CN103942937A - Communication apparatus of modularization self-configuration robot and communication method thereof - Google Patents
Communication apparatus of modularization self-configuration robot and communication method thereof Download PDFInfo
- Publication number
- CN103942937A CN103942937A CN201410005460.3A CN201410005460A CN103942937A CN 103942937 A CN103942937 A CN 103942937A CN 201410005460 A CN201410005460 A CN 201410005460A CN 103942937 A CN103942937 A CN 103942937A
- Authority
- CN
- China
- Prior art keywords
- wireless transceiver
- functional module
- self
- reorganization robot
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000004891 communication Methods 0.000 title claims abstract description 33
- 238000000034 method Methods 0.000 title abstract description 3
- 239000011159 matrix material Substances 0.000 claims description 6
- 230000004927 fusion Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000005021 gait Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a communication apparatus of a modularization self-configuration robot and a communication method thereof, the communication apparatus comprises several functional modules, a side wireless transceiver is arranged at each side of each functional module, and the signals between side wireless transceivers at the side of the functional module are not mutually covered; a control terminal wireless transceiver and a microcontroller are arranged on the functional module; and the side edge wireless transceiver and the control terminal wireless transceiver employ different work frequency. The function modules are connected through side, the side wireless transceiver signal scopes are mutually covered; and one and only one of the control terminal wireless transceivers of several functional modules is in a working state, wireless and long distance communication of the modularization self-configuration robot can be realized, conjuncted configuration identification of the modularization self-configuration robot can be also realized; and the control communication of the whole modularization self-configuration robot and the control communication of each function module are not mutually interfered.
Description
Technical field
The present invention relates to a kind of communicator and communication means thereof of modularized self-reorganization robot.
Background technology
Modularized self-reorganization robot system is comprised of some functional modules simple in structure, resource-constrained, between a plurality of functional modules, by bindiny mechanism, be assembled into multiple conjuncted, as snakelike conjuncted, the form such as three foot-shapes are conjuncted, and four-footed shape is conjuncted.At present, the communication system of modularized self-reorganization robot mainly contains the communication modes such as CAN bus, RS485 bus, infrared communication, Bluetooth communication and wireless sensor network.CAN bus and RS485 bus belong to wired mode, cannot realize separation function module or different communication between conjuncted; Though infrared communication and Bluetooth communication have solved different communication issues between conjuncted, communication distance is shorter, and infrared communication system is subject to such environmental effects larger simultaneously; Wireless sensor network provides Ad hoc mode, but because the topological structure of node is uncontrollable, can cause the problems such as communication energy consumption is large, communication channel obstruction.Have abundant conjuncted form, different conjuncted forms have multi-motion gait, and modularized self-reorganization robot shows powerful locomitivity in complex environment.Can be the main advantage of modularized self-reorganization robot according to the difference change of environment and task self form.And will make the powerful locomitivity of the conjuncted performance of modularized self-reorganization robot and realize its distortion function, first modularized self-reorganization robot system can be identified current conjuncted configuration, then according to conjuncted configuration, selects motion gait and completes distortion planning.At present, configuration recognition methods is all that the communication system based on self-reorganization robot realizes, as CAN bus and infrared communication etc.And Bluetooth communication and wireless sensor network be because topology of networks is uncontrollable, and cannot realize the conjuncted configuration identification of modularized self-reorganization robot.
Summary of the invention
Goal of the invention: the object of the invention is to provide for the deficiencies in the prior art a kind of communicator and communication means thereof of modularized self-reorganization robot, solved and should meet the technical matters that wireless and telecommunication can realize the conjuncted configuration identification of modularized self-reorganization robot again.
Technical scheme: in order to realize the object of the invention, the communicator of a kind of modularized self-reorganization robot of the present invention, modularized self-reorganization robot is by some functional modules, each side of each functional module is provided with range of signal between the side wireless transceiver of side wireless transceiver and each side and does not cover mutually, and functional module is also provided with control terminal wireless transceiver and microcontroller; Side wireless transceiver and control terminal wireless transceiver adopt different operating frequency.Functional module connects by side, and the side wireless transceiver range of signal that connects side covers mutually; The control terminal wireless transceiver of some functional modules of ining succession mutually have and only have one in running order.
As preferably, in order simply and effectively to allow described device distinguish side wireless transceiver, each side wireless transceiver is provided with a MAC mailing address and is different from the MAC mailing address of other side wireless transceivers.
