CN111614625B - Communication protocol conversion circuit and robot equipment - Google Patents
Communication protocol conversion circuit and robot equipment Download PDFInfo
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- CN111614625B CN111614625B CN202010337683.5A CN202010337683A CN111614625B CN 111614625 B CN111614625 B CN 111614625B CN 202010337683 A CN202010337683 A CN 202010337683A CN 111614625 B CN111614625 B CN 111614625B
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- conversion circuit
- switching circuit
- communication
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- 238000004891 communication Methods 0.000 title claims abstract description 104
- 238000006243 chemical reaction Methods 0.000 title claims description 36
- 238000011161 development Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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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
- H04L69/08—Protocols for interworking; Protocol conversion
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
Abstract
The application discloses communication protocol converting circuit and robot equipment, communication circuit includes: the switching circuit, the switching circuit and the communication interface control signals output to the load through the switching circuit to meet different communication protocols, when the steering engine switching circuit is applied to robot equipment, steering engines of different communication protocols can be used in a crossed mode, the use of special communication protocol chips is reduced, the development cycle of the types of the steering engines is shortened, the cost is reduced, the compatibility of communication among different robots is improved, and mutual replacement of the steering engines of different communication types of one robot can be achieved.
Description
Technical Field
The application belongs to the technical field of electronic circuits, and particularly relates to a communication protocol conversion circuit and a robot device.
Background
At present, there are two communication modes commonly used by small and medium-sized digital steering engines on the market, one is serial port communication, the other is CAN bus communication, but if the robot needs to use two types of communication steering engines, compatibility processing is needed. Generally, a dedicated communication chip is adopted for corresponding different communication modes, which leads to cost increase; in addition, when the steering engine needs to be replaced, the problem that the newly installed steering engine is incompatible with a special communication chip is often encountered, so that the replacement is failed, and the production efficiency is reduced.
Disclosure of Invention
The application aims to provide a communication protocol conversion circuit and robot equipment, and aims to solve the problems of high cost and poor compatibility caused by the fact that a special chip is used in a traditional communication circuit.
A first aspect of an embodiment of the present application provides a communication protocol conversion circuit, including:
the conversion circuit receives a first signal of a first communication protocol, converts the first signal into a second signal of a second communication protocol and outputs the second signal at the output end of the conversion circuit;
the input end of the switching circuit is used for receiving the first signal and is connected with the output end of the conversion circuit, and the switching circuit is used for selecting the accessed first signal or the accessed second signal to output at the output end of the switching circuit according to a switching control signal;
and the communication interface is connected with the switching circuit and is used for outputting the first signal or the second signal output by the switching circuit to a load.
In one embodiment, one of the first communication protocol and the second communication protocol is a serial port communication protocol, and the other is a CAN bus communication protocol.
In one embodiment, the switching circuit outputs the first signal to communicate with the load once, and if the communication handshake is successful, the switching circuit enters a sleep state; if the handshake is unsuccessful, the conversion circuit converts the first signal into a second signal of a second communication protocol, and the switching circuit switches to output the second signal to the load.
In one embodiment, the switching circuit comprises at least two single-pole double-throw analog switches and a control terminal for controlling the switching of the single-pole double-throw analog switches, one of two input terminals of each single-pole double-throw analog switch is used for receiving the first signal, and the other input terminal of each single-pole double-throw analog switch is connected with the switching circuit and is connected with the second signal.
In one embodiment, the single-pole double-throw analog switch is made of a CMOS device.
In one embodiment, the switching circuit is a CMOS switch chip with more than 2 channels.
In one embodiment, the switching circuit includes a controller, and the control terminal of the switching circuit is connected to the controller.
In one embodiment, the controller is an ARM microcontroller.
The second aspect of the embodiment of the application provides a robot device, including main control board and a plurality of steering wheel to and foretell communication protocol converting circuit, the main control board passes through communication protocol converting circuit and each steering wheel communication connection.
The communication circuit controls signals output to the load through the switching circuit to meet different communication protocols, when the communication circuit is applied to robot equipment, the steering engines of different communication protocols can be used in a cross mode, the use of special communication protocol chips is reduced, the development cycle of the types of the steering engines is reduced, the cost is reduced, the compatibility of communication among different robots is improved, and the mutual replacement of the steering engines of different communication types of one robot can be realized.
