CN103259616B - A kind of data transmission method - Google Patents
A kind of data transmission method Download PDFInfo
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- CN103259616B CN103259616B CN201210040463.1A CN201210040463A CN103259616B CN 103259616 B CN103259616 B CN 103259616B CN 201210040463 A CN201210040463 A CN 201210040463A CN 103259616 B CN103259616 B CN 103259616B
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Abstract
The open a kind of data transmission method of the present invention, it is applied to immediately position and in map structuring (SLAM) system, when SLAM system can be advanced in circumstances not known according to movable equipment, the change of displacement and attitude carries out map structuring to circumstances not known, and movable equipment is additionally provided with Inertial Measurement Unit (IMU)；Can mutually carry out data communication between SLAM system and IMU and computer (PC) system three, the method includes: PC system real-time reception is sent packet by IMU, and stores it in the memory element of PC system；In the T1 moment, SLAM system constructing completes the nth frame image of circumstances not known, sends request to PC system and updates displacement and the request instruction of attitude data of movable equipment；PC system sends the packet corresponding with the T1 moment obtained from packet to SLAM system；SLAM system builds the N+1 two field picture of circumstances not known according to packet.
Description
Technical field
The present invention relates to communication technical field, particularly relate to a kind of data transmission method.
Background technology
Wireless telecommunication system is an important component part of mobile robot, in robot autonomous situation limited in one's ability
Under, carrying out radio communication by host computer with robot is a kind of feasible program controlling robot.As robot science
One important component part, mobile robot always is research and one of application focus, the mobile robot of robot science
Obtains in industrial, civilian, national defence because motility is high and is widely applied, as guide robot, patrol robot, under water oneself
Main Work robot, robot drawing etc..
But, inventor, during invention, finds that the existing data communication agreement of utilization can not be preferably real
Existing navigator and the integrated navigation of mobile robot, the shortcoming of existing Data Transport Protocol at least following some:
1, embedded OS directly uses the mode of serial ports to carry out with host computer or slave computer (mobile robot)
Data-pushing transmits, and is the transmission of non-reliable data, during sending packet, if the error in data in packet
One, whole packet is required for resending, and therefore the bit error rate is higher；
2, there is stiff initialization flow process, it is impossible to realize the hot plug of equipment；First initialization data receiving terminal, so
Rear access initialization data transmitting terminal, and then carry out the complete transmission of data；Otherwise there will be receiving terminal reception is non-complete
Whole bag, the most just cannot resolve packet；
3, autgmentability is poor.Connect, if wanting to add other data if any a data receiver and a data sending terminal
Receiving terminal, arises that this data receiver can not normally resolve data, and concrete condition is identical with 2；
4, there is no multiple fault tolerant mechanism in the unreliable transmission stage, frequent packet drop can be caused.
Summary of the invention
The embodiment of the present application provides a kind of data transmission method, is applied to an instant location and with map structuring (SLAM) is
In system, it is achieved that the data transmission procedure between embedded system and mobile robot can process error condition, reduce by mistake
Code check；And then reduce the complexity of data transmission and processing, the speed that improve Packet analyzing and the compatibility improving equipment with
Robustness.
The embodiment of the present application provides a kind of data transmission method, is applied to an instant location and with map structuring (SLAM) is
In system, displacement and appearance when described instant location and map structuring system can be advanced in circumstances not known according to a movable equipment
The change of state carries out map structuring to described circumstances not known, and described movable equipment is additionally provided with an Inertial Measurement Unit
(IMU)；Described instant location and map structuring system and described Inertial Measurement Unit (IMU) and a computer (PC) system three
Can mutually carry out data communication between person, described method includes:
Described computer system real-time reception is sent, by described Inertial Measurement Unit, at least one packet of coming, and by it
It is stored in the memory element of described computer system；
In the T1 moment, described instant location and map structuring system constructing complete the nth frame image of described circumstances not known, to
Described computer system sends request and updates displacement and first request instruction of attitude data of described movable equipment；
Described computer system sends first corresponding with the described T1 moment obtained from least one packet described
Packet issues described instant location and map structuring system；
Described instant location and map structuring system build the N+1 frame of described circumstances not known according to described first packet
Image.
