CN110116397A - A kind of host and the compatible fractionation structure of movement mould group and its control communication means - Google Patents
A kind of host and the compatible fractionation structure of movement mould group and its control communication means Download PDFInfo
- Publication number
- CN110116397A CN110116397A CN201910386650.7A CN201910386650A CN110116397A CN 110116397 A CN110116397 A CN 110116397A CN 201910386650 A CN201910386650 A CN 201910386650A CN 110116397 A CN110116397 A CN 110116397A
- Authority
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- China
- Prior art keywords
- motion module
- host
- mould group
- host computer
- movement mould
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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- 230000033001 locomotion Effects 0.000 title claims abstract description 80
- 238000005194 fractionation Methods 0.000 title abstract 2
- 238000000034 method Methods 0.000 claims abstract description 22
- 238000012544 monitoring process Methods 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 3
- 239000003999 initiator Substances 0.000 claims description 3
- 230000000977 initiatory effect Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of hosts and the compatible fractionation structure of movement mould group and its control communication means, including host machine part and movement mould group, it is powered and communicates by pogopin between the host machine part and movement mould group, different shape and different combination playing methods by the replacement composition robot between host machine part and movement mould group；Wherein, host machine part completes the power supply to movement mould group, instruction is sent, and completes that the state of movement mould group is read out and is monitored, completes extraneous speech recognition and receive information, and connect external equipment by radio connection；The present invention is powered and is communicated by pogopin, and two parts can be replaced, to realize the variform multiple combinations playing method of robot.
Description
Technical Field
The invention relates to the field of robots, in particular to a compatible split structure of a host and a motion module and a control communication method thereof.
Background
At present, the robot is divided into a host part and a motion module, and a structure which can not be disassembled is arranged between the host and the motion module, namely the host and the motion module are fixed and can not be freely replaced, so that a plurality of limitations exist in later use, and the robot is not flexible in use.
Disclosure of Invention
The invention aims to solve the technical problem that a compatible split structure of a host and a motion module and a control communication method thereof are used, power supply and communication are carried out through pogopin, and the pogopin can be replaced, so that various forms and various combination playing methods of a robot are realized, and the defect that the robot in the prior art cannot be split and flexibly assembled is overcome.
The invention is realized by the following technical scheme: a compatible split structure of a host and a motion module comprises a host part and the motion module, wherein the host part and the motion module are powered and communicated through pogopin, and different forms and different combination playing methods of a robot are formed through replacement between the host part and the motion module; wherein,
the host part completes power supply and instruction sending of the motion module, completes reading and monitoring of the state of the motion module, completes external voice recognition and information receiving, and is connected with external equipment in a wireless connection mode.
Preferably, the motion module is one or a combination of more than one of a biped, a quadruped, a single wheel, a four-wheel or an aircraft.
As the preferred technical scheme, the host part and the motion module are further provided with a buckle structure, and the buckle assembly connection is realized through the host part and the motion module.
As a preferred technical scheme, the pogopin adopts four pairs of pins, including a Pin needle and a Pin head, which are butted and conducted and complete communication transmission.
As a preferred technical scheme, the four pairs of pins comprise a vin power supply port, a gnd grounding terminal, rx and tx serial port communication.
A control communication method for host and motion module features that the motion module is used as its initiator, and after it is powered on, it sends information to tx interface.
As a preferred technical scheme, a protocol stipulates that a host terminal must update and record the state of a motion module terminal in real time, and after a hot-plug device is pulled out, the host monitors that no data is sent out after a period of time passes through a corresponding tx port, so that disconnection of the device is judged, and corresponding operation is carried out.
As a preferred technical scheme, the method specifically comprises the following steps:
initialization: the method comprises the steps that the motion module end is used for initiating, initialization information is sent to the host end after the motion module end is powered on, equipment initialization is completed after the host end confirms, and the motion module end needs to periodically send heartbeat information to the host end after the initialization is completed, so that the connection state is maintained;
(II) controlling: the host end initiates to control the motion module end to complete the designated action, and after the motion module end receives the command, the command execution condition needs to be periodically updated;
and (III) monitoring: after the host end is disconnected, data monitoring is carried out on the communication port periodically, so that once the motion module is successfully connected;
(IV) requesting: the host computer sends out the specific state signal of the motion module end, and the motion module end returns the corresponding information after receiving the signal.
