Communication circuit structure for robot and robot

Abstract

The present invention provides a communication circuit structure for a robot and a robot, wherein the communication circuit structure includes a main control platform and a logic unit, the main control platform is connected to the logic unit via a universal serial bus, the logic unit is connected to multiple peripheral loads via a single-line serial port bus, and the logic unit converts the universal serial control signal of the main control platform into a single-line serial signal and outputs it to the multiple peripheral loads. The present invention can drive multiple peripheral loads while saving the number of interface pins of the main control platform, and can also improve the driving ability of the signal used to control the peripheral load.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a communication circuit structure for robots and the robots. Background Art

[0002] At present, the control platform of the robot's servo motor and sensor module is generally a microcontroller unit (MCU). A robot includes multiple servo motors and sensors. Since the main control needs to control multiple peripherals, the design of the communication link between the main control and the peripherals is crucial.

[0003] Since the robot control platform needs to control multiple peripherals, it is difficult to use parallel connection, and the structural design does not allow it. Generally, a bus method (such as a serial bus or an I2C bus) is used to connect the servo motor and the sensor through the bus. Different servo motors and sensors can be connected in series through connecting wires. However, connecting the load through the serial bus requires occupying multiple pins of the control platform. Summary of the invention

[0004] The present invention provides a communication circuit structure for a robot and a robot, the purpose of which is to solve the problem that the robot peripheral load occupies too many pins of a main control platform.

[0005] In order to achieve the above-mentioned purpose, an embodiment of the present invention provides a communication circuit structure for a robot, including a main control platform, and the communication circuit structure also includes: a logic unit, the main control platform is connected to the logic unit through a universal serial bus, the logic unit is connected to multiple peripheral loads through a single-line serial port bus, and the logic unit converts the universal serial control signal of the main control platform into a single-line serial signal and outputs it to the multiple peripheral loads.

[0006] Wherein, the logic unit includes a push-pull output circuit;

[0007] Among them, the sending port of the main control platform is connected to the first input end of the push-pull output circuit through the universal serial bus, the output end of the push-pull output circuit is connected to the first port of the single-wire serial port bus, the multiple peripheral loads of the robot are mounted in parallel on the single-wire serial port bus, and the second port of the single-wire serial port bus is connected to the receiving port of the main control platform.

[0008] Wherein, the logic unit further includes a first trigger and a first latch;

[0009] Among them, the sending port of the main control platform is connected to the input end of the first trigger through the universal serial bus, the output end of the first trigger is connected to the input end of the first latch, and the output end of the first latch is connected to the first input end of the push-pull output circuit.

[0010] Wherein, the logic unit further includes an open-drain output circuit;

[0011] The second port of the single-wire serial bus is connected to the first input end of the open-drain output circuit, and the output end of the open-drain output circuit is connected to the receiving port of the main control platform.

[0012] Wherein, the logic unit further includes a second trigger and a second latch;

[0013] Among them, the second port of the single-wire serial bus is connected to the input end of the second trigger, the output end of the second trigger is connected to the input end of the second latch, and the output end of the second latch is connected to the first input end of the open-drain output circuit.

[0014] Wherein, the logic unit further includes: an oscillator circuit and a first delay processing circuit;

[0015] Among them, the signal output end of the oscillator circuit is connected to the signal input end of the first delay processing circuit, the delay signal input end of the first delay processing circuit is connected to the enable signal output end of the first trigger, and the delay signal output end of the first delay processing circuit is connected to the second input end of the push-pull output circuit.

[0016] Wherein, the logic unit further includes: a second delay processing circuit;

[0017] Among them, the signal input end of the second delay processing circuit is connected to the signal output end of the oscillator circuit, the delay signal input end of the second delay processing circuit is connected to the enable signal output end of the second trigger, and the delay signal output end of the second delay processing circuit is connected to the second input end of the open-drain output circuit.

[0018] Among them, the multiple peripheral loads of the robot include the servo motor and sensors of the robot.

[0019] Wherein, the output end of the open-drain output circuit is connected to the receiving port of the main control platform through the universal serial bus.

[0020] An embodiment of the present invention further provides a robot, comprising the above-mentioned communication circuit structure.

