the short-range wireless communication device of the requesting device is wirelessly connected to the short-range wireless communication device of the cooperation device.
  • the central processing unit of the requesting device is configured to determine, according to the data acquisition requirements, neighbor information corresponding to the data acquisition requirements from the neighbor table;
  • the central processing unit of the requesting device is further configured to generate a data acquisition request according to the data acquisition requirement, and send the data acquisition request to the microcontroller through a subcontracting protocol;
  • the microcontroller is configured to parse the data acquisition request, obtain a complete data acquisition request, encrypt the data acquisition request and send it to the short-range wireless communication device;
  • the short-range wireless communication device is configured to send the encrypted data acquisition request to the short-range wireless communication device of the cooperative device corresponding to the neighbor information.
  • the short-range wireless communication device is further configured to, when receiving data sent by any requesting device, the short-range wireless communication device sends the data to the microcontroller; the Any of the aforementioned requesting devices includes: other requesting devices or cooperating devices; and
  • the microcontroller is further configured to send the data sent by the short-range wireless communication device to the central processing unit.
  • the first processing unit is configured to broadcast a broadcast packet including a cooperation request, the cooperation request including: location information and identification of the requesting device; and
  • the first processing unit is configured to use the requesting device that sends the feedback data as a cooperation device when receiving the feedback data in response to the broadcast packet; wherein the feedback data includes: the requesting device's Location information and identification, and location information and identification of other requesting devices that send the feedback data.
  • the present disclosure relates to a multi-device cooperation system, including at least two requesting devices, each of which includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the The memories communicate with each other through the communication bus;
  • the memory configured to store the computer program
  • the processor is configured to implement the multi-device cooperation method described in the present disclosure when executing the computer program stored in the memory.
  • the present disclosure relates to a computer-readable storage medium storing one or more programs that can be executed by one or more processors to implement the The multi-device collaboration method described above.
  • Some embodiments of the present disclosure broadcast the cooperation request, so that the cooperation request is propagated within the communication range of the requesting device.
  • the other requesting devices When other requesting devices receive the cooperation request, the other requesting devices respond according to the cooperation request, and the requesting device will respond to the cooperation request at this time.
  • the other requesting device is used as a cooperation device, and then establishes a short-range wireless communication connection with the cooperation device to realize data interaction, so that data interaction between devices can also be carried out in the absence of a network.
  • FIG. 1 is a schematic flowchart of a multi-device collaboration method provided by an embodiment of the present disclosure
  • FIG. 2 is a schematic flowchart of a multi-device collaboration method provided by another embodiment of the present disclosure
  • FIG. 3 is the first schematic flowchart of a multi-device collaboration method provided by another embodiment of the present disclosure.
  • FIG. 4 is a schematic structural diagram of a requesting device provided by another embodiment of the present disclosure.
  • FIG. 5 is a schematic structural diagram of a requesting device provided by another embodiment of the present disclosure.
  • FIG. 6 is a second schematic flowchart of a multi-device collaboration method provided by another embodiment of the present disclosure.
  • FIG. 7 is a schematic diagram of data interaction in which a requesting device actively acquires other requesting devices according to another embodiment of the present disclosure
  • FIG. 8 is a third schematic flowchart of a multi-device collaboration method provided by another embodiment of the present disclosure.
  • FIG. 9 is a schematic diagram of data interaction in which a short-range wireless communication device passively reports data to a central processing unit provided by another embodiment of the present disclosure.
  • FIG. 10 is a fourth schematic flowchart of a multi-device collaboration method provided by another embodiment of the present disclosure.
  • FIG. 11 is a schematic structural diagram of a multi-device cooperation apparatus provided by another embodiment of the present disclosure.
  • FIG. 12 is a connection diagram of a short-range wireless communication device of each device of a multi-device cooperation system provided by another embodiment of the present disclosure.
  • FIG. 13 is the first schematic diagram of data interaction of a short-range wireless communication device of each device of a multi-device cooperation system provided by another embodiment of the present disclosure
  • FIG. 15 is a schematic diagram of data updating of a neighbor table provided by another embodiment of the present disclosure.
  • FIG. 16 is a schematic structural diagram of a multi-device cooperation system provided by another embodiment of the present disclosure.
  • an embodiment of the present disclosure provides a multi-device cooperation method, which is applied to any requesting device.
  • the collaboration method includes S11 to S13.
  • broadcasting is a "one-to-all" mode of communication between hosts in which the network unconditionally replicates and forwards signals from each host, and all hosts receive all messages (regardless of whether you need), since it does not use path selection, its network cost can be very low.
  • the cable TV network is a typical broadcast network. Our TV actually receives the signals of all channels, but only restores the signal of one channel to the picture.
  • the underwater acoustic communication network due to the uncertainty of the position of the propagation node, Therefore, the underwater acoustic communication network often uses the broadcast method to send the data packets out of the direction, and realizes the data transmission through the sequential broadcast between each node.
  • the requesting device may be any device that performs data interaction with the server through a wireless network.
  • the requesting device in this step may be an operating robot in a factory.
  • a collaboration request is created and broadcast so that the collaboration request is propagated within communication range of the requesting device and can be received by devices within communication range.
  • whether there is a requesting device responding to the cooperation request can be determined according to whether other requesting devices that have received the cooperation request feed back information.
  • an ACK confirmation character can be used as the feedback information in response to the cooperation request, or according to Predefined information is used as feedback information.
  • ACK Acknowledge character
  • a transmission control character sent by the receiving station to the sending station Indicates that the sent data has been confirmed to be received without error.
  • the cooperating device may send its own location information and identification information to the requesting device when responding to the cooperation request.
  • the application layer broadcasts the data packets containing the cooperation request, and actively listens to the surrounding devices, wherein the data transmission and reception can be performed in an asynchronous manner to avoid the congestion of the main process, and the No. 1 device sends: 7E 12 FF FF XX XX ...7F, where FF FF is the broadcast address; device No. 2 receives: 7E 12 BB AA XX XX...7F, where BB AA is the short address of device 1, after parsing the data, device No. 2 sends: 7E 12 BB AA XX X...7F, where BB AA is the short address of device 1; device No. 1 receives: 7E 12 BC AA XX X...7F, where BC AA is the short address of device 2, after parsing the data, device No. 2 is used as a collaborative device .
  • a short-range wireless communication connection is established with the assisting device, and based on the local connection between the requesting device and the cooperating device, the requesting device and the cooperating device can directly perform data interaction, and reliable data exchange and cooperation are realized in the absence of a network.
  • the NFC connection may be based on a local connection implemented by a ZigBee module, a Bluetooth module, or a wifi module.
  • ZigBee also known as ZigBee
  • ZigBee is a wireless network protocol for low-speed and short-distance transmission.
  • the bottom layer is the media access layer and physical layer using the IEEE 802.15.4 standard specification.
  • Wi-Fi also known as "mobile hotspot” in Chinese, is the trademark of the Wi-Fi Alliance manufacturer as the brand certification of the product. It is a wireless local area network technology created in the IEEE 802.11 standard.
  • this solution broadcasts the cooperation request, so that the cooperation request is propagated within the communication range of the requesting device.
  • the other requesting devices respond according to the cooperation request, for example, by ACK
  • the mode corresponds to the cooperation request
  • ACK Acknowledge character
  • a transmission type control character sent by the receiving station to the sending station indicating that the sent data has been confirmed to be received without error, or other arbitrary characters are fed back. Both can help the requesting device to confirm other requesting devices that exist within its communication range, use the device that responds to the cooperation request as the cooperation device, and then establish a short-range wireless communication connection with the cooperation device to realize data exchange, so that there is no communication between the devices. Data interaction is also possible in the network situation.
