Communication Method and Related Devices of Stacked Robots

Abstract

The present application provides a communication method and related device for a stackable robot, the method is applied to the stackable robot, the stackable robot includes a robot chassis and a load-bearing / trailer-type upper module, the upper module is detachably connected to the robot chassis, the method includes: obtaining the real-time connection status of the robot chassis and the upper module; when the real-time connection status is connected, controlling the robot chassis and the upper module to use the first type of communication mode and / or the second type of communication mode for data interaction; when the real-time connection status is disconnected, controlling the robot chassis and the upper module to use the second type of communication mode for data interaction. According to the real-time connection status of the robot chassis and the upper module, the corresponding communication mode can be selected so that the robot chassis and the upper module can maintain the communication state. When the real-time connection state is disconnected, the two can exchange data through the second type of communication mode, and it is convenient for the two to reconnect later.

Description

Technical Field

[0001] This application relates to the technical field of robots, and particularly to a communication method and related devices for stacked robots. Background Art

[0002] With the development of science and technology, the scope of use of robots has been expanding day by day. A robot is a system integrating computer, machinery, sensing technology, information processing technology, image processing and recognition technology, speech recognition and processing technology, control technology, and communication technology.

[0003] Existing stacked robots generally include a robot chassis and an upper mounting module. The upper mounting module generally needs to maintain communication with the robot chassis during the task execution. However, when the upper mounting module is detached from the robot chassis due to reasons such as vibration or poor contact, the upper mounting module will instantaneously interrupt communication and cannot continue to work. Summary of the Invention

[0004] The purpose of this application is to provide a communication method and related devices for stacked robots. The upper mounting module and the robot chassis can maintain a communication state. When the upper mounting module is detached from the robot chassis, the two can perform data interaction through a second type of communication method, and it is also convenient for them to reconnect later.

[0005] The purpose of this application is achieved by the following technical solutions:

[0006] In a first aspect, this application provides a communication method for a stacked robot. The method is applied to the stacked robot, which includes a robot chassis and a load-bearing / trailer-type upper mounting module. The upper mounting module is detachably connected to the robot chassis. The method includes: obtaining the real-time connection state of the robot chassis and the upper mounting module; when the real-time connection state is connected, controlling the robot chassis and the upper mounting module to perform data interaction using a first type of communication method and / or a second type of communication method; when the real-time connection state is detached, controlling the robot chassis and the upper mounting module to perform data interaction using the second type of communication method. The beneficial effect of this technical solution is that, on the one hand, the upper mounting module is detachably connected to the robot chassis, and different upper mounting modules can be replaced according to the given task, so that the robot chassis can freely switch identities among various service robots such as delivery robots, disinfection robots, and inspection robots; on the other hand, according to the real-time connection state of the robot chassis and the upper mounting module, the corresponding communication method can be selected, so that the upper mounting module and the robot chassis can maintain a communication state. When the real-time connection state is connected, the two can perform data interaction through the first type of communication method and / or the second type of communication method. When the real-time connection state is detached, the two can perform data interaction through the second type of communication method, and it is also convenient for them to reconnect later.

[0007] In some alternative embodiments, the first type of communication method includes at least one of the following: near-field communication, WiGig communication, optical fiber communication, coaxial cable communication, open wire communication, waveguide communication, and optoelectronic communication. The beneficial effect of this technical solution is that the first type of communication method is relatively stable, with high reliability and high transmission rate.

[0008] In some alternative embodiments, the second type of communication method includes at least one of the following: WIFI communication, Bluetooth communication, ZigBee communication, microwave communication, satellite communication, and atmospheric laser communication. The beneficial effect of this technical solution is that the second type of communication method has a longer communication distance, is not restricted by wires, has a certain degree of mobility, can communicate through wireless connection in a moving state, and has a lower cost.

[0009] In some alternative embodiments, when the real-time connection state is connected, controlling the robot chassis and the upper mounting module to perform data interaction using the first type of communication method and / or the second type of communication method includes: when the real-time connection state is connected, controlling the robot chassis and the upper mounting module to perform data interaction using the first type of communication method and the second type of communication method. The beneficial effect of this technical solution is that when the real-time connection state is connected, the robot chassis can perform data interaction with the upper mounting module using the first type of communication method and the second type of communication method, which can ensure better communication quality.

