CN115208716A - Ad hoc network wireless communication device, robot and system - Google Patents
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- H—ELECTRICITY
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- H04L12/00—Data switching networks
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- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L45/00—Routing or path finding of packets in data switching networks
- H04L45/14—Routing performance; Theoretical aspects
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- H04L45/00—Routing or path finding of packets in data switching networks
- H04L45/54—Organization of routing tables
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- H—ELECTRICITY
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Abstract
The application provides an ad hoc network wireless communication device, a robot and a system, and relates to the technical field of wireless communication. The ad hoc network wireless communication device comprises an integrated protocol conversion gateway module, a radio frequency control module, a transmitting module and a receiving module; the integrated protocol conversion gateway module comprises a bus interface board and a processor, wherein one end of the bus interface board is connected with a field bus, the other end of the bus interface board is connected with the processor, the field bus uploads communication data to the processor through a bus interface, and the processor packages and converts the communication data based on an ad hoc network protocol; the radio frequency control module is connected with the processor; the transmitting module is connected with the radio frequency control module, stores the multi-hop routing table information to the integrated protocol conversion gateway module, and transmits communication data and routing data to the next node according to the multi-hop routing table information; the receiving module is connected with the radio frequency control module. The device can realize the technical effect of reducing the upgrading threshold and the cost of the wireless communication of the terminal equipment.
Description
Technical Field
The application relates to the technical field of wireless communication, in particular to an ad hoc network wireless communication device, a robot and a system.
Background
At present, with the progress of related technologies of robots, the application thereof has been widely popularized. However, the wired communication of the production line work robot deployed at a fixed position in a factory or the special robot deployed in a mobile scene is used in a high proportion. Except that a small part of working robots in an open environment use an own protocol for communication, most of the working robots rely on WiFi for wireless network access within a certain range.
In the prior art, although wireless communication has the advantages of simple wiring, flexible increase and decrease of terminals and the like compared with wired communication, the reliability, the rate and the time delay of the two types of wireless communication cannot completely meet the use requirements in special scenes. Such as: mine robots, emergency anti-terrorist robots, construction robots, etc. The common points of the two are that the two are required to be deployed in a space with large-range shielding, and the absorption and blocking effects of radio signals are obvious, so point-to-point direct connection transmission is blocked; if the WiFi format is used, then a large number of AP (Wireless Access Point) deployments are impractical. In this background, robot wireless communication in a complex environment has become one of several pain points in the industry, especially for high bandwidth communication, and currently, there is no complete set of coping strategies applied in the industry.
Disclosure of Invention
An object of the embodiments of the present application is to provide an ad hoc network wireless communication device, a robot, and a system, which can achieve the technical effects of reducing the upgrade threshold and cost of wireless communication of a terminal device.
In a first aspect, an embodiment of the present application provides an ad hoc network wireless communication device, including an integrated protocol conversion gateway module, a radio frequency control module, a transmitting module, and a receiving module;
the integrated protocol conversion gateway module comprises a bus interface board and a processor, wherein one end of the bus interface board is connected with a field bus, the other end of the bus interface board is connected with the processor, the field bus uploads communication data to the processor through the bus interface, and the processor packages and converts the communication data based on an ad hoc network protocol;
the radio frequency control module is connected with the processor;
the transmitting module is connected with the radio frequency control module, stores multi-hop routing table information to the integrated protocol conversion gateway module, and transmits the communication data and routing data to a next node according to the multi-hop routing table information;
the receiving module is connected with the radio frequency control module, the receiving module receives the communication data and the routing data sent by the last node, and the integrated protocol conversion gateway module is used for updating the multi-hop routing table information according to the routing data, converting unpacked communication data into a corresponding bus protocol, and sending the communication data to terminal equipment connected to a corresponding bus.
