CN113873479A - Communication method of stacked robot and related device - Google Patents
Communication method of stacked robot and related device Download PDFInfo
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- CN113873479A CN113873479A CN202110882797.2A CN202110882797A CN113873479A CN 113873479 A CN113873479 A CN 113873479A CN 202110882797 A CN202110882797 A CN 202110882797A CN 113873479 A CN113873479 A CN 113873479A
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- 238000004891 communication Methods 0.000 title claims abstract description 288
- 238000000034 method Methods 0.000 title claims abstract description 45
- 230000003993 interaction Effects 0.000 claims abstract description 35
- 238000004590 computer program Methods 0.000 claims description 11
- 238000009434 installation Methods 0.000 claims description 10
- 239000000835 fiber Substances 0.000 claims description 6
- 230000005693 optoelectronics Effects 0.000 claims description 6
- 239000013307 optical fiber Substances 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 12
- 238000005516 engineering process Methods 0.000 description 7
- 230000003287 optical effect Effects 0.000 description 7
- 230000001815 facial effect Effects 0.000 description 6
- 230000009286 beneficial effect Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
- 238000004659 sterilization and disinfection Methods 0.000 description 5
- 238000007689 inspection Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 239000000645 desinfectant Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000000644 propagated effect Effects 0.000 description 2
- 230000000246 remedial effect Effects 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 230000001954 sterilising effect Effects 0.000 description 1
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/70—Services for machine-to-machine communication [M2M] or machine type communication [MTC]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/11—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum
- H04B10/114—Indoor or close-range type systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
Abstract
The application provides a communication method and a related device of a stacked robot, wherein the method is applied to the stacked robot, the stacked robot comprises a robot chassis and a bearing/pulling type upper-mounted module, and the upper-mounted module is detachably connected with the robot chassis, and the method comprises the following steps: acquiring a real-time connection state of a robot chassis and an upper module; when the real-time connection state is connection, controlling the robot chassis and the upper-mounted module to perform data interaction by using a first type communication mode and/or a second type communication mode; and when the real-time connection state is the disconnection state, controlling the chassis of the robot and the upper mounting module to perform data interaction by using a second communication mode. According to the real-time connection state of the robot chassis and the upper module, the corresponding communication mode can be selected, so that the robot chassis and the upper module can keep the communication state, and when the real-time connection state is separated, the two can perform data interaction through the second type of communication mode, and meanwhile, the two can be conveniently connected again subsequently.
Description
Technical Field
The present application relates to the field of robotics, and in particular, to a communication method for a stacked robot and a related device.
Background
With the development of science and technology, the application range of the robot is gradually expanded. A robot is a system that integrates computer, mechanical, sensing technology, information processing technology, image processing and recognition technology, language recognition and processing technology, control technology, and communication technology.
Existing stacked robots generally include a robot chassis and a top-up module that generally needs to maintain communication with the robot chassis during the performance of a task. However, when the upper module is separated from the robot chassis due to vibration or poor contact, the upper module may interrupt communication instantaneously and cannot continue to work.
Disclosure of Invention
The application aims to provide a communication method and a related device of a stacked robot, wherein a communication state can be kept between an upper module and a robot chassis, and when the upper module is separated from the robot chassis, the upper module and the robot chassis can perform data interaction in a second communication mode, and meanwhile, the upper module and the robot chassis are convenient to be subsequently reconnected.
The purpose of the application is realized by adopting the following technical scheme:
in a first aspect, the present application provides a communication method for a stackable robot, the method being applied to the stackable robot, the stackable robot including a robot chassis and a load-bearing/pull-type top-loading module detachably connected to the robot chassis, the method including: acquiring a real-time connection state of the robot chassis and the upper module; when the real-time connection state is connection, controlling the robot chassis and the upper-mounted module to perform data interaction by using a first type communication mode and/or a second type communication mode; and when the real-time connection state is the disconnection state, controlling the robot chassis and the upper mounting module to perform data interaction by using a second type of communication mode. The technical scheme has the beneficial effects that on one hand, the upper-mounted module is detachably connected with the robot chassis, and different upper-mounted modules can be replaced according to given tasks, so that the robot chassis can freely switch identities among service robots with multiple purposes such as a distribution robot, a disinfection robot, an inspection robot and the like; on the other hand, according to the real-time connection state of the robot chassis and the upper module, the corresponding communication mode can be selected, so that the upper module and the robot chassis can keep a communication state, when the real-time connection state is connection, the upper module and the robot chassis can carry out data interaction through the first type of communication mode and/or the second type of communication mode, and when the real-time connection state is disconnection, the upper module and the robot chassis can carry out data interaction through the second type of communication mode, and meanwhile, the upper module and the robot chassis are convenient to be reconnected subsequently.