[0010] In some alternative embodiments, the upper mounting module is provided with a backup battery; the method further includes: when the real-time connection state is connected, controlling the robot chassis to supply power to the upper mounting module and charge the backup battery; when the real-time connection state is disconnected, controlling the upper mounting module to use the backup battery to supply power. The beneficial effect of this technical solution is that when the real-time connection state is connected, the robot chassis can supply power to the upper mounting module and also charge the backup battery; when the external power supply to the upper mounting module is suddenly interrupted due to vibration or poor contact, the upper mounting module can use the backup battery to supply power and implement corresponding remedial measures to continue working.

[0011] In some alternative embodiments, the method further includes: determining that the real-time connection state is disconnected, then obtaining the position information and attitude information of the upper mounting module; according to the position information and attitude information of the upper mounting module, controlling the robot chassis to move to the current position of the upper mounting module and connect the upper mounting module to itself. The beneficial effect of this technical solution is that when the upper mounting module suddenly detaches from the robot chassis, the robot chassis can move to the current position of the upper mounting module and automatically connect the upper mounting module, without manual operation, and has a high degree of automation.

[0012] In some alternative embodiments, controlling the robot chassis to move to the current position of the upper mounting module and connect the upper mounting module to itself according to the position information and attitude information of the upper mounting module includes: detecting whether the robot chassis and the upper mounting module are completely detached according to the position information and attitude information of the upper mounting module; when the robot chassis and the upper mounting module are not completely detached, controlling the robot chassis to move in the direction close to the upper mounting module and connecting the upper mounting module to itself. The beneficial effect of this technical solution is that by detecting whether the robot chassis and the upper mounting module are completely detached, when the upper mounting module is not completely detached from the robot chassis, the robot chassis can move to the current position of the upper mounting module and automatically connect the upper mounting module, preventing the upper mounting module from being completely detached from the robot chassis.

[0013] In a second aspect, the present application provides a communication device for a stacked robot. The device is applied to the stacked robot. The stacked robot includes a robot chassis and a load-bearing / towed upper mounting module. The upper mounting module is detachably connected to the robot chassis. The device includes: a state acquisition module for acquiring the real-time connection state of the robot chassis and the upper mounting module; a connection communication module for controlling the robot chassis and the upper mounting module to perform data interaction using a first type of communication method and / or a second type of communication method when the real-time connection state is connected; a detachment communication module for controlling the robot chassis and the upper mounting module to perform data interaction using the second type of communication method when the real-time connection state is detached.

[0014] In some alternative embodiments, the first type of communication method includes at least one of the following: near-field communication, WiGig communication, optical fiber communication, coaxial cable communication, open wire communication, waveguide communication, and optoelectronic communication.

[0015] In some alternative embodiments, the second type of communication method includes at least one of the following: WIFI communication, Bluetooth communication, ZigBee communication, microwave communication, satellite communication, and atmospheric laser communication.

[0016] In some alternative embodiments, the connection communication module is used to control the robot chassis and the upper mounting module to perform data interaction using the first type of communication method and the second type of communication method when the real-time connection state is connected.

[0017] In some alternative embodiments, the upper mounting module is provided with a backup battery; the device further includes a backup battery module, and the backup battery module includes: a connection charging unit configured to control the robot chassis to supply power to the upper mounting module and charge the backup battery when the real-time connection state is connected; a disconnection power supply unit configured to control the upper mounting module to be powered by the backup battery when the real-time connection state is disconnected.

[0018] In some alternative embodiments, the device further includes a reconnection module, and the reconnection module includes: an information acquisition unit configured to acquire the position information and attitude information of the upper mounting module when determining that the real-time connection state is disconnected; a chassis control unit configured to control the robot chassis to move to the current position of the upper mounting module and connect the upper mounting module to itself according to the position information and attitude information of the upper mounting module.

[0019] In some alternative embodiments, the chassis control unit includes: a disconnection detection subunit configured to detect whether the robot chassis and the upper mounting module are completely disconnected according to the position information and attitude information of the upper mounting module; a movement control subunit configured to control the robot chassis to move in a direction close to the upper mounting module and connect the upper mounting module to itself when the robot chassis and the upper mounting module are not completely disconnected.