In the implementation process, the ad hoc network wireless communication device packs and converts data transmitted by the uploaded terminal equipment through the integrated protocol conversion gateway module, and performs data communication by using an ad hoc network protocol by utilizing the radio frequency characteristics of the radio frequency control module, the transmitting module and the receiving module and combining with the ad hoc network communication technology; the integrated protocol conversion gateway module can integrate a multi-protocol conversion gateway, a wired field bus communication protocol interface (such as an etherCAT interface, an etherNET/IP interface, a Profinet interface and the like) of the terminal equipment is connected to the radio frequency control module, and data is transmitted and received through the transmitting module and the receiving module, so that each terminal equipment only needs to be mounted with one ad hoc network wireless communication device, and each terminal equipment realizes ad hoc network communication with other terminal equipment, thereby realizing wireless remote ad hoc network communication with high bandwidth and high diffraction; therefore, the problem of high difficulty in communication deployment among terminal equipment in a complex environment is solved, each terminal equipment only needs to carry one ad hoc network wireless communication device, low-delay communication of a multi-machine ad hoc network can be realized on the basis of not changing the original communication protocol of the terminal equipment, and the technical effects of reducing the upgrading threshold and the cost of the wireless communication of the terminal equipment can be realized.
Further, the integrated protocol conversion gateway module further comprises a parallel computing block, and the parallel computing block is connected with the processor.
In the implementation process, the parallel computing block is connected with the processor, so that parallel computing can be realized, and the computing speed is improved.
Further, the integrated protocol conversion gateway module further comprises a storage unit, and the storage unit is connected with the processor.
In the implementation process, the storage unit may store communication data, routing data, multi-hop routing table information, and the like.
Further, the ad hoc network protocol is a mesh protocol.
In the implementation process, a communication network based on the Mesh protocol, i.e., a wireless Mesh network or a multi-hop (multi-hop) network, can cooperatively communicate with other networks, is a dynamic and continuously expandable network architecture, can maintain wireless interconnection with any two devices under the Mesh ID, and has strong expansibility.
Further, the underlying modulation mode of the device is COFDM.
Further, the multi-hop routing table information is generated by adopting an AODVjr routing algorithm.
Furthermore, one end of the bus interface board is connected with at least one field bus interface.
In the implementation process, one end of the bus interface board can be connected with one or more field bus interfaces, so that one or more field buses are integrated.
Furthermore, the field bus interface of the bus interface board comprises one or more of an EtherCAT interface, an EtherNet/IP interface, a Profinet interface, a Profibus interface, a Modbus interface and a Powerlink interface.
Furthermore, the device also comprises an antenna module, wherein the antenna module is respectively connected with the transmitting module and the receiving module.
In the implementation process, the transmitting module and the receiving module are connected with the antenna module, so that data can be transmitted and received through the antenna module.
In a second aspect, an embodiment of the present application provides a robot, where the robot includes the ad hoc network wireless communication device according to any one of the first aspects.
In a third aspect, an embodiment of the present application provides an ad hoc network wireless communication system, including a monitoring terminal and the ad hoc network wireless communication device of any one of the first aspect, where each ad hoc network wireless communication device is wirelessly connected with at least one other ad hoc network wireless communication device, and the monitoring terminal is wirelessly connected with at least one ad hoc network wireless communication device.
Additional features and advantages of the disclosure will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the above-described techniques.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of an ad hoc network wireless communication device according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of another ad hoc network wireless communication device according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of an ad hoc network wireless communication system according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not construed as indicating or implying relative importance.
The embodiment of the application provides an ad hoc network wireless communication device, a robot and a system, which can be applied to wireless communication of terminal equipment; the ad hoc network wireless communication device packages and converts data transmitted by uploaded terminal equipment through the integrated protocol conversion gateway module, utilizes radio frequency characteristics of the radio frequency control module, the transmitting module and the receiving module, combines ad hoc network communication technology, and uses an ad hoc network protocol to carry out data communication; the integrated protocol conversion gateway module can integrate a multi-protocol conversion gateway, a wired field bus communication protocol interface (such as an etherCAT interface, an etherNET/IP interface, a Profinet interface and the like) of the terminal equipment is connected to the radio frequency control module, and data is sent and received through the transmitting module and the receiving module, so that each terminal equipment only needs to be mounted with an ad hoc network wireless communication device, and each terminal equipment realizes ad hoc network communication with other terminal equipment, and wireless remote ad hoc network communication with high bandwidth and high diffraction can be realized; therefore, the problem of high difficulty in communication deployment among terminal equipment in a complex environment is solved, each terminal equipment only needs to be provided with one ad hoc network wireless communication device, low-delay communication of a multi-machine ad hoc network can be realized on the basis of not changing the original communication protocol of the terminal equipment, and the technical effects of reducing the upgrading threshold and the cost of the wireless communication of the terminal equipment can be realized.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an ad hoc network wireless communication device according to an embodiment of the present disclosure, where the ad hoc network wireless communication device includes an integrated protocol conversion gateway module 100, a radio frequency control module 200, a transmitting module 300, and a receiving module 400.
