CN105006122A - Wireless interface communication protocol of automatic inspection robot - Google Patents
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Abstract
The invention discloses a wireless interface communication protocol of an automatic inspection robot, which provides a master/slave message frame structure. In the communication protocol, a host message frame defines a start bit, an address field, a functional field (including functional module coding, method coding, and data length), a data field, and an error detection field according to actual needs. The slave message frame defines: start bit, address field, function field (including accessed function block code, accessed method code, data length, status bit), data field, error detection field. The invention provides an effective wireless interface communication protocol of an automatic inspection robot, which ensures effective communication between a control console and the inspection robot, controls to provide enough control information and also can acquire real-time information and state feedback of the inspection robot.
Description
Technical field
The present invention relates to the wave point communications protocol between a kind of automatic crusing robot and main-engine control desk.
Background technology
Along with equipment technology, the progress of computer network science, modern UHV (ultra-high voltage), extra-high voltage electric transmission and transformation systems engineering is just towards on a large scale, complicated future development, and new electric pressure, the extensive application of new technology makes traditional operation, operation, the modes such as maintenance and method face new challenges, as part of appliance/subsystem One's name is legion, the crosslinked relation number of entry to be observed that is complicated and component defect is huge etc., how to adapt to small power station's substation operation under the new situation further, employ new technology, new tool is to alleviate the operation maintenance burden of transformer station operator on duty, effective guarantee device security reliability service, become subject matter faced from now on.
Existing routine inspection mode and technology still have suitable distance compared with the security requirement of electrical production.The transformer station of the range of application of robot used for intelligent substation patrol mainly unmanned or few man on duty, can effectively substitute manually complete transformer station's high-tension transformation equipment patrol and examine operation.Application intelligent inspection robot carries out patrolling and examining operation, not only can reduce the equipment loss because personnel's carelessness, undetected etc. brings, improve the running quality of electrical network, and the personnel that can reduce electric power system drop into, reduce personnel cost.Inspecting substation equipment intelligent robot is mainly used in away from cities and towns, the complicated and diversified physical environment of geographical conditions.Because manual inspection work is very hard in this environment, and be difficult to ensure work quality, only have and adopt advanced routine inspection mode and instrument, just can be suitable shorten polling period, the defect that Timeliness coverage exists, more effectively eliminate accident potential, guarantee the safe and stable operation of electric system.
And intelligent inspection robot, being for adapting to transformer station of intelligent small power station and transformer station of unmanned small power station growth requirement, improving intelligent substation level comprehensively and developing.It take intelligent inspection robot as core, integrate Robotics, power equipment non-contact detecting technology, multi-sensor fusion technology, mode identification technology, navigator fix technology and technology of Internet of things etc., round-the-clock, comprehensive, the full autonomous intelligence of transformer station can be realized patrol and examine and monitor, effective reduction labour intensity, reduce transformer station's O&M cost, improve robotization and the intelligent level of normally patrolling and examining operation and management.For intelligent substation and unattended operation transformer station provide innovative technology for detection means and omnibearing safety guarantee, advance the unattended process of transformer station quickly.
Summary of the invention
The present invention is in order to solve the wireless telecommunications problem between crusing robot and control desk, provide a kind of master/slave machine message frame structure, in communication process, control desk is main frame, automatic crusing robot is from machine, in communications protocol, the wave point communications protocol of master/slave acknowledgement mechanism is strictly obeyed in the transmission of message frame.
Technical scheme of the present invention: a kind of automatic crusing robot wave point communications protocol, comprises the following steps:
1) main-engine control desk configure host control desk message frame according to actual needs, message frame structure comprises: 2 byte start bits, 1 byte address territory, 3 byte functional domains, N byte data territory, 1 byte error detecting domains, 2 byte start bits write beginning flag 1, beginning flag 2 respectively, and by need send instruction automatic crusing robot ID writing address territory in the middle of, notice automatic crusing robot, main-engine control desk sends message frame by starting;
2) main-engine control desk needs configuration feature territory according to concrete function; From communication setting module, instruction, the module selecting to need to call is set the module such as module, data outputting module; " module coding " of correspondence is write the 1st byte of functional domain in message frame by main-engine control desk, simultaneously, search out corresponding " method numbering " and " data length " corresponding with " method is numbered ", by the 2nd of functional domain in " method coding " " data length " successively write message frame the, in 3 bytes, message frame distributes the size of data field according to " data length ", by each data parameters write data field;
3) according to School Affairs=beginning flag 1+ beginning flag 2+ node ID+module numbering+method numbering+data length+parameter 1+ ... the computing method of+Parameter N calculate " error-detecting territory ", and are write in message frame; The configuration of main-engine control desk message frame is complete to be ready for sending to automatic crusing robot.
