CN111445766A - Modular self-adaptive sensor and actuator system - Google Patents
Modular self-adaptive sensor and actuator system Download PDFInfo
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- CN111445766A CN111445766A CN202010326170.4A CN202010326170A CN111445766A CN 111445766 A CN111445766 A CN 111445766A CN 202010326170 A CN202010326170 A CN 202010326170A CN 111445766 A CN111445766 A CN 111445766A
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
- G09B23/06—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for physics
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
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Abstract
The invention discloses a modularized self-adaptive sensor and actuator system, which comprises a core board and a plurality of sensor and actuator expansion boards, wherein the core board is provided with a plurality of self-adaptive expansion interfaces which are connected with the plurality of sensor and actuator expansion boards through standard type C lines, and the sensor and actuator expansion boards are used for completing the functions of self-registration, self-display and self-description through a self-defined protocol; the adaptive expansion interface arranged on the core board consists of an uplink data line and a downlink data line, and is connected with the sensor and the actuator expansion board in the insertion process of the adaptive expansion interface. The present invention is embodied as a unified hardware interface and a unified software interface. The students can use the unified interface to call without knowing the specific working principle of the sensor and the actuator and only by connecting the sensor and the actuator with the development board, so that the modularization of hardware development is realized like software development.
Description
Technical Field
The invention relates to the technical field of self-adaptive sensors and actuators, in particular to a modular self-adaptive sensor and actuator system.
Background
The existing circuit boards for education require students to have a certain circuit foundation and have higher use thresholds, corresponding library functions are required to be applied when the sensors and actuators are used, different sensors and actuators can not be used simultaneously due to the conflict of external resources of the circuit boards, and the teaching of students in low ages is not facilitated.
First, the le gao EV3 program block can connect multiple control modules and sensor and actuator modules as shown in fig. 1, and all control modules and sensors and actuators have a unified interface, so that the wires used to connect the modules to the main control board can be used in common. All interfaces of the EV3 program block are divided into an input interface and an output interface, and the input interface and the output interface cannot be commonly used. The EV3 block supports a very limited number of expansion modules, requiring upgrades to the EV3 block if new sensor and actuator types need to be added. Moreover, for the same expansion module, the EV3 can only be successfully initialized for one, which greatly limits the possibilities for various combinations between sensors and actuators.
Makeblock's mBot Range, as shown in FIG. 2, has increased sensor and actuator types compared to EV3, but its product still has the following two drawbacks. First, the interface of the mBot Range is also heterogeneous, with different types of sensors and actuators supported by the heterogeneous interfaces. Therefore, the sensor and the actuator can only be inserted into the corresponding sensor and actuator interface to play a role.
Another important drawback of the mBot range is that the mBot range does not support self-identification of the sensor and the actuator, and after the bbot sensor and the actuator are connected to the device, the port number sensor and the actuator corresponding to the sensor and the actuator need to be manually assigned during programming to normally work, and if the port assignment is wrong, the mBot range cannot normally work. Therefore, generally speaking, the mBot range is not convenient to use because the sensors and actuators are inserted into the correct ports and the corresponding ports are assigned to the correct ports during programming to work normally.
The deficiency of mBot Range of Legao EV3 and MAKEB L OCK is mainly reflected in the following aspects:
(1) the expansion module is divided into a sensor module, an actuator module and a control module, and the two modules cannot be used together through respective interfaces. For children of low age, there is a significant risk of inserting mistakes when using these products.
(2) Self-identification is incompatible with multiple sensors and actuators. For the expansion module, the happy bit is selected to be self-identified, and the port number is not specified when the module is initialized. Therefore, only one of the modules can be initialized; whereas MakeBlock chooses user-specific, which makes it possible to support multiple simultaneous uses for the same module, but sacrifices self-identification of the module.
(3) Although MakeBlock currently supports hundreds of sensors and actuators, the types of sensors and actuators actually supported by MakeBlock are generally simpler sensors and actuators, and the total number of sensors and actuators currently realized by the government is smaller. Whereas EV3 supports fewer sensor and actuator classes. The variety of sensors and actuators greatly limits the scalability of the product.