Illustratively, the integrated protocol conversion gateway module 100 includes a bus interface board 110 and a processor 120, one end of the bus interface board 110 is connected to a fieldbus, the other end of the bus interface board 110 is connected to the processor 120, the fieldbus uploads communication data to the processor 120 through the bus interface, and the processor 120 packages and converts the communication data based on an ad hoc network protocol.
Alternatively, the terminal device may be a robot.
Illustratively, the integrated protocol conversion gateway module 100 may integrate multiple bus types;
the interfaces of various bus types are integrated on a bus interface board 110, the robot is connected to the bus interface board 110 through a field bus, and the bus interface board 110 uploads data sent by the robot, namely communication data; processor 120 packetizes and converts communication data based on an ad hoc network protocol to enable ad hoc network communication.
Illustratively, the rf control module 200 is coupled to the processor 120.
Illustratively, the rf control module 200 is configured to control communication control of the transmitting module 300 and the receiving module 400, and serves as a data transceiving relay station between the processor 120 and the transmitting module 300 and the receiving module 400.
Illustratively, the transmitting module 300 is connected to the rf control module 200, and the transmitting module 300 stores the multi-hop routing table information to the integrated protocol conversion gateway module 100, and sends the communication data and the routing data to the next node according to the multi-hop routing table information.
Illustratively, the receiving module 400 is connected to the radio frequency control module 200, the receiving module 400 receives communication data and routing data sent by a previous node, and the integrated protocol conversion gateway module 100 is configured to update multi-hop routing table information according to the routing data, perform conversion of a corresponding bus protocol on the unpacked communication data, and send the communication data to a robot device connected to a corresponding bus.
By way of example, the ad hoc network communication is realized through the ad hoc network protocol of the integrated protocol conversion gateway module 100, and the low-delay communication of the ad hoc network among a plurality of robots is realized on the basis of not changing the original communication protocol (field bus) of the robots. Therefore, the original interface is directly connected to automatically perform protocol conversion, no change is needed in the maintenance layer, and the technical effects of greatly reducing the upgrade threshold and the cost of the robot wireless communication are achieved.
In some embodiments, the ad hoc network wireless communication device packages and converts the uploaded data transmitted by the robot through the integrated protocol conversion gateway module 100, and uses the ad hoc network protocol to perform data communication by using the radio frequency characteristics of the radio frequency control module 200, the transmitting module 300 and the receiving module 400 in combination with the ad hoc network communication technology; the integrated protocol conversion gateway module 100 can integrate a multi-protocol conversion gateway, a wired field bus communication protocol interface of the robot is connected to the radio frequency control module 200, and data is transmitted and received through the transmitting module 300 and the receiving module 400, so that each robot only needs to mount an ad hoc network wireless communication device, each robot realizes ad hoc network communication with other robots, and wireless remote, high-bandwidth and high-diffraction ad hoc network communication can be realized; therefore, the problem of high difficulty in communication deployment among robots in a complex environment is solved, the terminal of each robot only needs to carry one ad hoc network wireless communication device, low-delay communication of a multi-robot ad hoc network can be realized on the basis of not changing the original communication protocol of the robot, and the technical effects of reducing the upgrading threshold and the cost of robot wireless communication can be realized.
Referring to fig. 2, fig. 2 is a schematic structural diagram of another ad hoc network wireless communication device according to an embodiment of the present disclosure.