4) automatic crusing robot is after receiving the message frame of main-engine control desk, information successively in analytical capabilities territory in " module coding " " method coding " " data length ", if " data length " is not 0X00, then information in further resolution data territory, and the opening and closing of each functions of modules of this automatic crusing robot is adjusted in time according to specifying information; Need to ask automatic crusing robot to return response message frame to main-engine control desk, the response message frame structure of automatic crusing robot feedback comprises: 2 byte start bits, 1 byte address territory, 4 byte functional domains, N byte data territory, 1 byte error detecting domains;
5) " data length " in automatic crusing robot response message frame functional domain is rewritten according to " module coding " and " method coding ", and by the 4th byte in " mode bit " information write-in functions territory, if automatic crusing robot current state information normally, write 0X00, otherwise write 0X01, and by each for automatic crusing robot data parameters write data field;
6) according to School Affairs=beginning flag 1+ beginning flag 2+ node ID+module numbering+method numbering+data length+mode bit+parameter 1+ ... the computing method of+Parameter N calculate " error-detecting territory ", are write in automatic crusing robot response message frame and send to main-engine control desk.
Preferably, 1 byte representation functional module coding, 1 byte representation method coding, 1 byte representation data length in 3 byte functional domains of described step 1).
Preferably, in described step 1), beginning flag 1 is 0X55, and wherein 0X represents sexadecimal, and beginning flag 2 is 0XAA.
Preferably, the N in the Parameter N of described step 3) and step 6) represents number of parameters.
Preferably, 1 byte representation accessed functional module coding, the accessed method coding of 1 byte representation, 1 byte representation data length, 1 byte representation mode bit in 4 byte functional domains of described step 4.
In the present invention, the concrete division of message frame is as follows:
The message frame that main frame sends is: 2 byte start bits, 1 byte address territory, 3 byte functional domains (wherein 1 byte representation functional module coding, 1 byte representation method coding, 1 byte representation data length), N byte data territory, 1 byte error detecting domains.
From the response message frame of machine feedback be: 2 byte start bits, 1 byte address territory, 4 byte functional domains (wherein 1 byte representation accessed functional module coding, the accessed method coding of 1 byte representation, 1 byte representation data length, 1 byte representation mode bit), N byte data territory, 1 byte error detecting domains.
Start bit: length is 2 bytes, its effect is that notification target node messages frame starts to send, and at main frame with from machine, the data of start bit are identical, and 2 bytes are respectively beginning flag 1(0X55), beginning flag 2(0XAA).
Address field: length is 1 byte, and address field contains the address information of message frame.In the message frame that main frame sends, address field determines unique target from machine; In the message frame sent from machine, address field has fed back the source of message frame to main frame, i.e. the machine address ID.
Functional domain: the functional domain of master/slave machine is slightly different, the functional domain of host message frame contains " functional module coding ", " method coding ", " data length "; " functional module coding ", " method coding ", " data length ", " mode bit " is contained from the functional domain of machine message frame.Wherein, " data length " reflects the number that this message frame will send parameter in data field, and the number of parameter is determined by " functional module coding " and " method coding "; " functional module coding " function in slave is different, and for main frame, " functional module coding " determines " functional module " of access destination node.In a device node, multiple functional module may be there is, such as may there is " input/output module ", " analog-to-digital conversion module ", " communication module " etc. in " logic controller ", for from machine, " functional module coding " represents the accessed functional module of the machine; " method numbering " determines the concrete function of " functional module " of access destination node in main frame, and " method numbering " 0X60-0X6F is asynchronous reading section, and " method numbering " 0X70-0X7F is asynchronous write section.Some methods of operating can be there is for " input/output function module ", such as, " port direction is set ", " export data to port ", " reading data by port " etc., for from machine, " method numbering " reflects accessed method." mode bit " is only present in the middle of machine, has reacted from the current status information of machine.
Data field: the parameter of the method delivering certain module that will pass to target device that what data field represented in main frame is.The length of parameter is determined by the member's " data length " in " functional domain ".For from machine, " data field " delivers the feedback parameter of the method for certain module of host access.For the way access not needing parameter, the length of " data field " can be " 0 ".