  • the solutions provided by the embodiments of this solution can be applied to any requesting device.
  • other requesting devices that respond to cooperation requests can be requesting devices or other types of devices.
  • the robot or the robot in charge of assembly can be the requesting device in this solution or other requesting device that responds to the cooperation request of the requesting device.
  • each robot runs very fast.
  • Route and running time it is often necessary to distinguish the running priority of the robot, so that some robots can pass preferentially to avoid collision, but this will waste the transportation time of robots with lower priority.
  • the method actually puts the process of data acquisition on the device, without the need to pass the server as an intermediary, so that the data transmission time is reduced, and the devices can obtain the data of the other party in real time, which can greatly avoid Collision occurs between robots.
  • this solution can also enable some robots running offline to directly obtain the operation data of adjacent devices without needing to obtain the operation parameters of adjacent devices through the server, which has realized the collaborative operation of multiple robots in an offline environment.
  • an embodiment of the present disclosure provides a multi-device cooperation method.
  • the difference is that the cooperation method further includes S21 and S22 .
  • the cooperating device may attach its own location information and identification mark when sending data to the requesting device in response to the cooperation request.
  • the location information may be the spatial coordinate information of the cooperating device at this time, or it may be relative to a certain
  • the relative position information of the fixed reference object can also be the relative position information of the cooperating device relative to the requesting device, wherein the identification mark can be the device identification number of the device or a preset device number, and the requesting device can be determined through the location information. The position of the device at this time, through the identification mark, allows the requesting device to determine the identity of the cooperating device.
  • the location information and identification mark of the cooperating device are combined into neighbor information, and the neighbor information is stored in the neighbor table, so as to facilitate the management of the cooperating device of the requesting device, so that the requesting device can quickly communicate with the cooperating device. data interaction.
  • the requesting device can quickly determine the location and identity of the collaboration device, so as to facilitate data interaction between the requesting device and the collaboration device.
  • the collaboration method further includes S31 to S34.
  • unicast packets are respectively sent to the cooperation device according to the recorded neighbor information at every preset time interval. Therefore, unicast packets are less expensive and faster than sending packets to other devices in the form of broadcasts.
  • S32 Acquire the location information and identification mark of each cooperating device that responds to the unicast packet.
  • the cooperating device after sending a unicast packet to a cooperating device, if the cooperating device responds to the unicast packet, it means that the cooperating device is still within the data communication range of the requesting device, wherein the response method is the same as shown in FIG. 1 .
  • the response method in the display cooperation method is the same, and the method of obtaining the location information and the identification mark is the same as the obtaining method in the above method, and this step will not be repeated here.
  • the cooperating device if the cooperating device does not respond to the unicast packet, it means that the cooperating device may have moved out of the activity range of the requesting device. At this time, the neighbor information corresponding to the cooperating device is deleted from the neighbor information form to complete the Information updates for cooperating devices.
  • the cooperating device if the cooperating device responds to the unicast packet, it means that the cooperating device is still within the communication range of the requesting device. At this time, the location information of the cooperating device is updated in real time, which is also convenient for the requesting device. The next time you communicate with the collaboration device.
  • the entire multi-machine interaction process is mainly based on the robot passively receiving data, supplemented by actively querying information.
  • the short-range wireless communication device scans the surrounding data, it will actively report it to the robot body, and continue to scan and modify the device until the device is disconnected from the network.
  • the update time of the neighbor information may also be recorded.
  • the requesting devices include: a central processing unit, a microcontroller and a short-range wireless communication device; the central processing unit and the microcontroller are connected through a controller area network bus; the microcontroller Connect with a short-range wireless communication device.
  • the central processing unit and the microcontroller are connected through a CAN bus, and the microcontroller and the short-range wireless communication device are connected by a UART bus, so as to realize the short-distance communication between the central processing unit and the central processing unit.
  • Connection of wireless traffic devices CAN is the abbreviation of Controller Area Network (CAN).
  • Fieldbus is a new technology developed in the past 20 years.
  • CAN bus is a widely used fieldbus. application prospects.
  • Universal Asynchronous Receiver/Transmitter commonly known as UART. It converts the data to be transmitted between serial communication and parallel communication. As a chip that converts parallel input signals into serial output signals, UART is usually integrated in the connection of other communication interfaces.
  • the requesting device wirelessly connects with the proximity wireless communication means of the cooperating device.
  • data interaction is performed with the cooperation device based on short-range wireless communication, including S41 to S44 .
  • the central processor of the requesting device determines neighbor information corresponding to the data acquisition requirement from the neighbor table according to the data acquisition requirement.
  • the cooperative device that can provide the corresponding data is determined according to the data acquisition requirement, and the corresponding neighbor information is determined from the neighbor list.
  • the corresponding cooperative device queries a certain data.
  • the central processor of the requesting device generates a data acquisition request according to the data acquisition requirement, and sends the data acquisition request to the microcontroller through a subcontracting protocol.
  • a data acquisition request is generated according to data acquisition requirements, and the data acquisition request is sent to the microcontroller through a sub-packet protocol. Since the single packet of CAN data packets is too small to transmit slightly longer data, the CAN data transmission The layer is a packet protocol, which is parsed by the microcontroller and converted into an effective wireless transmission data packet to be sent to the short-range wireless communication device.
  • the microcontroller parses the data acquisition request to obtain a complete data acquisition request, encrypts the data acquisition request, and sends the data acquisition request to the short-range wireless communication device.
  • the data acquisition request is encrypted and forwarded to the short-range wireless communication device, and data theft is avoided by encrypting the data acquisition request.
  • the short-range wireless communication device sends the encrypted data acquisition request to the short-range wireless communication device of the cooperative device corresponding to the neighbor information.
  • the encrypted data acquisition request is sent to the short-range wireless communication device of the corresponding cooperative device through the short-range wireless communication device.
  • the NFC device of the assisting device will send the data acquisition request to the microcontroller, which then sends the request to the central processing unit
  • the device assists the device to feed back the corresponding data to the central processor of the requesting device according to the data acquisition request according to the original path, and completes the closed loop of the data acquisition process.
  • the collaboration method further includes S51 and S52.
  • the short-range wireless communication apparatus When the short-range wireless communication apparatus receives data sent by any requesting device, the short-range wireless communication apparatus sends the data to the microcontroller.
  • the NFC device of the requesting device when the NFC device of the requesting device receives data sent by any requesting device, the data is fed back to the microcontroller.
  • the microcontroller sends the data to the central processing unit.
  • data is sent by the microcontroller to the central processing unit, which has controlled the operation of the requesting device based on the data.
  • an embodiment of the present disclosure provides a multi-device cooperation method.
  • the collaboration method includes S61 to S63.
  • the broadcast packet including the cooperation request is sent by broadcasting, and the location information and identification of the requesting device are configured in the broadcast packet, so that the requesting device that receives the broadcast packet can obtain the requesting device that sent the broadcast packet.
  • the location and device number of the broadcast packet are used for data feedback from the requesting device receiving the broadcast packet.
  • the requesting device that sends the feedback data when receiving the feedback data in response to the broadcast packet, use the requesting device that sends the feedback data as a cooperative device; wherein, the feedback data includes: the location information and identification of the requesting device, and the location of other requesting devices that send the feedback data information and identification.
  • the requesting device that sends the feedback data is used as a cooperative device, and the feedback data includes the location information and identification of the requesting device, and the feedback data as feedback data in response to the broadcast packet.