In some optional embodiments, the first type of communication manner includes at least one of the following: near field communication, WiGig communication, fiber optic communication, coaxial cable communication, open wire communication, waveguide communication, and opto-electronic communication. The technical scheme has the advantages that the first type communication mode is stable, the reliability is high, and the transmission rate is high.
In some optional embodiments, the second type of communication mode includes at least one of: WIFI communication, Bluetooth communication, ZigBee communication, microwave communication, satellite communication and atmospheric laser communication. The technical scheme has the advantages that the second type communication mode is longer in communication distance, does not need to be limited by wires, has certain mobility, can communicate through wireless connection in a mobile state, and is lower in cost.
In some optional embodiments, when the real-time connection state is connection, controlling the robot chassis and the upper mount module to perform data interaction by using a first type communication manner and/or a second type communication manner includes: and when the real-time connection state is connection, controlling the robot chassis and the upper mounting module to perform data interaction by using a first type communication mode and a second type communication mode. The technical scheme has the advantages that when the real-time connection state is connection, the robot chassis and the upper module can perform data interaction in a first type communication mode and a second type communication mode, and better communication quality can be guaranteed.
In some alternative embodiments, the upper assembly module is provided with a backup battery; the method further comprises the following steps: when the real-time connection state is connection, controlling the robot chassis to supply power to the upper mounting module and charge the standby battery; and when the real-time connection state is disconnection, controlling the upper assembly module to use the standby battery for power supply. The technical scheme has the advantages that when the real-time connection state is connection, the robot chassis can supply power to the upper-mounted module and can also charge a standby battery; when the external power supply is suddenly interrupted due to vibration or poor contact of the upper mounting module, the upper mounting module can use the standby battery for power supply, and corresponding remedial measures are implemented, so that the upper mounting module continues to work.
In some optional embodiments, the method further comprises: if the real-time connection state is determined to be separated, acquiring the position information and the posture information of the upper mounting module; and controlling the robot chassis to move to the current position of the loading module and connecting the loading module to the robot chassis according to the position information and the posture information of the loading module. The technical scheme has the advantages that when the loading module is suddenly separated from the robot chassis, the robot chassis can move to the current position of the loading module and is automatically connected with the loading module, manual operation is not needed, and the automation degree is high.
In some optional embodiments, the controlling the robot chassis to move to the current position of the upper module and to connect the upper module to itself according to the position information and the posture information of the upper module includes: detecting whether the robot chassis and the upper mounting module are completely separated or not according to the position information and the posture information of the upper mounting module; when the robot chassis and the upper installation module are not completely separated, the robot chassis is controlled to move towards the direction close to the upper installation module, and the upper installation module is connected to the robot chassis. The technical scheme has the beneficial effects that whether the robot chassis and the loading module are completely separated or not is detected, when the loading module is not completely separated from the robot chassis, the robot chassis can move to the current position of the loading module and automatically connect the loading module, and the loading module is prevented from being completely separated from the robot chassis.
In a second aspect, the present application provides a communication device for a stackable robot, the device being applied to the stackable robot, the stackable robot including a robot chassis and a load-bearing/pull-type upper-mount module detachably connected to the robot chassis, the device comprising: the state acquisition module is used for acquiring the real-time connection state of the robot chassis and the loading module; the connection communication module is used for controlling the robot chassis and the upper mounting module to perform data interaction by using a first type communication mode and/or a second type communication mode when the real-time connection state is connection; and the disengaging communication module is used for controlling the robot chassis and the upper mounting module to perform data interaction by using a second type of communication mode when the real-time connection state is disengaging.