Wherein, described packet is specially the data after using bitmap mechanism data to carry out escape process and packs
Bag.
The pack arrangement of described packet specifically includes:
The verification of PID Packet Identifier, valid data, low byte message bit pattern, high byte message bit pattern, packet length, bag, end-of-packet
Identifier.
Further, described utilization bitmap mechanism carries out escape process to data, specifically includes:
End-of-packet identifier is defined as 0XFF；
The first data that numerical value in packet is 0XFF are carried out escape process, when described first data occur, will
The numerical value of described first data subtracts 1 or adds 1, and will identify the bitmap position 1 of described first data.
Further, before described Inertial Measurement Unit sends at least one packet, described method also includes:
Described Inertial Measurement Unit first carries out the computing of the cumulative mechanism of chksum to data to be sent；
Judge size end data transmission means, obtain a judged result；
Data to be sent are packed, uses bitmap mechanism that the data after packing are carried out escape process；
Wherein, the operation method of the cumulative mechanism of described chksum is specially the cumulative of all data in packet.
Further, sent at least one number come by described Inertial Measurement Unit at described computer system real-time reception
After bag, described and before storing it in the memory element of described computer system, described method also includes:
The packet received is decoded by described computer system, and is stored in described memory element；
Escape data in the packet of described reception is reduced by the information according to bitmap；
By described judged result, determine described data transfer mode, carry out the storage of data；
Whether the packet using cumulative mechanism chksum to verify described reception is correct packet；
The data of the packet of described reception are resolved, extract described displacement by structure type based on packet
And attitude information, use mutually with constructing system and IMU for described instant location.
Wherein, the escape data in the packet of described reception is reduced, specifically by the described information according to bitmap
For:
By the data convert in the packet that high/low byte message bit pattern will receive.
Wherein, described by described judged result, determine described data transfer mode, carry out the storage of data particularly as follows:
Unified use small end stores.
Wherein, the packet whether packet that the cumulative mechanism of described utilization chksum verifies described reception is correct is concrete
For:
Packet length according to the packet received and end-of-packet identifier, it is judged that whether the packet of described reception is complete
Packet；
According to the cumulative of data all in received data bag and, it is judged that whether the packet of described reception is correct
Packet.
The process described above, described movable equipment is robot, mobile phone, notebook computer or panel computer.
The technical scheme that the application is provided by above-described embodiment, has following Advantageous Effects or an advantage:
1, first data produce end (IMU: Inertial Measurement Unit) encapsulate data packing, i.e. add id (PID Packet Identifier),
Valid data, low byte message bit pattern (bitmaplow), high byte message bit pattern (bitmaphigh), packet length (length),
Bag verification (chksum), bag identifier (recog), then, data receiver (PC/Robot) is according to received data, it is judged that
Whether the bag received is complete bag (can be obtained by packet length and bag identifier), judges this bag by bag verification chksum
Whether correct bag, by high/low byte message bit pattern by data convert, and then realize reducing by mistake in data transmission procedure
Code check；
2, by adding bitmap field information in data packet format, it is achieved the valid data in packet are retained
The escape of character processes, and the length of packet immobilizes, and reduces the complexity of data transmission and processing, improves Packet analyzing
Speed；
3, by using this data communications method, the packet structure that the embodiment of the present application sends is used, it is to avoid will not
Obscure with the different pieces of information bag of device transmission, multi-threaded parallel can be realized and receive packet；
4, owing to this data communication process checking the correctness of packet, judging the incompleteness of packet, to data
Bag carries out multiple check, therefore the most when equipment plugs, and the packet of mistake all can be dropped, and does not interferes with robot, IMU
The normal work of (Inertial Measurement Unit) and PC, and then the robustness of guarantee information transmission, make the robustness of equipment improve.
Accompanying drawing explanation
A kind of data transmission method flow chart that Fig. 1 provides for the embodiment of the present application；
Fig. 2 is communication party between functional module main in Inertial Measurement Unit and the main functional modules moving robot
Pattern frame figure.