[0020] In a third aspect, the present application provides an electronic device, the electronic device includes a memory and a processor, the memory stores a computer program, and the processor implements the steps of any one of the above methods when executing the computer program.

[0021] In a fourth aspect, the present application provides a robot chassis, the robot chassis includes the electronic device of any one of the above claims. The beneficial effect of this technical solution is that the electronic device may include a memory and a processor. Applying the electronic device to the robot chassis further improves the degree of intelligence and automation.

[0022] In a fifth aspect, the present application provides a stacked robot, the stacked robot includes a load-bearing / towed upper mounting module and the robot chassis of any one of the above, and the upper mounting module is detachably connected to the robot chassis. The beneficial effect of this technical solution is that the upper mounting module is detachably connected to the robot chassis, and different upper mounting modules can be replaced according to a given task, so that the robot chassis can freely switch identities among service robots with various uses such as distribution robots, disinfection robots, and inspection robots.

[0023] In some alternative embodiments, the robot chassis is provided with a first communication component and a second communication component, and the upper module is provided with a third communication component that matches the first communication component and a fourth communication component that matches the second communication component. The beneficial effect of this technical solution is that by providing the first communication component and the third communication component, the upper module and the robot chassis can perform data interaction through a first type of communication method; by providing the second communication component and the fourth communication component, the upper module and the robot chassis can perform data interaction through a second type of communication method.

[0024] In some alternative embodiments, the first communication component includes at least one of the following: a near-field communication unit, a WiGig communication unit, an optical fiber communication unit, a coaxial cable communication unit, an open wire communication unit, a waveguide communication unit, and an optoelectronic communication unit; the second communication component includes at least one of the following: a WIFI communication unit, a Bluetooth communication unit, a ZigBee communication unit, a microwave communication unit, a satellite communication unit, and an atmospheric laser communication unit. The beneficial effect of this technical solution is that there are various choices for the forms of the first short-range communication component and the first long-range communication component, and the applicable range is wide.

[0025] In some alternative embodiments, the upper module is provided with a backup battery. The beneficial effect of this technical solution is that the upper module is powered by the robot chassis during operation. By providing a backup battery, when the upper module is detached from the robot chassis, the upper module can be powered by the backup battery.

[0026] In some alternative embodiments, the robot chassis is provided with a first component, and each upper module is provided with a second component that matches the first component. The upper module and the robot chassis are detachably connected through the first component and the second component. The beneficial effect of this technical solution is that by providing the first component and the second component, the upper module can be detachably connected to the robot chassis, which is convenient for replacing the upper module.

[0027] In a sixth aspect, the present application provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the steps of any one of the above methods are implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The following further describes the present application with reference to the drawings and embodiments.

[0029] Figure 1 is a schematic flowchart of a communication method for a stacked robot provided by an embodiment of the present application;

[0030] Figure 2 is a schematic flowchart of a communication method for a stacked robot provided by an embodiment of the present application;

[0031] Figure 3 It is a partial process schematic diagram of a communication method for a stacked robot provided by an embodiment of the present application;

[0032] Figure 4 It is a process schematic diagram of connecting an upper mounting module provided by an embodiment of the present application;

[0033] Figure 5 It is a structural schematic diagram of a communication device for a stacked robot provided by an embodiment of the present application;

[0034] Figure 6 It is a structural schematic diagram of a communication device for a stacked robot provided by an embodiment of the present application;

[0035] Figure 7 It is a structural schematic diagram of a backup battery module provided by an embodiment of the present application;

[0036] Figure 8 It is a structural schematic diagram of a communication device for a stacked robot provided by an embodiment of the present application;

[0037] Figure 9 It is a structural schematic diagram of a reconnection module provided by an embodiment of the present application;

[0038] Figure 10 It is a structural schematic diagram of a chassis control unit provided by an embodiment of the present application;

[0039] Figure 11 It is a structural block diagram of an electronic device provided by an embodiment of the present application;

[0040] Figure 12 It is a structural schematic diagram of a robot chassis provided by an embodiment of the present application;