In some optional embodiments, the first type of communication manner includes at least one of the following: near field communication, WiGig communication, fiber optic communication, coaxial cable communication, open wire communication, waveguide communication, and opto-electronic communication.
In some optional embodiments, the second type of communication mode includes at least one of: WIFI communication, Bluetooth communication, ZigBee communication, microwave communication, satellite communication and atmospheric laser communication.
In some optional embodiments, the connection communication module is configured to control the robot chassis and the upper mounting module to perform data interaction using a first type communication manner and a second type communication manner when the real-time connection state is connection.
In some alternative embodiments, the upper assembly module is provided with a backup battery; the device also includes a backup battery module, the backup battery module including: the connection charging unit is used for controlling the robot chassis to supply power to the upper mounting module and charge the standby battery when the real-time connection state is connection; and the disconnection power supply unit is used for controlling the upper mounting module to use the standby battery for power supply when the real-time connection state is disconnection.
In some optional embodiments, the apparatus further comprises a reconnection module comprising: the information acquisition unit is used for acquiring the position information and the posture information of the upper module if the real-time connection state is determined to be separated; and the chassis control unit is used for controlling the robot chassis to move to the current position of the loading module and connecting the loading module to the robot chassis according to the position information and the posture information of the loading module.
In some optional embodiments, the chassis control unit comprises: the detachment detection subunit is used for detecting whether the robot chassis and the upper mounting module are completely detached or not according to the position information and the posture information of the upper mounting module; and the movement control subunit is used for controlling the robot chassis to move towards the direction close to the upper-mounted module and connecting the upper-mounted module to the self when the robot chassis and the upper-mounted module are not completely separated.
In a third aspect, the present application provides an electronic device comprising a memory and a processor, the memory storing a computer program, the processor implementing the steps of any of the above methods when executing the computer program.
In a fourth aspect, the application provides a robot chassis comprising an electronic device as claimed in any one of the preceding claims. The technical scheme has the beneficial effects that the electronic equipment can comprise the memory and the processor, and the electronic equipment is applied to the robot chassis, so that the intelligent degree and the automation degree are further improved.
In a fifth aspect, the present application provides a stackable robot comprising a load-bearing/trailing upper module and any of the above robot chassis, the upper module being detachably connectable with the robot chassis. The technical scheme has the advantages that the upper-mounted module is detachably connected with the robot chassis, different upper-mounted modules can be replaced according to given tasks, and the robot chassis can freely switch identities among service robots with multiple purposes such as a distribution robot, a disinfection robot and an inspection robot.
In some optional embodiments, the robot chassis is provided with a first communication component and a second communication component, and the upper module is provided with a third communication component matched with the first communication component and a fourth communication component matched with the second communication component. The technical scheme has the advantages that the upper-mounted module and the robot chassis can carry out data interaction in a first type of communication mode by arranging the first communication assembly and the third communication assembly; through setting up second communication component and fourth communication component, the facial make-up module can carry out data interaction through second type communication mode with the robot chassis.
In some optional embodiments, the first communication component comprises at least one of: the system comprises a near field communication unit, a WiGig communication unit, an optical fiber communication unit, a coaxial cable communication unit, a bright line communication unit, a waveguide communication unit and a photoelectric communication unit; the second communication assembly includes at least one of: WIFI communication unit, bluetooth communication unit, zigBee communication unit, microwave communication unit, satellite communication unit and atmosphere laser communication unit. The technical scheme has the advantages that the forms of the first short-range communication assembly and the first long-range communication assembly can be selected in various ways, and the application range is wide.
In some alternative embodiments, the top loading module is provided with a backup battery. The beneficial effects of this technical scheme lie in, the facial make-up module relies on the robot chassis to supply power at the during operation, and through setting up reserve battery, when facial make-up module breaks away from the robot chassis, facial make-up module can use reserve battery power supply.
In some optional embodiments, the robot chassis is provided with a first assembly, each of the upper modules is provided with a second assembly matched with the first assembly, and the upper modules and the robot chassis are detachably connected through the first assembly and the second assembly. The beneficial effects of this technical scheme lie in, through setting up first subassembly and second subassembly, the facial make-up module can be connected with robot chassis detachably, the change of the facial make-up module of being convenient for.
In a sixth aspect, the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of any of the methods described above.