  • step S63 For details about step S63, reference may be made to the description in step S13, which will not be repeated here.
  • an embodiment of the present disclosure provides a multi-device cooperation apparatus, including at least two requesting devices, each of which includes: a first processing unit 11 and a connecting unit 12 .
  • the first processing unit 11 is configured to broadcast the cooperation request.
  • the first processing unit 11 is further configured to determine other requesting devices that respond to the cooperation request, and use the other requesting devices that respond to the cooperation request as the cooperation device.
  • connection unit 12 is configured to establish a short-range wireless communication connection with the cooperative device, and perform data interaction with the cooperative device based on the short-range wireless communication.
  • the requesting device further includes: a second processing unit, configured to acquire the location information and identification mark of the cooperative device; and store the position information and identification mark of the cooperative device as neighbor information, and store them in a neighbor table correspondingly middle.
  • a second processing unit configured to acquire the location information and identification mark of the cooperative device; and store the position information and identification mark of the cooperative device as neighbor information, and store them in a neighbor table correspondingly middle.
  • the requesting device further includes: a third processing unit, configured to send a unicast packet to the corresponding cooperative device according to the neighbor information recorded in the neighbor table at every preset time interval; The location information and identification mark of the cooperating device of the unicast packet; and delete the neighbor information corresponding to the cooperating device that does not respond to the unicast packet from the neighbor list; in the neighbor list, according to the identification mark of the cooperating device that responds to the unicast packet Update the corresponding neighbor information.
  • a third processing unit configured to send a unicast packet to the corresponding cooperative device according to the neighbor information recorded in the neighbor table at every preset time interval; The location information and identification mark of the cooperating device of the unicast packet; and delete the neighbor information corresponding to the cooperating device that does not respond to the unicast packet from the neighbor list; in the neighbor list, according to the identification mark of the cooperating device that responds to the unicast packet Update the corresponding neighbor information.
  • the requesting devices each include: a central processing unit, a microcontroller, and a short-range wireless communication device; the central processing unit includes: the first processing unit and the second processing unit; the short-range wireless communication device
  • the communication device includes: the connection unit; wherein, the central processing unit includes the above-mentioned first processing unit 11 and the second processing unit, and uses the microcontroller as a relay device to forward processing instructions from the central processing unit to the short-range wireless communication device,
  • the connection unit 12 is the short-range wireless communication device in this embodiment.
  • the central processing unit and the microcontroller are connected via a controller area network bus; the microcontroller is connected to the short-range wireless communication device.
  • the proximity wireless communication device of the requesting device wirelessly connects with the proximity wireless communication device of the cooperating device.
  • the central processor of the requesting device determines the neighbor information corresponding to the data acquisition requirement from the neighbor list according to the data acquisition requirement; the central processor of the requesting device generates the data acquisition request according to the data acquisition requirement, and obtains the data
  • the request is sent to the microcontroller through the subcontracting protocol; the microcontroller parses the data acquisition request to obtain a complete data acquisition request, encrypts the data acquisition request and sends it to the short-range wireless communication device; the short-range wireless communication device encrypts the encrypted data.
  • the data acquisition request is sent to the short-range wireless communication device of the cooperative device corresponding to the neighbor information.
  • the NFC device when the NFC device receives data sent by any of the requesting devices, the NFC device sends the data to the microcontroller; the microcontroller sends the data to the central processing unit; either Requesting devices include: other requesting devices or cooperating devices.
  • the first processing unit 11 is configured to broadcast a broadcast packet including a cooperation request, wherein the cooperation request includes: location information and identification of the requesting device.
  • the first processing unit 11 is configured to use the requesting device that sends the feedback data as a cooperative device when receiving the feedback data in response to the broadcast packet; the feedback data includes: location information and identification of the requesting device , the location information and identification of other requesting devices that send feedback data.
  • an embodiment of the present disclosure provides a connection diagram of a short-range wireless communication device of each device of a multi-device cooperation system.
  • the wireless connection devices No. 1 to No. 5 can adopt ZigBee technology, MESH ad hoc network, the devices have the same channel and PAN ID, and different wireless connection devices have different short addresses.
  • a connection is established within a limited distance and can send data to each other.
  • Mesh network namely "wireless mesh network”
  • PAN ID is a personal area network address. Occurrence generally accompanies channel determination.
  • the full name of PAN ID is Personal Area Network ID, which means the ID of the network (ie, the network identifier).
  • the short-range wireless communication device broadcasts data packets, and the broadcasted data packets are generated by the central processing unit or pre-cached at the short-range wireless communication device.
  • an embodiment of the present disclosure provides a diagram of information interaction between short-range wireless communication devices of various devices in a multi-device cooperation system; with reference to FIG. 9 and FIG.
  • the neighbor table After the neighbor table, it starts unicasting network packets to reduce the pressure of broadcast data on the network, and scans the surrounding devices that have been added to the neighbor table at a faster frequency to reduce data errors caused by caching.
  • the device short address, RSSI and update time of the first data packet are all recorded.
  • the data packet reply is scanned through unicast packets.
  • the information is maintained in a data table, regularly scanned, updated regularly, and deleted in time due to equipment movement to ensure the timeliness of data.
  • an embodiment of the present disclosure provides a multi-device cooperation system, including at least two requesting devices, each of which includes a processor 1110, a communication interface 1120, a memory 1130, and a communication bus 1140, wherein the processor 1110, the communication interface 1120, the memory 1130 completes the communication with each other through the communication bus 1140;
  • memory 1130 configured to store computer programs
  • the processor 1110 is configured to execute the program stored in the memory 1130 .
  • the processor 1110 broadcasts the cooperation request by executing the program stored in the memory 1130, so that the cooperation request is propagated within the communication range of the requesting device, and when other requesting devices receive the cooperation request, other requesting The device responds according to the cooperation request and regards the device responding to the cooperation request as the cooperation device, and then establishes a short-range wireless communication connection with the cooperation device to realize data interaction, so that the devices can also perform data interaction without network.
  • the communication bus 1140 mentioned by the above electronic device may be a Peripheral Component Interconnect (PCI for short) bus or an Extended Industry Standard Architecture (EISA for short) bus or the like.
  • PCI Peripheral Component Interconnect
  • EISA Extended Industry Standard Architecture
  • the communication bus 1140 can be divided into an address bus, a data bus, a control bus, and the like. For ease of presentation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.
  • the communication interface 1120 is used for communication between the above electronic device and other requesting devices.
  • the memory 1130 may include random access memory (Random Access Memory, RAM for short), and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
  • RAM Random Access Memory
  • non-volatile memory such as at least one disk memory.
  • the memory 1130 may also be at least one storage device located away from the aforementioned processor 1110 .
  • the above-mentioned processor 1110 may be a general-purpose processor, including a central processing unit (Central Processing Unit, referred to as CPU), a network processor (Network Processor, referred to as NP), etc.; may also be a digital signal processor (Digital Signal Processor, referred to as DSP) ), Application Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components.
  • CPU Central Processing Unit
  • NP Network Processor
  • DSP Digital Signal Processor
  • ASIC Application Specific Integrated Circuit
  • FPGA Field-Programmable Gate Array
  • An embodiment of the present disclosure provides a computer-readable storage medium, where one or more programs are stored in the computer-readable storage medium, and the one or more programs can be executed by one or more processors to implement the device of any of the foregoing embodiments Side-to-platform session activation method.
  • the computer program product includes one or more computer instructions.
  • the computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable device.