Illustratively, the integrated protocol conversion gateway module 100 further includes a parallel computation block 130, the parallel computation block 130 being connected to the processor 120.
Illustratively, the parallel computing block 130 is connected with a processor, so that parallel computing can be realized and the computing speed can be increased.
Illustratively, the integrated protocol conversion gateway module 100 further includes a storage unit 140, and the storage unit 140 is connected to the processor 120.
Illustratively, the storage unit 140 may store communication data, routing data, multi-hop routing table information, and the like.
Illustratively, the ad hoc network protocol is a mesh protocol.
Illustratively, a communication network based on the Mesh protocol, i.e. a wireless Mesh network or a multi-hop (multi-hop) network, may cooperatively communicate with other networks, and is a dynamic and continuously expandable network architecture, and any two devices under the Mesh ID may be wirelessly interconnected.
Illustratively, a communication network based on a mesh protocol is developed from an ad hoc network, and is one of key technologies to solve the problem of the "last mile". In the embodiment of the application, the factors such as channel interference, hop selection, frequency selection and the like need to be comprehensively considered when networking is carried out based on the mesh protocol. Optionally, the networking based on the mesh protocol may adopt single-frequency networking or dual-frequency networking.
Illustratively, the underlying modulation mode of the ad hoc network wireless communication device is COFDM.
The original robot wireless communication mode is mostly 1 to 1 or star network structure, the communication distance is short, and the stability is poor. The ad hoc network wireless communication device provided by the embodiment of the application enhances the stability of communication among robots after the multi-hop ad hoc network of the COFDM technology is used. In some embodiments, with the ad hoc network wireless communication device provided in the embodiments of the present application, the communication distance can theoretically reach the farthest multi-hop distance of hundreds of kilometers, and a centralized networking form is not provided, so that a single-point fault is avoided, and the communication reliability is improved.
In some embodiments, the conventional DTU (data transfer unit) device based on COFDM technology does not have the adaptation capability of an industrial field bus; the Ad hoc network wireless communication device provided by the embodiment of the application can adapt to various bus protocol interfaces by adding the integrated protocol conversion gateway module, thereby overcoming the defect that the COFDM modulation is only used for video transmission in the past.
Illustratively, COFDM (Coded Orthogonal Frequency Division Multiplexing) distributes a high-speed data stream to a plurality of sub-channels with a lower transmission rate for transmission through serial-to-parallel conversion. Wherein, the coding (C) means that the channel coding adopts a convolution coding mode with variable coding rate to adapt to the protection requirements of data with different importance; orthogonal Frequency Division (OFD) refers to the use of a large number of carriers (subcarriers) that are equally spaced in frequency and are all integer multiples of a fundamental oscillation frequency; multiplexing (M) means that multiple data sources are distributed across the plurality of carriers interleaved with each other to form a frequency channel.
In some embodiments, when the robot modifies the wireless field bus in the wired industry, the robot often uses the common WiFi for transmission; the ad hoc network wireless communication device provided by the embodiment of the application can perform ad hoc network communication without depending on an AP after developing a bottom layer own communication protocol by using a COFDM modulation mode. Therefore, the problem of high difficulty in communication deployment among robots in a complex environment can be solved, and each robot terminal only needs to carry one networking module, so that the low-delay communication of the multi-robot ad hoc network can be realized on the basis of not changing the original communication protocol.
Illustratively, the multi-hop routing table information is generated using an AODVjr routing algorithm.
Illustratively, the On-Demand planar Distance Vector Routing (AODV) for wireless Ad hoc networks is a Routing protocol applied in wireless Ad hoc networks (also called wireless Ad hoc networks) for Routing, and it can implement unicast and multicast Routing. The protocol is a typical protocol for generating a routing mode on demand in an Ad Hoc network.
In some embodiments, device retrofit with WiFi communication requires the legacy fieldbus protocol to be abandoned. When the ad hoc network wireless communication device provided by the embodiment of the application is used, the original interface can be directly connected to automatically perform protocol conversion, and the maintenance level does not need to be changed; therefore, the upgrading threshold and the cost of the robot wireless communication can be greatly reduced.