Because this communications protocol is a kind of asynchronous communication agreement, in disparate modules, data field coordinates configuration to realize asynchronous communication function with functional domain, module is divided into three classes, be respectively: communication setting module, instruction arrange module, data outputting module, each module message frame configuration information is as follows:
1, communication setting module, " module coding " 0X01, total following 4 kinds of configuration informations:
(1) communication data is configured: " method numbering " 70, " data length " length 0X04, data field comprises four kinds of data altogether, often kind of data length is 1 byte, is respectively: the configuration of data broadcast switchgear distribution, communication baud rate, Refresh Data rate configuration (20-100 hertz), output data switch.
Data broadcast switchgear distribution 0X00, then close data broadcast; During data broadcast switchgear distribution 0X01, then turn-on data broadcast.
Communication baud rate configuration parameter has 0X00,0X01,0X02,0X03,0X04,0,X05 six kinds, respectively corresponding baud rate 9600,14400,19200,38400,57600,115200 bits per second.
Data output switch length is 1 byte, have 8 bits, the output data that every bit is corresponding different, are followed successively by from high to low: control attitude and the output of course angle data, control temperature counts output, controlling magnetic field meter offset data exports, control accelerometer offset data exports, control the output of gyroscope offset data, controlling magnetic field meter uncorrected data exports, control accelerometer uncorrected data exports, controls the output of gyroscope uncorrected data.When corresponding bit position is 0, close this item number according to output, when bit is 1, open this item number according to output.
(2) address field is reset: " method numbering " 71, " data length " 0X01, only comprises 1 byte data of the address field that need reset in message frame.
(3) communication configuration information is read: " method numbering " 60, main frame sends " data length " 0X00, from " data length " 0X04 machine response message frame, comprise 4 class configuration informations, be respectively: the configuration of data broadcast switchgear distribution, communication baud rate, Refresh Data rate configuration (20-100Hz), output data switch, every category information accounts for 1 byte.
(4) read current block address field: " method numbering " 61, main frame sends " data length " 0X00, from " data length " 0X01 machine response message frame, comprises class data: current block address.
2, instruction arranges module, " module coding " 0X02, total following 7 kinds of configuration informations:
(1) initial alignment is again required: " method numbering " 70, " data length " 0X00, from machine without the need to return messages frame.
(2) factory reset: " method numbering " 71, " data length " 0X00, from machine without the need to return messages frame.
(3) accelerometer reference vector is set: " method numbering " 72, " data length " 0X00, from machine without the need to return messages frame.
(4) magnetometer reference vector is set: " method numbering " 73, " data length " 0X00, from machine without the need to return messages frame.
(5) configuration information write buffer memory Flash: " method numbering " 60, main frame sends " data length " 0X00 in message frame, the response message frame comprising status information need be returned from machine, normal then " mode bit " 0X00 of write, write unsuccessfully then " mode bit " 0X01, " data length " 0X00 in response message frame.
(6) gyro sensor suppressed zero is again required: " method numbering " 61, main frame sends " data length " 0X00 in message frame, the response message frame comprising status information need be returned from machine, correct complete then " mode bit " 0X00, otherwise " mode bit " 0X01, " data length " 0X00 in response message frame.
(7) require that data single exports: " method numbering " 74, " data length " 0X00, this configuration information is only effective when disable data is broadcasted, disposable output all output switch institutes configuration data.
3, data outputting module, " module coding " 0X03, total following 5 kinds of configuration informations:
(1) gyroscope offset data exports: " method numbering " 63, " data length " 0X06,6 byte datas are followed successively by: short type (two's complement) gyroscope X-axis offset data H position, short type (two's complement) gyroscope X-axis offset data L position, short type (two's complement) gyroscope Y-axis offset data H position, short type (two's complement) gyroscope Y-axis offset data L position, short type (two's complement) gyroscope Z axis offset data H position, short type (two's complement) gyroscope Z axis offset data L position.Splicing H, L bit data becomes short type data, exports data unit 0.1deg/s(angular velocity unit, degree/second).As X-axis gyroscope exports 0X0003, then exporting data is.
(2) accelerometer offset data exports: " method numbering " 64, " data length " 0X06,6 byte datas are followed successively by: short type (two's complement) accelerometer X-axis offset data H position, short type (two's complement) accelerometer X-axis offset data L position, short type (two's complement) accelerometer Y-axis offset data H position, short type (two's complement) accelerometer Y-axis offset data L position, short type (two's complement) accelerometer Z axis offset data H position, short type (two's complement) accelerometer Z axis offset data L position.Splicing H, L bit data becomes short type data, exports data unit 0.1mg(unit of acceleration, milligal).As X-axis accelerometer exports 0X0064, then exporting data is.
