CN109412933A - A kind of robot and its information interacting method - Google Patents
A kind of robot and its information interacting method Download PDFInfo
- Publication number
- CN109412933A CN109412933A CN201811148244.9A CN201811148244A CN109412933A CN 109412933 A CN109412933 A CN 109412933A CN 201811148244 A CN201811148244 A CN 201811148244A CN 109412933 A CN109412933 A CN 109412933A
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- Prior art keywords
- mobile platform
- control unit
- information
- navigation
- platform
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L51/00—User-to-user messaging in packet-switching networks, transmitted according to store-and-forward or real-time protocols, e.g. e-mail
- H04L51/02—User-to-user messaging in packet-switching networks, transmitted according to store-and-forward or real-time protocols, e.g. e-mail using automatic reactions or user delegation, e.g. automatic replies or chatbot-generated messages
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L51/00—User-to-user messaging in packet-switching networks, transmitted according to store-and-forward or real-time protocols, e.g. e-mail
- H04L51/04—Real-time or near real-time messaging, e.g. instant messaging [IM]
- H04L51/046—Interoperability with other network applications or services
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W76/00—Connection management
- H04W76/10—Connection setup
- H04W76/18—Management of setup rejection or failure
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W76/00—Connection management
- H04W76/10—Connection setup
- H04W76/19—Connection re-establishment
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot and its information interacting methods.The robot includes: mobile platform equipment, fast exchange device and navigation platform device；The mobile platform equipment includes Network Cable Connector, communication unit and mobile platform control unit；The navigation platform device includes contact group and navigation platform control unit, and the fast exchange device includes the cable interface being correspondingly arranged with Network Cable Connector and the contact sets that are correspondingly arranged with contact group.The embodiment of the present invention, by the way that fast exchange device is arranged between mobile platform equipment and navigation platform device, it solves the problems, such as that multi-person synergy is needed to carry out cable plug when assembly and disassembly robot, it realizes the quick combination between mobile platform equipment and navigation platform device and separates, reached the beneficial effect of reasonable cabling.
Description
Technical field
The present embodiments relate to the communication technology more particularly to a kind of robots and its information interacting method.
Background technique
Aggregate of the robot as a multiple technologies and function, other than partial software function, other are important
Part is all on this hardware module of robot chassis, such as various sensors, motor wheel etc., it carries robot sheet
The basic functions such as positioning, navigation, movement, the avoidance of body, in addition, the core function of service robot and crucial cost are all embodied in
On robot chassis, chassis it is excellent whether directly concerning service robot value embodiment.Therefore, robot chassis is steady
Qualitative research is most important.
Usual robot chassis and robot navigation's module are to establish connection and information exchange by cable.Work as needs
When carrying out system test to robot, need with device people's navigation module to connect on robot chassis by cable.And it is this
The mode of cable connection will lead to generated in the techniques such as installation, cabling, debugging it is very big difficult and not convenient.Especially work as machine
It when people needs assembled or disassembly, needs with robot navigation's module to separate on robot chassis first, then carries out cable and insert
It pulls out.
Summary of the invention
The present invention provides a kind of robot and its information interacting method, quickly carries out robot assembly and disassembly to realize.
In a first aspect, the embodiment of the invention provides a kind of robots, comprising: mobile platform equipment, fast exchange device and lead
Navigate platform device；
The mobile platform equipment includes Network Cable Connector, communication unit and mobile platform control unit；Wherein, the communication
Unit is used to obtain and store the information of mobile platform equipment generation；
The navigation platform device includes contact group and navigation platform control unit, wherein the navigation platform device packet
Include at least one navigation platform subelement；
The fast exchange device includes the cable interface being correspondingly arranged with Network Cable Connector and the contact that is correspondingly arranged with contact group
Group；Wherein, the cable interface is used to carry out information exchange, the contact sets by Network Cable Connector and mobile platform control unit
For carrying out information exchange by contact group and navigation platform control unit, the cable interface is electrically connected with contact sets, is used for
So that navigation platform control unit and mobile platform control unit carry out information exchange.
Second aspect, the embodiment of the invention also provides a kind of information interacting methods of robot, using any embodiment
The robot executes, which comprises
Mobile platform control unit receives the information that mobile platform equipment generates, and deposits in communication unit；Wherein, described
Mobile platform equipment includes at least one mobile platform subelement.