Illustratively, one end of the bus interface board 110 is connected to at least one fieldbus interface.
For example, one end of the bus interface board 110 can be connected to one or more fieldbus interfaces, thereby integrating one or more fieldbus interfaces.
Illustratively, the field bus interface of the bus interface board comprises one or more of an EtherCAT interface, an EtherNet/IP interface, a Profinet interface, a Profibus interface, a Modbus interface and a Powerlink interface.
The ad hoc network wireless communication device further comprises an antenna module 500, wherein the antenna module 500 is connected to the transmitting module 300 and the receiving module 400, respectively.
Illustratively, the transmitting module 300 and the receiving module 400 are connected to the antenna module 500, so that data transmission and reception are realized through the antenna module 500.
Referring to fig. 3, fig. 3 is a schematic structural diagram of an ad hoc network wireless communication system according to an embodiment of the present disclosure, where the ad hoc network wireless communication system includes an ad hoc network wireless communication device 10 and a monitoring terminal 20, where the ad hoc network wireless communication device 10 corresponds to the devices shown in fig. 1 or fig. 2, and details are not repeated here.
Illustratively, each ad hoc network wireless communication device 10 is mounted on a corresponding robotic apparatus.
Illustratively, each ad-hoc network wireless communication device 10 is wirelessly connected with at least one other ad-hoc network wireless communication device 10, and the monitoring terminal 20 is wirelessly connected with at least one ad-hoc network wireless communication device 10.
For example, compared with the use of ordinary WiFi for transmission, the ad hoc network wireless communication device provided in the embodiment of the present application may utilize a COFDM modulation scheme to develop a bottom layer ad hoc communication protocol, and may perform ad hoc network communication without relying on an AP; therefore, the self-networking wireless communication device can solve the problem of high difficulty in communication deployment among robots in a complex environment, and each robot terminal only needs to carry one self-networking wireless communication device, so that the low-delay communication of the multi-machine self-networking can be realized on the basis of not changing the original communication protocol.
For example, most of the original robot wireless communication forms are 1-to-1 or star network structures, the communication distance is short, the stability is poor, and the defects are obvious. After the multi-hop ad hoc network using the COFDM technology is used, the stability of communication between robots can be effectively enhanced. The ad hoc network wireless communication device provided by the embodiment of the application can reach the farthest multi-hop distance of hundreds of kilometers theoretically, and a centralized networking form is avoided, so that a single-point fault is avoided.
In the construction scene (the length and width is about hundreds of meters or even kilometers) in the building shown in fig. 3, the space distance is long, and the use effect cannot be achieved by general point-to-point communication due to the concrete wall barriers. At this time, if the monitoring terminal 20 illustrated in the lower left corner of fig. 3 is used to control a plurality of devices, an example of the networking process of the ad hoc network wireless communication apparatus provided in the embodiment of the present application is as follows: each robot is connected with the ad hoc network wireless communication device through a bus control interface (such as an etherCAT interface); the interface of the monitoring terminal 20 is connected to at least one ad hoc network wireless communication device; when all the robots and the ad hoc network wireless communication devices are deployed, all the devices are accessed under unified mesh authentication, and networking is completed; after networking is completed, each robot can freely move in a large space, and multi-hop transfer is completed through the dynamically maintained routing table during data transmission.
In some embodiments, with reference to fig. 1 to fig. 3, an example of a data transceiving process of each ad hoc network wireless communication device provided in the embodiments of the present application is as follows:
and (3) a transmitting flow: the interfaces of various bus types are integrated on one bus interface board 110, the robot uploads data (i.e. communication data) to the processor 120, the processor 120 packages the communication data and converts the communication data into an internal mesh protocol through ad hoc network protocol conversion, and stores the multi-hop routing table obtained based on the AODVjr routing algorithm in the storage unit 140, and simultaneously, the communication data and the routing data such as the routing table, node information, communication quality and the like are synchronously sent to the next node and then forwarded to the destination node.