Drawings
The present application is further described below with reference to the drawings and examples.
Fig. 1 is a schematic flowchart of a communication method of a stacked robot according to an embodiment of the present disclosure;
fig. 2 is a schematic flowchart of a communication method of a stacked robot according to an embodiment of the present disclosure;
fig. 3 is a partial flowchart of a communication method of a stacked robot according to an embodiment of the present disclosure;
fig. 4 is a schematic flow chart of a connection loading module according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a communication device of a stacked robot according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of a communication device of a stacked robot according to an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of a backup battery module according to an embodiment of the present disclosure;
fig. 8 is a schematic structural diagram of a communication device of a stacked robot according to an embodiment of the present disclosure;
FIG. 9 is a schematic structural diagram of a reconnect module according to an embodiment of the present application;
fig. 10 is a schematic structural diagram of a chassis control unit according to an embodiment of the present application;
fig. 11 is a block diagram of an electronic device according to an embodiment of the present disclosure;
fig. 12 is a schematic structural diagram of a robot chassis provided in an embodiment of the present application;
fig. 13 is a schematic structural diagram of a stacking robot provided in an embodiment of the present application;
fig. 14 is a schematic structural diagram of a stacking robot provided in an embodiment of the present application;
fig. 15 is a schematic structural diagram of a stacking robot provided in an embodiment of the present application;
fig. 16 is a schematic structural diagram of a program product for implementing a communication method of a stacked robot according to an embodiment of the present application.
Detailed Description
The present application is further described with reference to the accompanying drawings and the detailed description, and it should be noted that, in the present application, the embodiments or technical features described below may be arbitrarily combined to form a new embodiment without conflict.
Referring to fig. 1, an embodiment of the present application provides a communication method of a stacked robot, which is applied to the stacked robot, and the stacked robot includes a robot chassis and a load-bearing/pull-type upper module, and the upper module is detachably connected to the robot chassis. In particular, the robot chassis may be an AGV. The upload module may be used to perform tasks. When the task type is disinfection, the corresponding target-mounted module is, for example, a disinfectant liquid (disinfectant) spraying device; when the task type is security, the corresponding target uploading module is, for example, a camera, and specifically, may include an optical camera and/or an infrared camera; when the task type is delivery (express, take out), the corresponding target mounted module is, for example, a delivery box, and specifically, may be a delivery box with a display device.
The method includes steps S101 to S103.
Step S101: and acquiring the real-time connection state of the robot chassis and the upper module.
Step S102: and when the real-time connection state is connection, controlling the robot chassis and the upper mounting module to perform data interaction by using a first type communication mode and/or a second type communication mode.
In a specific embodiment, the first type of communication manner may include at least one of the following: near field communication, WiGig communication, fiber optic communication, coaxial cable communication, open wire communication, waveguide communication, and opto-electronic communication. The optical-electrical communication is a communication mode that an electrical signal is converted into an optical signal, and then the optical signal is converted into the electrical signal, wherein the optical signal may be very weak, so that the optical-electrical communication is suitable for short-distance data interaction.
Therefore, the first type of communication mode is stable, high in reliability and high in transmission rate.
In a specific embodiment, the second type of communication manner may include at least one of the following: WIFI communication, Bluetooth communication, ZigBee communication, microwave communication, satellite communication and atmospheric laser communication.
Therefore, the second communication mode has longer communication distance, does not need to be limited by wires, has certain mobility, can carry out communication through wireless connection in a mobile state, and has lower cost.
In a specific embodiment, the step S102 may include: and when the real-time connection state is connection, controlling the robot chassis and the upper mounting module to perform data interaction by using a first type communication mode and a second type communication mode.
Therefore, when the real-time connection state is connection, the robot chassis and the upper module can perform data interaction in a first type communication mode and a second type communication mode, and better communication quality can be guaranteed.
Step S103: and when the real-time connection state is the disconnection state, controlling the robot chassis and the upper mounting module to perform data interaction by using a second type of communication mode.