(3) magnetometer offset data exports: " method numbering " 65, " data length " 0X06,6 byte datas are followed successively by: short type (two's complement) magnetometer X-axis offset data H position, short type (two's complement) magnetometer X-axis offset data L position, short type (two's complement) magnetometer Y-axis offset data H position, short type (two's complement) magnetometer Y-axis offset data L position, short type (two's complement) magnetometer Z axis offset data H position, short type (two's complement) magnetometer Z axis offset data L position.Splicing H, L bit data becomes short type data, exports data unit 0.1mGs(magnetic field unit, milligauss).As X-axis magnetometer exports 0XFEA2, then exporting data is.
(4) temperature sensor data exports: " method numbering " 66, " data length " 0X02,2 byte datas are followed successively by: short type (two's complement) temperature sensor data H position, short type (two's complement) temperature sensor data L position.Splicing H, L bit data becomes short type data, exports data unit 0.01 DEG C (degree Celsius).As temperature sensor data exports 0X09DD, then exporting data is.
(5) course, attitude algorithm data export: " method numbering " 67, " data length " 0X06,6 byte datas are followed successively by: short type (two's complement) rolling data H position, short type (two's complement) rolling data L position, short type (two's complement) pitching data H position, short type (two's complement) pitching data L position, short type (two's complement) course data H position, short type (two's complement) course data L position.Splicing H, L bit data becomes short type data, exports data unit 0.01deg(course unit, angle).As X-axis rolling exports 0XFEA2, then exporting data is that Y-axis pitching exports 0X051E, then exporting data is that Z axis course exports 0X00C8, then export data and be.
Error-detecting territory: main frame and from machine the effect in error-detecting territory be identical, whether the transmission for detect-message frame exists mistake.The member in " error-detecting territory " is " School Affairs ".School Affairs equals the least-significant byte that in this message frame, whole member is added.For main frame, School Affairs=beginning flag 1+ beginning flag 2+ node ID+module numbering+method numbering+data length+parameter 1+ ... + Parameter N; For from machine, School Affairs=beginning flag 1+ beginning flag 2+ node ID+module numbering+method numbering+data length+mode bit+parameter 1+ ... + Parameter N.
Automatic crusing robot wave point communications protocol performing step of the present invention:
(1) first, main-engine control desk is configure host message frame according to actual needs, and message frame structure comprises: 2 byte start bits, 1 byte address territory, 3 byte functional domains (wherein 1 byte representation functional module coding, 1 byte representation method coding, 1 byte representation data length), N byte data territory, 1 byte error detecting domains.Beginning flag position, writes beginning flag 1(0X55 respectively), beginning flag 2(0XAA).And by need send instruction automatic crusing robot ID writing address territory in the middle of, effect be notice from machine, host message frame will start send.Main-engine control desk needs configuration feature territory according to concrete function.From communication setting module, instruction, the module selecting to need to call is set the module such as module, data outputting module." module coding " of correspondence is write the 1st byte of functional domain in message frame by main frame., search out corresponding " method numbering " and " data length " corresponding with " method number " meanwhile, " method coding " " data length " priority is write the 2nd of functional domain in message frame the, in 3 bytes.Message frame distributes the size of data field according to " data length ", by each data parameters write data field.According to School Affairs=beginning flag 1+ beginning flag 2+ node ID+module numbering+method numbering+data length+parameter 1+ ... the computing method of+Parameter N calculate " error-detecting territory ", and are write in message frame.The configuration of host message frame is complete to be ready for sending to from machine.
(2) secondly, from machine after receiving the message frame of main frame, information successively in analytical capabilities territory in " module coding " " method coding " " data length ", if " data length " is not 0X00, then further information in resolution data territory, and adjust this opening and closing from each functions of modules of machine in time according to specifying information.Needing to return response message frame to main frame from machine to ask, comprising from the response message frame structure of machine feedback: 2 byte start bits, 1 byte address territory, 4 byte functional domains (1 byte accessed functional module coding, the accessed method coding of 1 byte, 1 byte data length, 1 byte status position), N byte data territory, 1 byte error detecting domains.Rewrite from " data length " machine response message frame functional domain according to " module coding " and " method coding ", and by the 4th byte in " mode bit " information write-in functions territory, if from machine current state information normally, write 0X00, otherwise write 0X01.And will from machine each data parameters write data field.According to School Affairs=beginning flag 1+ beginning flag 2+ node ID+module numbering+method numbering+data length+mode bit+parameter 1+ ... the computing method of+Parameter N calculate " error-detecting territory ", write and send to main frame from machine response message frame.
