CN109067601A - Communication system, method and robot based on robot - Google Patents
Communication system, method and robot based on robot Download PDFInfo
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- CN109067601A CN109067601A CN201811126062.1A CN201811126062A CN109067601A CN 109067601 A CN109067601 A CN 109067601A CN 201811126062 A CN201811126062 A CN 201811126062A CN 109067601 A CN109067601 A CN 109067601A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/06—Management of faults, events, alarms or notifications
- H04L41/0654—Management of faults, events, alarms or notifications using network fault recovery
- H04L41/0663—Performing the actions predefined by failover planning, e.g. switching to standby network elements
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/22—Arrangements for detecting or preventing errors in the information received using redundant apparatus to increase reliability
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40006—Architecture of a communication node
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
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- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
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- Numerical Control (AREA)
Abstract
The present invention provides a kind of communication system based on robot, method and robot, wherein, the system includes: at least one control module at least two mainboards, Ethernet switch, CAN bus and robot, first communication ends of each mainboard are connect with Ethernet switch, and the second communication ends of each mainboard are connect with CAN bus；The communication ends of each control module are connect with CAN bus；To which any mainboard is communicated by Ethernet switch or CAN bus with other mainboards；Any mainboard is communicated by CAN bus with the control module controlled.Provide a kind of dual bus architecture；, still can be with normal communication between mainboard when any one communication mode is abnormal, and then guarantee the work system normal communication of robot and ensure communication safety, it ensure that the normal work of robot；Also, each mainboard controls each control module in robot by CAN bus.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of communication systems based on robot, method and machine
People.
Background technique
With the development of science and technology, artificial intelligence technology is also in continuous development and progress, various artificial intelligence products
It continues to introduce new, the robot of the artificial intelligence of respective various kinds more and more enters daily study, work, the life of people
In.
In the prior art, a mainboard can be set in robot, mainboard is connect with the control module in robot, mainboard with
Control module carries out Signalling exchange, and then controls the normal work of robot.
However in the prior art, when the connection of the control module in mainboard and robot occurs abnormal, mainboard just can not
Control module into robot sends instruction, to influence the normal work of robot, and then how to guarantee robot
Work system normal communication is a urgent problem needed to be solved.
Summary of the invention
The present invention provides a kind of communication system based on robot, method and robot, how to guarantee machine to solve
The problem of work system normal communication of people.
The first aspect of the present invention is to provide a kind of communication system based on robot, comprising:
In at least two mainboards, Ethernet switch, controller local area network's CAN bus and the robot at least
One control module；
First communication ends of each mainboard are connect with the Ethernet switch, the second communication ends of each mainboard with
The CAN bus connection；The communication ends of each control module are connect with the CAN bus；
Any mainboard is communicated by the Ethernet switch or the CAN bus with other mainboards；Any mainboard
By the CAN bus, communicated with the control module controlled.
Further, if the function of the Ethernet switch is normal, any mainboard by the Ethernet switch with
Other mainboards are communicated；
If the dysfunction of the Ethernet switch, any mainboard is led to by the CAN bus and other mainboards
Letter.
Further, any mainboard sends the first control command to other mainboards by the CAN bus；And pass through
The Ethernet switch sends transmission data to other mainboards.
Further, any mainboard is used for:
According to the transmission property of itself data to be transmitted, the Ethernet switch or the CAN bus are selected, it will be to be passed
Transmission of data is sent to other mainboards.
Further, the transmission property includes data volume；
Any mainboard is used for: when the data volume for determining the data to be transmitted is greater than or equal to preset data amount threshold value,
The data to be transmitted is sent to other mainboards by the Ethernet switch；In the data for determining the data to be transmitted
When amount is less than the preset data amount threshold value, the data to be transmitted is sent to by other mainboards by the CAN bus.
Further, the transmission property includes propagation delay time；
Any mainboard is used for: when the propagation delay time for determining the data to be transmitted is less than default delay threshold, passing through institute
It states CAN bus and the data to be transmitted is sent to other mainboards；It is greater than or equal in the time delay of the data to be transmitted described
When default delay threshold, the data to be transmitted is sent to by other mainboards by the Ethernet switch.
Further, any mainboard, for passing through the CAN in the ethernet communication exception for detecting other mainboards
Bus sends the second control command to the mainboard of ethernet communication exception, carries out exception to control the mainboard of ethernet communication exception
Processing.
Further, the number of control module is N number of, and N number of control module is divided into M group, and N is the positive integer greater than 1,
M is the positive integer greater than 1；
It belongs to same group of control module to be connected in same root CAN bus, belongs to different groups of control module and connect
It is connected in different CAN bus.
The second aspect of the present invention is to provide a kind of communication means based on robot, comprising:
Mainboard is communicated by Ethernet switch or controller local area network's CAN bus with other mainboards；
Mainboard is communicated by the CAN bus with the control module controlled；
Wherein, the first communication ends of each mainboard are connect with Ethernet switch, and the of each mainboard
Two communication ends are connect with CAN bus；The communication ends of each of robot control module are connect with the CAN bus.