Navigation platform subelement obtains information from the communication unit and is handled, and forms control instruction, and by logical
Believe that the control instruction of generation is passed to mobile platform control unit by unit, to realize information exchange.
The present invention solves a group installation and dismantling by the way that fast exchange device is arranged between mobile platform equipment and navigation platform device
The problem of needing multi-person synergy to carry out cable plug when unloading robot, realizes between mobile platform equipment and navigation platform device
It is quick combine and separate, reached the beneficial effect of reasonable cabling.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram for robot that the embodiment of the present invention one provides；
Fig. 2 is that the setting of mobile platform equipment, navigation platform device and fast exchange device that the embodiment of the present invention one provides is shown
It is intended to；
Fig. 3 is a kind of flow chart of the information interacting method of robot provided by Embodiment 2 of the present invention.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Embodiment one
Fig. 1 is a kind of structural schematic diagram for robot that the embodiment of the present invention one provides.With reference to Fig. 1, which includes:
Mobile platform equipment 30, fast exchange device 20 and navigation platform device 1010；
The mobile platform equipment 30 includes Network Cable Connector 31, communication unit 32 and mobile platform control unit 33；Wherein,
The communication unit 32 is used to obtain and store the information of the generation of mobile platform equipment 30；
The navigation platform device 10 includes contact group 12 and navigation platform control unit 11；
The fast exchange device 20 includes and cable interface 22 that Network Cable Connector 31 is correspondingly arranged and corresponding with contact group 12 set
The contact sets 21 set；Wherein, the cable interface 22 is used to carry out letter by Network Cable Connector 31 and mobile platform control unit 33
Breath interaction, the contact sets 21 are used to carry out information exchange, the cable by contact group 12 and navigation platform control unit 11
Interface 22 is electrically connected with contact sets 21, is used for so that navigation platform control unit 11 and mobile platform control unit 33 carry out information
Interaction.
Wherein, mobile platform equipment 30 includes robot chassis, is the core component of robot, in mobile platform equipment 30
A large amount of basic functions, such as various sensors, motor wheel etc. are integrated with, it carries the positioning, navigation, shifting of robot itself
The basic functions such as dynamic, avoidance.Fast exchange device 20 is adapter, and the end of a thread for changing access interface and contact port designs.It leads
Boat platform device 10 refers to the equipment being connected with robot moving platform equipment 30, and different navigation platform devices 10 can wrap
Different functions is included, can be the navigation platform device 10 for carrying robotic arm, be can be and be rendered as the navigation platform of cabinet and set
Standby 10, it can be any kind of navigation platform device 10 designed according to user's idea.
Wherein, Network Cable Connector 31 refers to network wire crystal joint, for the termination of data cable, realizes equipment, distribution frame module
The connection and change asked.Network Cable Connector 31 has 8 grooves and 8 contacts (8 pins), for corresponding to 8 core wires of cable.Net
Line interface 22 refers to the interface between network interface card and network, for docking with Network Cable Connector 31, completes data transmission.
Contact sets 21 are all made of electrically conductive material with contact group 12 and are made.Contact sets 21 include at least six contacts, wherein
Four contacts are transmitted for data, and two contacts are for powering.Contact group 12 is correspondingly arranged with contact sets 21, has corresponding function
Energy and effect.
Communication unit 32 is arranged in mobile platform equipment 30, communicates to connect with the mobile platform control unit 33, with
Mobile platform subelement communication connection, for obtaining and storing each mobile platform subelement generation in mobile platform equipment 30
Information.Moving platform control unit receives the information that mobile platform equipment 30 generates, and deposits in communication unit 32.Navigation platform
Unit is communicated to connect with communication unit 32 respectively, for obtaining the letter that mobile platform subelement generates from the communication unit 32
Breath.Navigation platform subelement obtains information from the communication unit 32 and is handled, and forms control instruction, and pass through communication unit
The control instruction of generation is passed to mobile platform control unit 33 by member 32, to realize information exchange.