[0021] The above solution of the present invention has at least the following beneficial effects:

[0022] In an embodiment of the present invention, the robot main control platform is connected to the logic unit through a universal serial bus, and the logic unit is connected to multiple peripheral loads of the robot through a single-line serial bus, wherein the logic unit converts the universal serial control signal of the main control platform into a single-line serial signal and outputs it to multiple peripheral loads, thereby driving multiple peripheral loads while saving the number of interface pins of the main control platform. In addition, since the logic unit includes a push-pull output circuit, the universal serial control signal of the main control platform is increased in driving capability through the push-pull output circuit, and then output to multiple peripheral loads through the single-line serial bus, thereby achieving the effect of greatly improving the driving capability of the signal used to control the peripheral load. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0024] Figure 1 Schematic diagram of a communication circuit structure for a robot according to an embodiment of the present invention.

[0025] [Description of Reference Numerals]

[0026] 1. Main control platform; 2. Logic unit; 21. Push-pull output circuit; 22. First trigger; 23. First latch; 24. Open-drain output circuit; 25. Second trigger; 26. Second latch; 27. Oscillator circuit; 28. First delay processing circuit; 29. ​​Second delay processing circuit; 3. Single-wire serial bus; 4. Peripheral load. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0028] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0029] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0030] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0031] like Figure 1 As shown, an embodiment of the present invention provides a communication circuit structure for a robot, including a main control platform 1 and a logic unit 2, wherein the main control platform 1 is connected to the logic unit 2 via a universal serial bus, and the logic unit 2 is connected to multiple peripheral loads 4 via a single-line serial port bus 3, and the logic unit 2 converts the universal serial control signal of the main control platform 1 into a single-line serial signal and outputs it to the multiple peripheral loads 4.

[0032] Among them, in an embodiment of the present invention, since the logic unit 2 converts the universal serial control signal of the main control platform 1 into a single-line serial signal and outputs it to multiple peripheral loads 4, the effect of driving multiple peripheral loads is achieved while saving the number of main control platform interface pins.

[0033] like Figure 1 As shown, the logic unit 2 includes a push-pull output circuit 21. The sending port of the main control platform 1 is connected to the first input end of the push-pull output circuit 21 through the universal serial bus, the output end of the push-pull output circuit 21 is connected to the first port of the single-wire serial bus 3, the multiple peripheral loads 4 of the robot are mounted on the single-wire serial bus 3 in parallel, and the second port of the single-wire serial bus 3 is connected to the receiving port of the main control platform 1.

[0034] Among them, in the embodiment of the present invention, the multiple peripheral loads 4 of the robot include the servo motors and sensors of the robot. It should be noted that in the embodiment of the present invention, the specific number of servo motors and sensors is not limited, and the specific number is determined by the hardware structure of the robot itself.

[0035] It is worth mentioning that in the embodiment of the present invention, since the sending port of the robot main control platform 1 is connected to the first port of the single-wire serial bus 3 through the push-pull output circuit 21, and the robot's peripheral load 4 is mounted on the single-wire serial bus 3, when the robot main control platform 1 outputs a signal for controlling the peripheral load 4 from the sending port, the push-pull output circuit 21 can increase the driving ability of the signal, and output the signal with increased driving ability to the robot's peripheral load 4 through the single-wire serial bus 3, thereby realizing the control of the peripheral load 4. Since the push-pull output circuit 21 increases the driving ability of the signal for controlling the peripheral load 4, the communication circuit structure of the embodiment of the present invention can effectively avoid the situation of data loss and CPU resource occupation caused by the limited capacity of the peripheral load 4 and the untimely switching of the main control.

[0036] In addition, in the embodiment of the present invention, by mounting a plurality of peripheral loads 4 of the robot in parallel on the single-wire serial bus 3 , the driving capability of the peripheral loads 4 can be enhanced.

[0037] Among them, in the embodiment of the present invention, the above-mentioned push-pull output circuit 21 is an output circuit connected by two transistors of different polarities, and exists in the circuit in a push-pull manner. When the circuit is working, only one of the two transistors is turned on at a time, so the conduction loss is small and the efficiency is high.

[0038] It should be noted that the push-pull output circuit 21 can be implemented by a currently common push-pull output circuit, and thus the specific structure of the push-pull output circuit 21 will not be described in detail herein.

[0039] like Figure 1 As shown, in an embodiment of the present invention, the logic unit 2 further includes a first trigger 22 and a first latch 23. The sending port of the main control platform 1 is connected to the input end of the first trigger 22 through the universal serial bus, the output end of the first trigger 22 is connected to the input end of the first latch 23, and the output end of the first latch 23 is connected to the first input end of the push-pull output circuit 21.