Further, the mainboard is led to by the Ethernet switch or the CAN bus with other mainboards
Letter, comprising:
If the function of the Ethernet switch is normal, the mainboard passes through the Ethernet switch and other mainboards
It is communicated；
If the dysfunction of the Ethernet switch, the mainboard by institute 56 state CAN bus and other mainboards into
Row communication.
Further, the mainboard is led to by the Ethernet switch or the CAN bus with other mainboards
Letter, comprising:
The mainboard sends the first control command to other mainboards by the CAN bus；
The mainboard sends transmission data to other mainboards by the Ethernet switch.
Further, the mainboard is led to by the Ethernet switch or the CAN bus with other mainboards
Letter, comprising:
The mainboard selects the Ethernet switch or the CAN total according to the transmission property of itself data to be transmitted
Data to be transmitted is sent to other mainboards by line.
Further, the transmission property includes data volume；
The mainboard selects the Ethernet switch or the CAN total according to the transmission property of itself data to be transmitted
Data to be transmitted is sent to other mainboards by line, comprising:
The mainboard passes through institute when the data volume for determining the data to be transmitted is greater than or equal to preset data amount threshold value
It states Ethernet switch and the data to be transmitted is sent to other mainboards；It is less than in the data volume for determining the data to be transmitted
When the preset data amount threshold value, the data to be transmitted is sent to by other mainboards by the CAN bus.
Further, the transmission property includes propagation delay time；
The mainboard selects the Ethernet switch or the CAN total according to the transmission property of itself data to be transmitted
Data to be transmitted is sent to other mainboards by line, comprising:
The mainboard passes through the CAN when the propagation delay time for determining the data to be transmitted is less than default delay threshold
The data to be transmitted is sent to other mainboards by bus；When the time delay of the data to be transmitted is greater than or equal to described default
When prolonging threshold value, the data to be transmitted is sent to by other mainboards by the Ethernet switch.
Further, the method, further includes:
The mainboard is in the ethernet communication exception for detecting other mainboards, by the CAN bus to ether Netcom
The abnormal mainboard of letter sends the second control command, carries out abnormality processing to control the mainboard of ethernet communication exception.
Further, the number of control module is N number of, and N number of control module is divided into M group, and N is the positive integer greater than 1,
M is the positive integer greater than 1；
It belongs to same group of control module to be connected in same root CAN bus, belongs to different groups of control module and connect
It is connected in different CAN bus.
The third aspect of the application is to provide a kind of robot, and base described in any of the above embodiments is provided in the robot
In the communication system of robot.
The solution have the advantages that: it provides by least two mainboards, Ethernet switch, CAN bus and robot
In at least one control module constitute the communication system based on robot；The first communication ends and Ethernet of each mainboard
Interchanger connection, the second communication ends of each mainboard are connect with CAN bus；The communication ends of each control module and CAN are total
Line connection；To which any mainboard is communicated by Ethernet switch or CAN bus with other mainboards；Any mainboard passes through
CAN bus is communicated with the control module controlled.Due to that can be led to by Ethernet switch between each mainboard
Letter connection, can also be communicatively coupled, so that this application provides a kind of dual bus architectures by CAN bus；Between mainboard
Communication can choose Ethernet switch or CAN bus, thus when any one communication mode is abnormal, mainboard it
Between still can be with normal communication, and then guarantee the work system normal communication of robot and ensure communication safety, ensure that machine
The normal work of device people；Also, each mainboard controls each control module in robot by CAN bus, so that
Robot can execute each controlling behavior of mainboard sending.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the communication system based on robot provided in an embodiment of the present invention；
Fig. 2 is the structural schematic diagram one of another communication system based on robot provided in an embodiment of the present invention；
Fig. 3 is the structural schematic diagram two of another communication system based on robot provided in an embodiment of the present invention；
Fig. 4 is a kind of flow diagram of the communication means based on robot provided by the embodiments of the present application；
Fig. 5 is the flow diagram of another communication means based on robot provided by the embodiments of the present application.
Detailed description of the invention:
| 11- mainboard | 12- Ethernet switch | 13-CAN bus |
| 14- control module | 15-CAN bus switch |
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all implementations consistent with this disclosure.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects be described in detail in claims, the disclosure.
Communication system based on robot, method and robot provided by the invention, it is intended to solve the as above of the prior art
Technical problem.
How to be solved with technical solution of the specifically embodiment to technical solution of the present invention and the application below above-mentioned
Technical problem is described in detail.These specific embodiments can be combined with each other below, for the same or similar concept
Or process may repeat no more in certain embodiments.Below in conjunction with attached drawing, the embodiment of the present invention is described.
Fig. 1 is a kind of structural schematic diagram of the communication system based on robot provided in an embodiment of the present invention, such as Fig. 1 institute
Show, the system of the present embodiment may include:
At least two mainboards 11, Ethernet switch 12, controller local area network (Controller Area Network,
Abbreviation CAN) at least one control module 14 in bus 13 and robot；
First communication ends of each mainboard 11 are connect with Ethernet switch 12, the second communication ends of each mainboard 11
It is connect with CAN bus 13；The communication ends of each control module 14 are connect with CAN bus 13；
Any mainboard 11 is communicated by Ethernet switch 12 or CAN bus 13 with other mainboards 11；Any mainboard
11, by CAN bus 13, are communicated with the control module 14 controlled.