Drawings
Fig. 1 is a schematic structural diagram of a communication protocol conversion circuit according to an embodiment of the present application;
FIG. 2 is an exemplary circuit schematic of a conversion circuit in the communication circuit shown in FIG. 1;
FIG. 3 is an exemplary circuit schematic of a switching circuit in the communication circuit shown in FIG. 1;
FIG. 4 is an exemplary circuit schematic of internal circuitry of the switching circuit of the communication circuit shown in FIG. 1;
FIG. 5 is an exemplary circuit schematic of a communication interface in the communication circuit shown in FIG. 1;
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of and not restrictive on the broad application.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
Referring to fig. 1 and fig. 2, the robot device provided in the embodiment of the present application includes a main control board 100, a plurality of steering engines 200, and a communication protocol conversion circuit, where the main control board 100 is connected to each steering engine 200 in a communication manner through the communication protocol conversion circuit, in this example, the main control board 100 issues communication signals according to a CAN bus communication protocol, and in other embodiments, communication signals may be issued according to a serial port communication protocol.
The communication protocol conversion circuit includes a conversion circuit 10, a switching circuit 20 and a communication interface 30.
The conversion circuit 10 is generally a microcontroller MCU, and is configured to receive a first signal of a first communication protocol sent by the main control board 100, convert the first signal into a second signal of a second communication protocol, and output the second signal at an output end of the first communication protocol and the second communication protocol, where one of the first communication protocol and the second communication protocol is a serial communication protocol, and the other is a CAN bus communication protocol. For example, the main control board 100 transmits a first signal according to the CAN bus communication protocol, and the conversion circuit 10 is configured to convert the first signal into a second signal according to the serial communication protocol.
The input end of the switching circuit 20 is used for receiving the first signal and is connected to the output end of the converting circuit 10, and the switching circuit 20 is used for selecting the accessed first signal or the accessed second signal to output at the output end thereof according to the switching control signal.
The communication interface 30 is connected to an output terminal of the switching circuit 20, and the communication interface 30 is configured to output the first signal or the second signal output by the switching circuit 20 to a load. Specifically, the switching circuit 20 outputs a first signal and communicates with the load (e.g., the steering engine) 200 once by using a default communication protocol, and if the communication handshake is successful, the switching circuit 10 does not need to work and enters a sleep state, a standby state or a power-off state to reduce power consumption; if the handshake is unsuccessful, the switching circuit 10 is activated to convert the first signal into a second signal of a second communication protocol, and the switching control signal accessed by the switching circuit 20 is changed, so that the switching circuit 20 switches to output the second signal to the load 200 to match the communication protocol.
Referring to fig. 2, in one embodiment, the switching circuit 10 includes a microcontroller MCU, a control terminal sel of the switching circuit 20 is connected to the microcontroller MCU, and a switching control signal is issued by the microcontroller MCU. In one of the embodiments, the microcontroller MCU is an ARM microcontroller, such as STM31F091CBU 6.
Referring to fig. 3 and 4, in one embodiment, the switching circuit 20 includes at least two single-pole double-throw analog switches 21, a control terminal SEL for controlling the switching of the single-pole double-throw analog switches 21, and an enable terminal EN, one of two input terminals (i.e., the input terminal of the switching circuit 20) SnA/SnB of each single-pole double-throw analog switch 21 is used for receiving a first signal CANH/CANL, and the other is connected to the switching circuit 10, and receives a second signal USARTn _ RX/USARTn _ TX, where n is a channel number. In this example, the single-pole double-throw analog switch 21 is made of a CMOS device. It is understood that the switching circuit 20 is a CMOS switch chip with more than 2 channels, such as TMUX 1574.
Referring to fig. 2, 3 and 5, in particular, the control of the switching circuit 20 is controlled by a control terminal SEL and an enable terminal EN, when the control terminal SEL is at a high level, the input terminal S1B is communicated with the output terminal D1, and the other channel input terminals S2B, S3B, S4B are respectively communicated with the output terminals D2, D3, D4. Conversely, when the control terminal SEL is at a low level, the input terminal S1A communicates with the output terminal D1, and the other channel input terminals S2A, S3A, S4A communicate with the output terminals D2, D3, D4, respectively. The method comprises the steps of connecting a control terminal SEL to a pin of a microcontroller MCU, grounding an EN pin of an enabling terminal, keeping the enabling state, switching a switching circuit 20 to a CAN communication state in a default mode, outputting a first signal CANH/CANL in an access mode, if a serial port steering engine 200 is connected to a communication interface 30, enabling the microcontroller MCU to communicate with the steering engine 200 once by using the default communication state, polling a signal of a control terminal SEL if communication handshake is unsuccessful, setting a signal of the control terminal SEL to be low level, gating a serial port communication channel, sending a serial port protocol to the microcontroller MCU, enabling the microcontroller MCU to perform protocol conversion of the signal, converting the first signal CANH/CANL into a second signal USARTn _ RX/USARTn _ TX, outputting the second signal USARTn _ TX to the serial port communication channel of the switching circuit 20, and completing conversion of communication between two types of steering engines 200.