[0041] Figure 13 It is a structural schematic diagram of a stacked robot provided by an embodiment of the present application;

[0042] Figure 14 It is a structural schematic diagram of a stacked robot provided by an embodiment of the present application;

[0043] Figure 15 It is a structural schematic diagram of a stacked robot provided by an embodiment of the present application;

[0044] Figure 16 It is a structural schematic diagram of a program product for implementing the communication method of a stacked robot provided by an embodiment of the present application. Detailed implementation manners

[0045] Next, in combination with the accompanying drawings and specific embodiments, the present application will be further described. It should be noted that, on the premise of no conflict, the following-described embodiments or technical features can be combined arbitrarily to form new embodiments.

[0046] See Figure 1 , an embodiment of the present application provides a communication method for a stacked robot. The method is applied to the stacked robot, which includes a robot chassis and a carrying / trailer-mounted upper module. The upper module is detachably connected to the robot chassis. Specifically, the robot chassis can be an AGV cart. The upper module can be used to perform tasks. When the task type is disinfection, the corresponding target upper module is, for example, a disinfectant spraying device; when the task type is security, the corresponding target upper module is, for example, a camera, specifically, it can include an optical camera and / or an infrared camera; when the task type is delivery (express delivery, takeout), the corresponding target upper module is, for example, a delivery box, specifically, it can be a delivery box with a display device.

[0047] The method includes steps S101 to S103.

[0048] Step S101: Obtain the real-time connection status of the robot chassis and the upper module.

[0049] Step S102: When the real-time connection status is connected, control the robot chassis and the upper module to perform data interaction using the first type of communication method and / or the second type of communication method.

[0050] In a specific embodiment, the first type of communication method may include at least one of the following: near-field communication, WiGig communication, fiber optic communication, coaxial cable communication, open wire communication, waveguide communication, and optoelectronic communication. Optoelectronic communication refers to a communication method that converts an electrical signal into an optical signal and then converts the optical signal back into an electrical signal. Since the optical signal may be very weak, it is suitable for short-distance data interaction.

[0051] Therefore, the first type of communication method is relatively stable, with high reliability and high transmission rate.

[0052] In a specific embodiment, the second type of communication method may include at least one of the following: WIFI communication, Bluetooth communication, ZigBee communication, microwave communication, satellite communication, and atmospheric laser communication.

[0053] Therefore, the second type of communication method has a longer communication distance, is not restricted by wires, has a certain degree of mobility, can communicate wirelessly in a moving state, and has a lower cost.

[0054] In a specific embodiment, step S102 may include: when the real-time connection state is connected, controlling the robot chassis and the upper mounting module to perform data interaction using a first type of communication method and a second type of communication method.

[0055] Thus, when the real-time connection state is connected, the robot chassis can perform data interaction with the upper mounting module using a first type of communication method and a second type of communication method, which can ensure better communication quality.

[0056] Step S103: When the real-time connection state is disconnected, controlling the robot chassis and the upper mounting module to perform data interaction using the second type of communication method.

[0057] Thus, on the one hand, the upper mounting module is detachably connected to the robot chassis, and different upper mounting modules can be replaced according to the given tasks, so that the robot chassis can freely switch identities among service robots with various uses such as delivery robots, disinfection robots, and inspection robots; on the other hand, according to the real-time connection state of the robot chassis and the upper mounting module, the corresponding communication method can be selected, so that the upper mounting module and the robot chassis can maintain the communication state. When the real-time connection state is connected, the two can perform data interaction through the first type of communication method and / or the second type of communication method. When the real-time connection state is disconnected, the two can perform data interaction through the second type of communication method, which is also convenient for the two to reconnect later.

[0058] See Figure 2 , in a specific embodiment, the upper mounting module is provided with a backup battery; the method may further include steps S104 to S105.

[0059] Step S104: When the real-time connection state is connected, controlling the robot chassis to supply power to the upper mounting module and charge the backup battery.

[0060] Step S105: When the real-time connection state is disconnected, controlling the upper mounting module to supply power using the backup battery.

