CN103942937B - The communicator of a kind of modularized self-reorganization robot and communication means thereof - Google Patents

The communicator of a kind of modularized self-reorganization robot and communication means thereof Download PDF

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Publication number
CN103942937B
CN103942937B CN201410005460.3A CN201410005460A CN103942937B CN 103942937 B CN103942937 B CN 103942937B CN 201410005460 A CN201410005460 A CN 201410005460A CN 103942937 B CN103942937 B CN 103942937B
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wireless transceiver
functional module
reorganization robot
self
modularized self
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CN103942937A (en
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宋光明
乔贵方
张颖
彭瑾
王卫国
李志文
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Southeast University
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Southeast University
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Abstract

The invention discloses communicator and the communication means thereof of a kind of modularized self-reorganization robot, described system includes 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 covers, and functional module is additionally provided with control terminal wireless transceiver and microcontroller;Side wireless transceiver uses different operating frequency with controlling terminal wireless transceiver.Functional module is connected by side, and the side wireless transceiver range of signal connecting side covers mutually;The control terminal wireless transceiver of some functional modules has and only one of which is in running order.Can either realize that modularized self-reorganization robot is wireless and telecommunication, be capable of again the conjuncted configuration identification of modularized self-reorganization robot;Control communication simultaneously for whole modularized self-reorganization robot does not interfere with each other with the control communication to each functional module.