Technical conceive of the present invention is: for the characteristic of crusing robot wireless transmission, in order to ensure the accuracy of control information and return message, have employed the asynchronous communication means based on master/slave machine message structure, control information is distributed in the middle of each generic module, and according to concrete control information requirement, corresponding " method numbering " is write in message frame, and is equipped with corresponding " data length ".From machine after receiving host message frame, resolve corresponding module and method information, as need response message frame be returned, then by data message writes such as mode bits wherein, and miscount detecting domains.
Beneficial effect of the present invention is mainly manifested in: utilize master/slave machine message structure to devise a kind of for the wave point communications protocol between control desk and crusing robot, the efficient communication between control desk and crusing robot can be provided by the present invention, guarantee also can obtain real-time information and the signal feedback of crusing robot while providing enough control informations.
Accompanying drawing explanation
Fig. 1 is that main frame wireless telecommunications message frame forms schematic diagram;
Fig. 2 forms schematic diagram from machine wireless telecommunications response message frame.
Embodiment
The invention will be further described below.
With reference to Fig. 1 ~ Fig. 2, a kind of automatic crusing robot wave point communications protocol, be the asynchronous communications protocol based on master/slave machine message frame structure, master/slave acknowledgement mechanism is strictly obeyed in the transmission of message frame, and wave point communications protocol comprises the following steps:
(1) first, main-engine control desk is configure host message frame according to actual needs, and message frame structure comprises: 2 byte start bits, 1 byte address territory, 3 byte functional domains (1 byte functional module coding, 1 byte method coding, 1 byte data length), N byte data territory, 1 byte error detecting domains.Beginning flag position, writes beginning flag 1(0X55 respectively), beginning flag 2(0XAA).And by need send instruction automatic crusing robot ID writing address territory in the middle of, effect be notice from machine, host message frame will start send.Main-engine control desk needs configuration feature territory according to concrete function.From communication setting module, instruction, the module selecting to need to call is set the module such as module, data outputting module." module coding " of correspondence is write the 1st byte of functional domain in message frame by main frame., search out corresponding " method numbering " and " data length " corresponding with " method number " meanwhile, " method coding " " data length " priority is write the 2nd of functional domain in message frame the, in 3 bytes.Message frame distributes the size of data field according to " data length ", by each data parameters write data field.According to School Affairs=beginning flag 1+ beginning flag 2+ node ID+module numbering+method numbering+data length+parameter 1+ ... the computing method of+Parameter N calculate " error-detecting territory ", and are write in message frame.The configuration of host message frame is complete to be ready for sending to from machine.
(2) secondly, from machine after receiving the message frame of main frame, information successively in analytical capabilities territory in " module coding " " method coding " " data length ", if " data length " is not 0X00, then further information in resolution data territory, and adjust this opening and closing from each functions of modules of machine in time according to specifying information.Needing to return response message frame to main frame from machine to ask, comprising from the response message frame structure of machine feedback: 2 byte start bits, 1 byte address territory, 4 byte functional domains (wherein 1 byte representation accessed functional module coding, the accessed method coding of 1 byte representation, 1 byte representation data length, 1 byte representation mode bit), N byte data territory, 1 byte error detecting domains.Rewrite from " data length " machine response message frame functional domain according to " module coding " and " method coding ", and by the 4th byte in " mode bit " information write-in functions territory, if from machine current state information normally, write 0X00, otherwise write 0X01.And will from machine each data parameters write data field.According to School Affairs=beginning flag 1+ beginning flag 2+ node ID+module numbering+method numbering+data length+mode bit+parameter 1+ ... the computing method of+Parameter N calculate " error-detecting territory ", write and send to main frame from machine response message frame.
Fig. 1 illustrates control desk and automatic detecting device people carries out in wireless telecommunications process, and control desk sends the layoutprocedure of message frame as main frame.First successively beginning flag position, object robot ID are write in host message frame.Secondly according to actual needs, select " module coding " and " method numbering " of corresponding function, and search out " data length " corresponding with " method is numbered ".Successively by " data length " " module coding " " method numbering " write message frame functional domain.If " data length " is not 0X00, then correlation parameter is write in data field successively.Finally by School Affairs write error detecting domains.The configuration of host message frame is complete to be ready for sending to object crusing robot according to object robot ID.