[0061] Thus, when the real-time connection state is connected, the robot chassis can supply power to the upper mounting module and also charge the backup battery; when the external power supply of the upper mounting module is suddenly interrupted due to vibration or poor contact, the upper mounting module can use the backup battery to supply power and implement corresponding remedial measures to continue working.

[0062] See Figure 3 , in a specific embodiment, the method may further include steps S106 to S107.

[0063] Step S106: If it is determined that the real-time connection state is disconnected, obtaining the position information and attitude information of the upper mounting module.

[0064] Step S107: According to the position information and attitude information of the upper mounting module, control the robot chassis to move to the current position of the upper mounting module and connect the upper mounting module to itself.

[0065] Thus, when the upper mounting module suddenly detaches from the robot chassis, the robot chassis can move to the current position of the upper mounting module and automatically connect the upper mounting module without manual operation, with a high degree of automation.

[0066] See Figure 4 , in a specific embodiment, step S107 may include steps S201 to S202.

[0067] Step S201: According to the position information and attitude information of the upper mounting module, detect whether the robot chassis and the upper mounting module are completely detached.

[0068] Step S202: When the robot chassis and the upper mounting module are not completely detached, control the robot chassis to move in the direction close to the upper mounting module and connect the upper mounting module to itself.

[0069] Thus, by detecting whether the robot chassis and the upper mounting module are completely detached, when the upper mounting module is not completely detached from the robot chassis, the robot chassis can move to the current position of the upper mounting module and automatically connect the upper mounting module, preventing the upper mounting module from completely detaching from the robot chassis.

[0070] See Figure 5 , the embodiment of the present application also provides a communication device for a stacked robot, and its specific implementation manner is the same as the implementation manner and the achieved technical effects recorded in the embodiment of the communication method of the above-mentioned stacked robot, and some contents will not be repeated. The device is applied to the stacked robot, and the stacked robot includes a robot chassis and a load-bearing / trailer-type upper mounting module, and the upper mounting module is detachably connected to the robot chassis.

[0071] The device includes: a status acquisition module 101, configured to acquire the real-time connection status of the robot chassis and the upper mounting module; a connection communication module 102, configured to control the robot chassis and the upper mounting module to perform data interaction using a first type of communication method and / or a second type of communication method when the real-time connection status is connected; a detachment communication module 103, configured to control the robot chassis and the upper mounting module to perform data interaction using the second type of communication method when the real-time connection status is detached.

[0072] In a specific embodiment, the first type of communication method may include at least one of the following: near - field communication, WiGig communication, optical fiber communication, coaxial cable communication, open - wire communication, waveguide communication, and optoelectronic communication.

[0073] In a specific embodiment, the second type of communication method may include at least one of the following: WIFI communication, Bluetooth communication, ZigBee communication, microwave communication, satellite communication, and atmospheric laser communication.

[0074] In a specific embodiment, the connection communication module 102 may be used to control the robot chassis and the upper module to perform data interaction using the first type of communication method and the second type of communication method when the real - time connection state is connected.

[0075] See Figures 6 - 7 , in a specific embodiment, the upper module may be provided with a backup battery; the device may further include a backup battery module 104, and the backup battery module 104 may include: a connection charging unit 1041, which can be used to control the robot chassis to supply power to the upper module and charge the backup battery when the real - time connection state is connected; a disconnection power supply unit 1042, which can be used to control the upper module to supply power using the backup battery when the real - time connection state is disconnected.

[0076] See Figures 8 - 9 , in a specific embodiment, the device may further include a re - connection module 105, and the re - connection module 105 may include: an information acquisition unit 1051, which can be used to determine that the real - time connection state is disconnected, and then acquire the position information and attitude information of the upper module; a chassis control unit 1052, which can be used to control the robot chassis to move to the current position of the upper module and connect the upper module to itself according to the position information and attitude information of the upper module.

[0077] See Figure 10 , in a specific embodiment, the chassis control unit 1052 may include: a disconnection detection sub - unit 1052a, which can be used to detect whether the robot chassis and the upper module are completely disconnected according to the position information and attitude information of the upper module; a movement control sub - unit 1052b, which can be used to control the robot chassis to move in the direction close to the upper module and connect the upper module to itself when the robot chassis and the upper module are not completely disconnected.