  • Computer instructions may be stored in or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, computer, server, or data center over a wire (e.g.
  • a computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, or the like that contains one or more of the available mediums integrated.
  • Useful media may be magnetic media (eg, floppy disk, hard disk, magnetic tape), optical media (eg, DVD), or semiconductor media (eg, Solid State Disk (SSD)), among others.

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Abstract

公开了多设备协作方法、装置、系统及介质。所述多设备协作方法应用于任一请求设备，协作方法包括：广播协作请求；确定响应于协作请求的其他请求设备，并将响应于所述协作请求的其他请求设备作为协作设备；以及与协作设备建立近距离无线通信连接，并基于近距离无线通信与协作设备进行数据交互。

Description

多设备协作方法、装置、系统及介质
相关申请的引用
本公开要求于2020年9月29日向中华人民共和国国家知识产权局提交的申请号为202011051205.4、名称为“一种多设备协作方法、装置、系统及介质”的发明专利申请的全部权益，并通过引用的方式将其全部内容并入本文。
领域
本公开大体上涉及智能交互技术领域，更具体地，涉及多设备协作方法、装置、系统及介质。
背景
当今社会人工成本的日益增长，人工智能领域技术的突飞猛进，在仓储物流、制造业等领域，越来越多的企业使用自动导引车代替高昂的人力成本，由于移动机器人具有自动化程度高、可靠性好、生产效率高、适应性强、成本低等优点，使其在各个领域得到广泛应用。
概述
第一方面，本公开涉及多设备协作方法，其应用于任一请求设备，所述协作方法包括：
广播协作请求；
确定响应于所述协作请求的其他请求设备，并将响应于所述协作请求的其他请求设备作为协作设备；以及
与所述协作设备建立近距离无线通信连接，并基于所述近距离无线通信与所述协作设备进行数据交互。
在某些实施方案中，所述协作方法还包括：
获取所述协作设备的位置信息和识别标记；以及
将所述协作设备的位置信息和识别标记作为邻居信息，对应存储 到邻居表单中。
在某些实施方案中，所述协作方法还包括：
每间隔预设时长，根据所述邻居表单中记录的邻居信息，分别向对应的协作设备发送单播包；
获取每个响应于所述单播包的协作设备的位置信息和识别标记；
将未响应所述单播包的协作设备对应的邻居信息从所述邻居表单中删除；以及
在所述邻居表单中，根据响应于所述单播包的协作设备的识别标记对相应的邻居信息进行更新。
在某些实施方案中，所述请求设备均包括：中央处理器、微控制器和近距离无线通信装置；所述中央处理器与所述微控制器通过控制器局域网络总线连接；所述微控制器与所述近距离无线通信装置连接；
其中，所述与所述协作设备建立近距离无线通信连接，包括：
所述请求设备的近距离无线通信装置与所述协作设备的近距离无线通信装置无线连接。
在某些实施方案中，所述基于所述近距离无线通信与所述协作设备进行数据交互，包括：
所述请求设备的中央处理器根据数据获取需求，从邻居表单中确定数据获取需求对应的邻居信息；
所述请求设备的中央处理器根据所述数据获取需求生成数据获取请求，并将所述数据获取请求通过分包协议发送至所述微控制器；
所述微控制器对数据获取请求进行解析，得到完整的数据获取请求，并对所述数据获取请求进行加密发送至近距离无线通信装置；以及
所述近距离无线通信装置将所述加密后的数据获取请求发送至所述邻居信息对应的协作设备的近距离无线通信装置。
在某些实施方案中，所述协作方法还包括：
当所述近距离无线通信装置接收到任一请求设备发送的数据时，所述近距离无线通信装置将所述数据发送至所述微控制器；以及
所述微控制器将所述数据发送至所述中央处理器。
在某些实施方案中，所述广播协作请求；确定响应于所述协作请求的其他请求设备，并将响应于所述协作请求的其他请求设备，作为协作设备，包括：
广播包括协作请求的广播包，所述协作请求包括：所述请求设备的位置信息和识别标识；以及
当接收到响应于所述广播包的反馈数据时，将发送所述反馈数据的请求设备作为协作设备；其中，所述反馈数据中包括：所述请求设备的位置信息和识别标识、发送所述反馈数据的其他请求设备的位置信息和识别标识。
第二方面，本公开涉及多设备协作装置，包括至少两个请求设备，所述请求设备均包括：
第一处理单元，配置为广播协作请求；
所述第一处理单元，还配置为确定响应于所述协作请求的其他请求设备，并将响应于所述协作请求的其他请求设备作为协作设备；以及
连接单元，配置为与所述协作设备建立近距离无线通信连接，并基于所述近距离无线通信与所述协作设备进行数据交互。
在某些实施方案中，所述请求设备还包括：
第二处理单元，配置为获取所述协作设备的位置信息和识别标记；并且将所述协作设备的位置信息和识别标记作为邻居信息，对应存储到邻居表单中。
在某些实施方案中，所述请求设备还包括：
第三处理单元，配置为根据所述邻居表单中记录的邻居信息，分别向对应的协作设备发送单播包每间隔预设时长，根据所述邻居表单中记录的邻居信息，分别向对应的协作设备发送单播包；获取每个响应于所述单播包的协作设备的通信地址位置信息和识别标记；将未响应所述单播包的协作设备对应的邻居信息从所述邻居表单中删除；并且在所述邻居表单中，根据响应于所述单播包的协作设备的识别标记对相应的邻居信息进行更新。
在某些实施方案中，所述请求设备均包括：中央处理器、微控制 器和近距离无线通信装置；所述中央处理器包括：所述第一处理单元和第二处理单元；所述近距离无线通信装置包括：所述连接单元；
所述中央处理器与所述微控制器通过控制器局域网络总线连接；所述微控制器与所述近距离无线通信装置连接；并且
所述请求设备的近距离无线通信装置与所述协作设备的近距离无线通信装置无线连接。
在某些实施方案中，所述请求设备的中央处理器，配置为根据数据获取需求，从邻居表单中确定数据获取需求对应的邻居信息；
所述请求设备的中央处理器，还配置为根据所述数据获取需求生成数据获取请求，并将所述数据获取请求通过分包协议发送至所述微控制器；
所述微控制器，配置为对数据获取请求进行解析，得到完整的数据获取请求，并对所述数据获取请求进行加密发送至近距离无线通信装置；并且
所述近距离无线通信装置，配置为将所述加密后的数据获取请求发送至所述邻居信息对应的协作设备的近距离无线通信装置。
在某些实施方案中，所述近距离无线通信装置，还配置为当接收到任一请求设备发送的数据时，所述近距离无线通信装置将所述数据发送至所述微控制器；所述任一请求设备包括：其他请求设备或协作设备；并且
所述微控制器，还配置为将所述近距离无线通信装置发送的数据发送至所述中央处理器。
在某些实施方案中，所述第一处理单元，配置为广播包括协作请求的广播包，所述协作请求包括：所述请求设备的位置信息和识别标识；并且
所述第一处理单元，配置为当接收到响应于所述广播包的反馈数据时，将发送所述反馈数据的请求设备作为协作设备；其中，所述反馈数据中包括：所述请求设备的位置信息和识别标识、发送所述反馈数据的其他请求设备的位置信息和识别标识。