The invention has the beneficial effects that: the invention separates the upper part and the lower part, and physically connects the upper part and the lower part together through the buckle structure and the pogopin on the basis of ensuring that each function is independent, thereby having a plurality of playing methods in combination.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is an initialization workflow diagram of the present invention;
FIG. 2 is a request workflow diagram of the present invention;
FIG. 3 is a command workflow diagram of the present invention;
FIG. 4 is a control flow chart between the host and the motion module according to the present invention;
fig. 5 is a schematic structural view of pogopin of the present invention.
Detailed Description
All of the features disclosed in this specification, or all of the steps in any method or process so disclosed, may be combined in any combination, except combinations of features and/or steps that are mutually exclusive.
Any feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving equivalent or similar purposes, unless expressly stated otherwise. That is, unless expressly stated otherwise, each feature is only an example of a generic series of equivalent or similar features.
In the description of the present invention, it is to be understood that the terms "one end", "the other end", "outside", "upper", "inside", "horizontal", "coaxial", "central", "end", "length", "outer end", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention.
Further, in the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
The use of terms such as "upper," "above," "lower," "below," and the like in describing relative spatial positions herein is for the purpose of facilitating description to describe one element or feature's relationship to another element or feature as illustrated in the figures. The spatially relative positional terms may be intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "below" can encompass both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In the present invention, unless otherwise explicitly specified or limited, the terms "disposed," "sleeved," "connected," "penetrating," "plugged," and the like are to be construed broadly, e.g., as a fixed connection, a detachable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
As shown in fig. 1, the robot comprises a host part and a motion module, wherein power supply and communication are performed between the host part and the motion module through pogopin, and different forms and different combination playing methods of the robot are formed by replacing the host part and the motion module; wherein,
the host part completes power supply and instruction sending of the motion module, completes reading and monitoring of the state of the motion module, completes external voice recognition and information receiving, and is connected with external equipment in a wireless connection mode.
The motion module is one or the combination of more than one of double feet, four feet, single wheel, four wheels or an aircraft.
The main machine part and the movement module are further provided with buckle structures, buckle assembly connection is achieved through the main machine part and the movement module, and preliminary assembly is achieved through the buckle structures.
In this embodiment, as shown in fig. 5, the pogopin uses four pairs of pins, including a Pin and a Pin header, which are connected to conduct and complete communication transmission, and the four pairs of pins include a vin power supply port 1, a gnd ground terminal 2, an rx serial communication port 3, and a tx serial communication port 4.
The initiator is a motion module, the motion module sends information to the tx port after being powered on, the host determines the device type and version number of the motion module after receiving the information, then starts corresponding control action, the protocol specifies that the host end needs to update and record the state of the motion module in real time, and after the hot-plug device is pulled out, the host monitors that no data is sent out from the corresponding tx port after a period of time, so that the disconnection of the device is judged, and corresponding operation is performed, as shown in fig. 1.
The method specifically comprises the following steps:
as shown in fig. 3, initialization: the method comprises the steps that the motion module end is used for initiating, initialization information is sent to the host end after the motion module end is powered on, equipment initialization is completed after the host end confirms, and the motion module end needs to periodically send heartbeat information to the host end after the initialization is completed, so that the connection state is maintained;
(II) as shown in FIG. 4, control: the host end initiates to control the motion module end to complete the designated action, and after the motion module end receives the command, the command execution condition needs to be periodically updated;
and (III) monitoring: after the host end is disconnected, data monitoring is carried out on the communication port periodically, so that once the motion module is successfully connected;
(IV) as shown in FIG. 2, request: the host computer sends out the specific state signal of the motion module end, and the motion module end returns the corresponding information after receiving the signal.
The invention has the beneficial effects that: the invention separates the upper part and the lower part, and physically connects the upper part and the lower part together through the buckle structure and the pogopin on the basis of ensuring that each function is independent, thereby having a plurality of playing methods in combination.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that are not thought of through the inventive work should be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope defined by the claims.