As preferably, in order simply and effectively to allow described device distinguish each functional module and to guarantee the communication security between each functional module, each functional module is provided with a zone bit and is different from the binary flags position of other functional modules, and this zone bit is stored in the FLASH of this functional module microcontroller.
As preferably, in order to make side wireless transceiver and control terminal wireless transceiver better not to interfere with each other and to reduce costs, side wireless transceiver adopts 433MHz wireless transceiver, and control terminal wireless transceiver adopts 2.4GHz wireless transceiver.
In order to realize the object of the invention, the communication means of a kind of modularized self-reorganization robot of the present invention, comprises the following steps:
(1) microcontroller of each functional module detects the connection status of this functional module and other functional modules by the side wireless transceiver of each side; If be connected with other functional modules, connected functional module zone bit and the side wireless transceiver that is connected side with it are stored;
(2) microcontroller of unique in running order control terminal wireless transceiver is made as to central controller; The link information of each functional module storage in step (1) is sent in central controller;
(3) central controller carries out all link informations the configuration matrix expression of data fusion generation module self-reorganization robot;
(4) the configuration matrix expression in step (3) is mated with the model in the conjuncted configuration of existing modularized self-reorganization robot storehouse, obtain the conjuncted configuration of current modularized self-reorganization robot, and obtain corresponding conjuncted motion control.
Beneficial effect: the present invention compared with prior art, can either realize the wireless and telecommunication of modularized self-reorganization robot, can realize again the conjuncted configuration identification of modularized self-reorganization robot; Simultaneously for the control communication of whole modularized self-reorganization robot with the control of each functional module is communicated by letter and is not interfere with each other.
Accompanying drawing explanation
Fig. 1 is the hardware frame schematic diagram of modularized self-reorganization robot functional module of the present invention;
Fig. 2 is the structural representation of modularized self-reorganization robot functional module of the present invention;
Fig. 3 is the connection diagram of modularized self-reorganization robot functional module of the present invention;
Fig. 4 is the communication flow diagram of modularized self-reorganization robot of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the present invention is further described.
As shown in Figure 1, individual feature module is comprised of microcontroller, 2.4GHz wireless transceiver and 4 433MHz wireless transceivers; 433MHz wireless transceiver is set up the conjuncted internal communication network of modularized self-reorganization robot, and 2.4GHz wireless transceiver can be used as the central controller order transceiver terminal of modularized self-reorganization robot.
As shown in Figure 2, functional module 1 is square structure, on its 4 sides, be respectively equipped with 433MHz wireless transceiver 11, 433MHz wireless transceiver 12, 433MHz wireless transceiver 13 and 433MHz wireless transceiver 14, the signal cover of controlling 433MHz wireless transceiver by particular design and the adjustment of chip through-put power of antenna, make 433MHz wireless transceiver 11, 433MHz wireless transceiver 12, the signal cover non-overlapping copies of 433MHz wireless transceiver 13 and 433MHz wireless transceiver 14, its communication is also independent of each other.
As shown in Figure 3, modularized self-reorganization robot is comprised of functional module 1, functional module 22, functional module 33, functional module 44 and functional module 55, and above functional module is square structure, on 4 sides of functional module 1, be respectively equipped with 433MHz wireless transceiver 11, 433MHz wireless transceiver 12, 433MHz wireless transceiver 13 and 433MHz wireless transceiver 14, on 4 sides of functional module 22, be respectively equipped with 433MHz wireless transceiver 21, 433MHz wireless transceiver 22, 433MHz wireless transceiver 23 and 433MHz wireless transceiver 24, on 4 sides of functional module 33, be respectively equipped with 433MHz wireless transceiver 31, 433MHz wireless transceiver 32, 433MHz wireless transceiver 33 and 433MHz wireless transceiver 34, on 4 sides of functional module 44, be respectively equipped with 433MHz wireless transceiver 41, 433MHz wireless transceiver 42, 433MHz wireless transceiver 43 and 433MHz wireless transceiver 44, on 4 sides of functional module 55, be respectively equipped with 433MHz wireless transceiver 51, 433MHz wireless transceiver 52, 433MHz wireless transceiver 53 and 433MHz wireless transceiver 54.Functional module 55 is connected with functional module 1, functional module 22, functional module 33 and functional module 44 respectively by 4 sides, thereby the 433MHz wireless transceiver of functional module 55 51 covers and can communicate mutually with 433MHz wireless transceiver 13 signals of functional module 1, thereby the 433MHz wireless transceiver of functional module 55 52 covers and can communicate mutually with 433MHz wireless transceiver 24 signals of functional module 22, thereby the 433MHz wireless transceiver of functional module 55 53 covers and can communicate mutually with 433MHz wireless transceiver 31 signals of functional module 33, thereby the 433MHz wireless transceiver of functional module 55 54 covers and can communicate mutually with 433MHz wireless transceiver 42 signals of functional module 44, the side 433MHz wireless transceiver that functional module 1, functional module 22, functional module 33 and functional module 44 are not connected all will be closed, and the conjuncted network topology of modularized self-reorganization robot is consistent with the mechanical connection topology of functional module like this.