第三方面，本公开涉及多设备协作系统，包括至少两个请求设备， 所述请求设备均包括处理器、通信接口、存储器和通信总线，其中，所述处理器、所述通信接口以及所述存储器通过所述通信总线完成相互间的通信；
所述存储器，配置为存放计算机程序；并且
所述处理器，配置为执行所述存储器上所存放的所述计算机程序时，实现本公开所述的多设备协作方法。
第四方面，本公开涉及计算机可读存储介质，所述计算机可读存储介质存储有一个或者多个程序，所述一个或者多个程序可被一个或者多个处理器执行，以实现本公开所述的多设备协作方法。
本公开某些实施方案通过广播协作请求，使得协作请求在请求设备的通信范围内传播，当其他请求设备接收到协作请求时，其他请求设备根据协作请求进行响应，此时请求设备将响应协作请求的其他请求设备作为协作设备，再与协作设备建立近距离无线通信连接以实现数据交互，使得设备之间在无网络情况下也可以进行数据交互。
附图的简要说明
图1是本公开一实施例提供的多设备协作方法流程示意图；
图2是本公开另一实施例提供的多设备协作方法流程示意图；
图3是本公开又一实施例提供的多设备协作方法流程示意图其一；
图4是本公开又一实施例提供的请求设备的结构示意图；
图5是本公开又一实施例提供的请求设备的结构示意图；
图6是本公开又一实施例提供的多设备协作方法流程示意图其二；
图7是本公开又一实施例提供的请求设备主动获取其他请求设备的数据交互示意图；
图8是本公开又一实施例提供的多设备协作方法流程示意图其三；
图9是本公开又一实施例提供的近距离无线通信装置被动上报数据至中央处理器的数据交互示意图；
图10是本公开又一实施例提供的多设备协作方法流程示意图其四；
图11是本公开又一实施例提供的多设备协作装置结构示意图；
图12是本公开又一实施例提供的多设备协作系统的各个设备的近距离无线通信装置的连接图；
图13是本公开又一实施例提供的多设备协作系统的各个设备的近距离无线通信装置数据交互示意图其一；
图14是本公开又一实施例提供的多设备协作系统的各个设备的近距离无线通信装置数据交互示意图其二；
图15是本公开又一实施例提供的邻居表单的数据更新示意图；并且
图16是本公开又一实施例提供的多设备协作系统结构示意图。
详述
为使本公开实施例的目的、技术方案和优点更加清楚，下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本公开的一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都属于本公开保护的范围。
如图1所示，本公开一实施例提供了多设备协作方法，其应用于任一请求设备。参照图1，协作方法包括S11至S13。
S11、广播协作请求。
在某些实施方案中，广播是主机之间“一对所有”的通讯模式，网络对其中每一台主机发出的信号都进行无条件复制并转发，所有主机都可以接收到所有信息(不管你是否需要)，由于其不用路径选择，所以其网络成本可以很低廉。有线电视网就是典型的广播型网络，我们的电视机实际上是接受到所有频道的信号，但只将一个频道的信号还原成画面，在水声通信网络中由于传播节点位置的不确定性，所以水声通信网络经常使用广播的方式将数据包不定向发送出去，通过各 个节点之间的依次广播以实现数据的传输。
在某些实施方案中，请求设备可以是任意通过无线网络与服务器之间进行数据交互的设备，在某些实施方案中，本步骤中的请求设备可以是工厂中的运作机器人。
在某些实施方案中，创建协作请求，将协作请求进行广播，使得协作请求在请求设备的通信范围内传播，而处于通信范围内的设备则可以接收到该协作请求。
S12、确定响应于协作请求的其他请求设备，并将响应于协作请求的其他请求设备作为协作设备。
在某些实施方案中，可以根据接收到协作请求的其他请求设备是否反馈信息确定是否存在响应于协作请求的请求设备，比如，可以通过ACK确认字符作为响应于协作请求的反馈信息，还可以按照预定义的信息作为反馈信息。ACK(Acknowledge character)即是确认字符，在数据通信中，接收站发给发送站的一种传输类控制字符。表示发来的数据已确认接收无误。
在某些实施方案中，为方便请求设备与协作设备的连接，协作设备响应协作请求时，可以将自身的位置信息和标识信息发送给请求设备。
在某些实施方案中，比如，通过应用层广播包含协作请求的数据包，主动探听周围设备，其中，收发数据可以以异步方式进行避免主进程堵塞，1号设备发送：7E 12 FF FF XX XX……7F，其中FF FF为广播地址；2号设备收到：7E 12 BB AA XX XX……7F，其中BB AA为设备1短地址，解析数据后，2号设备发送：7E 12 BB AA XX XX……7F，其中BB AA为设备1短地址；1号设备收到：7E 12 BC AA XX XX……7F，其中BC AA为设备2短地址，解析数据后，将2号设备作为协作设备。
S13、与协作设备建立近距离无线通信连接，并基于近距离无线通信与协作设备进行数据交互。
在某些实施方案中，与协助设备建立近距离无线通信连接，基于请求设备与协作设备的本地连接实现请求设备与协作设备直接进行 数据交互，在无网络情况下实现可靠的数据交换与协作。
在某些实施方案中，近距离无线通信连接可以基于ZigBee模块、蓝牙模块或wifi模块实现的本地连接。ZigBee，也称紫蜂，是一种低速短距离传输的无线网上协议，底层是采用IEEE 802.15.4标准规范的媒体访问层与物理层。Wi-Fi在中文里又称作“行动热点”，是Wi-Fi联盟制造商的商标做为产品的品牌认证，是一个创建于IEEE 802.11标准的无线局域网技术。
在某些实施方案中，本方案通过广播协作请求，使得协作请求在请求设备的通信范围内传播，当其他请求设备接收到协作请求时，其他请求设备根据协作请求进行响应，比如，通过ACK的方式相应协作请求，ACK(Acknowledge character)即是确认字符，在数据通信中，接收站发给发送站的一种传输类控制字符，表示发来的数据已确认接收无误，或者反馈其他任意字符，均可以实现帮助请求设备确认其通信范围内所存在的其他请求设备，并将响应协作请求的设备作为协作设备，再与协作设备建立近距离无线通信连接以实现数据交互，使得设备之间在无网络情况下也可以进行数据交互。
本方案实施例提供的方案可以应用于任一请求设备，本方案中响应于协作请求的其他请求设备可以是请求设备，也可以是其他类型的设备，比如，在一个工厂厂区内，负责运送的机器人或者负责装配的机器人均可以是本方案中请求设备或者响应于请求设备的协作请求的其他请求设备，通过确认通信范围内的设备，然后与通信范围内的设备建立无线通信连接，这样即使在无网络的情况下，也可以让各个机器人之间进行数据交互，已完成工作任务。
在某些实施方案中，比如，在已经开始规模化应用的物流货物分拣机器人，每个机器人的运行速度都非常快，为避免机器人之间产生碰撞，需要由系统高精度的计算机器人的运行路线和运行时间，常常需要对机器人的运行优先级进行区分，以使得部分机器人优先通过以避免发生碰撞，但是这样就会使得优先级较低的机器人在运送时间上的浪费，通过本方案中的方法，其实是将数据获取的过程放在了设备上，而不需要通过服务器作为中介进行传递，使得数据传递的时间降 低，同时设备之间可以实时获取到对方的数据，这样可以极大的避免机器人之间出现碰撞的现象，比如，通过实时获取附近的设备的位置信息，只需要在设备中设置防碰撞程序，在出现间距小于预设间距的情况停止运动，就可以避免碰撞的发生，同时，本方案还可以使得一些离线运行的机器人可以不需要通过服务器获取相邻的设备的运行参数，直接获取到相邻设备的运行数据，已实现多个机器人在离线环境下的协同运作。
如图2所示，本公开一实施例提供了多设备协作方法。参照图2，与图1所示协作方法相比，区别在于，协作方法还包括S21和S22。
