Robotic system with haptic perception

Abstract

The invention discloses a robot system with tactile perception, and belongs to the technical field of tactile robots. The problem that an existing robot is poor in environment pressure sensing capacity is solved. Comprising a head module, an integrated vision-inertial navigation sensing module and a head controller, two side surfaces are provided with a pair of rotatable connecting ends, and the outer surface is provided with a tactile sensor; the head controller transmits data to the upper computer through the communication module; the driving body module comprises a plurality of modularized joints which are connected end to end, touch sensors are arranged on the two side faces of each modularized joint, and the adjacent modularized joints are orthogonally connected; the modularized joint is integrated with a joint controller and a joint steering engine; the tail module integrates a tail controller and a tail steering engine, and tactile sensors are arranged on the two side faces of the tail module. The tail controller carries out data transmission with the head controller through the adjacent previous joint controller in sequence, and the head controller receives a control instruction of the upper computer and carries out data transmission with all other controllers. According to the invention, the environmental pressure can be sensed in all directions.

Description

Technical Field

[0001] This invention relates to a robot system with tactile perception, belonging to the field of tactile robot technology. Background Technology

[0002] Wheelless snake-like robots possess the ability to adapt to complex environments. With tactile feedback, the robot can sense pressure changes through sensors to obtain environmental information, enabling autonomous obstacle avoidance. However, in some complex environments, pressure sensors struggle to accurately obtain obstacle information.

[0003] The current sensor setup for wheel-less snake robots based on multi-joint bionics and super-redundant degrees of freedom makes it impossible for them to achieve comprehensive perception of environmental pressure. Summary of the Invention

[0004] To address the problem of poor environmental pressure perception in existing robots, this invention provides a robot system with tactile perception.

[0005] The present invention provides a robotic system with tactile perception, comprising:

[0006] The head module integrates a vision-inertial sensing module and a head controller; it has a pair of rotatable connection ends on both sides, and each rotatable connection end has a tactile sensor on its outer surface; the head controller transmits data to the host computer through a communication module;

[0007] The drive module includes multiple modular joints connected end to end. Tactile sensors are set on both sides of the modular joints along the length direction. Adjacent modular joints are orthogonally rotatably connected. Each modular joint integrates a joint controller and a joint servo motor.

[0008] The tail module integrates the tail controller and tail servo, and has tactile sensors on both sides;

[0009] The tail controller transmits data sequentially to the head controller through the adjacent preceding joint controller. The head controller receives control commands from the host computer and transmits data with all other controllers. Based on the received data, the host computer performs environmental recognition, obtains control commands, and controls the corresponding servo motors to enable the robot to adjust its gait and achieve obstacle crossing and avoidance.

[0010] The tactile sensing robot system according to the present invention further includes a power supply module for providing operating power to the head module, drive module and tail module.

[0011] According to the tactile sensing robot system of the present invention, the head controller receives data from the tactile sensors and vision-inertial sensing module installed in the head module, as well as data from the tactile sensors transmitted by the joint controller and tail controller, and transmits the data to the host computer; the host computer calculates and obtains control commands for the drive module and tail module, and transmits them to the joint controller and tail controller through the head controller to realize the control of the drive module and tail module.

[0012] The joint controller integrates a 12-bit analog-to-digital converter and a universal asynchronous receiver / transmitter interface; the joint controllers communicate with each other via a CAN bus, and a priority arbitration mechanism ensures the timeliness of critical command transmission; the CAN bus uses twisted-pair cable; the joint controller has a power management unit equipped with a TVS diode and a resettable fuse; the power management unit also uses a π-type filter circuit, a DC-DC converter module, and an LDO step-down module to process the power supplied by the power supply module.

[0013] According to the tactile sensing robot system of the present invention, the modular joint includes a front section of the main body and a connecting end section, and tactile sensors are provided on both sides of the front section of the main body and the connecting end section.

[0014] The front end of the tail module is connected to a modular joint, and a tactile sensor is installed on the side of the front end of the tail module.

[0015] According to the present invention, the tactile sensor in the robotic system with tactile perception is a thin-film pressure sensor.