Therefore, on one hand, the upper mounting module is detachably connected with the robot chassis, and different upper mounting modules can be replaced according to given tasks, so that the robot chassis can freely switch identities among service robots with multiple purposes, such as a distribution robot, a disinfection robot, an inspection robot and the like; on the other hand, according to the real-time connection state of the robot chassis and the upper module, the corresponding communication mode can be selected, so that the upper module and the robot chassis can keep a communication state, when the real-time connection state is connection, the upper module and the robot chassis can carry out data interaction through the first type of communication mode and/or the second type of communication mode, and when the real-time connection state is disconnection, the upper module and the robot chassis can carry out data interaction through the second type of communication mode, and meanwhile, the upper module and the robot chassis are convenient to be reconnected subsequently.
Referring to fig. 2, in one embodiment, the upper module is provided with a backup battery; the method may further include steps S104 to S105.
Step S104: and when the real-time connection state is connection, controlling the robot chassis to supply power to the upper mounting module and charge the standby battery.
Step S105: and when the real-time connection state is disconnection, controlling the upper assembly module to use the standby battery for power supply.
Therefore, when the real-time connection state is connection, the robot chassis can supply power to the upper installation module and also can charge the standby battery; when the external power supply is suddenly interrupted due to vibration or poor contact of the upper mounting module, the upper mounting module can use the standby battery for power supply, and corresponding remedial measures are implemented, so that the upper mounting module continues to work.
Referring to fig. 3, in a specific embodiment, the method may further include steps S106 to S107.
Step S106: and if the real-time connection state is determined to be the disconnection state, acquiring the position information and the posture information of the upper mounting module.
Step S107: and controlling the robot chassis to move to the current position of the loading module and connecting the loading module to the robot chassis according to the position information and the posture information of the loading module.
Therefore, when the loading module is separated from the robot chassis suddenly, the robot chassis can move to the current position of the loading module and is automatically connected with the loading module, manual operation is not needed, and the automation degree is high.
Referring to fig. 4, in a specific embodiment, the step S107 may include steps S201 to S202.
Step S201: and detecting whether the robot chassis and the upper mounting module are completely separated or not according to the position information and the posture information of the upper mounting module.
Step S202: when the robot chassis and the upper installation module are not completely separated, the robot chassis is controlled to move towards the direction close to the upper installation module, and the upper installation module is connected to the robot chassis.
Therefore, whether the robot chassis and the loading module are completely separated or not is detected, and when the loading module is not completely separated from the robot chassis, the robot chassis can be moved to the current position of the loading module and automatically connected with the loading module, so that the loading module is prevented from being completely separated from the robot chassis.
Referring to fig. 5, an embodiment of the present application further provides a communication device for a stacked robot, and a specific implementation manner of the communication device is consistent with the implementation manner and the achieved technical effect described in the embodiment of the communication method for a stacked robot, and a part of the details are not repeated. The device is applied to the stacking robot, which comprises a robot chassis and a load-bearing/pull-type upper module, wherein the upper module is detachably connected with the robot chassis.
The device comprises: the state acquisition module 101 is used for acquiring the real-time connection state of the robot chassis and the upper module; the connection communication module 102 is used for controlling the robot chassis and the upper mounting module to perform data interaction by using a first type communication mode and/or a second type communication mode when the real-time connection state is connection; and the disengaging communication module 103 is used for controlling the robot chassis and the upper mounting module to perform data interaction by using a second type of communication mode when the real-time connection state is disengaging.
In a specific embodiment, the first type of communication manner may include at least one of the following: near field communication, WiGig communication, fiber optic communication, coaxial cable communication, open wire communication, waveguide communication, and opto-electronic communication.
In a specific embodiment, the second type of communication manner may include at least one of the following: WIFI communication, Bluetooth communication, ZigBee communication, microwave communication, satellite communication and atmospheric laser communication.
In a specific embodiment, the connection communication module 102 may be configured to control the robot chassis and the upper-mounted module to perform data interaction using a first type communication manner and a second type communication manner when the real-time connection status is connection.
Referring to fig. 6-7, in one embodiment, the upper module may be provided with a backup battery; the apparatus may further include a battery backup module 104, and the battery backup module 104 may include: a connection charging unit 1041, configured to control the robot chassis to supply power to the upper mounted module and charge the backup battery when the real-time connection status is connection; the detachment power supply unit 1042 may be configured to control the upper module to supply power using the backup battery when the real-time connection status is detachment.