As shown in Figure 4, on the connection basis of above-mentioned functions module, first whether measuring ability module is connected with other functional modules, if connect, reads connected functional module zone bit and is connected the 433MHz wireless transceiver identification number of side with it and stores; Then complete when the detection of all functions module, be transferred to central controller; Central controller carries out all link informations the configuration matrix expression of data fusion generation module self-reorganization robot; Above-mentioned configuration matrix expression is mated with the model in the conjuncted configuration of existing modularized self-reorganization robot storehouse, obtain the conjuncted configuration of current modularized self-reorganization robot, and obtain corresponding conjuncted motion control.
Claims (5)
1. the communicator of a modularized self-reorganization robot, modularized self-reorganization robot is comprised of some functional modules, it is characterized in that, each side of each functional module is provided with range of signal between side wireless transceiver and each side wireless transceiver and does not cover mutually, and functional module is also provided with control terminal wireless transceiver and microcontroller;
Side wireless transceiver and control terminal wireless transceiver adopt different operating frequency;
Functional module connects by side and only has the side wireless transceiver range of signal that connects side to cover mutually;
The control terminal wireless transceiver of some functional modules of ining succession mutually only have one in running order.
2. the communicator of a kind of modularized self-reorganization robot as claimed in claim 1, is characterized in that, each side wireless transceiver is provided with a MAC mailing address and is different from the MAC mailing address of other side wireless transceivers.
3. the communicator of a kind of modularized self-reorganization robot as described in any one in claim 2, it is characterized in that, each functional module be provided with one No. ID and be different from No. ID of other functional modules, this is stored in for No. ID in the FLASH of this functional module microcontroller.
4. the communicator of a kind of modularized self-reorganization robot as claimed in claim 1, is characterized in that, side wireless transceiver adopts 433MHz wireless transceiver, and control terminal wireless transceiver adopts 2.4GHz wireless transceiver.
5. the communication means of the communicator of modularized self-reorganization robot as claimed in claim 1, is characterized in that, comprises the following steps:
(1) microcontroller of each functional module detects the connection status of this functional module and other functional modules by the side wireless transceiver of each side; If be connected with other functional modules, connected functional module zone bit and the side wireless transceiver that is connected side with it are stored;
(2) microcontroller of unique in running order control terminal wireless transceiver is made as to central controller; The link information of each functional module storage in step (1) is sent in central controller;
(3) central controller carries out all link informations the configuration matrix expression of data fusion generation module self-reorganization robot;
(4) the configuration matrix expression in step (3) is mated with the model in the conjuncted configuration of existing modularized self-reorganization robot storehouse, obtain the conjuncted configuration of current modularized self-reorganization robot, and obtain corresponding conjuncted motion control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410005460.3A CN103942937B (en) | 2014-01-07 | 2014-01-07 | The communicator of a kind of modularized self-reorganization robot and communication means thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410005460.3A CN103942937B (en) | 2014-01-07 | 2014-01-07 | The communicator of a kind of modularized self-reorganization robot and communication means thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103942937A true CN103942937A (en) | 2014-07-23 |
| CN103942937B CN103942937B (en) | 2016-10-19 |
Family
ID=51190584