Claims (8)
1. The utility model provides a compatible split structure of host computer and motion module which characterized in that: the robot comprises a host part and a movement module, wherein power supply and communication are carried out between the host part and the movement module through pogopin, and different forms and different combination playing methods of the robot are formed by replacing the host part and the movement module; wherein,
the host part completes power supply and instruction sending of the motion module, completes reading and monitoring of the state of the motion module, completes external voice recognition and information receiving, and is connected with external equipment in a wireless connection mode.
2. The compatible split structure of host computer and motion module of claim 1, characterized in that: the motion module is one or the combination of more than one of biped, four-footed, single wheel, four-wheel or aircraft.
3. The compatible split structure of host computer and motion module of claim 1, characterized in that: the host part and the motion module are also provided with buckle structures, and the buckle assembly connection is realized through the host part and the motion module.
4. The compatible split structure of host computer and motion module of claim 1, characterized in that: the pogopin adopts four pairs of pins, including Pin needles and Pin heads, which are butted and conducted and complete communication transmission.
5. The compatible split structure of host computer and motion module of claim 4, characterized in that: the four pairs of pins comprise a vin power supply port, a gnd grounding terminal, rx and tx serial port communication.
6. A control communication method for a host and a motion module is characterized in that: the initiator is a motion module, after the motion module is powered on, the host computer sends information to the tx port, and after receiving the information, the host computer determines the equipment type and the version number of the motion module and then starts corresponding control actions.
7. The control communication method according to claim 6, wherein: the protocol stipulates that the host terminal must update and record the state of the motion module terminal in real time, and after the hot-plug device is pulled out, the host monitors that no data is sent out after a period of time passes through the corresponding tx port, so that the disconnection of the device is judged, and corresponding operation is carried out.
8. The method of controlling communications according to claim 6, comprising the steps of:
initialization: the method comprises the steps that the motion module end is used for initiating, initialization information is sent to the host end after the motion module end is powered on, equipment initialization is completed after the host end confirms, and the motion module end needs to periodically send heartbeat information to the host end after the initialization is completed, so that the connection state is maintained;
(II) controlling: the host end initiates to control the motion module end to complete the designated action, and after the motion module end receives the command, the command execution condition needs to be periodically updated;
and (III) monitoring: after the host end is disconnected, data monitoring is carried out on the communication port periodically, so that once the motion module is successfully connected;
(IV) requesting: the host computer sends out the specific state signal of the motion module end, and the motion module end returns the corresponding information after receiving the signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910386650.7A CN110116397A (en) | 2019-05-09 | 2019-05-09 | A kind of host and the compatible fractionation structure of movement mould group and its control communication means |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910386650.7A CN110116397A (en) | 2019-05-09 | 2019-05-09 | A kind of host and the compatible fractionation structure of movement mould group and its control communication means |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110116397A true CN110116397A (en) | 2019-08-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910386650.7A Pending CN110116397A (en) | 2019-05-09 | 2019-05-09 | A kind of host and the compatible fractionation structure of movement mould group and its control communication means |
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| Country | Link |
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| CN (1) | CN110116397A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021114719A1 (en) * | 2019-12-09 | 2021-06-17 | 珠海格力电器股份有限公司 | Plugging control system and method for demonstrator, and robot |
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| US20170057085A1 (en) * | 2015-08-24 | 2017-03-02 | Daniel Cookson | Robot with hot-swapped end effectors |
| CN207266770U (en) * | 2017-08-28 | 2018-04-24 | 北京今朝勇创科技有限公司 | It is a kind of can DIY the educational robot toy of programming |
| CN207424679U (en) * | 2017-11-13 | 2018-05-29 | 深圳市创客工场科技有限公司 | Main control module and the intellectual product for configuring the main control module |
| CN109149718A (en) * | 2018-09-28 | 2019-01-04 | 北京汉能光伏投资有限公司 | Wireless charging power supply and its control method |
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- 2019-05-09 CN CN201910386650.7A patent/CN110116397A/en active Pending
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| CN207266770U (en) * | 2017-08-28 | 2018-04-24 | 北京今朝勇创科技有限公司 | It is a kind of can DIY the educational robot toy of programming |
| CN207424679U (en) * | 2017-11-13 | 2018-05-29 | 深圳市创客工场科技有限公司 | Main control module and the intellectual product for configuring the main control module |
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| PB01 | Publication | ||
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Application publication date: 20190813 |