[0016] According to the tactile sensing robot system of the present invention, each modular joint has a shell, the shell segment corresponding to the front section of the main body has space for mechanical connection and cable routing with the head module or the adjacent preceding modular joint, and the joint servo motor is fixed in the shell segment corresponding to the connecting end section.

[0017] A pair of rotatable connection ends of the head module are orthogonally rotatably connected to the first modular joint. Under the control of the joint servo motor by the joint controller, the pitch movement of the head module is realized through the movement of the modular joint.

[0018] The joint servo and tail servo communicate with the corresponding controller via a half-duplex serial port, supporting position, speed or torque control, and feeding back position, speed or torque signals.

[0019] According to the present invention, a feasible power supply method for the robot system with tactile perception is as follows:

[0020] The tail module is connected to the power supply module via a wired connection;

[0021] Touch sensors are installed on both sides of the front section of the tail module, and a central wiring hole is provided at the center of the front housing of the tail module. The power supply module's power transmission wires are introduced through the central wiring hole and provide working power to the head module, drive module and tail module.

[0022] Another feasible power supply method is:

[0023] The power supply module is a lithium battery;

[0024] Tactile sensors are installed on both sides of the front section of the tail module, and a battery compartment is installed at the rear section of the tail module to hold lithium batteries. The power output terminal of the lithium batteries is connected to the robot's power switch. A charging port is installed on the rear housing of the tail module for charging the lithium batteries through a charger. The charging port is encapsulated with an insulating pad.

[0025] According to the tactile sensing robot system of the present invention, the vision-inertial sensing module includes a monocular camera and an inertial measurement sensor; the inertial measurement sensor is a nine-axis IMU module with a built-in temperature compensation algorithm, and transmits attitude angle, angular velocity and acceleration data back via UART serial port.

[0026] According to the tactile sensing robot system of the present invention, the power supply module employs a switching power supply converter circuit to convert 24V voltage to 12V voltage and 12V voltage to 5V voltage; the 12V voltage is used to power all servo motors and the monocular camera, and the 5V voltage is used for level adjustment in all servo motor communication circuits; a linear power supply converter circuit is employed to convert the 5V voltage to 3.3V voltage to power all controllers, inertial measurement sensors, and communication modules; the communication module is a WiFi module.

[0027] The beneficial effects of this invention are as follows: The system of this invention structurally designs the robot, which is serpentine in shape and possesses flexible three-dimensional motion capabilities and real-time tactile perception, enabling it to perceive environmental pressure from all angles. Under the control of the controller, the serpentine robot can autonomously adapt to and perform tasks in complex, unstructured environments. Based on the robot's system functional requirements, core design parameters such as joint degrees of freedom, torque output, and tactile perception density can be quantified. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of a three-dimensional model of the robot system with tactile perception described in this invention;

[0029] Figure 2 This is a control principle diagram of the robot system with tactile perception described in this invention;

[0030] Figure 3 This is a detailed 3D model of the head module;

[0031] Figure 4 These are detailed 3D model images of the drive module;

[0032] Figure 5 This is a detailed 3D model of the tail module when the power supply method adopts a wired solution;

[0033] Figure 6 This is a detailed 3D model of the tail module when the power supply method uses a battery solution;

[0034] Figure 7 This is a block diagram of the overall structure of the robot system with tactile perception described in this invention;

[0035] Figure 8 This is a schematic diagram of the communication network of the tactile sensing robot system described in this invention. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] Specific Implementation Method 1: Combination Figures 1 to 8 As shown, the present invention provides a robot system with tactile perception, comprising:

[0038] The head module integrates a vision-inertial sensing module and a head controller; it has a pair of rotatable connection ends on both sides, and each rotatable connection end has a tactile sensor on its outer surface; the head controller transmits data to the host computer through a communication module;

[0039] The drive module includes multiple modular joints connected end to end. Tactile sensors are set on both sides of the modular joints along the length direction. Adjacent modular joints are orthogonally rotatably connected. Each modular joint integrates a joint controller and a joint servo motor.

[0040] The tail module integrates the tail controller and tail servo, and has tactile sensors on both sides;

[0041] The tail controller transmits data sequentially to the head controller through the adjacent preceding joint controller. The head controller receives control commands from the host computer and transmits data with all other controllers. Based on the received data, the host computer performs environmental recognition, obtains control commands, and controls the corresponding servo motors to enable the robot to adjust its gait and achieve obstacle crossing and avoidance.