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410005460.3A Expired - Fee Related CN103942937B (en) | 2014-01-07 | 2014-01-07 | The communicator of a kind of modularized self-reorganization robot and communication means thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103942937B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272550A (en) * | 2016-08-17 | 2017-01-04 | 北京可以科技有限公司 | Configuration controls information processing method and device |
| CN107263457A (en) * | 2017-06-22 | 2017-10-20 | 清华大学 | Split type robot and combinations thereof, separation method |
| CN109605345A (en) * | 2018-12-20 | 2019-04-12 | 清华大学 | A kind of modularization robot structure cognitive method |
| WO2019120155A1 (en) * | 2017-12-19 | 2019-06-27 | 北京可以科技有限公司 | Modularized robot, system thereof, control method for modularized robot |
| WO2019120148A1 (en) * | 2017-12-19 | 2019-06-27 | 北京可以科技有限公司 | Control system for modular robot, modular robot system, and control method for modular robot |
| CN109982246A (en) * | 2017-12-27 | 2019-07-05 | ***通信集团北京有限公司 | A kind of method of adjustment, device and the medium of cellular cell power |
| CN111319043A (en) * | 2020-02-20 | 2020-06-23 | 深圳前海达闼云端智能科技有限公司 | Robot control method, device, storage medium and robot |
| CN115122306A (en) * | 2022-07-28 | 2022-09-30 | 哈尔滨工业大学（深圳） | Rotationally symmetric reconfigurable robot platform and method thereof |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1999001261A1 (en) * | 1997-07-01 | 1999-01-14 | Engineering Services Inc. | Reconfigurable modular joint and robots produced therefrom |
| US6725128B2 (en) * | 2001-07-02 | 2004-04-20 | Xerox Corporation | Self-reconfigurable robot |
| US6842246B2 (en) * | 2001-12-10 | 2005-01-11 | Xerox Corporation | Six degree of freedom position ranging |
| US20060155388A1 (en) * | 2003-01-15 | 2006-07-13 | Andrzej Pietrzyk | System of three-dimensional multipurpose elements |
| CN101135897A (en) * | 2007-10-25 | 2008-03-05 | 上海交通大学 | Module joint location regulating system |
| CN101369385A (en) * | 2008-08-26 | 2009-02-18 | 东北大学 | Modularized reconfigurable multifunctional education robot |
| CN101549494A (en) * | 2009-05-11 | 2009-10-07 | 北京航空航天大学 | Monomer automatic transformable robot with self-assembly characteristic |
| CN101754439A (en) * | 2009-12-18 | 2010-06-23 | 东南大学 | The node docking facilities and the method for work thereof of restructural wireless mobile sensor network |
| CN101927488A (en) * | 2009-10-28 | 2010-12-29 | 东南大学 | Self-assembly multiple-mobile-robot system and self-assembly structure |
| CN102189554A (en) * | 2011-04-20 | 2011-09-21 | 上海交通大学 | Self-reconfiguration mobile microrobot |
| CN102381378A (en) * | 2011-08-18 | 2012-03-21 | 天津理工大学 | Reconfigurable modular robot |
| CN102791439A (en) * | 2010-02-05 | 2012-11-21 | 加利福尼亚大学董事会 | Four degree of freedom (4-Dof) single modular robot unit or joint |
-
2014
- 2014-01-07 CN CN201410005460.3A patent/CN103942937B/en not_active Expired - Fee Related
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1999001261A1 (en) * | 1997-07-01 | 1999-01-14 | Engineering Services Inc. | Reconfigurable modular joint and robots produced therefrom |
| US6725128B2 (en) * | 2001-07-02 | 2004-04-20 | Xerox Corporation | Self-reconfigurable robot |
| US6842246B2 (en) * | 2001-12-10 | 2005-01-11 | Xerox Corporation | Six degree of freedom position ranging |
| US20060155388A1 (en) * | 2003-01-15 | 2006-07-13 | Andrzej Pietrzyk | System of three-dimensional multipurpose elements |
| CN101135897A (en) * | 2007-10-25 | 2008-03-05 | 上海交通大学 | Module joint location regulating system |
| CN101369385A (en) * | 2008-08-26 | 2009-02-18 | 东北大学 | Modularized reconfigurable multifunctional education robot |
| CN101549494A (en) * | 2009-05-11 | 2009-10-07 | 北京航空航天大学 | Monomer automatic transformable robot with self-assembly characteristic |
| CN101927488A (en) * | 2009-10-28 | 2010-12-29 | 东南大学 | Self-assembly multiple-mobile-robot system and self-assembly structure |
| CN101754439A (en) * | 2009-12-18 | 2010-06-23 | 东南大学 | The node docking facilities and the method for work thereof of restructural wireless mobile sensor network |
| CN102791439A (en) * | 2010-02-05 | 2012-11-21 | 加利福尼亚大学董事会 | Four degree of freedom (4-Dof) single modular robot unit or joint |
| CN102189554A (en) * | 2011-04-20 | 2011-09-21 | 上海交通大学 | Self-reconfiguration mobile microrobot |
| CN102381378A (en) * | 2011-08-18 | 2012-03-21 | 天津理工大学 | Reconfigurable modular robot |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018032963A1 (en) * | 2016-08-17 | 2018-02-22 | 杨健勃 | Information processing method and device for configuration control, and user terminal |