S21、获取协作设备的位置信息和识别标记。
在某些实施方案中，可以由协作设备在响应于协作请求向请求设备发送数据时附带自身的位置信息和标识标记，位置信息可以是协作设备此时的空间坐标信息，也可以是相对某一固定参照物的相对位置信息，也可以是协作设备相对于请求设备的相对位置信息，其中，标识标记可以是设备的设备识别号或者预先设定的设备编号，通过位置信息可以让请求设备确定协作设备此时的位置，通过识别标记可以让请求设备确定协作设备的身份。
S22、将协作设备的位置信息和识别标记作为邻居信息，对应存储到邻居表单中。
在某些实施方案中，将协作设备的位置信息和识别标记组合为邻居信息，并将邻居信息存储进邻居表单中，以便于对请求设备的协作设备进行管理，使得请求设备可以与协作设备快速进行数据交互。
在某些实施方案中，通过将协助设备的位置信息和识别标记进行对应存储，使得请求设备可以快速确定协作设备的位置和身份，以方便请求设备与协作设备进行数据交互。
如图3所示，在某些实施方案中，协作方法还包括S31至S34。
S31、每间隔预设时长，根据邻居表单中记录的邻居信息，分别向对应的协作设备发送单播包。
在某些实施方案中，在确定协作设备后，为维护协作设备与请求 设备进行数据交互的关系，在每间隔预设时长根据记录的邻居信息向协作设备分别发送单播包，由于已知邻居信息，所以相较于以广播的形式向其他设备发送数据包，单播包的消耗更低，而且更加快速。
S32、获取每个响应于单播包的协作设备的位置信息和识别标记。
在某些实施方案中，在向协作设备发送单播包后，若协作设备响应单播包，则说明该协作设备还处于请求设备的数据通信范围内，其中，响应的方式与如图1所示协作方法中的响应方式相同，获取得到位置信息和标识标记的方式与上述方法中的获取方式相同，本步骤对此不再赘述。
S33、将未响应单播包的协作设备对应的邻居信息从邻居表单中删除。
在某些实施方案中，若协作设备未响应单播包，则说明该协作设备可能已经运动离开了请求设备的活动范围，此时，将协作设备对应邻居信息从邻居信息表单中删除，以完成对于协作设备的信息更新。
S34、在邻居表单中，根据响应于单播包的协作设备的识别标记对相应的邻居信息进行更新。
在某些实施方案中，若协作设备响应于该单播包，则说明该协作设备还处于请求设备的通讯范围内，此时将该协作设备的位置信息进行实时更新，同时，也便于请求设备下次与该协作设备的联通。
整个多机交互过程以机器人被动接收数据为主，主动查询信息为辅，当近距离无线通信装置扫描到周围数据后便主动上报给机器人本体，并持续扫描改设备，直到设备脱网。
在某些实施方案中，在对邻居表单中的邻居信息进行更新的过程中，还可以是对邻居信息的更新时间进行记录。
如图4所示，在某些实施方案中，请求设备均包括：中央处理器、微控制器和近距离无线通信装置；中央处理器与微控制器通过控制器局域网络总线连接；微控制器与近距离无线通信装置连接。
如图5所示，在某些实施方案中，中央处理器与微控制器之间通过CAN总线连接，微控制器与近距离无线通信装置之间通过UART总线连接，以实现中央处理器至近距离无线通行装置的连接。CAN 是控制器域网(Controller Area Network,CAN)的简称，现场总线是近20年发展起来的新技术，CAN总线是一种应用广泛的现场总线,在工业测控和工业自动化等领域有很大的应用前景。通用异步收发传输器(Universal Asynchronous Receiver/Transmitter)，通常称作UART。它将要传输的资料在串行通信与并行通信之间加以转换。作为把并行输入信号转成串行输出信号的芯片，UART通常被集成于其他通讯接口的连结上。
在某些实施方案中，请求设备与协作设备的近距离无线通信装置无线连接。
如图6、图7所示，在某些实施方案中，结合如图1和如图2所示协作方法，基于近距离无线通信与协作设备进行数据交互，包括S41至S44。
S41、请求设备的中央处理器根据数据获取需求，从邻居表单中确定数据获取需求对应的邻居信息。
在某些实施方案中，根据数据获取需求确定能够提供相应数据的协作设备，并从邻居表单中确定相应的邻居信息，当请求设备本体想要立即获取某项数据时可主动组织数据包，向对应的协作设备查询某项数据。
S42、请求设备的中央处理器根据数据获取需求生成数据获取请求，并将数据获取请求通过分包协议发送至微控制器。
在某些实施方案中，根据数据获取需求生成数据获取请求，将数据获取请求通过分包协议发送至微控制器，由于CAN数据包单包数据过少，无法传输稍长数据，所以在CAN传输层做分包协议，由微控制器负责解析，并转换为有效的无线传输数据包发送给近距离无线通信装置。
S43、微控制器对数据获取请求进行解析，得到完整的数据获取请求，并对数据获取请求进行加密发送至近距离无线通信装置。
在某些实施方案中，由微控制器解析得到完整的数据获取请求后，对数据获取请求进行加密转发至近距离无线通信装置中，通过对数据获取请求做加密处理避免数据被盗。
S44、近距离无线通信装置将加密后的数据获取请求发送至邻居信息对应的协作设备的近距离无线通信装置。
在某些实施方案中，通过近距离无线通信装置将加密后的数据获取请求发送至对应的协作设备的近距离无线通信装置中。
在某些实施方案中，在数据获取请求发送到协助设备的近距离无线通信装置后，协助设备的近距离无线通信装置会将数据获取请求发送至微控制器，由微控制器发送至中央处理器，协助设备根据数据获取请求将相应的数据按原路径反馈至请求设备的中央处理器，完成数据获取过程闭环。
如图8、图9所示，在某些实施方案中，协作方法还包括S51和S52。
S51、当近距离无线通信装置接收到任一请求设备发送的数据时，近距离无线通信装置将数据发送至微控制器。
在某些实施方案中，当请求设备的近距离无线通信装置接收到任一请求设备发送的数据时，将该数据反馈至微控制器中。
S52、微控制器将数据发送至中央处理器。
在某些实施方案中，由微控制器将数据发送至中央处理器中，已通过中央处理器基于数据控制请求设备运行。
如图10所示，本公开一实施例提供了多设备协作方法。参照图6，协作方法包括S61至S63。
S61、广播包括协作请求的广播包，协作请求包括：请求设备的位置信息和识别标识。
在某些实施方案中，通过广播的方式发送包括协作请求的广播包，在广播包中配置请求设备的位置信息和识别标识，使得接收到该广播包的请求设备可以得到发送广播包的请求设备的位置和设备编号，以便于接收广播包的请求设备进行数据反馈。
S62、当接收到响应于广播包的反馈数据时，将发送反馈数据的请求设备作为协作设备；其中，反馈数据中包括：请求设备的位置信息和识别标识、发送反馈数据的其他请求设备的位置信息和识别标识。
在某些实施方案中，当接收到响应于广播包的反馈数据时，将发送该反馈数据的请求设备作为协作设备，其中反馈数据中包括请求设备的位置信息和识别标识时，才将该反馈数据作为响应于广播包的反馈数据。
S63、与协作设备建立近距离无线通信连接，并基于近距离无线通信与协作设备进行数据交互。
有关步骤S63，详细可参见步骤S13中的描述，在此不再赘述。
如图11所示，本公开一实施例提供了多设备协作装置，包括至少两个请求设备，请求设备均包括：第一处理单元11和连接单元12。
在某些实施方案中，第一处理单元11，配置为广播协作请求。
在某些实施方案中，第一处理单元11，还配置为确定响应于协作请求的其他请求设备，并将响应于协作请求的其他请求设备作为协作设备。
在某些实施方案中，连接单元12，配置为与协作设备建立近距离无线通信连接，并基于近距离无线通信与协作设备进行数据交互。
在某些实施方案中，所述请求设备还包括：第二处理单元，配置为获取协作设备的位置信息和识别标记；并且将协作设备的位置信息和识别标记作为邻居信息，对应存储到邻居表单中。