(4) The functions of the sensor and actuator expansion boards are single, the functions of the mBotRanger expansion modules of Legao EV3 and MAKEB L OCK are all single, each module can only complete very limited functions, and the products cannot complete complex function development due to the limited number of total interfaces.
(5) At present, similar products are not compatible with sensors and actuators developed by users, and if equipment needs to support more types of sensors and actuators, an upper computer and firmware of the equipment need to be upgraded. So that ordinary players cannot develop their own extension modules.
Disclosure of Invention
The invention aims to provide a modular adaptive sensor and actuator system, and in order to solve the technical problems, the invention provides the following technical scheme:
a modularized self-adaptive sensor and actuator system comprises a core board and a plurality of sensor expansion boards, wherein the core board is provided with a plurality of self-adaptive expansion interfaces which are connected with the plurality of sensor and actuator expansion boards through a standard typeC line, and the sensor and actuator expansion boards are used for completing self-registration, self-display and self-description functions through a self-defined protocol; the adaptive expansion interface arranged on the core board consists of an uplink data line and a downlink data line, and is connected with the sensor and the actuator expansion board in the insertion process of the adaptive expansion interface; the core board is also provided with a power supply interface for providing 3.3V and 5V power supply circuits, and the sensor and actuator expansion board selects a proper power supply interface according to the actual needs of the sensor and actuator expansion board; the core board is also provided with an upper computer; the core board is also provided with a display screen and user keys.
In the above, the functions of the adaptive expansion interface are completely equivalent; the self-adaptive expansion interfaces are all provided with a corresponding indicator light, the indicator light indicates the state of the corresponding interface through color or flashing action, if no sensor or actuator expansion board is connected, the indicator light corresponding to the self-adaptive expansion interface is turned off, if the sensor or actuator expansion board is connected, initialization is automatically started, the indicator light corresponding to the self-adaptive expansion interface flashes at the moment, after initialization is finished, the indicator light corresponding to the self-adaptive expansion interface is normally on, and the color of the indicator light corresponds to the color of the types of the sensor or actuator expansion board.
In the above, the data packet of the custom protocol comprises a frame header, a protocol number, a length, a data load, and a checksum; the self-defined protocol on the self-adaptive expansion interface is divided into 6 self-recognition protocols with different functions by protocol numbers, which are respectively as follows: initializing a protocol, an uplink configuration protocol, a downlink configuration protocol, an uplink data protocol, a downlink data protocol and a display protocol; when the sensor and the actuator expansion board are inserted into any one self-adaptive expansion interface of the core board, the level of the pins of the self-adaptive expansion interface of the core board changes due to the insertion of the interfaces of the sensor and the actuator expansion board, and the core board sends a fixed initialization protocol request; the sensor and actuator expansion board sends initialization protocol reply to the core board according to the pre-stored sensor and actuator information, registers the class version of the sensor and actuator, and the uplink configuration protocol, the downlink configuration protocol, the uplink data protocol, the downlink data protocol, and the protocol length information of the display protocol, realizes the self-adaptive identification and subsequent communication establishment of the sensor and actuator expansion board, after the registration of the sensor and actuator expansion board is finished, the core board sends the uplink configuration protocol request to read the data class and length of the sensor and actuator expansion board, sends the downlink configuration protocol to configure the function corresponding initialization configuration of the sensor and actuator, the core board sends the display protocol request, the sensor and actuator expansion board replies the display protocol format character string and registers the display content in the core board, thereby realizing the self-display of the data of the sensor and actuator expansion board, by the time the self-registration of the sensor and actuator expansion board is completed, the display and description information is acquired by the core board. And entering a data transmission process. The data transmission is completed through an uplink data protocol agreed when the core board, the sensors and the actuator expansion board are exchanged and registered, the downlink data protocol is completed, the analysis mode of the data protocol is agreed in advance by a configuration protocol when the data protocol is registered, and an upper computer connected with the core board can acquire the interface numbers, types and protocol descriptions of all the sensors and the actuator expansion board connected with the core board through a query instruction, so that the sensors and the actuator expansion board are controlled through the core board without manually appointing the interfaces accessed by the sensors and the actuator expansion board, and self-identification is realized.