[0040] In the embodiment of the present invention, the first trigger 22 and the first latch 23 are mainly used to cache the signal output from the sending port of the main control platform 1, and output the signal to the push-pull output circuit 21 after caching the signal.

[0041] As a preferred example, the main control platform 1 may be a micro control unit. Of course, it is understandable that the specific form of the main control platform 1 is not limited in the embodiments of the present invention.

[0042] like Figure 1As shown, in an embodiment of the present invention, the logic unit 2 further includes an open-drain output circuit 24. The second port of the single-wire serial bus 3 is connected to the first input end of the open-drain output circuit 24, and the output end of the open-drain output circuit 24 is connected to the receiving port of the main control platform 1.

[0043] Among them, in the embodiment of the present invention, by setting an open-drain output circuit 24 at the receiving port of the main control platform 1, the signal level at the main control platform 1 end can be matched by changing the external pull-up level, and there is no need to set an additional level conversion circuit. It should be noted that the above-mentioned open-drain output circuit 24 can be implemented by a currently common open-drain output circuit, so the specific structure of the open-drain output circuit 24 is not described in detail here.

[0044] Specifically, in the embodiment of the present invention, the output end of the open-drain output circuit 24 can be connected to the receiving port of the main control platform 1 through the universal serial bus.

[0045] like Figure 1 As shown, in an embodiment of the present invention, the logic unit 2 further includes a second trigger 25 and a second latch 26. The second port of the single-wire serial bus 3 is connected to the input end of the second trigger 25, the output end of the second trigger 25 is connected to the input end of the second latch 26, and the output end of the second latch 26 is connected to the first input end of the open-drain output circuit 24.

[0046] Among them, in an embodiment of the present invention, the above-mentioned second trigger 25 and the second latch 26 are mainly used to cache the data signal output from the second port of the single-wire serial port bus 3 (the data signal is the data reported by the peripheral load 4 to the main control platform 1, such as the response data reported by the servo motor after receiving the main control command output by the main control platform 1, the sensing data reported by the sensor, etc.), and after caching the data signal, output it to the open-drain output circuit 24.

[0047] Among them, in the embodiment of the present invention, in order to avoid data conflicts on the single-wire serial port bus 3, the integrated circuit logic unit 2 has a delay mechanism for the TX output signal (i.e., the signal output by the sending port of the main control platform 1) and the RX input signal (i.e., the signal output by the second port of the single-wire serial port bus 3). That is, when the logic unit 2 detects that the peripheral load 4 has a signal back, the TX output signal of the main control platform 1 at this moment will be delayed, and similarly, when the logic unit 2 detects that the main control platform 1 has a TX output signal, the return signal of the peripheral load 4 at this moment will be delayed.

[0048] To achieve the above delay processing, Figure 1As shown, in an embodiment of the present invention, the logic unit 2 further includes: an oscillator circuit 27 and a first delay processing circuit 28. The signal output end of the oscillator circuit 27 is connected to the signal input end of the first delay processing circuit 28, the delay signal input end of the first delay processing circuit 28 is connected to the enable signal output end of the first trigger 22, and the delay signal output end of the first delay processing circuit 28 is connected to the second input end of the push-pull output circuit 21.

[0049] Further, such as Figure 1 As shown, the logic unit 2 further includes a second delay processing circuit 29. The signal input terminal of the second delay processing circuit 29 is connected to the signal output terminal of the oscillator circuit 27 (not shown in the figure), the delay signal input terminal of the second delay processing circuit 29 is connected to the enable signal output terminal of the second trigger 25, and the delay signal output terminal of the second delay processing circuit 29 is connected to the second input terminal of the open-drain output circuit 24.

[0050] Among them, in the embodiment of the present invention, the above-mentioned oscillator circuit 27 is mainly used to generate a clock signal, and the clock signal is transmitted to the first delay processing circuit 28 and the second delay processing circuit 29 respectively through the signal output end of the oscillator circuit 27. It should be noted that the first delay processing circuit 28 and the second delay processing circuit 29 can both be implemented by currently common delay processing circuits, so the specific structures of the first delay processing circuit 28 and the second delay processing circuit 29 are not described in detail here.

[0051] Specifically, when the logic unit 2 detects that the peripheral load 4 has a signal returned, the enable signal output end of the first trigger 22 will output a delay signal to the first delay processing circuit 28, so that the first delay processing circuit 28 counts the clock signal output by the oscillator circuit 27. When the count of the clock signal reaches a preset number (the preset number can be set according to actual needs, as long as it can ensure that the TX output signal of the main control platform 1 will not have a data conflict with the signal returned by the peripheral load 4 on the single-line serial port bus 3), the first delay processing circuit 28 will output a delayed arrival signal to the push-pull output circuit 21. At this time, the push-pull output circuit 21 outputs the TX output signal of the main control platform 1 to the single-line serial port bus 3.