Referring to fig. 8-9, in a specific embodiment, the apparatus may further include a reconnection module 105, and the reconnection module 105 may include: an information obtaining unit 1051, configured to obtain position information and posture information of the upper module if it is determined that the real-time connection state is a disconnection state; a chassis control unit 1052, which may be configured to control the robot chassis to move to the current position of the upper module and connect the upper module to itself according to the position information and the posture information of the upper module.
Referring to fig. 10, in a specific embodiment, the chassis control unit 1052 may include: a detachment detection subunit 1052a, configured to detect whether the robot chassis and the upper mounted module are completely detached according to the position information and the posture information of the upper mounted module; a movement control subunit 1052b, which can be used to control the robot chassis to move to the direction close to the upper installed module and connect the upper installed module to itself when the robot chassis and the upper installed module are not completely separated.
Referring to fig. 11, an embodiment of the present application further provides an electronic device 200, where the electronic device 200 includes at least one memory 210, at least one processor 220, and a bus 230 connecting different platform systems.
The memory 210 may include readable media in the form of volatile memory, such as Random Access Memory (RAM)211 and/or cache memory 212, and may further include Read Only Memory (ROM) 213.
The memory 210 further stores a computer program, and the computer program can be executed by the processor 220, so that the processor 220 executes the steps of the communication method of the stacking robot in the embodiment of the present application, and a specific implementation manner of the method is consistent with the implementation manner and the achieved technical effect described in the embodiment of the communication method of the stacking robot, and some details are not repeated.
Accordingly, processor 220 may execute the computer programs described above, as well as may execute programs/utilities 214.
The electronic device 200 may also communicate with one or more external devices 240, such as a keyboard, pointing device, Bluetooth device, etc., and may also communicate with one or more devices capable of interacting with the electronic device 200, and/or with any devices (e.g., routers, modems, etc.) that enable the electronic device 200 to communicate with one or more other computing devices. Such communication may occur via an input/output (I/O) interface 250. Also, the electronic device 200 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the Internet) via the network adapter 260. The network adapter 260 may communicate with other modules of the electronic device 200 via the bus 230. It should be appreciated that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the electronic device 200, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms, to name a few.
Referring to fig. 12, an embodiment of the present application further provides a robot chassis 20, and a specific implementation manner of the robot chassis 20 is consistent with the implementation manner and the achieved technical effect described in the above embodiment of the stacked robot communication method, and a part of the contents are not repeated.
The robot chassis 20 includes any of the electronic devices 200 described above.
Thus, the electronic device 200 may include a memory and a processor to further enhance the degree of intelligence and automation by applying the electronic device 200 to the robot chassis 20.
Referring to fig. 13, an embodiment of the present application further provides a stacked robot 40, and a specific implementation manner of the stacked robot is consistent with the implementation manner and the achieved technical effect described in the embodiment of the communication method of the stacked robot, and a part of the contents are not repeated.
The stacking robot 40 includes a load-bearing/pull-type upper module 30 and any one of the robot chassis 20, and the upper module 30 is detachably connected to the robot chassis 20.
Therefore, the upper module 30 is detachably connected to the robot chassis 20, and different upper modules 30 can be replaced according to a given task, so that the robot chassis 20 can freely switch identities among multi-purpose service robots such as a delivery robot, a sterilization robot, an inspection robot, and the like.
Referring to fig. 14, in a specific embodiment, the robot chassis 20 may be provided with a first communication component 201 and a second communication component 202, and the upper module 30 may be provided with a third communication component 301 matched with the first communication component 201 and a fourth communication component 302 matched with the second communication component 202.
Therefore, by arranging the first communication component 201 and the third communication component 301, the upper-mounted module 30 and the robot chassis 20 can perform data interaction in a first type communication mode; by providing the second communication component 202 and the fourth communication component 302, the upper-mounted module 30 and the robot chassis 20 can perform data interaction through the second type communication mode.
In a particular embodiment, the first communication component 201 can include at least one of: the system comprises a near field communication unit, a WiGig communication unit, an optical fiber communication unit, a coaxial cable communication unit, a bright line communication unit, a waveguide communication unit and a photoelectric communication unit; the second communication component 202 can include at least one of: WIFI communication unit, bluetooth communication unit, zigBee communication unit, microwave communication unit, satellite communication unit and atmosphere laser communication unit.