[0042] In the drive module, tactile sensors are set on both sides of each modular joint. Adjacent modular joints are arranged with a 90° relative rotation, so that tactile sensors are distributed on all four surfaces of the robot body, thereby enabling all-round perception of the environment.

[0043] The articulated servo motor can use a high-precision XM430-W350-T model servo drive unit with a stall torque of 4.1Nm, enabling high-precision and fast response control, and can provide feedback on data such as position, speed, and torque to meet the dynamic load requirements of climbing, obstacle crossing, and other scenarios.

[0044] This embodiment also includes a power supply module for providing operating power to the head module, drive module and tail module.

[0045] Furthermore, the head controller receives data from the tactile sensors and vision-inertial perception module set in the head module, as well as data from the tactile sensors transmitted by the joint controller and tail controller, and transmits the data to the host computer; the host computer calculates and obtains control commands for the drive module and tail module, and transmits them to the joint controller and tail controller through the head controller to realize the control of the drive module and tail module.

[0046] Combination Figure 8As shown, in this embodiment, the robot's electrical system design can adopt a single-joint sensing and control architecture, real-time communication architecture, and anti-interference and reliability design. Each joint module is equipped with an independent controller (STM32F103) responsible for driving the servo motor motion control and acquiring data from the thin-film pressure sensor. Single-joint sensing and control: The joint controller integrates a 12-bit analog-to-digital converter (ADC) and a universal asynchronous receiver / transmitter (UASI). The system features a Receiver / Transmitter (UART) interface, supporting high-precision signal acquisition from four tactile sensors and real-time control and status feedback of the servo motors, ensuring rapid response in local closed-loop control. Real-time communication architecture: Joint controllers interact via a CAN bus, with a priority arbitration mechanism ensuring the timeliness of critical command transmission. The head controller establishes a wireless channel with the host computer via a WiFi module, enabling the reception of motion commands and the transmission of sensor data, such as tactile information, camera images, and inertial navigation information, meeting remote control requirements. Anti-interference and reliability design: The CAN bus uses twisted-pair cable to prevent electromagnetic interference. The joint controller has a power management unit equipped with a TVS diode and a self-resetting fuse to prevent electrostatic discharge and overcurrent damage, providing overvoltage and overcurrent protection. Simultaneously, the power management unit uses a π-type filter circuit, a DC-DC converter module, and an LDO step-down module to process the power supplied by the power supply module, suppressing voltage fluctuations and providing a stable and reliable power supply for all devices.

[0047] A π-type LC filter is used to suppress conducted noise from the power supply, and an electrostatic discharge circuit is used to guide the accumulated charge on the circuit board to the ground to avoid damage to components.

[0048] The bus voltage is acquired in real time through a resistor divider network and the controller's 12-bit ADC. The power input voltage is reduced by 11 times before voltage data acquisition.

[0049] The modular joint includes a front section of the main body and a connecting end section. Both sides of the front section of the main body and the connecting end section are provided with tactile sensors, so that each modular joint has four tactile sensors.

[0050] The front end of the tail module is connected to a modular joint, and a tactile sensor is installed on the side of the front end of the tail module.

[0051] As an example, the tactile sensor is a thin-film pressure sensor. Thin-film pressure sensors are lightweight and small in size, and are evenly distributed on the four surfaces of the robot's body, enabling comprehensive pressure sensing on its surfaces.

[0052] Furthermore, combining Figure 3 and Figure 4As shown, each modular joint has a housing. The housing segment corresponding to the front section of the main body has space for mechanical connection and cable routing with the head module or the adjacent preceding modular joint. The housing segment corresponding to the connecting end section has the joint servo and circuit board fixed inside. The two side housings protect the cables and allow for the installation and expansion of the tactile sensors. This design, based on co-design with the electrical system, ensures the compactness of the joint dimensions of 80.75×68×68mm.

[0053] The head module has a pair of rotatable connecting ends that are orthogonally rotatably connected to the first modular joint. Under the control of the joint controller and the joint servo, the head module can achieve pitch movement by moving the modular joint and continuing the orthogonal connection of the modular joint through the pair of rotatable connecting ends. The head module achieves optical and mechanical protection through a protective shell to ensure the stability of the electrical system.