[0052] Similarly, when the logic unit 2 detects that the main control platform 1 has a TX output signal, the enable signal output end of the second trigger 25 will output a delay signal to the second delay processing circuit 29, so that the second delay processing circuit 29 counts the clock signal output by the oscillator circuit 27. When the count of the clock signal reaches a preset number (the preset number can be set according to actual needs, as long as it can ensure that the signal returned by the peripheral load 4 will not cause data conflict with the TX output signal of the main control platform 1 on the single-line serial port bus 3), the second delay processing circuit 29 will output a delayed arrival signal to the open-drain output circuit 24. At this time, the open-drain output circuit 24 will output the signal returned by the peripheral load 4 to the receiving port of the main control platform 1.

[0053] It can be seen that in the embodiment of the present invention, the main control platform 1 uses a universal serial control signal to control peripheral loads 4 such as servo motors and sensors, which is converted into a single-line serial signal through a logic unit 2 with functions of level conversion, serial port transceiver control and improved driving capability, thereby reducing the number of interface pins while meeting the control requirements.

[0054] In addition, an embodiment of the present invention further provides a robot, comprising the above-mentioned communication circuit structure for the robot.

[0055] It is worth mentioning that the robot can drive multiple peripheral loads while saving the number of interface pins of the main control platform, while also improving the driving capability of the signals used to control the peripheral loads.

[0056] It should be noted that, since the robot provided by the embodiment of the present invention includes the above-mentioned communication circuit structure for the robot, all embodiments of the above-mentioned communication circuit structure for the robot are applicable to the robot and can achieve the same or similar beneficial effects.

[0057] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A communication circuit structure for a robot, comprising a main control platform, characterized in that: The communication circuit structure further includes: a logic unit, the main control platform is connected to the logic unit via a universal serial bus, the logic unit is connected to a plurality of peripheral loads via a single-line serial bus, and the logic unit converts the universal serial control signal of the main control platform into a single-line serial signal and outputs it to the plurality of peripheral loads; The logic unit includes a push-pull output circuit, a first trigger, a second trigger, an oscillator circuit, a first delay processing circuit, a second delay processing circuit and an open-drain output circuit; the sending port of the main control platform is connected to the input end of the first trigger through the universal serial bus; the second port of the single-wire serial bus is connected to the input end of the second trigger; the output end of the push-pull output circuit is connected to the first port of the single-wire serial bus; the signal of the first trigger is output to the push-pull output circuit; the signal of the second trigger is output to the open-drain output current; the output end of the open-drain output circuit is connected to the receiving port of the main control platform; The signal output terminal of the oscillator circuit is connected to the signal input terminal of the first delay processing circuit, the delay signal input terminal of the first delay processing circuit is connected to the enable signal output terminal of the first trigger, and the delay signal output terminal of the first delay processing circuit is connected to the second input terminal of the push-pull output circuit; The signal input end of the second delay processing circuit is connected to the signal output end of the oscillator circuit, the delay signal input end of the second delay processing circuit is connected to the enable signal output end of the second trigger, and the delay signal output end of the second delay processing circuit is connected to the second input end of the open-drain output circuit.

2. The communication circuit structure according to claim 1, characterized in that: The multiple peripheral loads of the robot are mounted in parallel on the single-wire serial port bus.

3. The communication circuit structure for a robot according to claim 1, characterized in that: The logic unit also includes a first latch; The output end of the first trigger is connected to the input end of the first latch, and the output end of the first latch is connected to the first input end of the push-pull output circuit.

4. The robot communication circuit structure according to claim 1, characterized in that: The logic unit also includes a second latch; The output end of the second trigger is connected to the input end of the second latch, and the output end of the second latch is connected to the first input end of the open-drain output circuit.

5. The robot communication circuit structure according to claim 1, characterized in that: The multiple peripheral loads of the robot include the servo motor and sensors of the robot.

6. The communication circuit structure for a robot according to claim 1, characterized in that: The output end of the open-drain output circuit is connected to the receiving port of the main control platform through the universal serial bus.

7. A robot, characterized in that: Comprising the communication circuit structure as described in any one of claims 1 to 6.

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