Specifically, including multiple mobile platform subelements in mobile platform equipment 30, mobile platform subelement generates respectively
Information.Mobile platform control unit 33 controls the acquisition of communication unit 32 and stores mobile platform subelement generates information respectively.It is logical
Information in letter unit 32 passes sequentially through the Network Cable Connector 31 in mobile platform equipment 30, the cable interface in fast exchange device 20
22, the contact group 12 in the contact sets 21 in fast exchange device 20 and navigation platform device 10, in navigation platform device 10 at least
One navigation platform subelement or navigation platform control unit 11 are communicatively coupled.
On the basis of the above embodiments, mobile platform equipment 30, navigation platform device 10 and fast exchange device 20 may have
Several different set-up modes.Such as:
First, Fig. 2 are that the mobile platform equipment that provides of the embodiment of the present invention one, navigation platform device are set with fast exchange device
Set schematic diagram.As described in Figure 2, the mobile platform equipment 30 is provided with the first groove 34, and the Network Cable Connector 31 passes through described
First groove 34 is connect with the cable interface 22 of fast exchange device 20；The navigation platform device 10 is provided with the second groove 13, institute
It states contact group 12 and is set to 13 side of the second groove, connect with the contact sets 21 of fast exchange device 20.First groove 34 and institute
It states the second groove 13 and accommodates the fast exchange device 20 jointly.
Second, only the first groove 34 is provided with for accommodating the fast exchange device 20 in mobile platform equipment 30.It is fast at this time
The contact sets 21 of exchange device 20 are set to the top of quick change construction, and the contact group 12 of navigation platform device 10 is set to navigation platform
The bottom of equipment 10.Contact sets 21 are correspondingly arranged with contact group 12, guarantee to be completely embedded.
Third is only provided with the second groove 13 for accommodating the fast exchange device 20 in navigation platform device 10.At this point, institute
Fast exchange device 20 is stated to be fixedly connected with the mobile platform equipment 30；The navigation platform device 10 is correspondingly arranged on described in receiving
The sunk structure (the second groove 13) of fast exchange device 20；Wherein, the contact group 12 is set to the sunk structure side, and fast
The contact sets 21 of exchange device 20 connect.
The present invention solves a group installation and dismantling by the way that fast exchange device is arranged between mobile platform equipment and navigation platform device
The problem of needing multi-person synergy to carry out cable plug when unloading robot, realizes between mobile platform equipment and navigation platform device
It is quick combine and separate, the beneficial effect of reasonable cabling.
Embodiment two
Fig. 3 is a kind of flow chart of the information interacting method of robot provided by Embodiment 2 of the present invention.This method is by upper
Any robot is stated in embodiment to execute.With reference to Fig. 3, this method comprises:
S101, mobile platform control unit receive the information that mobile platform equipment generates, and deposit in communication unit.
Specifically, mobile platform control unit is generated for handling each mobile platform subelement in mobile platform equipment
Information, while mobile platform control unit is also used for generating the information for controlling each mobile platform subelement.Communication unit is used
In the information for obtaining and storing each mobile platform subelement generation in mobile platform equipment.
S102, navigation platform subelement obtain information from the communication unit and are handled, and form control instruction, and lead to
It crosses communication unit and the control instruction of generation is passed into mobile platform control unit, to realize information exchange.
Specifically, navigation platform subelement is the functional module in navigation platform device, navigation platform subelement can be right
Independent entity module is answered, can also be only virtual module, navigation platform subelement is directly from the communication of mobile platform equipment
Unit obtains information.Navigation platform subelement generates control instruction after handling the information obtained by communication unit, should
Control instruction passes to mobile platform control unit by communication unit, to realize information exchange.It can be understood as to move flat
As server, user can more freely form the local area network of oneself and support that up to 8 clients (are navigated flat platform equipment
Estrade unit or mobile platform subelement) connection is accessed simultaneously.On traditional chassis network communication mode, robot chassis is only
Be treated as a sensor, can only one-to-one communication use, if other components are also required to obtain information, can only be set by master
It is standby to carry out information conversion, the problems such as not only bringing the workload of upper platform exploitation in this way, but also bring the delay of information.
And the sensor that the chassis (mobile platform equipment) in the present embodiment is similar to a type of server is the same, is in robot
Internal component can achieve the purpose that obtain information and mobile platform equipment by access mobile platform equipment.
On the basis of the above embodiments, the information exchange between mobile platform equipment and navigation platform device is logical using network
Interrogate agreement；It obtains information and uses MODBUS agreement；It transmits control instruction and uses MODBUS agreement.