[0054] Both the articulated and tail servos can use the high-precision XM430-W350-T model servo as the actuator. They communicate with the corresponding controller via a half-duplex serial port, supporting position, speed, or torque control and providing feedback of position, speed, or torque signals. The operating voltage range is 10V~14.8V, meeting the dynamic load adjustment requirements in unstructured environments. Key servo parameters can be adaptively configured.

[0055] This implementation provides two power supply methods: wired and battery-powered, to meet the different needs of laboratory testing and field operations:

[0056] The first type: combination Figure 5 As shown, the tail module is connected to the power supply module via a wired connection;

[0057] Touch sensors are installed on both sides of the front section of the tail module, and a central wiring hole is provided at the center of the front housing of the tail module. The power supply module's power transmission wires are introduced through the central wiring hole and provide working power to the head module, drive module and tail module.

[0058] The centrally located cable routing hole allows for 24V DC power input, reducing cable bends.

[0059] The second type: combination Figure 6 As shown, the power supply module is a lithium battery;

[0060] Tactile sensors are installed on both sides of the front section of the tail module, and a battery compartment is installed at the rear section of the tail module to hold lithium batteries. The power output terminal of the lithium batteries is connected to the robot's power switch, which can control whether the snake robot is powered on and working. A charging port for the lithium battery charging connector is installed on the rear shell of the tail module for charging the lithium batteries through a charger. The charging port is encapsulated with an insulating pad.

[0061] A 3400mAh lithium battery compartment and a power switch have been added to the lithium battery solution.

[0062] When the lithium battery is low, it can be directly connected to the charger for charging. When the robot is powered on and moving, the charging port should be sealed with an insulating pad.

[0063] In this embodiment, the communication module can adopt a layered communication architecture, including three levels: single-joint real-time control, multi-joint coordinated communication, and remote interaction. The stability of communication is ensured through the functional division and coordination mechanism between the levels.

[0064] The single-joint real-time control layer uses a tri-state buffer to merge the TX / RX pins of the controller's UART serial port. The transmit / receive state switching is controlled by the enable signal (TX_ENABLE), converting the controller's full-duplex serial port into the half-duplex serial port required for servo communication. A bidirectional level conversion chip resolves the voltage interface difference between the controller's 3.3V level and the servo's 5V level, reducing the risk of signal distortion.

[0065] The multi-joint coordination communication layer uses a CAN transceiver to convert the controller's communication signals into differential signals (CAN_H / CAN_L) required by the CAN bus. It uses 26AWG twisted-pair cabling and connects 17 joint nodes through a linear bus topology. At the same time, a 120-ohm terminating resistor is connected in parallel at the first and last nodes to eliminate waveform distortion caused by signal reflection and ensure the timeliness and stability of communication between the joints.

[0066] The remote interaction layer can be configured with parameters via serial port AT commands or web URLs to automatically connect to the router, establish a TCP long connection, ensure the real-time transmission of 10Hz sensor data and reception of 30Hz control commands, and meet the requirement of peak power consumption of less than 1.2W under 3.3V power supply, which can extend the operating time.

[0067] Furthermore, the vision-inertial perception module includes a monocular camera and an inertial measurement sensor; the inertial measurement sensor is a nine-axis IMU module with a built-in temperature compensation algorithm, which transmits attitude angle, angular velocity and acceleration data back via UART serial port.

[0068] The monocular camera is a wireless camera.

[0069] The sensors in this embodiment include a tactile sensor and a vision-inertial sensing module.

[0070] The tactile sensors are implemented using thin-film pressure sensors mounted on the robot's surface. A total of 64 thin-film pressure sensors are installed on the robot's surface, forming a distributed pressure sensing network covering the entire 1433mm length of the robot. This ensures that pressure information can be detected on all four sides of each joint, providing a prototype for subsequent tactile feedback control. A piezoresistive thin-film sensor array with 64 points is distributed on the robot's surface, with four sensor channels on each joint module surface. The sensor resistance varies from 50 Ω to 1k Ω, and is connected in series with a 330 Ω reference resistor. The voltage signal is quantized using the controller's built-in 12-bit ADC. A ferrite bead isolates the digital / analog power supply, with multiple sensors sharing the isolated analog power supply. Each sensor is equipped with a JST SH1.0 interface to shorten the sensor signal path. This design suppresses high-frequency noise and improves signal anti-interference capabilities.