In the foregoing, a plurality of adaptive expansion interfaces are peer-to-peer, and under the condition that a plurality of sensors and actuator expansion boards are connected to the same core board, the sensors and actuator expansion boards of a plurality of same models are controlled in a manner specified by options of the host computer, and the user-defined sensors and actuator expansion boards can realize self-registration of the core board only by conforming to hardware specifications and a user-defined protocol, and transmit information of the users to the sensors and actuator expansion boards and the host computer through a registration process.
In the above, the core board has a display screen, and the states of the sensor and the actuator expansion board can be displayed according to information provided during the expansion registration.
Compared with the prior art, the invention has the following beneficial effects: 1. all the expansion interfaces are completely the same, and the sensor interface, the actuator interface and the control interface are not distinguished. All modules can be inserted at will. 2. The sensor and actuator extension pads are implemented around the target function rather than around the sensor and actuator. Multiple sensors and actuators may be implemented on one sensor and actuator expansion board. Meanwhile, the control module and the sensing module can be simultaneously realized on the same sensor and actuator expansion board. 3. Sensor and actuator self-identification. The sensor and the actuator can automatically complete registration only by being inserted into the main control board. When the device is used, if the port numbers of the sensor expansion board and the actuator expansion board are not specified, the sensor expansion board and the actuator expansion board with smaller port numbers can be automatically used. 4. If a plurality of same sensor and actuator expansion boards are used on the main control board at the same time, different sensor and actuator expansion boards can be distinguished manually by establishing the form of ports. 5. And synchronously refreshing the multiple sensors and the actuator expansion board. All the main control boards on the main control board are refreshed synchronously, so that the refreshing frequency of each expansion module of the main control board cannot be reduced due to the increase of the number of the sensors and the actuators, and the real-time refreshing of the sensors and the actuators is realized. 6. A sensor and actuator expansion board supporting the third development. The sensor and the actuator expansion board of the third party can be directly connected into the main control board, and perfect compatibility can be achieved without upgrading the hollow board. 7. An adaptive power supply scheme. In the connection of the main control board, the sensor and the actuator expansion board, 5V and 3.3V power supply is provided, and the sensor and the actuator expansion board can select a proper power supply mode according to the requirements of the sensor and the actuator expansion board. 8. A self-describing display protocol. The sensor and actuator expansion boards specify the information format displayed on the display screen, so that the core board does not need to know the models of the sensor and actuator expansion boards, and the states of the sensor and actuator expansion boards can be displayed only according to a protocol established in advance. 9. The circuit board developed by us uniformly encapsulates common sensors and actuators. Embodied as a unified hardware interface and a unified software interface. The students can use the unified interface to call without knowing the specific working principle of the sensor and the actuator and only by connecting the sensor and the actuator with the development board, so that the modularization of hardware development is realized like software development.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a block diagram of a prior art Vocal EV 3.
FIG. 2 is a diagram of an interface of an mBot Range in the prior art.
FIG. 3 is a schematic diagram of the system of the present invention.
Fig. 4 is a schematic diagram of a core board and a plurality of sensor and actuator expansion boards according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 3-4, the present invention provides a modular adaptive sensor and actuator system, comprising: from the hardware, the adaptive sensor and actuator system comprises a core board 41 and a plurality of sensor and actuator expansion boards 42, wherein the core board 41 is provided with a plurality of adaptive expansion interfaces (such as a first interface to a sixth interface in the attached drawing 3) which are connected with the plurality of sensor and actuator expansion boards through a standard type C line, the sensor and actuator expansion boards can complete functions of self-registration, self-display, self-description and the like through a self-defined protocol, the adaptive expansion interfaces arranged on the core board are composed of uplink data, downlink data and other lines, and in the process of inserting the adaptive expansion interfaces, the adaptive expansion interfaces are connected with the sensor and actuator expansion boards; the core board is also provided with a power supply interface, such as a power supply in fig. 3, which can provide 3.3V and 5V power supply lines, and the sensor and actuator expansion board can select a proper power supply interface according to the actual needs of the sensor and actuator expansion board; the core board is also provided with an upper computer; the core board is also provided with a display screen, such as the screen shown in fig. 3; the core board is also provided with user keys for controlling the core board by a user.