在某些实施方案中，请求设备还包括：第三处理单元，配置为每间隔预设时长，根据邻居表单中记录的邻居信息，分别向对应的协作设备发送单播包；获取每个响应于单播包的协作设备的位置信息和识别标记；并且将未响应单播包的协作设备对应的邻居信息从邻居表单中删除；在邻居表单中，根据响应于单播包的协作设备的识别标记对相应的邻居信息进行更新。
在某些实施方案中，请求设备均包括：中央处理器、微控制器和近距离无线通信装置；所述中央处理器包括：所述第一处理单元和第二处理单元；所述近距离无线通信装置包括：所述连接单元；其中，中央处理器包括上述第一处理单元11和第二处理单元，通过微控制器作为中继装置，将处理指令从中央处理器转发至近距离无线通信装 置，连接单元12为本实施例中的近距离无线通信装置。
在某些实施方案中，所述中央处理器与所述微控制器通过控制器局域网络总线连接；所述微控制器与所述近距离无线通信装置连接。
在某些实施方案中，请求设备的近距离无线通信装置与协作设备的近距离无线通信装置无线连接。
在某些实施方案中，请求设备的中央处理器根据数据获取需求，从邻居表单中确定数据获取需求对应的邻居信息；请求设备的中央处理器根据数据获取需求生成数据获取请求，并将数据获取请求通过分包协议发送至微控制器；微控制器对数据获取请求进行解析，得到完整的数据获取请求，并对数据获取请求进行加密发送至近距离无线通信装置；近距离无线通信装置将加密后的数据获取请求发送至邻居信息对应的协作设备的近距离无线通信装置。
在某些实施方案中，当近距离无线通信装置接收到任一请求设备发送的数据时，近距离无线通信装置将数据发送至微控制器；微控制器将数据发送至中央处理器；任一请求设备包括：其他请求设备或协作设备。
在某些实施方案中，第一处理单元11配置为广播包括协作请求的广播包，其中，协作请求包括：请求设备的位置信息和识别标识。
在某些实施方案中，第一处理单元11配置为当接收到响应于广播包的反馈数据时，将发送反馈数据的请求设备作为协作设备；反馈数据中包括：请求设备的位置信息和识别标识、发送反馈数据的其他请求设备的位置信息和识别标识。
如图12所示，本公开一实施例给出了多设备协作系统的各个设备的近距离无线通信装置的连接图。参照图1所示，无线连接装置1号至5号，可以采用采用ZigBee技术，MESH自组网，设备间具有相同的信道和PAN ID，不同无线连接装置具有不同的短地址，便可以在设备有限距离内建立连接并可以互相发送数据。其中，Mesh网络即“无线网格网络”，是“多跳(multi-hop)”网络，是由ad hoc网络发展而来，是解决“最后一公里”问题的关键技术之一。PAN ID 是个域网地址。出现一般是伴随在确定信道以后的。PAN ID其全称是Personal Area Network ID，意即网络的ID(即网络标识符)。
在某些实施方案中，近距离无线通信装置通过广播数据包，广播的数据包由中央处理器产生或者预先缓存在近距离无线通信装置处，近距离无线通信装置，主动探听周围设备，收发数据为异步方式，当有探听信息得到回复便缓存周围邻居信息；在某些实施方案中，比如，1号设备发送：7E 12 FF FF XX XX……7F，其中FF FF为广播地址；2号设备收到：7E 12 BB AA XX XX……7F，其中BB AA为设备1短地址，解析数据后；2号设备发送：7E 12 BB AA XX XX……7F，其中BB AA为设备1短地址；1号设备收到：7E 12 BC AA XX XX……7F，其中BC AA为设备2短地址，解析数据后，将2号设备短地址缓存到邻居表，邻居扫描成功。同样的1号设备周围设备均会被1号设备扫描成功，并缓存到邻居表。
如图13、图14所示，本公开一实施例给出了多设备协作系统的各个设备的近距离无线通信装置之间的信息交互图；参照图9和图10，在确认周围设备并建立邻居表后，便开始单播网络包，以减小广播数据对网络的压力，并且以较快频率扫描周围已添加进邻居表中的设备，减小因缓存带来的数据误差，在每次单播包的交互过程中，均记录设备短地址、RSSI和第数据包的更新时间。
如图15所示，给出了多设备协作过程对邻居表单进行维护的示意图，在某些实施方案中，从起始的广播数据包，到确定邻居表单后，通过单播包扫描数据包回复信息均维护在一个数据表中，定时扫描，定时更新，因设备运动而脱网设备及时删除，保证数据时效性。
如图16所示，本公开一实施例提供了多设备协作系统，包括至少两个请求设备，所述请求设备均包括处理器1110、通信接口1120、存储器1130和通信总线1140，其中，处理器1110，通信接口1120，存储器1130通过通信总线1140完成相互间的通信；
存储器1130，配置为存放计算机程序；并且
处理器1110，配置为执行存储器1130上所存放的程序。
本公开实施例提供的电子设备，处理器1110通过执行存储器1130上所存放的程序通过广播协作请求，使得协作请求在请求设备的通信范围内传播，当其他请求设备接收到协作请求时，其他请求设备根据协作请求进行响应并将响应协作请求的设备作为协作设备，再与协作设备建立近距离无线通信连接以实现数据交互，使得设备之间在无网络情况下也可以进行数据交互。
上述电子设备提到的通信总线1140可以是外设部件互连标准(Peripheral Component Interconnect，简称PCI)总线或扩展工业标准结构(Extended Industry Standard Architecture，简称EISA)总线等。该通信总线1140可以分为地址总线、数据总线、控制总线等。为便于表示，图中仅用一条粗线表示，但并不表示仅有一根总线或一种类型的总线。
通信接口1120用于上述电子设备与其他请求设备之间的通信。
存储器1130可以包括随机存取存储器(Random Access Memory，简称RAM)，也可以包括非易失性存储器(non-volatile memory)，例如至少一个磁盘存储器。可选的，存储器1130还可以是至少一个位于远离前述处理器1110的存储装置。
上述的处理器1110可以是通用处理器，包括中央处理器(Central Processing Unit，简称CPU)、网络处理器(Network Processor，简称NP)等；还可以是数字信号处理器(Digital Signal Processor，简称DSP)、专用集成电路(Application Specific Integrated Circuit，简称ASIC)、现场可编程门阵列(Field-Programmable Gate Array，简称FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。
本公开一实施例提供了计算机可读存储介质，计算机可读存储介质存储有一个或者多个程序，一个或者多个程序可被一个或者多个处理器执行，以实现上述任一实施例的设备端与平台端会话激活方法。
在上述实施例中，可以全部或部分地通过软件、硬件、固件或者其任意组合来实现。当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行计算机程序指令时，全部或部分地产生按照本 公开实施例的流程或功能。计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。计算机指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一个计算机可读存储介质传输，例如，计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(DSL))或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。计算机可读存储介质可以是计算机能够存取的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。可用介质可以是磁性介质，(例如，软盘、硬盘、磁带)、光介质(例如，DVD)、或者半导体介质(例如固态硬盘Solid State Disk(SSD))等。