In the present embodiment, specifically, the communication system provided in this embodiment based on robot can be set in machine
In people.
Communication system based on robot include at least one mainboard 11, Ethernet switch 12, CAN bus 13 and
At least one control module 14 in robot.First communication ends of each mainboard 11 are connected with Ethernet switch 12
It connects, specifically, the first communication ends of each mainboard 11 are connect by a communication interface with Ethernet switch 12, thus
It can be communicatively coupled by Ethernet switch 12 between mainboard 11.By the second communication ends and CAN of each mainboard 11
Bus 13 connects, and specifically, the second communication ends of each mainboard 11 are connect by a communication interface with CAN bus 13,
To be communicatively coupled by CAN bus 13 between mainboard 11.
Due to that can be communicatively coupled by Ethernet switch 12 between each mainboard 11, also, each mainboard 11
Between can be communicatively coupled by CAN bus 13, so that this application provides a kind of dual bus architectures；Any one mainboard
11 can be communicated by Ethernet switch 12 with other mainboards 11, any one mainboard 11 can also pass through CAN bus
13 are communicated with other mainboards 11.
The communication ends of each control module 14 of robot are connect with CAN bus 13, also, each mainboard 11 with
CAN bus 13 connects, so that each mainboard 11 can send control instruction to each control module 14 by CAN bus 13,
In, control module 14 is the structure and equipment of robot itself, for example, control module 14 can be the motor control of robot
Device, motor, data collector, ultrasonic sensor, infrared sensor, light and voice controller, loudspeaker and lamp etc..
Specifically, different mainboards 11 can control different control modules 14, for example, a mainboard 11 controls one or more controls
Module 14, alternatively, multiple mainboards 11 control one or more control modules 14.
For example, mainboard A, mainboard B, mainboard C are provided；Mainboard A is responsible for vision calculating, and mainboard A passes through CAN bus 13
Two horizontal stage electric machines of robot are connected, mainboard A is sent to horizontal stage electric machine by CAN bus 13 and instructed, and then controls robot
Face or human body is followed to be rotated in real time；Mainboard B is responsible for mobile control, and mainboard B connects robot by CAN bus 13
Two hub motors and sensor, wherein sensor for example has ultrasonic sensor, the obstacle avoidance modules such as infrared sensor；Mainboard B
It by the collected signal of 13 receiving sensor of CAN bus, and sends and instructs to hub motor, and then before control robot
Into, turning, rotation etc. movement；Mainboard C is responsible for the master control of the whole system of robot, and mainboard C passes through CAN bus 13 to robot
Main control device send instruction.
Again for example, provide mainboard A, mainboard B, mainboard C, mainboard A, mainboard B, between mainboard C by Ethernet into
Row communication: when mainboard A determines someone in front of robot by the camera in robot, mainboard A is total by CAN
Line 13 sends to the horizontal stage electric machine of robot and instructs, and then controls horizontal stage electric machine by CAN bus 13 and start to be followed by people's rotation,
Meanwhile corresponding information is transferred to mainboard C by Ethernet by mainboard A；After mainboard C receives information, mainboard C follows robot
Current operation mode, it is determined whether notice mainboard B is mobile to control robot: mainboard C is not if it is determined that currently allow to move, example
As that cannot move when robot is charged, but horizontal stage electric machine can move, then mainboard C is without appointing
Where reason；Mainboard C such as determination currently allows to move, then mainboard C sends information to mainboard B by Ethernet switch 12, so that
Mainboard B determines whether that robot sends instruction, to control robot starts that people is followed to move together: and then mainboard B is received
After the information that mainboard C is sent, mainboard B acquires robot ambient sensors data by CAN bus 13, decides whether to turn
It is dynamic, such as acquisition ultrasound data, determine that mobile direction is accessible or obstacle distance farther out；Mainboard B is if it is determined that current
Do not allow to move, such as there is barrier is then determining not allow to move around robot, then mainboard B abandons this information, and mainboard B is logical
Cross the message that Ethernet switch 12 sends " current working does not allow to move " to mainboard V；Mainboard B is if it is determined that can currently move
Dynamic, mainboard B is sent to the hub motor of robot by CAN bus 13 and is instructed, and then is controlled hub motor and started turning, so that
Robot starts to move.