[0078] See Figure 11 , the embodiment of the present application further provides an electronic device 200, and the electronic device 200 includes at least one memory 210, at least one processor 220, and a bus 230 connecting different platform systems.

[0079] The memory 210 may include a readable medium in the form of volatile memory, such as random access memory (RAM) 211 and / or cache memory 212, and may further include read-only memory (ROM) 213.

[0080] Among them, the memory 210 also stores a computer program, which can be executed by the processor 220, so that the processor 220 executes the steps of the communication method of the stacked robot in the embodiments of the present application. The specific implementation manner is consistent with the implementation manner and the achieved technical effects described in the embodiments of the above-mentioned communication method of the stacked robot, and some contents will not be elaborated.

[0081] The memory 210 may also include a program / utilities 214 having a set (at least one) of program modules 215. Such program modules include, but are not limited to: an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include the implementation of a network environment.

[0082] Correspondingly, the processor 220 can execute the above computer program and can also execute the program / utilities 214.

[0083] The bus 230 may represent one or more of several types of bus structures, including a memory bus or a memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus structures.

[0084] The electronic device 200 can also communicate with one or more external devices 240, such as a keyboard, a pointing device, a Bluetooth device, etc., and can also communicate with one or more devices capable of interacting with the electronic device 200, and / or communicate with any device (such as a router, a modem, etc.) that enables the electronic device 200 to communicate with one or more other computing devices. Such communication can be carried out through the input / output (I / O) interface 250. And the electronic device 200 can also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through the network adapter 260. The network adapter 260 can communicate with other modules of the electronic device 200 through the bus 230. It should be understood that although not shown in the figure, other hardware and / or software modules can be used in combination with the electronic device 200, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms, etc.

[0085] See Figure 12, embodiments of the present application also provide a robot chassis 20, whose specific implementation manner is consistent with the implementation manner and the achieved technical effects described in the embodiments of the communication method of the above-mentioned stacked robot, and some contents will not be elaborated.

[0086] The robot chassis 20 includes any one of the above-mentioned electronic devices 200.

[0087] Thus, the electronic device 200 may include a memory and a processor. Applying the electronic device 200 to the robot chassis 20 further improves the degree of intelligence and automation.

[0088] See Figure 13 , embodiments of the present application also provide a stacked robot 40, whose specific implementation manner is consistent with the implementation manner and the achieved technical effects described in the embodiments of the communication method of the above-mentioned stacked robot, and some contents will not be elaborated.

[0089] The stacked robot 40 includes a carrying / trailer-mounted upper module 30 and any one of the above-mentioned robot chassis 20, and the upper module 30 is detachably connected to the robot chassis 20.

[0090] Thus, the upper module 30 is detachably connected to the robot chassis 20, and different upper modules 30 can be replaced according to the given tasks, so that the robot chassis 20 can freely switch identities among service robots for various purposes such as delivery robots, disinfection robots, and inspection robots.

[0091] See Figure 14 , in a specific implementation manner, the robot chassis 20 may be provided with a first communication component 201 and a second communication component 202, and the upper module 30 may be provided with a third communication component 301 matching the first communication component 201 and a fourth communication component 302 matching the second communication component 202.

[0092] Thus, by setting the first communication component 201 and the third communication component 301, the upper module 30 and the robot chassis 20 can perform data interaction through a first type of communication method; by setting the second communication component 202 and the fourth communication component 302, the upper module 30 and the robot chassis 20 can perform data interaction through a second type of communication method.

[0093] In a specific embodiment, the first communication component 201 may include at least one of the following: a near-field communication unit, a WiGig communication unit, an optical fiber communication unit, a coaxial cable communication unit, an open wire communication unit, a waveguide communication unit, and an optoelectronic communication unit; the second communication component 202 may include at least one of the following: a WIFI communication unit, a Bluetooth communication unit, a ZigBee communication unit, a microwave communication unit, a satellite communication unit, and an atmospheric laser communication unit.

[0094] Therefore, there are various choices for the forms of the first communication component 201 and the second communication component 202, and the applicable range is wide.

[0095] In a specific embodiment, the upper mounting module 30 is provided with a backup battery.