最后应说明的是：以上实施例仅用以说明本公开的技术方案，而非对其限制；尽管参照前述实施例对本公开进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本公开各实施例技术方案的精神和范围。

Claims (16)

  1. 多设备协作方法，其应用于任一请求设备，所述协作方法包括：
    广播协作请求；
    确定响应于所述协作请求的其他请求设备，并将响应于所述协作请求的其他请求设备作为协作设备；以及
    与所述协作设备建立近距离无线通信连接，并基于所述近距离无线通信与所述协作设备进行数据交互。
  2. 如权利要求1所述的协作方法，其还包括：
    获取所述协作设备的位置信息和识别标记；以及
    将所述协作设备的位置信息和识别标记作为邻居信息，对应存储到邻居表单中。
  3. 如权利要求2所述的协作方法，其还包括：
    根据所述邻居表单中记录的邻居信息，分别向对应的协作设备发送单播包每间隔预设时长，根据所述邻居表单中记录的邻居信息，分别向对应的协作设备发送单播包；
    获取每个响应于所述单播包的协作设备的通信地址位置信息和识别标记；
    将未响应所述单播包的协作设备对应的邻居信息从所述邻居表单中删除；以及
    在所述邻居表单中，根据响应于所述单播包的协作设备的识别标记对相应的邻居信息进行更新。
  4. 如权利要求2或3所述的协作方法，其中，所述请求设备均包括：中央处理器、微控制器和近距离无线通信装置；所述中央处理器与所述微控制器通过控制器局域网络总线连接；所述微控制器与所述近距离无线通信装置连接；
    其中，所述与所述协作设备建立近距离无线通信连接，包括：
    所述请求设备的近距离无线通信装置与所述协作设备的近距离无线通信装置无线连接。
  5. 如权利要求4所述的协作方法，其中，所述基于所述近距离无线通信与所述协作设备进行数据交互，包括：
    所述请求设备的中央处理器根据数据获取需求，从邻居表单中确定数据获取需求对应的邻居信息；
    所述请求设备的中央处理器根据所述数据获取需求生成数据获取请求，并将所述数据获取请求通过分包协议发送至所述微控制器；
    所述微控制器对数据获取请求进行解析，得到完整的数据获取请求，并对所述数据获取请求进行加密发送至近距离无线通信装置；以及
    所述近距离无线通信装置将所述加密后的数据获取请求发送至所述邻居信息对应的协作设备的近距离无线通信装置。
  6. 如权利要求4或5所述的协作方法，其还包括：
    当所述近距离无线通信装置接收到任一请求设备发送的数据时，所述近距离无线通信装置将所述数据发送至所述微控制器；所述任一请求设备包括：其他请求设备或协作设备；以及
    所述微控制器将所述数据发送至所述中央处理器。
  7. 如权利要求1至6中任一权利要求所述的协作方法，其中，所述广播协作请求；确定响应于所述协作请求的其他请求设备，并将响应于所述协作请求的其他请求设备作为协作设备，包括：
    广播包括协作请求的广播包，所述协作请求包括：所述请求设备的位置信息和识别标识；以及
    当接收到响应于所述广播包的反馈数据时，将发送所述反馈数据的请求设备作为协作设备；其中，所述反馈数据中包括：所述请求设备的位置信息和识别标识、发送所述反馈数据的其他请求设备的位置信息和识别标识。
  8. 多设备协作装置，其包括至少两个请求设备，所述请求设备均包括：
    第一处理单元，配置为广播协作请求；
    所述第一处理单元，还配置为确定响应于所述协作请求的其他请求设备，并将响应于所述协作请求的其他请求设备作为协作设备；以及
    连接单元，配置为与所述协作设备建立近距离无线通信连接，并基于所述近距离无线通信与所述协作设备进行数据交互。
  9. 如权利要求8所述的多设备协作装置，其中，所述请求设备还包括：
    第二处理单元，配置为获取所述协作设备的位置信息和识别标记；并且将所述协作设备的位置信息和识别标记作为邻居信息，对应存储到邻居表单中。
  10. 如权利要求9所述的多设备协作装置，其中，所述请求设备还包括：
    第三处理单元，配置为根据所述邻居表单中记录的邻居信息，分别向对应的协作设备发送单播包每间隔预设时长，根据所述邻居表单中记录的邻居信息，分别向对应的协作设备发送单播包；获取每个响应于所述单播包的协作设备的通信地址位置信息和识别标记；将未响应所述单播包的协作设备对应的邻居信息从所述邻居表单中删除；并且在所述邻居表单中，根据响应于所述单播包的协作设备的识别标记对相应的邻居信息进行更新。
  11. 如权利要求9或10所述的多设备协作装置，其中，所述请求设备均包括：中央处理器、微控制器和近距离无线通信装置；所述中央处理器包括：所述第一处理单元和第二处理单元；所述近距离无线通信装置包括：所述连接单元；
    所述中央处理器与所述微控制器通过控制器局域网络总线连接；所述微控制器与所述近距离无线通信装置连接；并且
    所述请求设备的近距离无线通信装置与所述协作设备的近距离无线通信装置无线连接。
  12. 如权利要求11所述的多设备协作装置，其中，
    所述请求设备的中央处理器，配置为根据数据获取需求，从邻居表单中确定数据获取需求对应的邻居信息；
    所述请求设备的中央处理器，还配置为根据所述数据获取需求生成数据获取请求，并将所述数据获取请求通过分包协议发送至所述微控制器；
    所述微控制器，配置为对数据获取请求进行解析，得到完整的数据获取请求，并对所述数据获取请求进行加密发送至近距离无线通信装置；并且
    所述近距离无线通信装置，配置为将所述加密后的数据获取请求发送至所述邻居信息对应的协作设备的近距离无线通信装置。
  13. 如权利要求11或12所述的多设备协作装置，其中，
    所述近距离无线通信装置，还配置为当接收到任一请求设备发送的数据时，所述近距离无线通信装置将所述数据发送至所述微控制器；所述任一请求设备包括：其他请求设备或协作设备；并且
    所述微控制器，还配置为将所述近距离无线通信装置发送的数据发送至所述中央处理器。
  14. 如权利要求8至13中任一权利要求所述的多设备协作装置，其中，
    所述第一处理单元，配置为广播包括协作请求的广播包，所述协作请求包括：所述请求设备的位置信息和识别标识；并且
    所述第一处理单元，配置为当接收到响应于所述广播包的反馈数据时，将发送所述反馈数据的请求设备作为协作设备；其中，所述反 馈数据中包括：所述请求设备的位置信息和识别标识、发送所述反馈数据的其他请求设备的位置信息和识别标识。
  15. 多设备协作系统，其包括至少两个请求设备，所述请求设备均包括处理器、通信接口、存储器和通信总线，其中，所述处理器、所述通信接口以及所述存储器通过所述通信总线完成相互间的通信；
    所述存储器，配置为存放计算机程序；并且
    所述处理器，配置为执行所述存储器上所存放的所述计算机程序时，实现权利要求1至7中任一权利要求所述的多设备协作方法。
  16. 计算机可读存储介质，其存储有一个或者多个程序，所述一个或者多个程序可被一个或者多个处理器执行，以实现权利要求1至7中任一权利要求所述的多设备协作方法。
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