[0071] The vision-inertial navigation sensing module is soldered to the head controller and is powered by a 3.3V low-voltage power supply. The 1080P wireless camera is powered by 12V and transmits images to the host computer via the RTSP protocol, with a frame rate of up to 25Hz, and supports OpenCV real-time processing.

[0072] In this embodiment, the power supply module employs a multi-stage voltage conversion design, power input and protection mechanisms, and power voltage monitoring. The power supply module uses a switching power supply (DC / DC) converter circuit to convert 24V to 12V and then to 5V to reduce power loss. The 12V voltage powers all servos and the monocular camera, supporting the peak current load of 1.8A for both servos and the camera. The 5V voltage is used for level adjustment in all servo communication circuits. A linear voltage regulator (LDC) converter circuit converts the 5V voltage to 3.3V to power all controllers, inertial measurement sensors, and communication modules, providing low-noise power and ensuring stable signal levels. The communication module is a WiFi module.

[0073] Each modular joint's circuit board is equipped with two 10A JST VH power connectors for input and output power.

[0074] In a specific implementation of this invention, the robot's control system can adopt a hierarchical architecture of "centralized decision-making and decentralized execution," and its control system framework is as follows: Figure 8 As shown, closed-loop motion control is achieved through the fusion of sensing and motion information and real-time communication.

[0075] The host computer, a remote computer, acts as the "brain" of the snake-like robot. It analyzes the robot's sensor information to generate new motion planning commands and transmits them wirelessly via TCP. The head controller acts as an information relay station, sending commands from the host computer to each joint controller and aggregating all sensor information to send back to the host computer. After receiving control commands from the CAN bus, each joint controller drives the servo motors to move and then inputs the collected sensor data into the CAN bus for reception by the head controller.

[0076] The system design of this invention can meet the following functional indicators:

[0077] 1) Possesses multimodal three-dimensional motion capabilities: Based on the structural characteristics of the snake robot itself and combined with the biomimetic kinematic model, it can realize multiple motion modes such as traveling wave gait, rolling motion and spiral climbing of pipes, so as to adapt to more complex terrains.

[0078] 2) Possesses tactile perception and dynamic interaction capabilities: The snake robot can detect the distribution of contact force on the body surface based on a distributed pressure sensor network, and then analyze the geometric features of the terrain, such as obstacle outlines and pipe diameters, by parsing the contact force data, providing environmental data support for motion planning.

[0079] 3) Possesses closed-loop feedback control capability: The snake robot can integrate tactile information with motion control, realize real-time analysis of tactile information during movement, and use the results to dynamically correct motion commands, ensuring autonomous adaptation to the environment.

[0080] 4) Possesses remote wireless communication capability: The snake robot supports remote control by a host computer, enabling wireless interaction between sensor data and control commands, and allowing parallel execution of remote monitoring and autonomous decision-making, ensuring system robustness in different motion scenarios.

[0081] In this embodiment, the robot system includes 16 joints. The number of joints is determined by the spatial constraints of the winding motion. To achieve a stable envelope of the vertical pipe, the robot needs to wind at least 1.5 times. Assuming the axial length of a single joint module is l = 85mm, the required winding pipe radius is r = 120mm, and the winding pitch is h = 180mm, the final number of joints selected after calculation is 16. This redundancy design compensates for theoretical calculation errors and reduces the average load on a single joint.

[0082] While the invention has been described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the invention. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that different dependent claims and features described herein can be combined in ways different from those described in the original claims. It is also understood that features described in conjunction with individual embodiments can be used in other described embodiments.