Again for example, mainboard A, mainboard B, mainboard C are provided；When mainboard A is determined in face of robot by CAN bus 13
When not having user, mainboard A judges whether the horizontal stage electric machine of robot is in rotary state, if mainboard A judges robot
Horizontal stage electric machine is in rotary state, then mainboard A sends halt instruction to horizontal stage electric machine by CAN bus 13, to control holder electricity
Machine stops operating；Then, mainboard A is sent a notification message by Ethernet switch 12 to mainboard C, and notification message characterizes robot
It without user and has controlled horizontal stage electric machine in front and has stopped operating；Then mainboard C decides whether to lead to according to the complete machine state of robot
Know mainboard B；When mainboard C determination needs to notify mainboard B, mainboard C is sent to mainboard B by Ethernet switch 12 and is instructed,
Then mainboard B sends control instruction to the hub motor of robot by CAN bus 13, and then controls hub motor and stop fortune
It is dynamic.
The present embodiment passes through, and provides by least two mainboards 11, Ethernet switch 12, CAN bus 13 and robot
In at least one control module 14 constitute the communication system based on robot；First communication ends of each mainboard 11 with
Too network switch 12 connects, and the second communication ends of each mainboard 11 are connect with CAN bus 13；Each control module 14 is led to
Letter end is connect with CAN bus 14；To which any mainboard 11 is by Ethernet switch 12 or CAN bus 13, with other mainboards 11
It is communicated；Any mainboard 11 is communicated by CAN bus 13 with the control module 14 controlled.Due to each mainboard 11
Between can be communicatively coupled by Ethernet switch 12, also, between each mainboard 11 can by CAN bus 13 into
Row communication connection, so that this application provides a kind of dual bus architectures；Communication between mainboard 11 can choose Ethernet exchanging
Machine 12 or CAN bus 13, thus when any one communication mode is abnormal, it still can positive normal open between mainboard 11
Letter, and then guarantee the work system normal communication of robot and ensure communication safety, it ensure that the normal work of robot；And
And each mainboard 11 controls each control module 14 in robot by CAN bus 13, and robot is held
Each controlling behavior that row mainboard 11 issues.
Fig. 2 is the structural schematic diagram one of another communication system based on robot provided in an embodiment of the present invention, in Fig. 1
On the basis of illustrated embodiment, as shown in Fig. 2, in the system of the present embodiment, it is any if the function of Ethernet switch 12 is normal
Mainboard 11 is communicated by Ethernet switch 12 with other mainboards 11；If the dysfunction of Ethernet switch 12, any
Mainboard 11 is communicated by CAN bus 13 with other mainboards 11.
In another embodiment, any mainboard 11 sends the first control to other mainboards 11 by CAN bus 13 and orders
It enables；And transmission data are sent to other mainboards 11 by Ethernet switch 12.Height is transmitted by CAN bus i.e. between mainboard
The control command of requirement of real-time transmits low real-time by Ethernet between mainboard to guarantee the real-time reception and registration of control command
It is required that data, to realize the transmission of complicated big data.
In a further embodiment, any mainboard 11 is used for: according to the transmission property of itself data to be transmitted, selecting ether
Data to be transmitted is sent to other mainboards 11 by network switch 12 or CAN bus 13.
As a specific implementation manner, total by CAN by the data that Ethernet transmitted data amount is big between mainboard
The small data of line transmitted data amount, to meet the transmission of different data.It is specific as follows:
Transmission property includes data volume；Then any mainboard 11 is used for: being greater than or is waited in the data volume for determining data to be transmitted
When preset data amount threshold value, data to be transmitted is sent to by other mainboards 11 by Ethernet switch 12；It is to be passed determining
When the data volume of transmission of data is less than preset data amount threshold value, data to be transmitted is sent to by other mainboards 11 by CAN bus 13.
As another concrete implementation mode, the not high data of requirement of real-time are transmitted by Ethernet between mainboard,
The high data of requirement of real-time are transmitted by CAN bus, to meet the transmission of different delay data.It is specific as follows:
Transmission property includes propagation delay time；Then any mainboard 11 is used for: being less than in the propagation delay time for determining data to be transmitted
When default delay threshold, data to be transmitted is sent to by other mainboards 11 by CAN bus 13；It is big in the time delay of data to be transmitted
When default delay threshold, data to be transmitted is sent to by other mainboards 11 by Ethernet switch 12.
In a further embodiment, any mainboard 11, in the ethernet communication exception for detecting other mainboards 11,
The second control command is sent to the mainboard 11 of ethernet communication exception by CAN bus 13, to control ethernet communication exception
Mainboard 11 carries out abnormality processing.
In the present embodiment, specifically, being provided with mainboard controller and thousand in mainboard 11 for each mainboard 11
Broadcom, mainboard controller are connect with Gigabit Ethernet, and Gigabit Ethernet is connect with Ethernet switch 12, so that mainboard 11 passes through thousand
Broadcom is connect with Ethernet switch 12, i.e., mainboard 11 is communicated by Gigabit Ethernet with Ethernet switch 12.
Signal intelligence between mainboard 11 is divided into following several:
The first signal intelligence between mainboard 11: when the function of Ethernet switch 12 and CAN bus 13 is normal,
It can be communicated by Ethernet switch 12 between each mainboard 11, mainboard 11 passes through CAN bus 13 and control module 14
Between communication, the two selects different communication modes, and is not affected mutually；In the dysfunction of Ethernet switch 12
When, it can choose between each mainboard 11 and communicated by CAN bus 13.To this dual bus architecture, it is ensured that base
It can be with normal communication between mainboard 11 in the communication system of robot.