Description

The communicator of a kind of modularized self-reorganization robot and communication means thereof
Technical field
The present invention relates to communicator and the communication means thereof of a kind of modularized self-reorganization robot.
Background technology
Modularized self-reorganization robot system is made up of the functional module of some simple in construction, resource-constrained, many Be assembled into multiple conjuncted between individual functional module by bindiny mechanism, as snakelike conjuncted, three foot-shapes are conjuncted, four-footed The forms such as shape is conjuncted.At present, the communication system of modularized self-reorganization robot mainly has CAN, RS485 The communication modes such as bus, infrared communication, Bluetooth communication and wireless sensor network.CAN and RS485 Bus belongs to wired mode, it is impossible to realize separate functional blocks or different conjuncted between communication;Infrared communication and Though Bluetooth communication solve different conjuncted between communication issue, but communication distance is shorter, infrared communication system simultaneously Unite bigger by such environmental effects;Wireless sensor network offer Ad hoc mode, but opening up due to node Flutter structure uncontrollable, the problems such as big, the communication channel obstruction of communication energy consumption can be caused.There is abundant conjuncted form, Different conjuncted forms has multi-motion gait, and modularized self-reorganization robot shows by force in complex environment Big motor capacity.Can be modularized self-reorganization robot according to the different its own shape that change of environment and task Main advantage.And modularized self-reorganization robot the to be made powerful motor capacity of conjuncted performance and realize its work of deformation Can, first modularized self-reorganization robot system is capable of identify that the most conjuncted configuration, then according to conjuncted configuration Select motion gait and complete deformation planning.At present, configuration recognition methods is all based on the logical of self-reorganization robot Communication system realizes, such as CAN and infrared communication etc..And Bluetooth communication and wireless sensor network are due to net The topological structure of network is uncontrollable, and cannot realize the conjuncted configuration identification of modularized self-reorganization robot.
Summary of the invention
Goal of the invention: it is an object of the invention to provide a kind of modularized self-reorganization machine for the deficiencies in the prior art The communicator of device people and communication means thereof, solve and should meet wireless and telecommunication and be capable of again The technical problem of the conjuncted configuration identification of modularized self-reorganization robot.
Technical scheme: in order to realize the object of the invention, a kind of modularized self-reorganization robot of the present invention Communicator, modularized self-reorganization robot is provided with side by some functional modules, each side of each functional module Between the side wireless transceiver of limit wireless transceiver and each side, range of signal does not covers, and functional module is also It is provided with control terminal wireless transceiver and microcontroller;Side wireless transceiver is adopted with controlling terminal wireless transceiver Use different operating frequency.Functional module is connected by side, connects the side wireless transceiver range of signal of side Cover mutually;The control terminal wireless transceiver of the some functional modules ined succession mutually has and only one of which is in work State.
As preferably, in order to simply and efficiently allow described device distinguish side wireless transceiver, each side without Line transceiver is designed with a MAC mailing address and is different from the MAC communication of other side wireless transceivers Address.
As preferably, in order to simply and efficiently allow described device distinguish each functional module and ensure each function mould Communication security between block, each functional module is designed with a flag bit and is different from the two of other functional modules System flag bit, this flag bit is stored in the FLASH of this functional module microcontroller.
As preferably, so that side wireless transceiver and control terminal wireless transceiver can preferably the most not Interference and reduction cost, side wireless transceiver uses 433MHz wireless transceiver, controls terminal wireless transmitting-receiving Device uses 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, Comprise the following steps:
(1) microcontroller of each functional module detects this function mould by the side wireless transceiver of each side Block and the connection status of other functional modules;If connecting and having other functional modules, then by connected function mould The side wireless transceiver of block mark position and connected side stores;
(2) the most in running order microcontroller controlling terminal wireless transceiver is set to central authorities' control Device;The link information of each functional module storage in step (1) is sent to central controller;
(3) all link informations are carried out data fusion generation module self-reorganization robot by central controller Configuration matrix expression;
(4) by the configuration matrix expression in step (3) and the conjuncted structure of existing modularized self-reorganization robot Model in type storehouse mates, and obtains the conjuncted configuration of current modular self-reorganization robot, and obtains correspondence Conjuncted motor control.
Beneficial effect: the present invention compared with prior art, can either realize modularized self-reorganization robot wireless and Telecommunication, is capable of again the conjuncted configuration identification of modularized self-reorganization robot;Simultaneously for whole mould The communication that controls of massing self-reorganization robot does not interfere with each other with to the control communication of each functional module.
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.
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is further described.
As it is shown in figure 1, individual feature module is by microcontroller, 2.4GHz wireless transceiver and 4 433MHz Wireless transceiver forms;433MHz wireless transceiver sets up the conjuncted intercommunication of modularized self-reorganization robot Network, 2.4GHz wireless transceiver then can be received as the centralized controller commands of modularized self-reorganization robot Send out terminal.
As in figure 2 it is shown, functional module 1 is square structure, its 4 sides are respectively equipped with 433MHz Wireless transceiver 11,433MHz wireless transceiver 12,433MHz wireless transceiver 13 13 and 433MHz wireless transceivers 14, by particular design and the chip through-put power of antenna Adjust the signal cover controlling 433MHz wireless transceiver so that 433MHz wireless transceiver 11 11,433MHz wireless transceiver 12,433MHz wireless transceiver 13 and 433MHz The signal cover non-overlapping copies of wireless transceiver 14, then its communication is also independent of each other.
As it is shown on figure 3, modularized self-reorganization robot is by functional module 1, functional module 22, function mould Block 33, functional module 44 and functional module 55 composition, function above module is square structure; It is respectively equipped with 433MHz wireless transceiver 11,433MHz on 4 sides of functional module 1 Wireless transceiver 12,433MHz wireless transceiver 13 and 433MHz wireless transceiver ten 4 14,4 sides of functional module 22 are respectively equipped with 433MHz wireless transceiver 21, 433MHz wireless transceiver 22,433MHz wireless transceiver 23 and 433MHz Wireless transceiver 24,4 sides of functional module 33 are respectively equipped with 433MHz wireless receiving and dispatching Device 31,433MHz wireless transceiver 32,433MHz wireless transceiver 33 And 433MHz wireless transceiver 34,4 sides of functional module 44 are respectively equipped with 433MHz wireless transceiver 41,433MHz wireless transceiver 42,433MHz without Line transceiver 43 and 433MHz wireless transceiver 44,4 of functional module 55 433MHz wireless transceiver 51,433MHz wireless transceiver 52 it is respectively equipped with on side 52,433MHz wireless transceiver 53 and 433MHz wireless transceiver 54.Function Module 55 by 4 sides respectively with functional module 1, functional module 22, functional module 33 and Functional module 44 connects;433MHz wireless transceiver 51 and the function mould of functional module 55 433MHz wireless transceiver 13 signal of block 1 covers mutually such that it is able to communicate, function The 433MHz wireless transceiver 52 of module 55 and the wireless receipts of 433MHz of functional module 22 Send out device 24 signal cover mutually such that it is able to communicate, the 433MHz of functional module 55 without Line transceiver 53 is mutual with 433MHz wireless transceiver 31 signal of functional module 33 Cover such that it is able to communicate, the 433MHz wireless transceiver 54 of functional module 55 and merit 433MHz wireless transceiver 42 signal of energy module 44 covers mutually such that it is able to communicate; The side that functional module 1, functional module 22, functional module 33 and functional module 44 are not connected with 433MHz wireless transceiver all will be closed, the conjuncted network topology of such modularized self-reorganization robot with The mechanical connection topology of functional module is consistent.
As shown in Figure 4, on the basis of the connection of above-mentioned functions module, first detection functional module whether with other Functional module connects, if connecting, reads connected functional module flag bit and connected side 433MHz wireless transceiver identification number also stores;Then complete when the detection of all functional modules, then will It is transferred to central controller;All link informations are carried out the deadweight of data fusion generation moduleization by central controller The configuration matrix expression of structure robot;By above-mentioned configuration matrix expression and existing modularized self-reorganization machine Model in people's conjuncted configuration storehouse mates, and obtains the conjuncted configuration of current modular self-reorganization robot, and Obtain corresponding conjuncted motor control.