Therefore, the form of the first communication assembly 201 and the second communication assembly 202 can be selected in various ways, and the application range is wide.
In one embodiment, the upper module 30 is provided with a backup battery.
Thus, the upper module 30 is powered by the robot chassis 20 during operation, and by providing a battery backup, the upper module 30 can be powered by the battery backup when the upper module 30 is detached from the robot chassis 20.
Referring to fig. 15, in a specific embodiment, the robot chassis 20 may be provided with a first assembly 203, each of the upper modules 30 may be provided with a second assembly 303 matched with the first assembly 203, and the upper modules 30 and the robot chassis 20 may be detachably connected through the first assembly 203 and the second assembly 303. The first component 203 and the second component 303 may be joined together or may be separated.
Thus, by providing the first component 203 and the second component 303, the upper mounted module 30 may be detachably connected to the robot chassis 20, facilitating replacement of the upper mounted module 30.
The embodiment of the present application further provides a computer-readable storage medium, where the computer-readable storage medium is used for storing a computer program, and when the computer program is executed, the steps of the communication method of the stackable robot in the embodiment of the present application are implemented, and a specific implementation manner of the steps is consistent with the implementation manner and the achieved technical effect described in the embodiment of the communication method of the stackable robot, and some contents are not described again.
Fig. 16 shows a program product 300 for implementing the method provided by the embodiment, which may employ a portable compact disc read only memory (CD-ROM) and include program codes, and may be run on a terminal device, such as a personal computer. However, the program product 300 of the present invention is not so limited, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. Program product 300 may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
A computer readable storage medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable storage medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing. Program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., through the internet using an internet service provider).
The foregoing description and drawings are only for purposes of illustrating the preferred embodiments of the present application and are not intended to limit the present application, which is, therefore, to the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the present application.
Claims (22)
1. A communication method of a stackable robot, the method being applied to the stackable robot, the stackable robot including a robot chassis and a load-bearing/trailing upper-mount module detachably connected with the robot chassis, the method comprising:
acquiring a real-time connection state of the robot chassis and the upper module;
when the real-time connection state is connection, controlling the robot chassis and the upper-mounted module to perform data interaction by using a first type communication mode and/or a second type communication mode;
and when the real-time connection state is the disconnection state, controlling the robot chassis and the upper mounting module to perform data interaction by using a second type of communication mode.
2. The communication method of the stacking robot as claimed in claim 1, wherein the first type of communication manner includes at least one of: near field communication, WiGig communication, fiber optic communication, coaxial cable communication, open wire communication, waveguide communication, and opto-electronic communication.
3. The communication method of the stacking robot as claimed in claim 1, wherein the second type of communication comprises at least one of: WIFI communication, Bluetooth communication, ZigBee communication, microwave communication, satellite communication and atmospheric laser communication.
4. The communication method of the stacking robot as claimed in claim 1, wherein the controlling the robot chassis to perform data interaction with the upper mounted module using the first type communication method and/or the second type communication method when the real-time connection status is connection comprises:
and when the real-time connection state is connection, controlling the robot chassis and the upper mounting module to perform data interaction by using a first type communication mode and a second type communication mode.
5. The communication method of a stacked robot according to claim 1, wherein the upper module is provided with a backup battery;
the method further comprises the following steps:
when the real-time connection state is connection, controlling the robot chassis to supply power to the upper mounting module and charge the standby battery;
and when the real-time connection state is disconnection, controlling the upper assembly module to use the standby battery for power supply.
6. The communication method of a stacked robot according to claim 5, further comprising:
if the real-time connection state is determined to be separated, acquiring the position information and the posture information of the upper mounting module;
and controlling the robot chassis to move to the current position of the loading module and connecting the loading module to the robot chassis according to the position information and the posture information of the loading module.
7. The communication method of a stacked robot according to claim 6, wherein the controlling the robot chassis to move to the current position of the upper module and to connect the upper module to itself according to the position information and the posture information of the upper module includes:
detecting whether the robot chassis and the upper mounting module are completely separated or not according to the position information and the posture information of the upper mounting module;
when the robot chassis and the upper installation module are not completely separated, the robot chassis is controlled to move towards the direction close to the upper installation module, and the upper installation module is connected to the robot chassis.