Second of signal intelligence between mainboard 11: it is normal in the function of Ethernet switch 12, and CAN bus 13
When normally functioning, communication can select different communication modes according to the difference of communication data between mainboard 11；For example,
When needing interactive controlling order between mainboard 11, mainboard 11 can send the to other mainboards 11 by CAN bus 13
One control command；For another example, when needing interaction data between mainboard 11, mainboard 11 can by Ethernet switch 12 to
Other mainboards 11 send transmission data.
The third signal intelligence between mainboard 11: when communication between mainboard 11, each mainboard 11 can
To select Ethernet switch 12 or CAN bus 13, data to be transmitted be sent to it according to the transmission property of data to be transmitted
His mainboard 11.Specifically, since Ethernet is suitable for transmitting big data, to be made between mainboard 11 by Ethernet switch 12
For big data interaction channel, i.e., the friendship of the biggish data of data volume can be carried out between mainboard 11 by Ethernet switch 12
Mutually；Since CAN bus 13 is suitable for transmitting real-time control order, thus when can be carried out by CAN bus 13 between mainboard 11
Prolong the interaction of the smaller higher data of real-time.
In the third above-mentioned signal intelligence, specifically, for each mainboard 11, mainboard 11 be may determine that certainly
Whether the data volume of the data to be transmitted of body is more than or equal to preset data amount threshold value；Mainboard 11 if it is determined that data to be transmitted data
Amount is more than or equal to preset data amount threshold value, then the data volume of data to be transmitted is sent to Ethernet switch 12 by mainboard 11, by
The data volume of data to be transmitted is sent to other mainboards 11 by Ethernet switch 12；Mainboard 11 if it is determined that data to be transmitted number
It is less than preset data amount threshold value according to amount, then the data volume of data to be transmitted is sent to CAN bus 13 by mainboard 11, by CAN bus
The data volume of data to be transmitted is sent to other mainboards 11 by 13.To which communication system can be wanted according to the size of data volume
It asks, selects different transmission modes.
In the third above-mentioned signal intelligence, specifically, for each mainboard 11, mainboard 11 be may determine that certainly
Whether the time delay of the data to be transmitted of body is less than default delay threshold；Mainboard 11 if it is determined that the time delay of data to be transmitted be less than it is default
Delay threshold, then the data volume of data to be transmitted is sent to CAN bus 13 by mainboard 11, by CAN bus 13 by data to be transmitted
Data volume be sent to other mainboards 11；Mainboard 11 is if it is determined that the time delay of data to be transmitted is more than or equal to default delay threshold, then
The data volume of data to be transmitted is sent to Ethernet switch 12 by mainboard 11, by Ethernet switch 12 by data to be transmitted
Data volume is sent to other mainboards 11.To which communication system can select different transmission according to the requirement of the time delay of data volume
Mode.
Also, data transmission channel of the CAN bus 13 as mainboard 11 and each control module 14, each control module 14
Data interaction can be completed by CAN bus 13.
For each mainboard 11, mainboard 11 can detect other by Ethernet switch 12 or CAN bus 13
Whether the communication function of mainboard 11 is abnormal, for example, mainboard 11 passes through Ethernet switch 12 or CAN bus 13 to other mainboards 11
Data are sent, if mainboard 11 receives the reception of other mainboards 11 transmission not over Ethernet switch 12 or CAN bus 13
Confirmation message, then mainboard 11 determines that the communication function of other mainboards 11 is abnormal, if mainboard 11 passes through Ethernet switch 12 or CAN
Bus 13 receives the reception confirmation message of other mainboards 11 transmission, then mainboard 11 is determining the communication function of other mainboards 11 just
Often.In the communication function exception for detecting other mainboards 11, mainboard 11 can be led to by CAN bus 13 to other mainboard 11
Plate 11 sends the second control command, goes to control other mainboards 11 progress abnormality processing.For example, mainboard 11 is detecting other
When the ethernet communication module error of mainboard 11, mainboard 11 sends control command to other mainboards 11 by CAN bus 13, so that
The ethernet communication module of other mainboards 11 is restarted or independently repaired to other mainboards 11, logical so as to maximum guarantee system
News safety, ethernet communication module here can be the Gigabit Ethernet of mainboard 11.
Based on any of the above-described embodiment, further, multiple groups can be divided by function between control module, same group
Control module is connected to same root CAN bus, and difference group control module is connected in different CAN bus, realizes CAN bus point
Group function, the case where so as to reduce data contention in CAN bus, wherein certain group CAN bus when something goes wrong, will not shadow
It rings and arrives other buses.Each group CAN bus has finally been all connected on CAN bus HUB (such as interchanger), and HUB is responsible for CAN bus group
Between forwarding.It is specific:
The number of control module 14 be it is N number of, N number of control module 14 is divided into M group, and N is the positive integer greater than 1, and M is big
In 1 positive integer；It belongs to same group of control module 14 to be connected in same root CAN bus 13, belongs to different groups of control
Molding block 14 is connected in different CAN bus 13.