Fig. 2 illustrates control desk and automatic crusing robot carries out in wireless telecommunications process.Automatic crusing robot is as the layoutprocedure sending response message frame from machine.First successively beginning flag position, native machine people ID are write from machine message frame.Secondly find corresponding " data length " according to " module coding " in host message frame " method coding ".Successively by " data length " " module coding " " method numbering " write message frame functional domain.If from machine current can be correct return this machine data information, then " mode bit " writes 0X00, otherwise write 0X01.If " data length " is not 0X00, then correlation parameter is write in data field successively.Finally by School Affairs write error detecting domains.Prepare to send it to control desk after the configuration of machine response message frame.
Claims (5)
1. an automatic crusing robot wave point communications protocol, is characterized in that: it comprises the following steps:
1) main-engine control desk configure host control desk message frame according to actual needs, message frame structure comprises: 2 byte start bits, 1 byte address territory, 3 byte functional domains, N byte data territory, 1 byte error detecting domains, 2 byte start bits write beginning flag 1, beginning flag 2 respectively, and by need send instruction automatic crusing robot ID writing address territory in the middle of, notice automatic crusing robot, main-engine control desk sends message frame by starting;
2) main-engine control desk needs configuration feature territory according to concrete function; From communication setting module, instruction, the module selecting to need to call is set the module such as module, data outputting module; " module coding " of correspondence is write the 1st byte of functional domain in message frame by main-engine control desk, simultaneously, search out corresponding " method numbering " and " data length " corresponding with " method is numbered ", by the 2nd of functional domain in " method coding " " data length " successively write message frame the, in 3 bytes, message frame distributes the size of data field according to " data length ", by each data parameters write data field;
3) according to School Affairs=beginning flag 1+ beginning flag 2+ node ID+module numbering+method numbering+data length+parameter 1+ ... the computing method of+Parameter N calculate " error-detecting territory ", and are write in message frame; The configuration of main-engine control desk message frame is complete to be ready for sending to automatic crusing robot;
4) automatic crusing robot is after receiving the message frame of main-engine control desk, information successively in analytical capabilities territory in " module coding " " method coding " " data length ", if " data length " is not 0X00, then information in further resolution data territory, and the opening and closing of each functions of modules of this automatic crusing robot is adjusted in time according to specifying information; Need to ask automatic crusing robot to return response message frame to main-engine control desk, the response message frame structure of automatic crusing robot feedback comprises: 2 byte start bits, 1 byte address territory, 4 byte functional domains, N byte data territory, 1 byte error detecting domains;
5) " data length " in automatic crusing robot response message frame functional domain is rewritten according to " module coding " and " method coding ", and by the 4th byte in " mode bit " information write-in functions territory, if automatic crusing robot current state information normally, write 0X00, otherwise write 0X01, and by each for automatic crusing robot data parameters write data field;
6) according to School Affairs=beginning flag 1+ beginning flag 2+ node ID+module numbering+method numbering+data length+mode bit+parameter 1+ ... the computing method of+Parameter N calculate " error-detecting territory ", are write in automatic crusing robot response message frame and send to main-engine control desk.
2. a kind of automatic crusing robot wave point communications protocol according to claim 1, is characterized in that: 1 byte representation functional module coding, 1 byte representation method coding, 1 byte representation data length in 3 byte functional domains of described step 1).
3. a kind of automatic crusing robot wave point communications protocol according to claim 1, is characterized in that: in described step 1), beginning flag 1 is 0X55, and wherein 0X represents sexadecimal, and beginning flag 2 is 0XAA.
4. a kind of automatic crusing robot wave point communications protocol according to claim 1, is characterized in that: the N in the Parameter N of described step 3) and step 6) represents number of parameters.
5. a kind of automatic crusing robot wave point communications protocol according to claim 1, is characterized in that: 1 byte representation accessed functional module coding, the accessed method coding of 1 byte representation, 1 byte representation data length, 1 byte representation mode bit in 4 byte functional domains of described step 4.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105938651A (en) * | 2016-06-06 | 2016-09-14 | 浙江工业大学 | Method for underground pipeline robot wired communication protocol |
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| CN112653663A (en) * | 2020-10-20 | 2021-04-13 | 同方电子科技有限公司 | Information exchange protocol method |
| CN114500328A (en) * | 2022-01-20 | 2022-05-13 | 深圳市迈睿迈特环境科技有限公司 | Data communication method, device and computer readable storage medium |
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