| CN106272550A (en) * | 2016-08-17 | 2017-01-04 | 北京可以科技有限公司 | Configuration controls information processing method and device |
| CN106272550B (en) * | 2016-08-17 | 2019-09-06 | 北京可以科技有限公司 | Configuration controls information processing method and device |
| CN107263457A (en) * | 2017-06-22 | 2017-10-20 | 清华大学 | Split type robot and combinations thereof, separation method |
| WO2019120155A1 (en) * | 2017-12-19 | 2019-06-27 | 北京可以科技有限公司 | Modularized robot, system thereof, control method for modularized robot |
| WO2019120148A1 (en) * | 2017-12-19 | 2019-06-27 | 北京可以科技有限公司 | Control system for modular robot, modular robot system, and control method for modular robot |
| US11850749B2 (en) | 2017-12-19 | 2023-12-26 | Beijing Keyi Technology Co., Ltd. | Modular robot, system thereof, control method for modular robot |
| CN109982246B (en) * | 2017-12-27 | 2020-12-01 | ***通信集团北京有限公司 | Method, device and medium for adjusting power of cellular cell |
| CN109982246A (en) * | 2017-12-27 | 2019-07-05 | ***通信集团北京有限公司 | A kind of method of adjustment, device and the medium of cellular cell power |
| CN109605345A (en) * | 2018-12-20 | 2019-04-12 | 清华大学 | A kind of modularization robot structure cognitive method |
| CN109605345B (en) * | 2018-12-20 | 2020-07-07 | 清华大学 | Modular robot structure sensing method |
| CN111319043B (en) * | 2020-02-20 | 2022-03-22 | 达闼机器人有限公司 | Robot control method, device, storage medium and robot |
| CN111319043A (en) * | 2020-02-20 | 2020-06-23 | 深圳前海达闼云端智能科技有限公司 | Robot control method, device, storage medium and robot |
| CN115122306A (en) * | 2022-07-28 | 2022-09-30 | 哈尔滨工业大学（深圳） | Rotationally symmetric reconfigurable robot platform and method thereof |
| CN115122306B (en) * | 2022-07-28 | 2024-05-10 | 哈尔滨工业大学（深圳） | Rotationally symmetrical reconfigurable robot platform and method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103942937B (en) | 2016-10-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103942937A (en) | Communication apparatus of modularization self-configuration robot and communication method thereof | |
| Nurlan et al. | Wireless sensor network as a mesh: Vision and challenges | |
| CN101873240B (en) | Multifunctional wireless Mesh gateway device for multi-RF (Radio Frequency) mine and control system thereof | |
| CN101977447B (en) | ZigBee intelligent gateway for large-scale networking and implementing method thereof | |
| CN110012112A (en) | A kind of group network system of the terminal device based on Internet of Things | |
| CN108040339A (en) | Offline network-building method and its system based on LoRa | |
| CN102134929B (en) | Parking stall lock management system based on wireless data communication network | |
| Zaidi et al. | Enabling IoT empowered smart lighting solutions: A communication theoretic perspective | |
| CN103267871A (en) | Wind speed monitoring system based on ZigBee technology | |
| CN202957989U (en) | Crops growth environment monitoring device based on Zigbee | |
| CN202017366U (en) | Parking lot lock management system based on wireless data communication network | |
| CN104750077A (en) | Water quality monitoring system of offshore cage based on ZigBee and GPRS (General Packet Radio Service) technologies | |
| CN103914960A (en) | Mobile node of water environment wireless sensing monitoring network | |
| CN201690618U (en) | Multifunctional wireless Mesh gateway device for multi-RF mine | |
| US10462224B2 (en) | Coordinator for low power sensor network with tree or star topology | |
| Pankratev et al. | Wireless data transfer technologies in a decentralized system | |
| CN108696408A (en) | Barcode scanning method of network entry based on LoRa and its system | |
| CN209804040U (en) | Real device of instructing is synthesized to thing networking intelligent vehicle | |
| Chuang et al. | Study and implementation of the smallest closed-area (SCA) mechanism for self-organization network architectures in smart home control systems | |
| CN104601480A (en) | Zigbee turn 3G switching router | |
| CN206004908U (en) | A kind of controlling network of the wireless device of low-power consumption | |
| CN104284453B (en) | A kind of networking method of wireless sensor network of less redundant link | |
| CN203882184U (en) | A machine tool monitoring system | |
| CN103763714A (en) | Wireless sensor network optimizing method based on zigbee | |
| CN203733279U (en) | Wireless sensor node device with improved power supply |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161019 |