Fig. 3 is the structural schematic diagram two of another communication system based on robot provided in an embodiment of the present invention, such as Fig. 3
It is shown, each CAN bus 13 is attached with CAN bus interchanger 15 respectively.It is each to obtain multiple groups CAN bus group
At least one control module 14 is connected in CAN bus 13 in a CAN bus group, the CAN bus in each CAN bus group
The control module 14 connected on 13 is used to control a kind of function of robot.Mainboard 11 can be by CAN bus 13 to one group of control
Molding block 14 sends control instruction.It is this that multiple control modules 14 are connected to the mode in same root CAN bus 13, it can subtract
The competition of data in few CAN bus 13.
For example, one group of control module 14 in M group control module 14 includes electric machine controller and motor, motor control
Device and motor processed are connected in same root CAN bus 13；A mainboard 11, Ke Yixiang in communication system based on robot
CAN bus interchanger 15 sends motor control instruction, is referred to from CAN bus interchanger 15 to electric machine controller forwarding motor control
It enables, electric machine controller controls motor according to motor control instruction.For example, motor is opened in motor control instruction instruction, then
Electric machine controller controls motor according to electric machine controller and opens；Alternatively, motor, then motor control are closed in motor control instruction instruction
Device controls motor according to electric machine controller and closes.
Again for example, one group of control module 14 in M group control module 14 includes data collector, at least one is super
Sonic sensor and at least one infrared sensor；By data collector, each ultrasonic sensor and each infrared sensor
It is connected in same root CAN bus 13；A mainboard 11 in communication system based on robot, can exchange to CAN bus
Machine 15 sends data acquisition instructions, forwards data acquisition instructions, data collector from CAN bus interchanger 15 to data collector
Ultrasonic sensor and infrared sensor are controlled according to data acquisition instructions.For example, data acquisition instructions instruction ultrasound
Wave sensor acquires image, and indicates that infrared sensor acquires data, then ultrasonic sensor acquires ultrasound data, infrared biography
Sensor acquires environmental information data, and then data collector gets ultrasound data and environmental information data.
Again for example, one group of control module 14 in M group control module 14 includes light and voice controller, at least
One loudspeaker and at least one lamp；Light and voice controller, each loudspeaker and each lamp are connected to same root CAN bus
On 13；A mainboard 11 in communication system based on robot can send control instruction to CAN bus interchanger 15, by
CAN bus interchanger 15 forwards control instruction to light and voice controller, and then light and voice controller control loudspeaker
And lamp.For example, control instruction instruction opens or closes loudspeaker, then light and voice controller open or close loudspeaker；Control
System instruction instruction opens or closes lamp, then light and voice controller open or close lamp.
The present embodiment passes through, and provides by least two mainboards 11, Ethernet switch 12, CAN bus 13 and robot
In at least one control module 14 constitute the communication system based on robot；First communication ends of each mainboard 11 with
Too network switch 12 connects, and the second communication ends of each mainboard 11 are connect with CAN bus 13；Each control module 14 is led to
Letter end is connect with CAN bus 14；To which any mainboard 11 is by Ethernet switch 12 or CAN bus 13, with other mainboards 11
It is communicated；Any mainboard 11 is communicated by CAN bus 13 with the control module 14 controlled.Due to each mainboard 11
Between can be communicatively coupled by Ethernet switch 12, also, between each mainboard 11 can by CAN bus 13 into
Row communication connection, so that this application provides a kind of dual bus architectures；When the function of Ethernet switch 12 is normal, Ge Gezhu
It can be communicated by Ethernet switch 12 between plate 11, in the dysfunction of Ethernet switch 12, each mainboard
It can be communicated by CAN bus 13 between 11, it is ensured that can be between mainboard 11 in the communication system based on robot
Normal communication guarantees the normal communication of system.Also, each mainboard 11 is by CAN bus 13 to each control in robot
Module 14 is controlled, and is allowed robot to execute each controlling behavior of the sending of mainboard 11, can will be used to control machine
A kind of control module 14 of function of people is divided into one group, and the control module 14 for belonging to same group is connected to same root CAN
In bus 13, it is possible to reduce the competition of data in CAN bus 13.
Fig. 4 is a kind of flow diagram of the communication means based on robot provided by the embodiments of the present application.Such as Fig. 4 institute
Show, this method comprises:
Step 101, mainboard are communicated by Ethernet switch or CAN bus with other mainboards.
Step 102, mainboard are communicated by CAN bus with the control module controlled；Wherein, each mainboard
First communication ends are connect with Ethernet switch, and the second communication ends of each mainboard are connect with CAN bus；It is every in robot
The communication ends of one control module are connect with CAN bus.
The communication means based on robot of the present embodiment can be found in provided by the above embodiment a kind of based on robot
Communication system, realization principle is similar, and details are not described herein again.