Detailed description of the invention
The embodiment of the present application provides a kind of data transmission method, is applied to an instant location and with map structuring (SLAM) is
In system, it is achieved that the data transmission procedure between embedded system and mobile robot can process error condition, reduce by mistake
Code check；And then reduce the complexity of data transmission and processing, the speed that improve Packet analyzing and the compatibility improving equipment with
Robustness.
In order to be better understood from the present invention, below in conjunction with Figure of description and specific embodiment, such scheme is carried out
Detailed elaboration.
As it is shown in figure 1, a kind of data transmission method flow chart provided for the embodiment of the present application, the method is applied to one i.e.
Shi Dingwei is with map structuring (SLAM) system, and location and map structuring system can be according to a movable equipment not immediately for this
Know that when advancing in environment, the change of displacement and attitude carries out map structuring to described circumstances not known, and described movable equipment also sets
It is equipped with an Inertial Measurement Unit (IMU)；This positions and map structuring system and described Inertial Measurement Unit (IMU) and immediately
Can mutually carry out data communication between computer (PC) system three, the method includes:
Step 101, computer system real-time reception is sent, by Inertial Measurement Unit (IMU), at least one packet of coming,
And store it in the memory element of computer system；
Step 102, in the T1 moment, instant location and map structuring system constructing complete the nth frame image of circumstances not known, to
Computer system sends request and updates displacement and first request instruction of attitude data of movable equipment；
Step 103, computer system sends first corresponding with the T1 moment obtained from least one packet described
Packet gives described instant location and map structuring system；
Step 104, instant location and map structuring system build the N of described circumstances not known according to described first packet
+ 1 two field picture.
Wherein, described packet is specially the data after using bitmap mechanism data to carry out escape process and packs
Bag.
The pack arrangement of described packet specifically includes:
The verification of PID Packet Identifier, valid data, low byte message bit pattern, high byte message bit pattern, packet length, bag, end-of-packet
Identifier.
Pack arrangement is as follows:
Ultimately form the packet of following structure:
| Id | data | Bitmaplow | Bitmaphigh | Length | Chksum | recog |
Wherein, Id: PID Packet Identifier, data: valid data, bitmaplow: low byte message bit pattern, bitmaphigh: high
Byte message bit pattern, length: packet length, chksum: bag verification, recog: end-of-packet identifier.
Further, described utilization bitmap mechanism carries out escape process to data, specifically includes:
End-of-packet identifier is defined as 0XFF；
The first data that numerical value in packet is 0XFF are carried out escape process, when described first data occur, will
The numerical value of described first data subtracts 1 or adds 1, and will identify the bitmap position 1 of described first data.
End-of-packet identifier (recog) is defined as 0XFF by the embodiment of the present application, is in order to by the end-of-packet mark of packet
In knowing symbol and packet, valid data are distinguished, and introduce bitmap mechanism and the 0XFF in valid data value carries out escape:
Each data in packet are monitored, when the numerical value of 0XFF occurs, the numerical value of these data is carried out subtracting 1 fortune
Calculate or add-one operation, and by identifying the bitmap position 1 of described first data, represent that these data are valid data, not
Being the end-of-packet identifier of this packet, so, data continue transmission, therefore, after escape processes, when data parsing
It also is able to parse former data accurately.Introduce escape and process end and the beginning that can preferably identify packet, binding number
Length information according to bag, it is possible to the integrity differentiating packet quickly (there will be transmission when unexpected power-off or Transmission
The situation of incomplete packet).
Wherein, Bitmaplow is 8 bit, and the Byte being respectively intended to monitoring is: the low word of chksum, roll (angle of pitch)
Joint, the high byte of roll, the low byte of pitch (roll angle), the high byte of pitch, the low byte of yaw (course angle), yaw
High byte；
Bitmaphigh is 8 bit, and the Byte being respectively intended to monitoring is: the low byte of D_x (displacement of x direction), D_x (x
Direction displacement) high byte, the low byte of D_y (displacement of y direction), the high byte of D_y (displacement of y direction), D_z (position, z direction
Move) low byte, the high byte of D_z (displacement of z direction).