The communication protocol conversion circuit controls signals output to the load 200 through the switching circuit 20 to meet different communication protocols, when the communication protocol conversion circuit is applied to robot equipment, the steering engines 200 of different communication protocols can be used in a crossed mode, the use of special communication protocol chips is reduced, the development period of the types of the steering engines 200 is reduced, the cost is reduced, the compatibility of communication among different robots is improved, and mutual replacement of the steering engines 200 of different communication types of one robot can be achieved.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (8)
1. A communication protocol conversion circuit, comprising:
the conversion circuit receives a first signal of a first communication protocol, converts the first signal into a second signal of a second communication protocol and outputs the second signal at the output end of the conversion circuit;
the input end of the switching circuit is used for receiving the first signal and is connected with the output end of the conversion circuit, and the switching circuit is used for selecting the accessed first signal or the accessed second signal to output at the output end of the switching circuit according to a switching control signal;
the communication interface is connected with the switching circuit and is used for outputting the first signal or the second signal output by the switching circuit to a load;
the switching circuit outputs the first signal and communicates with the load once, and if the communication handshake is successful, the switching circuit enters a dormant state; if the handshake is unsuccessful, the conversion circuit converts the first signal into a second signal of a second communication protocol, and the switching circuit switches to output the second signal to the load.
2. The communication protocol conversion circuit of claim 1, wherein one of the first communication protocol and the second communication protocol is a serial communication protocol, and the other is a CAN bus communication protocol.
3. The communication protocol conversion circuit according to claim 1 or 2, wherein the switching circuit comprises at least two single-pole double-throw analog switches and a control terminal for controlling the switching of the single-pole double-throw analog switches, one of two input terminals of each single-pole double-throw analog switch is used for receiving the first signal, and the other input terminal is connected to the conversion circuit and is connected to the second signal.
4. The communication protocol conversion circuit of claim 3 wherein the single-pole double-throw analog switch is fabricated from CMOS devices.
5. The communication protocol conversion circuit of claim 3, wherein the switching circuit is a CMOS switch chip with more than 2 channels.
6. The communication protocol conversion circuit according to claim 1 or 2, wherein the conversion circuit comprises a microcontroller, and a control terminal of the switching circuit is connected to the microcontroller.
7. The communication protocol conversion circuit of claim 6 wherein the microcontroller is an ARM microcontroller.
8. A robot device comprises a main control board and a plurality of steering engines, and is characterized by further comprising a communication protocol conversion circuit according to any one of claims 1 to 7, wherein the main control board is in communication connection with each steering engine through the communication protocol conversion circuit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010337683.5A CN111614625B (en) | 2020-04-26 | 2020-04-26 | Communication protocol conversion circuit and robot equipment |
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| CN202010337683.5A CN111614625B (en) | 2020-04-26 | 2020-04-26 | Communication protocol conversion circuit and robot equipment |
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| CN111614625A CN111614625A (en) | 2020-09-01 |
| CN111614625B true CN111614625B (en) | 2022-09-23 |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205121550U (en) * | 2015-11-11 | 2016-03-30 | 天合汽车零部件（上海）有限公司 | Load box communication mould card |
| CN109086233A (en) * | 2018-06-30 | 2018-12-25 | 惠州华阳通用电子有限公司 | A kind of communication type automatic identification and switching device and method |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8666688B2 (en) * | 2005-01-27 | 2014-03-04 | Electro Industries/Gauge Tech | High speed digital transient waveform detection system and method for use in an intelligent electronic device |
| CN106300976B (en) * | 2015-05-19 | 2020-02-07 | 福州瑞芯微电子股份有限公司 | Multi-clock-domain control device and method of switching power supply and switching power supply |
| CN107678989B (en) * | 2017-09-27 | 2020-01-31 | Oppo广东移动通信有限公司 | UART (Universal asynchronous receiver transmitter) and USB (Universal Serial bus) multiplexing circuit and mobile terminal |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205121550U (en) * | 2015-11-11 | 2016-03-30 | 天合汽车零部件（上海）有限公司 | Load box communication mould card |
| CN109086233A (en) * | 2018-06-30 | 2018-12-25 | 惠州华阳通用电子有限公司 | A kind of communication type automatic identification and switching device and method |
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Effective date of registration: 20231210 Address after: Room 601, 6th Floor, Building 13, No. 3 Jinghai Fifth Road, Beijing Economic and Technological Development Zone (Tongzhou), Tongzhou District, Beijing, 100176 Patentee after: Beijing Youbixuan Intelligent Robot Co.,Ltd. Address before: 518000 16th and 22nd Floors, C1 Building, Nanshan Zhiyuan, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Youbixuan Technology Co.,Ltd. |
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