Claims (5)

1. a communicator for modularized self-reorganization robot, modularized self-reorganization robot is by some function moulds Block forms, including controlling terminal wireless transceiver and microcontroller, it is characterised in that each functional module each Side is provided with range of signal between side wireless transceiver and each side wireless transceiver and does not covers;
Side wireless transceiver uses different operating frequency with controlling terminal wireless transceiver;
Functional module is connected and only connects the side wireless transceiver range of signal of side and covers mutually by side Lid;
The control terminal wireless transceiver only one of which of the some functional modules ined succession mutually is in running order.
The communicator of a kind of modularized self-reorganization robot the most as claimed in claim 1, it is characterised in that Each side wireless transceiver is designed with a MAC mailing address and is different from other side wireless transceivers MAC mailing address.
The communicator of a kind of modularized self-reorganization robot the most as described in any of claims 2, its Being characterised by, each functional module is designed with one No. ID and is different from No. ID of other functional modules, should In No. ID FLASH being stored in this functional module microcontroller.
The communicator of a kind of modularized self-reorganization robot the most as claimed in claim 1, it is characterised in that Side wireless transceiver use 433MHz wireless transceiver, control terminal wireless transceiver use 2.4GHz without Line transceiver.
5. the communication means of the communicator of modularized self-reorganization robot as claimed in claim 1, its feature It is, comprises the following steps:
(1) microcontroller of each functional module detects this function mould by the side wireless transceiver of each side Block and the connection status of other functional modules;If connecting and having other functional modules, then by connected function mould The side wireless transceiver of block mark position and connected side stores;
(2) the most in running order microcontroller controlling terminal wireless transceiver is set to central authorities' control Device;The link information of each functional module storage in step (1) is sent to central controller;
(3) all link informations are carried out data fusion generation module self-reorganization robot by central controller Configuration matrix expression;
(4) by the configuration matrix expression in step (3) and the conjuncted structure of existing modularized self-reorganization robot Model in type storehouse mates, and obtains the conjuncted configuration of current modular self-reorganization robot, and obtains correspondence Conjuncted motor control.
CN201410005460.3A 2014-01-07 2014-01-07 The communicator of a kind of modularized self-reorganization robot and communication means thereof Active CN103942937B (en)

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CN107263457A (en) * 2017-06-22 2017-10-20 清华大学 Split type robot and combinations thereof, separation method
CN108326841B (en) * 2017-12-19 2020-12-18 北京可以科技有限公司 Modular robot and system, control method, construction prompting method and correction method for constructing modular robot
CN108189029B (en) * 2017-12-19 2020-10-30 北京可以科技有限公司 Control system of modular robot, modular robot system and method for controlling modular robot
CN109982246B (en) * 2017-12-27 2020-12-01 中国移动通信集团北京有限公司 Method, device and medium for adjusting power of cellular cell
CN109605345B (en) * 2018-12-20 2020-07-07 清华大学 Modular robot structure sensing method
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

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