The present embodiment passes through, provide by least two mainboards, Ethernet switch, CAN bus and robot extremely
The communication system based on robot that a few control module is constituted；The first communication ends and Ethernet switch of each mainboard
Connection, the second communication ends of each mainboard are connect with CAN bus；The communication ends of each control module are connect with CAN bus；
To which any mainboard is communicated by Ethernet switch or CAN bus with other mainboards；Any mainboard is total by CAN
Line is communicated with the control module controlled.Since between each mainboard communication link can be carried out by Ethernet switch
It connects, also, can be communicatively coupled by CAN bus between each mainboard, so that this application provides a kind of dual bus framves
Structure；Communication between mainboard can choose Ethernet switch or CAN bus, thus what any one communication mode was abnormal
When, it still can be with normal communication between mainboard, and then guarantee the work system normal communication of robot and guarantee communication peace
Entirely, it ensure that the normal work of robot；Also, each mainboard by CAN bus to each control module in robot into
Row control, allows robot to execute each controlling behavior of mainboard sending.
Fig. 5 is the flow diagram of another communication means based on robot provided by the embodiments of the present application.Such as Fig. 5 institute
Show, this method comprises:
Step 201, mainboard are communicated by Ethernet switch or CAN bus with other mainboards.
Wherein, step 201 includes following several embodiments:
The first embodiment of step 201: if the function of Ethernet switch is normal, mainboard passes through Ethernet exchanging
Machine is communicated with other mainboards；If the dysfunction of Ethernet switch, mainboard is carried out by CAN bus and other mainboards
Communication.
Second of embodiment of step 201: mainboard sends the first control command to other mainboards by CAN bus；It is main
Plate sends transmission data to other mainboards by Ethernet switch.
The third embodiment of step 201: mainboard selects Ethernet to hand over according to the transmission property of itself data to be transmitted
It changes planes or CAN bus, data to be transmitted is sent to other mainboards.
Wherein, in the third embodiment of step 201, transmission property includes data volume；Then mainboard determine it is to be transmitted
When the data volume of data is greater than or equal to preset data amount threshold value, data to be transmitted is sent to by other by Ethernet switch
Mainboard；When the data volume for determining data to be transmitted is less than preset data amount threshold value, data to be transmitted is sent by CAN bus
Give other mainboards.
In the third embodiment of step 201, transmission property includes propagation delay time；Then mainboard is determining data to be transmitted
Propagation delay time when being less than default delay threshold, data to be transmitted is sent to by other mainboards by CAN bus；In number to be transmitted
According to time delay be greater than or equal to default delay threshold when, data to be transmitted is sent to by other mainboards by Ethernet switch.
Step 202, mainboard are communicated by CAN bus with the control module controlled；Wherein, each mainboard
First communication ends are connect with Ethernet switch, and the second communication ends of each mainboard are connect with CAN bus；It is every in robot
The communication ends of one control module are connect with CAN bus.
Step 203, mainboard are in the ethernet communication exception for detecting other mainboards, by CAN bus to ether Netcom
The abnormal mainboard of letter sends the second control command, carries out abnormality processing to control the mainboard of ethernet communication exception.
Optionally, the number of control module is N number of, and N number of control module is divided into M group, and N is the positive integer greater than 1, M
For the positive integer greater than 1；It belongs to same group of control module to be connected in same root CAN bus, belongs to different groups of control
Molding block is connected in different CAN bus.
The communication means based on robot of the present embodiment can be found in provided by the above embodiment another based on robot
Communication system, realization principle is similar, and details are not described herein again.
The present embodiment passes through, provide by least two mainboards, Ethernet switch, CAN bus and robot extremely
The communication system based on robot that a few control module is constituted；The first communication ends and Ethernet switch of each mainboard
Connection, the second communication ends of each mainboard are connect with CAN bus；The communication ends of each control module are connect with CAN bus；
To which any mainboard is communicated by Ethernet switch or CAN bus with other mainboards；Any mainboard is total by CAN
Line is communicated with the control module controlled.Since between each mainboard communication link can be carried out by Ethernet switch
It connects, also, can be communicatively coupled by CAN bus between each mainboard, so that this application provides a kind of dual bus framves
Structure；When the function of Ethernet switch is normal, can be communicated by Ethernet switch between each mainboard, in ether
When the dysfunction of network switch, it can be communicated by CAN bus between each mainboard, it is ensured that based on robot
It can guarantee the normal communication of system between mainboard in communication system with normal communication.Also, each mainboard passes through CAN bus pair
Each control module in robot is controlled, and robot is allowed to execute each controlling behavior of mainboard sending, can be with
The control module for being used to control a kind of function of robot is divided into one group, the control module for belonging to same group is connected to
In same root CAN bus, it is possible to reduce the competition of data in CAN bus.
A kind of robot provided by the embodiments of the present application, be provided with Fig. 1 or Fig. 2 in robot or Fig. 3 is provided based on
The communication system of robot.
In the present embodiment, specifically, the communication system based on robot is provided in robot, it is logical based on robot
The structure and principle of letter system may refer to the above-mentioned communication system based on robot.