Wherein, network communication protocol (ICP/IP protocol) be most basic agreement, be Internet basis, by net
The IP agreement of network layers and the Transmission Control Protocol composition of transport layer.TCP/IP defines how electronic equipment is connected into internet and data
The standard how to transmit between them.Agreement uses 4 layers of hierarchical structure, and each layer all call it next layer is provided
Agreement complete oneself demand.Modbus agreement is applied to a kind of all-purpose language on electronic controller.It is assisted by this
View, controller is mutual, controller can be communicated via between network (such as Ethernet) and other equipment.Modbus agreement
The message structure used can be recognized by defining a controller, but regardless of them be communicated by which kind of network.It is retouched
The process that a controller requests access to other equipment has been stated, how to have responded the request from other equipment, and how to detect
Mistake simultaneously records.
Specifically, reporting processing and instruction to issue on module communication in mobile platform facility information, adopt international standards
On IETF (The Internet Engineering Task Force, Internet engineering task force) TCP/IP
MODBUS agreement, the access of all data and issuing for instruction all defer to this standard.It is using the reason of MODBUS, this is one
The industry communications protocol of a international standard.On software, it carrys out interaction data with address mode, it is easy to be managed collectively, allow journey
The scalability and compatibility of sequence greatly promote, and in addition MODBUS agreement alsies specify many rules, such as type, the message of message
Fault management etc., these all allow the transmission of data and management more efficient safe and reliable.And traditional mobile chassis is general
With regard to using the customized simple protocol of intra-company, the management of these data is pieced together only by simple rule, is not appointed
What protocol specification is come the transmission that makes data more efficient, reliable, safe.
On the basis of the above embodiments, mobile platform control unit real time monitoring navigation platform control unit and movement are flat
Platform control unit carries out the case where information exchange；If mistake occurs in information exchange, disconnection leads to the virtual of information exchange mistake
Port, discharges the resource of fast exchange device corresponding to virtual port, while controlling virtual port and being reconnected.
Wherein, virtual port refers to the port in computer-internal or switch router.In the present embodiment, it refers in particular to
Port involved in robot interior information exchange.
Specifically, in the processing module of the quick reconnection of network outage, be added to keepalive (in tcp one can be with
Detect the mechanism extremely connected) and parameter management (when host does not receive the response bag of slave within a preset time, repeating transmission TCP
Packet), monitor the health status on TCP/IP network in real time, once discovery network blockage, intermittent disconnection, mobile platform subelement
Relevant virtual port will be controlled at once to disconnect, and not will cause port and be occupied, so that upper layer module can not connect mobile platform
The case where equipment.Mobile platform equipment is disconnected in network for emergency situations such as network blockage once in a while, the intermittent disconnections of network
The quick connection processing accomplished within 0.5 second in connection is opened, increases stronger stability for this quick change connection structure.And
Traditional network disconnects reconnection, and then the reconnection time generally all at 2 seconds or more, and is easy to appear the phenomenon that can not connecting.
The present invention solves a group installation and dismantling by the way that fast exchange device is arranged between mobile platform equipment and navigation platform device
The problem of needing multi-person synergy to carry out cable plug when unloading robot, realizes between mobile platform equipment and navigation platform device
It is quick combine and separate, reached the beneficial effect of reasonable cabling.On this basis, the embodiment of the present invention passes through setting navigation
Platform subelement directly obtains information from the communication unit of mobile platform equipment, solves in traditional technology robot chassis only
Be treated as a sensor, can only one-to-one communication the problem of using so that can lead in the component of robot interior
Access mobile platform equipment is crossed to achieve the purpose that obtain information and mobile platform equipment.Meanwhile in the present embodiment, robot
Information exchange between mobile platform equipment and navigation platform device increases void using network communication protocol and MODBUS agreement
Quasi- port discharges automatically and disconnection reconnecting mechanism, so that mobile platform equipment is intermittent for network blockage once in a while, network
The emergency situations such as disconnection, accomplished the quick connection processing within 0.5 second on network disconnects, connected for this quick change
Mechanism increases stronger stability.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of robot characterized by comprising mobile platform equipment, fast exchange device and navigation platform device；
The mobile platform equipment includes Network Cable Connector, communication unit and mobile platform control unit；Wherein, the communication unit
For obtaining and storing the information of mobile platform equipment generation；
The navigation platform device includes contact group and navigation platform control unit, wherein the navigation platform device includes extremely
A few navigation platform subelement；
The fast exchange device includes the cable interface being correspondingly arranged with Network Cable Connector and the contact sets that are correspondingly arranged with contact group；Its
In, the cable interface is used to carry out information exchange by Network Cable Connector and mobile platform control unit, and the contact sets are used for
Carry out information exchange by contact group and navigation platform control unit, the cable interface is electrically connected with contact sets, for so that
Navigation platform control unit and mobile platform control unit carry out information exchange.