In the above, first, the core board is provided with a plurality of adaptive expansion interfaces, and the functions of all the adaptive expansion interfaces are completely equivalent. Each adaptive expansion interface has a corresponding indicator light. The indicator light can indicate the state of the corresponding interface through actions of color, such as the color of the light can be designated as one of red, green and blue, flashing and the like. And if no sensor or actuator expansion board is connected, the indicator light corresponding to the interface is turned off. If the sensor and the actuator expansion board are connected, the initialization is automatically started, and at the moment, an indicator light corresponding to the interface flickers. After initialization is finished, the corresponding interface indicator light is normally on, and the color of the interface indicator light corresponds to the color of the type of the sensor and the actuator expansion board.
In the above, in order to be compatible with different types of sensor and actuator expansion boards, the core board interface provides 3.3V and 5V power supply lines, and the sensor and actuator expansion boards can select appropriate power supply according to their actual needs. Besides the power line, the adaptive expansion interface arranged on the core board is composed of uplink data, downlink data and other lines, and in the process of inserting the expansion interface, the adaptive expansion interface is connected with the sensor and the actuator expansion board.
In the above, the definition of the custom protocol, the data packet of the custom protocol is composed of the following parts, which constitute the frame header, the protocol number, the length, the data load, and the checksum. The self-defining protocol on the self-adaptive expansion interface is divided into 6 self-recognition protocols with different functions by protocol numbers, which are respectively as follows: initialization protocol, uplink configuration protocol, downlink configuration protocol, uplink data protocol, downlink data protocol and display protocol. When the sensor and the actuator expansion board are inserted into any one of the adaptive expansion interfaces of the core board, the level of the pins of the adaptive expansion interface of the core board changes due to the insertion of the interfaces of the sensor and the actuator expansion board, and the core board sends a fixed initialization protocol request. The sensor and actuator expansion board sends information such as initialization protocol answers, registered type versions of the sensor and actuator, protocol lengths of the last 5 protocols (namely an uplink configuration protocol, a downlink configuration protocol, an uplink data protocol, a downlink data protocol and a display protocol) and the like to the core board according to sensor and actuator information prestored by the sensor and actuator expansion board, so that the self-adaptive identification and subsequent communication establishment of the sensor and actuator expansion board are realized. After the sensors and the actuator expansion board are registered, the core board sends an uplink configuration protocol request to read the data types and the lengths of the sensors and the actuator expansion board, and sends a downlink configuration protocol to configure the data types and the lengths of the actuators. And the core board sends a display protocol request, and the sensor and actuator expansion board replies a display protocol format character string and registers display content in the core board, so that the data of the sensor and actuator expansion board is self-displayed, and the self-registration of the sensor and actuator expansion board is completed. And the display and description information is acquired by the core board and enters a data transmission process. And the data transmission is completed through an uplink data protocol and a downlink data protocol agreed when the core board, the sensor and the actuator expansion board are subjected to exchange registration. The analysis mode of the data protocol is agreed in advance by the configuration protocol during registration, and the upper computer connected with the core board can acquire the interface numbers, types and protocol descriptions of all the sensor and actuator expansion boards connected with the core board through a query instruction, so that the sensor and actuator expansion boards can be controlled through the core board without manually designating the interfaces accessed by the sensor and actuator expansion boards, and self-identification is realized. Meanwhile, the plurality of adaptive expansion interfaces are peer-to-peer. Under the condition that a plurality of sensors and actuator expansion boards are connected to the same core board, the sensors and the actuator expansion boards of the same type can be controlled in a mode designated by options of the upper computer. The user-defined sensor and actuator expansion board can realize self-registration of the core board only by conforming to hardware specifications and a user-defined protocol, and self information is transmitted to the sensor and actuator expansion board and the upper computer through the registration process, so that the core board can be directly connected without upgrading the firmware of the core board.