A receiving process: after receiving the signal, the destination node transmits the radio frequency information to the integrated protocol conversion gateway module 100 through the receiving module 400 and then the radio frequency control module 200 after decoding the radio frequency information through serial-parallel conversion of the radio frequency control module 200, and after the integrated protocol conversion gateway module 100 analyzes the data, the routing table of this time is updated, then the unpacked data is converted into a corresponding protocol, and then the data is fed back to the robot equipment connected to the corresponding bus through a specified communication interface.
Illustratively, the data transceiving process is similar to the application of a video transmission process of the DVB-T standard to a robot, the change of the data transceiving process is that hardware and a protocol correspond to various bus forms suitable for the robot, and meanwhile, the data transceiving process can be internally packaged and configured. By way of example, when the transmission power is 500mw and the transmission is performed in a 1.4GHz frequency band when the antenna is deployed in a relatively complex construction site, the two-node bidirectional transmission rate is greater than 60mb/s, and the actual scene needs can be completely met.
In some implementation scenarios, in the ad hoc network wireless communication device provided in the embodiment of the present application, the terminal device may be used in other industrial devices using various industrial field buses, in addition to a special robot usage scenario such as a building robot. Meanwhile, besides the interfaces, necessary external interfaces can be added to complete various use scenes such as video stream return, map file uploading, high-speed cloud synchronization and the like, and after a specific error correction algorithm is supplemented, more reliable data transmission and networking can be realized.
In the several embodiments provided in the present application, it should be understood that each functional module in each embodiment may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. An ad hoc network wireless communication device is characterized by comprising an integrated protocol conversion gateway module, a radio frequency control module, a transmitting module and a receiving module;
the integrated protocol conversion gateway module comprises a bus interface board and a processor, wherein one end of the bus interface board is connected with a field bus, the other end of the bus interface board is connected with the processor, the field bus uploads communication data to the processor through the bus interface, and the processor packages and converts the communication data based on an ad hoc network protocol;
the radio frequency control module is connected with the processor;
the transmitting module is connected with the radio frequency control module, stores multi-hop routing table information to the integrated protocol conversion gateway module, and sends the communication data and routing data to a next node according to the multi-hop routing table information;
the receiving module is connected with the radio frequency control module, the receiving module receives the communication data and the routing data sent by the last node, and the integrated protocol conversion gateway module is used for updating the multi-hop routing table information according to the routing data, converting the unpacked communication data into a corresponding bus protocol, and sending the communication data to the terminal equipment connected to the corresponding bus.
2. The ad-hoc wireless communication device according to claim 1, wherein the integrated protocol conversion gateway module further comprises a parallel computing block, the parallel computing block being connected to the processor.
3. The ad-hoc wireless communication device according to claim 1, wherein the integrated protocol conversion gateway module further comprises a memory unit, the memory unit being connected to the processor.
4. The ad-hoc network wireless communication device according to claim 1, wherein the ad-hoc network protocol is a mesh protocol.
5. The ad-hoc wireless communication device according to claim 1, wherein the device's underlying modulation mode is COFDM.
6. The ad-hoc network wireless communication device according to claim 1, wherein the multi-hop routing table information is generated using AODVjr routing algorithm.
7. The ad-hoc network wireless communication device according to claim 1, wherein one end of the bus interface board is connected to at least one fieldbus interface.
8. The ad hoc network wireless communication device according to claim 7, wherein the field bus interface of the bus interface board comprises one or more of an EtherCAT interface, an EtherNet/IP interface, a Profinet interface, a Profibus interface, a Modbus interface, and a Powerlink interface.
9. A robot, characterized in that it comprises an ad hoc wireless communication device according to any one of claims 1 to 8.
10. An ad-hoc network wireless communication system, comprising a monitoring terminal and a plurality of ad-hoc network wireless communication devices according to any one of claims 1 to 8, each ad-hoc network wireless communication device being wirelessly connected to at least one other ad-hoc network wireless communication device, the monitoring terminal being wirelessly connected to at least one ad-hoc network wireless communication device.
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