2. robot according to claim 1, which is characterized in that
The communication unit is used to obtaining and storing the information that each mobile platform subelement generates in mobile platform equipment；Its
In, the communication unit and the mobile platform control unit communicate to connect, and the communication unit and mobile platform subelement are logical
Letter connection.
3. robot according to claim 2, which is characterized in that
Navigation platform subelement is connect with communication unit communication respectively, for obtaining mobile platform subelement from the communication unit
The information of generation.
4. robot according to claim 1, which is characterized in that
The contact sets include at least six contacts, wherein four contacts are transmitted for data, two contacts are for powering.
5. robot according to claim 1, which is characterized in that
The mobile platform equipment is provided with the first groove, and the Network Cable Connector passes through the net of first groove and fast exchange device
Line interface connection；
The navigation platform device is provided with the second groove, and the contact group is set to second groove side, sets with quick change
Standby contact sets connection.
6. robot according to claim 5, which is characterized in that
First groove is for accommodating the fast exchange device；Or,
Second groove is for accommodating the fast exchange device；Or,
First groove and second groove accommodate the fast exchange device jointly.
7. robot according to claim 1, which is characterized in that
The fast exchange device is fixedly connected with the mobile platform equipment；
The navigation platform device is correspondingly arranged on the sunk structure for accommodating the fast exchange device；Wherein, the contact group setting
In the sunk structure side, it is connect with the contact sets of fast exchange device.
8. a kind of information interacting method of robot, is executed, feature exists using robot as claimed in claim 1 to 7
In, which comprises
Mobile platform control unit receives the information that mobile platform equipment generates, and deposits in communication unit；Wherein, the movement
Platform device includes at least one mobile platform subelement.
Navigation platform subelement obtains information from the communication unit and is handled, and forms control instruction, and pass through communication unit
The control instruction of generation is passed to mobile platform control unit by member, to realize information exchange.
9. information interacting method according to claim 8, which is characterized in that the mobile platform control unit receives movement
The information that platform subelement generates, and deposit in after communication unit, further includes:
Mobile platform control unit monitors navigation platform control unit in real time and mobile platform control unit carries out information exchange
Situation；
If mistake occurs in information exchange, the virtual port for leading to information exchange mistake is disconnected, is discharged corresponding to virtual port
The resource of fast exchange device, while controlling virtual port and being reconnected.
10. information interacting method according to claim 8, which is characterized in that
The information exchange uses network communication protocol；
The acquisition information uses MODBUS agreement；
The transmitting control instruction uses MODBUS agreement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811148244.9A CN109412933B (en) | 2018-09-29 | 2018-09-29 | Robot and information interaction method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811148244.9A CN109412933B (en) | 2018-09-29 | 2018-09-29 | Robot and information interaction method thereof |
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| Publication Number | Publication Date |
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| CN109412933A true CN109412933A (en) | 2019-03-01 |
| CN109412933B CN109412933B (en) | 2021-04-20 |
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| CN201811148244.9A Active CN109412933B (en) | 2018-09-29 | 2018-09-29 | Robot and information interaction method thereof |
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| CN109412933B (en) | 2021-04-20 |
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Address after: 215200 standard plant 7, Dongyun Science Park, No. 558, Shanhu West Road, Wujiang Economic and Technological Development Zone, Suzhou, Jiangsu Province Patentee after: Suzhou Bozhong intelligent robot Co.,Ltd. Address before: 215200 No. 666 Hu Xin Road, Wujiang economic and Technological Development Zone, Suzhou, Jiangsu Patentee before: SUZHOU BOZHONG ROBOT Co.,Ltd. |
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