8. A communication device of a stackable robot, the device being applied to the stackable robot including a robot chassis and a carrying/hanging upper mount module detachably connected with the robot chassis, the device comprising:
the state acquisition module is used for acquiring the real-time connection state of the robot chassis and the loading module;
the connection communication module is used for controlling the robot chassis and the upper mounting module to perform data interaction by using a first type communication mode and/or a second type communication mode when the real-time connection state is connection;
and the disengaging communication module is used for controlling the robot chassis and the upper mounting module to perform data interaction by using a second type of communication mode when the real-time connection state is disengaging.
9. The communication device of the stacking robot as claimed in claim 8, wherein the first type of communication means includes at least one of: near field communication, WiGig communication, fiber optic communication, coaxial cable communication, open wire communication, waveguide communication, and opto-electronic communication.
10. The communication device of the stacking robot as claimed in claim 8, wherein the second type of communication means includes at least one of: WIFI communication, Bluetooth communication, ZigBee communication, microwave communication, satellite communication and atmospheric laser communication.
11. The communication device of the stacking robot as claimed in claim 8, wherein the connection communication module is configured to control the robot chassis to perform data interaction with the upper module using a first type communication manner and a second type communication manner when the real-time connection status is connection.
12. The communication device of the stack robot according to claim 8, wherein the upper module is provided with a backup battery;
the device also includes a backup battery module, the backup battery module including:
the connection charging unit is used for controlling the robot chassis to supply power to the upper mounting module and charge the standby battery when the real-time connection state is connection;
and the disconnection power supply unit is used for controlling the upper mounting module to use the standby battery for power supply when the real-time connection state is disconnection.
13. The communication device of the stacking robot as claimed in claim 12, further comprising a reconnection module, the reconnection module comprising:
the information acquisition unit is used for acquiring the position information and the posture information of the upper module if the real-time connection state is determined to be separated;
and the chassis control unit is used for controlling the robot chassis to move to the current position of the loading module and connecting the loading module to the robot chassis according to the position information and the posture information of the loading module.
14. The communication device of the stacking robot as claimed in claim 13, wherein the chassis control unit comprises:
the detachment detection subunit is used for detecting whether the robot chassis and the upper mounting module are completely detached or not according to the position information and the posture information of the upper mounting module;
and the movement control subunit is used for controlling the robot chassis to move towards the direction close to the upper-mounted module and connecting the upper-mounted module to the self when the robot chassis and the upper-mounted module are not completely separated.
15. An electronic device, characterized in that the electronic device comprises a memory storing a computer program and a processor implementing the steps of the method according to any of claims 1-7 when the processor executes the computer program.
16. A robot chassis, characterized in that the robot chassis comprises the electronic device of claim 17.
17. A stackable robot comprising a load bearing/trailing upper module and the robot chassis of claim 16, the upper module being removably connectable with the robot chassis.
18. The stacking robot as claimed in claim 17, wherein the robot chassis is provided with a first communication component and a second communication component, and the top loading module is provided with a third communication component matching the first communication component and a fourth communication component matching the second communication component.
19. The stacking robot of claim 18, wherein the first communication component comprises at least one of: the system comprises a near field communication unit, a WiGig communication unit, an optical fiber communication unit, a coaxial cable communication unit, a bright line communication unit, a waveguide communication unit and a photoelectric communication unit;
the second communication assembly includes at least one of: the device comprises a WIFI communication unit, a Bluetooth communication unit, a ZigBee communication unit, a microwave communication unit, a satellite communication unit and an atmosphere laser communication unit.
20. The stacking robot as claimed in claim 17, wherein the upper module is provided with a backup battery.
21. The stacking robot as claimed in claim 17, wherein said robot chassis is provided with a first component, each of said top-up modules is provided with a second component matching said first component, and said top-up modules and said robot chassis are detachably connected through said first and second components.
22. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
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| CN202110882797.2A CN113873479A (en) | 2021-08-02 | 2021-08-02 | Communication method of stacked robot and related device |
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