Certainly, in actual application, it is not necessarily intended to be 0XFF by the numerical value that end-of-packet identifier defines, it is also possible to compose
Giving other values, as long as meeting, can to distinguish valid data and end-of-packet identifier the most permissible, just repeats no more at this.
Further, before Inertial Measurement Unit sends at least one packet, the method also includes:
Inertial Measurement Unit first carries out the computing of the cumulative mechanism of chksum to data to be sent；
Judge size end data transmission means, obtain a judged result；
Data to be sent are packed, uses bitmap mechanism that the data after packing are carried out escape process；
Wherein, the operation method of the cumulative mechanism of described chksum is specially the cumulative of all data in packet.
Use the cumulative mechanism of chksum, be that the valid data in order to check in packet are the most consistent, wherein, described utilization
Chksum cumulative mechanism verification packet particularly as follows:
Packet length according to the packet received and end-of-packet identifier, it is judged that whether the packet of described reception is complete
Packet；
According to the cumulative of data all in received data bag and, it is judged that whether the packet of described reception is correct
Packet.
Such as, the valid data in packet are when encapsulation packing, and using mode cumulative for chksum to carry out verifying (will
All valid data carry out addition and obtain a total value n)；In data receiver (computer system), after receiving data,
If the value of chksum is not n, then illustrate that this packet sends mistake；If n, check this data from other angle the most further
Bag.If data-bag lost or receive wrong data bag, then by these data packet discardings, because the number of IMU (data genaration end)
The data being far longer than SLAM end according to sample frequency use frequency, and about at about 50 times, (i.e. data genaration end IMU often sends 50
Individual packet, SLAM end is about with the packet in 1 its transmission request moment).
Such as, Bitmaplow data are as follows:
| 0 | 0 | 0 | 0 | 1 | 0 | 0 | 0 |
| 01 | 26 | 24 | 36 | FF | 58 | 68 | 16 |
Then the value of bitmaplow is assigned to 08 by IMU (Inertial Measurement Unit), is then encapsulated in packet,
Bitmaphigh value the most so operates, and all data assignment, encapsulates complete, finally carries out the transmission of packet.
Further, sent, by described Inertial Measurement Unit, at least one packet of coming at computer system real-time reception
Afterwards, in the memory element storing it in described computer system before, described method also includes:
The packet received is decoded by described computer system, and is stored in described memory element；
Escape data in the packet of described reception is reduced by the information according to bitmap；
By described judged result, determine described data transfer mode, carry out the storage of data；
Whether the packet using the cumulative mechanism of chksum to verify described reception is correct packet；
The data of the packet of described reception are resolved, extract described displacement by structure type based on packet
And attitude information, use mutually with constructing system and IMU for described instant location.
Wherein, the escape data in the packet of described reception is reduced, specifically by the described information according to bitmap
For:
By the data convert in the packet that high/low byte message bit pattern will receive.
Wherein, described by described judged result, determine described data transfer mode, carry out the storage of data particularly as follows:
Unified use small end stores.
As in figure 2 it is shown, be functional module main in Inertial Measurement Unit with the main functional modules of mobile robot it
Between communication plan frame diagram, specific works principle is as follows:
1. the data that acceleration transducer and magnetometer collect, with digital data transmission to IMU development board
Atmega328 processor, the data that gyroscope collects simultaneously, it is transferred to the processor of IMU development board with analogue signal, then
Passing ratio integral differential circuit and direction cosine matrix algorithm, to the drift of gyroscope with by inconsistent coordinate
System changes, and obtains tri-Eulerian angles of roll, pitch, yaw；The data versus time of acceleration is carried out twice integration, obtains
Displacement information.
2. displacement information and attitude information are transferred to host computer or the slave computer of mobile robot, and robotic end is to data
Resolve, carry out data acquisition according to mechanism such as bitmap, chksum, store data in internal memory.When SLAM end sends
When using request of data, robot will be stored in the data in this moment in internal memory and is sent to SLAM.