The present embodiment passes through, and the communication system based on robot, the communication system based on robot are arranged in robot
Including providing at least one control module at least two mainboards, Ethernet switch, CAN bus and robot；It is each
First communication ends of a mainboard are connect with Ethernet switch, and the second communication ends of each mainboard are connect with CAN bus；It is each
The communication ends of a control module are connect with CAN bus；To which any mainboard is by Ethernet switch or CAN bus, with other
Mainboard is communicated；Any mainboard is communicated by CAN bus with the control module controlled.Due between each mainboard
It can be communicatively coupled by Ethernet switch, also, communication link can be carried out by CAN bus between each mainboard
It connects, so that this application provides a kind of dual bus architectures；Communication between mainboard can choose Ethernet switch or CAN is total
Line, thus when any one communication mode is abnormal, it still can be with normal communication between mainboard, and then guarantee robot
Work system normal communication and ensure communication safety, ensure that the normal work of robot；Also, each mainboard passes through
CAN bus controls each control module in robot, and robot is allowed to execute each control of mainboard sending
Behavior.
Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to its of the disclosure
Its embodiment.The present invention is directed to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes or
Person's adaptive change follows the general principles of this disclosure and including the undocumented common knowledge in the art of the disclosure
Or conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the disclosure are by following
Claims are pointed out.
It should be understood that the present disclosure is not limited to the precise structures that have been described above and shown in the drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present disclosure is only limited by appended claims
System.
Claims (10)
1. a kind of communication system based on robot characterized by comprising
At least one of at least two mainboards, Ethernet switch, controller local area network's CAN bus and described robot
Control module；
First communication ends of each mainboard are connect with the Ethernet switch, the second communication ends of each mainboard with it is described
CAN bus connection；The communication ends of each control module are connect with the CAN bus；
Any mainboard is communicated by the Ethernet switch or the CAN bus with other mainboards；Any mainboard passes through
The CAN bus is communicated with the control module controlled.
2. system according to claim 1, which is characterized in that
If the function of the Ethernet switch is normal, any mainboard is led to by the Ethernet switch and other mainboards
Letter；
If the dysfunction of the Ethernet switch, any mainboard is communicated by the CAN bus with other mainboards.
3. system according to claim 1, which is characterized in that any mainboard is sent out by the CAN bus to other mainboards
Send the first control command；And transmission data are sent to other mainboards by the Ethernet switch.
4. system according to claim 1, which is characterized in that any mainboard is used for:
According to the transmission property of itself data to be transmitted, the Ethernet switch or the CAN bus are selected, by number to be transmitted
According to being sent to other mainboards.
5. system according to claim 4, which is characterized in that the transmission property includes data volume；
Any mainboard is used for: when the data volume for determining the data to be transmitted is greater than or equal to preset data amount threshold value, being passed through
The data to be transmitted is sent to other mainboards by the Ethernet switch；It is small in the data volume for determining the data to be transmitted
When the preset data amount threshold value, the data to be transmitted is sent to by other mainboards by the CAN bus.
6. system according to claim 4, which is characterized in that the transmission property includes propagation delay time；
Any mainboard is used for: when the propagation delay time for determining the data to be transmitted is less than default delay threshold, passing through the CAN
The data to be transmitted is sent to other mainboards by bus；When the time delay of the data to be transmitted is greater than or equal to described default
When prolonging threshold value, the data to be transmitted is sent to by other mainboards by the Ethernet switch.
7. system according to claim 1, which is characterized in that any mainboard, in the ether for detecting other mainboards
When Network Communication exception, the second control command is sent to the mainboard of ethernet communication exception by the CAN bus, to control ether
The mainboard of Network Communication exception carries out abnormality processing.
8. system according to claim 1-7, which is characterized in that the number of control module is N number of, N number of control
Module is divided into M group, and N is the positive integer greater than 1, and M is the positive integer greater than 1；
It belongs to same group of control module to be connected in same root CAN bus, belongs to different groups of control module and be connected to
In different CAN bus.
9. a kind of communication means based on robot characterized by comprising
Mainboard is communicated by Ethernet switch or controller local area network's CAN bus with other mainboards；
Mainboard is communicated by the CAN bus with the control module controlled；
Wherein, the first communication ends of each mainboard are connect with Ethernet switch, the second of each mainboard is logical
Letter end is connect with CAN bus；The communication ends of each of robot control module are connect with the CAN bus.
10. a kind of robot, which is characterized in that it is described in any item based on machine to be provided with claim 1-8 in the robot
The communication system of device people.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811126062.1A CN109067601A (en) | 2018-09-26 | 2018-09-26 | Communication system, method and robot based on robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811126062.1A CN109067601A (en) | 2018-09-26 | 2018-09-26 | Communication system, method and robot based on robot |
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| CN109067601A true CN109067601A (en) | 2018-12-21 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115712257A (en) * | 2022-10-31 | 2023-02-24 | 三一电动车科技有限公司 | Central domain controller control method and device, electronic equipment and vehicle |
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Application publication date: 20181221 |