In the above, the core board has a display screen, and the states of the sensor and the actuator expansion board can be displayed according to information provided during the expansion registration. The working states of the sensors and the actuator expansion board can be conveniently and visually checked.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. A modularized self-adaptive sensor and actuator system is characterized by comprising a core board and a plurality of sensor and actuator expansion boards, wherein the core board is provided with a plurality of self-adaptive expansion interfaces which are connected with the plurality of sensor and actuator expansion boards through standard type C lines, and the sensor and actuator expansion boards are used for completing self-registration, self-display and self-description functions through a self-defined protocol; the adaptive expansion interface arranged on the core board consists of an uplink data line and a downlink data line, and is connected with the sensor and the actuator expansion board in the insertion process of the adaptive expansion interface; the core board is also provided with a power supply interface for providing 3.3V and 5V power supply circuits, and the sensor and actuator expansion board selects a proper power supply interface according to the actual needs of the sensor and actuator expansion board; the core board is also provided with an upper computer; the core board is also provided with a display screen and user keys.
2. The system of claim 1, wherein the functions of the adaptive expansion interface are fully equivalent; the self-adaptive expansion interfaces are all provided with a corresponding indicator light, the indicator light indicates the state of the corresponding interface through color or flashing action, if no sensor or actuator expansion board is connected, the indicator light corresponding to the self-adaptive expansion interface is turned off, if the sensor or actuator expansion board is connected, initialization is automatically started, the indicator light corresponding to the self-adaptive expansion interface flashes at the moment, after initialization is finished, the indicator light corresponding to the self-adaptive expansion interface is normally on, and the color of the indicator light corresponds to the color of the types of the sensor or actuator expansion board.
3. The system of claim 2, wherein the custom protocol packet comprises a header, a protocol number, a length, a data payload, a checksum; the self-defined protocol on the self-adaptive expansion interface is divided into 6 self-recognition protocols with different functions by protocol numbers, which are respectively as follows: initializing a protocol, an uplink configuration protocol, a downlink configuration protocol, an uplink data protocol, a downlink data protocol and a display protocol; when the sensor and the actuator expansion board are inserted into any one self-adaptive expansion interface of the core board, the level of the pins of the self-adaptive expansion interface of the core board changes due to the insertion of the interfaces of the sensor and the actuator expansion board, and the core board sends a fixed initialization protocol request; the sensor and actuator expansion board sends initialization protocol reply to the core board according to the pre-stored sensor and actuator information, registers the class version of the sensor and actuator, and the uplink configuration protocol, the downlink configuration protocol, the uplink data protocol, the downlink data protocol, and the protocol length information of the display protocol, realizes the self-adaptive identification and subsequent communication establishment of the sensor and actuator expansion board, after the registration of the sensor and actuator expansion board is finished, the core board sends the uplink configuration protocol request to read the data class and length of the sensor and actuator expansion board, sends the downlink configuration protocol to configure the function corresponding initialization configuration of the sensor and actuator, the core board sends the display protocol request, the sensor and actuator expansion board replies the display protocol format character string and registers the display content in the core board, thereby realizing the self-display of the data of the sensor and actuator expansion board, by the time the self-registration of the sensor and actuator expansion board is completed, the display and description information is acquired by the core board. And entering a data transmission process. The data transmission is completed through an uplink data protocol agreed when the core board, the sensors and the actuator expansion board are exchanged and registered, the downlink data protocol is completed, the analysis mode of the data protocol is agreed in advance by a configuration protocol when the data protocol is registered, and an upper computer connected with the core board can acquire the interface numbers, types and protocol descriptions of all the sensors and the actuator expansion board connected with the core board through a query instruction, so that the sensors and the actuator expansion board are controlled through the core board without manually appointing the interfaces accessed by the sensors and the actuator expansion board, and self-identification is realized.
4. The system of claim 3, wherein the plurality of adaptive expansion interfaces are peer-to-peer, and when a plurality of sensor and actuator expansion boards are connected to the same core board, the control over the plurality of sensor and actuator expansion boards of the same model is realized in a manner specified by an option of the host computer, and the user-defined sensor and actuator expansion board can realize self-registration of the core board only by conforming to hardware specification and a user-defined protocol, and transmit its own information to the sensor and actuator expansion board and the host computer through a registration process.
5. The system of claim 4, wherein the core board has a display screen thereon for displaying the status of the sensor and actuator expansion boards according to information provided during the expansion registration.
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| CN202010326170.4A CN111445766A (en) | 2020-04-23 | 2020-04-23 | Modular self-adaptive sensor and actuator system |
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