Claims

1. A robotic system with tactile perception, characterized in that, include: The head module integrates a vision-inertial sensing module and a head controller; it has a pair of rotatable connection ends on both sides, and each rotatable connection end has a tactile sensor on its outer surface; The head controller transmits data to the host computer via a communication module; The drive module includes multiple modular joints connected end to end. Tactile sensors are set on both sides of the modular joints along the length direction. Adjacent modular joints are orthogonally rotatably connected. Each modular joint integrates a joint controller and a joint servo motor. The tail module integrates the tail controller and tail servo, and has tactile sensors on both sides; The tail controller transmits data sequentially to the head controller through the adjacent preceding joint controller. The head controller receives control commands from the host computer and transmits data with all other controllers. Based on the received data, the host computer performs environmental recognition, obtains control commands, and controls the corresponding servo motors to enable the robot to adjust its gait and achieve obstacle crossing and avoidance.

2. The robot system with tactile perception according to claim 1, characterized in that, It also includes a power supply module to provide operating power to the head module, drive module and tail module.

3. The robot system with tactile perception according to claim 2, characterized in that, The head controller receives data from the tactile sensors and vision-inertial perception module set in the head module, as well as data from the tactile sensors transmitted by the joint controller and tail controller, and transmits the data to the host computer; the host computer calculates and obtains control commands for the drive module and tail module, and transmits them to the joint controller and tail controller through the head controller to realize the control of the drive module and tail module. The joint controller integrates a 12-bit analog-to-digital converter and a universal asynchronous receiver / transmitter interface; the joint controllers communicate with each other via a CAN bus, and a priority arbitration mechanism ensures the timeliness of critical command transmission; the CAN bus uses twisted-pair cable; the joint controller has a power management unit equipped with a TVS diode and a resettable fuse; the power management unit also uses a π-type filter circuit, a DC-DC converter module, and an LDO step-down module to process the power supplied by the power supply module.

4. The robot system with tactile perception according to claim 3, characterized in that, The modular joint includes a front section of the main body and a connecting end section, and tactile sensors are provided on both sides of the front section of the main body and the connecting end section. The front end of the tail module is connected to a modular joint, and a tactile sensor is installed on the side of the front end of the tail module.

5. The robot system with tactile perception according to claim 1, characterized in that, The tactile sensor is a thin-film pressure sensor.

6. The robot system with tactile perception according to claim 4, characterized in that, Each modular joint has a housing, and the housing segment corresponding to the front section of the main body has space for mechanical connection and cable routing with the head module or the adjacent previous modular joint. The joint servo is fixed in the housing segment corresponding to the connecting end section. A pair of rotatable connection ends of the head module are orthogonally rotatably connected to the first modular joint. Under the control of the joint servo motor by the joint controller, the pitch movement of the head module is realized through the movement of the modular joint. The joint servo and tail servo communicate with the corresponding controller via a half-duplex serial port, supporting position, speed or torque control, and feeding back position, speed or torque signals.

7. The robot system with tactile perception according to claim 6, characterized in that, The tail module is connected to the power supply module via a wired connection; Touch sensors are installed on both sides of the front section of the tail module, and a central wiring hole is provided at the center of the front housing of the tail module. The power supply module's power transmission wires are introduced through the central wiring hole and provide working power to the head module, drive module and tail module.

8. The robot system with tactile perception according to claim 6, characterized in that, The power supply module is a lithium battery; Tactile sensors are installed on both sides of the front section of the tail module, and a battery compartment is installed at the rear section of the tail module to hold lithium batteries. The power output terminal of the lithium batteries is connected to the robot's power switch. A charging port is installed on the rear housing of the tail module for charging the lithium batteries through a charger. The charging port is encapsulated with an insulating pad.

9. The robot system with tactile perception according to claim 7 or 8, characterized in that, The vision-inertial navigation sensing module includes a monocular camera and an inertial measurement sensor; the inertial measurement sensor is a nine-axis IMU module with a built-in temperature compensation algorithm, which transmits attitude angle, angular velocity and acceleration data back via UART serial port.

10. The robot system with tactile perception according to claim 9, characterized in that, The power supply module employs a switching power converter circuit to convert 24V to 12V and 12V to 5V. The 12V voltage powers all servos and the monocular camera, while the 5V voltage is used for level adjustment in all servo communication circuits. A linear power converter circuit is also used to convert the 5V voltage to 3.3V to power all controllers, inertial measurement sensors, and communication modules. The communication module is a WiFi module.

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