3. move robot and build map, it is achieved independent navigation and other application.
The process described above, described movable equipment is robot, mobile phone, notebook computer or panel computer.
The technical scheme that the application is provided by above-described embodiment, has following Advantageous Effects or an advantage:
1, first data produce end (IMU: Inertial Measurement Unit) encapsulate data packing, i.e. add id (PID Packet Identifier),
Valid data, low byte message bit pattern (bitmaplow), high byte message bit pattern (bitmaphigh), packet length (length),
Bag verification (chksum), bag identifier (recog), then, data receiver (PC/Robot) is according to received data, it is judged that
Whether the bag received is complete bag (can be obtained by packet length and bag identifier), judges this bag by bag verification chesum
Whether correct bag, by high/low byte message bit pattern by data convert, and then realize reducing by mistake in data transmission procedure
Code check；
2, by adding bitmap field information in data packet format, it is achieved the valid data in packet are retained
The escape of character processes, and the length of packet immobilizes, and reduces the complexity of data transmission and processing, improves Packet analyzing
Speed；
3, by using this data communications method, the packet structure that the embodiment of the present application sends is used, it is to avoid will not
Obscure with the different pieces of information bag of device transmission, multi-threaded parallel can be realized and receive packet；
4, owing to this data communication process checking the correctness of packet, judging the incompleteness of packet, to data
Bag carries out multiple check, therefore the most when equipment plugs, and the packet of mistake all can be dropped, and does not interferes with robot, IMU
The normal work of (Inertial Measurement Unit) and PC, and then the robustness of guarantee information transmission, make the robustness of equipment improve.
Although preferred embodiments of the present invention have been described, but those skilled in the art once know basic creation
Property concept, then can make other change and amendment to these embodiments.So, claims are intended to be construed to include excellent
Select embodiment and fall into all changes and the amendment of the scope of the invention.
Obviously, those skilled in the art can carry out various change and the modification essence without deviating from the present invention to the present invention
God and scope.So, if these amendments of the present invention and modification belong to the scope of the claims in the present invention and equivalent technologies thereof
Within, then the present invention is also intended to comprise these change and modification.
Claims (10)
1. a data transmission method, be applied to one immediately location with in map structuring (SLAM) system, described instant location with
When map structuring system can be advanced in circumstances not known according to a movable equipment, the change of displacement and attitude is to described the unknown
Environment carries out map structuring, and described movable equipment is additionally provided with an Inertial Measurement Unit (IMU)；Described instant location and ground
Data can be mutually carried out between figure constructing system and described Inertial Measurement Unit (IMU) and a computer (PC) system three
Communication, it is characterised in that described method includes:
Described computer system real-time reception is sent, by described Inertial Measurement Unit, at least one packet of coming, and is stored
In the memory element of described computer system；
In the T1 moment, described instant location and map structuring system constructing complete the nth frame image of described circumstances not known, to described
Computer system sends request and updates displacement and first request instruction of attitude data of described movable equipment；
Described computer system sends first data corresponding with the described T1 moment obtained from least one packet described
Wrap to described instant location and map structuring system；
Described instant location and map structuring system build the N+1 frame figure of described circumstances not known according to described first packet
Picture.
2. the method for claim 1, it is characterised in that described packet is specially and uses bitmap mechanism to enter data
Row escape process and pack after packet.
3. method as claimed in claim 2, it is characterised in that the pack arrangement of described packet specifically includes:
The verification of PID Packet Identifier, valid data, low byte message bit pattern, high byte message bit pattern, packet length, bag, end-of-packet mark
Symbol.
4. method as claimed in claim 3, it is characterised in that described utilization bitmap mechanism carries out escape process to data,
Specifically include:
End-of-packet identifier is defined as 0XFF；
The first data that numerical value in packet is 0XFF are carried out escape process, when described first data occur, by described
The numerical value of the first data subtracts 1 or adds 1, and will identify the bitmap position 1 of described first data.
5. method as claimed in claim 3, it is characterised in that described Inertial Measurement Unit send at least one packet it
Before, described method also includes:
Described Inertial Measurement Unit first carries out the computing of the cumulative mechanism of chksum to data to be sent；
Judge size end data transmission means, obtain a judged result；
Packing data to be sent, the data using bitmap mechanism logarithm value to be OXFF carry out escape process；Wherein, institute
State the operation method of the cumulative mechanism of chksum and be specially the cumulative of all data in packet.
6. method as claimed in claim 5, it is characterised in that at described computer system real-time reception by described inertia measurement
After unit sends at least one packet come, described and store it in the memory element of described computer system it
Before, described method also includes:
The packet received is decoded by described computer system, and is stored in described memory element；
Escape data in the packet of described reception is reduced by the information according to bitmap；
By described judged result, determine described data transfer mode, carry out the storage of data；
Whether the packet using the cumulative mechanism of chksum to verify described reception is correct packet；
The data of the packet of described reception are resolved, extract described displacement and appearance by structure type based on packet
State data, use mutually with map structuring system and IMU for described instant location.
7. method as claimed in claim 6, it is characterised in that the described information according to bitmap is by the packet of described reception
In escape data reduce, particularly as follows:
By the data convert in the packet that high/low byte message bit pattern will receive.
8. method as claimed in claim 6, it is characterised in that described by described judged result, determines that described data are transmitted
Mode, carry out the storage of data particularly as follows:
Unified use small end stores.
9. method as claimed in claim 7, it is characterised in that the cumulative mechanism of described utilization chksum verifies the number of described reception
Be whether correct packet according to bag particularly as follows:
Packet length according to the packet received and end-of-packet identifier, it is judged that whether the packet of described reception is complete number
According to bag；
According to the cumulative of data all in received data bag and, it is judged that whether the packet of described reception is correct data
Bag.
10. the method as described in any one of claim 1～7 or 9, it is characterised in that described movable equipment is robot, hands
Machine, notebook computer or panel computer.
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| CN201210040463.1A CN103259616B (en) | 2012-02-20 | 2012-02-20 | A kind of data transmission method |
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| CN106325266A (en) * | 2015-06-15 | 2017-01-11 | 联想(北京)有限公司 | Spatial distribution map building method and electronic device |
| CN106382917B (en) * | 2015-08-07 | 2019-05-17 | 武汉海达数云技术有限公司 | The continuous accurate acquisition method of three-dimensional spatial information under a kind of indoor environment |
| CN106484690A (en) * | 2015-08-24 | 2017-03-08 | 阿里巴巴集团控股有限公司 | A kind of verification method of Data Migration and device |
| CN106648085A (en) * | 2016-12-12 | 2017-05-10 | 上海拆名晃信息科技有限公司 | Method for capturing attitude information of virtual reality device |
| CN107328420B (en) * | 2017-08-18 | 2021-03-02 | 上海智蕙林医疗科技有限公司 | Positioning method and device |
| CN110830497A (en) * | 2019-11-15 | 2020-02-21 | 天津光电通信技术有限公司 | ACARS message identification method, device, server and storage medium |
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| CN101996420A (en) * | 2009-08-21 | 2011-03-30 | 索尼公司 | Information processing device, information processing method and program |
| CN102194367A (en) * | 2010-03-09 | 2011-09-21 | 索尼公司 | Information processing device, map update method, program, and information processing system |
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| JP2011159163A (en) * | 2010-02-02 | 2011-08-18 | Sony Corp | Image processing device, image processing method, and program |
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| CN101319912A (en) * | 2008-07-03 | 2008-12-10 | 凯立德欣技术（深圳）有限公司 | Client terminal and server terminal of navigation system, and map updating method |
| CN101436074A (en) * | 2008-12-06 | 2009-05-20 | 中国海洋大学 | Autonomous type underwater robot by simultaneous positioning and map constructing method |
| CN101996420A (en) * | 2009-08-21 | 2011-03-30 | 索尼公司 | Information processing device, information processing method and program |
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