[0096] Therefore, when the upper mounting module 30 is working, it is powered by the robot chassis 20. By providing a backup battery, when the upper mounting module 30 is separated from the robot chassis 20, the upper mounting module 30 can be powered by the backup battery.

[0097] See Figure 15 , in a specific embodiment, the robot chassis 20 may be provided with a first component 203, and each upper mounting module 30 may be provided with a second component 303 that matches the first component 203. The upper mounting module 30 and the robot chassis 20 may be detachably connected through the first component 203 and the second component 303. The first component 203 and the second component 303 may be combined or separated.

[0098] Therefore, by providing the first component 203 and the second component 303, the upper mounting module 30 can be detachably connected to the robot chassis 20, which is convenient for replacing the upper mounting module 30.

[0099] The embodiment of the present application also provides a computer-readable storage medium, which is used to store a computer program. When the computer program is executed, it implements the steps of the communication method of the stacked robot in the embodiment of the present application. Its specific implementation manner is the same as the implementation manner and the achieved technical effects recorded in the embodiment of the communication method of the stacked robot above, and some contents will not be repeated.

[0100] Figure 16Fig. 0 shows a program product 300 provided by this embodiment for implementing the above method. It can be a portable compact disc read-only memory (CD-ROM) and includes program code, and can run on a terminal device, such as a personal computer. However, the program product 300 of the present invention is not limited thereto. In this document, a readable storage medium can be any tangible medium that contains or stores a program, and this program can be used by or in conjunction with an instruction execution system, apparatus, or device. The program product 300 can adopt any combination of one or more readable media. The readable media can be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0101] A computer-readable storage medium may include a data signal propagated in a baseband or as part of a carrier wave, in which the readable program code is carried. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The readable storage medium can also be any readable medium other than the readable storage medium, and this readable medium can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium can be transmitted using any appropriate medium, including but not limited to wireless, wired, optical fiber cable, RF, etc., or any suitable combination of the above. The program code for performing the operations of the present invention can be written in any combination of one or more programming languages. The programming languages include object-oriented programming languages such as Java, C++, etc., and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user computing device, partially on the user device, executed as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (for example, by using an Internet service provider to connect through the Internet).

[0102] This application is described from the perspectives of purpose of use, effectiveness, progressiveness, and novelty. It has practical progressiveness and meets the functional enhancement and usage requirements emphasized by the patent law. The above description and drawings of this application are only preferred embodiments of this application and do not limit this application. Therefore, all those that are similar or identical to the structure, device, features, etc. of this application, that is, all equivalent substitutions or modifications made according to the scope of the patent application of this application, shall fall within the scope of protection of the patent application of this application.

Claims

1. A communication method for a stacked robot, characterized in that, the method is applied to the stacked robot, which includes a robot chassis and a carrying / trailer-mounted upper module, the upper module is detachably connected to the robot chassis, and the method includes: Obtaining the real-time connection status of the robot chassis and the upper module; When the real-time connection status is connected, controlling the robot chassis and the upper module to perform data interaction using a first type of communication method; When the real-time connection status is disconnected, controlling the robot chassis and the upper module to perform data interaction using a second type of communication method; The upper module is provided with a backup battery; When the real-time connection status is connected, controlling the robot chassis to supply power to the upper module and charge the backup battery; When the real-time connection status is disconnected, controlling the upper module to supply power using the backup battery.

2. The communication method for a stacked robot according to claim 1, characterized in that, The first type of communication method includes at least one of the following: near-field communication, WiGig communication, fiber optic communication, coaxial cable communication, open wire communication, waveguide communication, and optoelectronic communication.

3. The communication method for a stacked robot according to claim 1, characterized in that, The second type of communication method includes at least one of the following: WIFI communication, Bluetooth communication, ZigBee communication, microwave communication, satellite communication, and atmospheric laser communication.

4. The communication method for a stacked robot according to claim 1, characterized in that, The step of, when the real-time connection status is connected, controlling the robot chassis and the upper module to perform data interaction using the first type of communication method and / or the second type of communication method includes: When the real-time connection status is connected, controlling the robot chassis and the upper module to perform data interaction using the first type of communication method and the second type of communication method.

5. The communication method for a stacked robot according to claim 1, characterized in that, The method further includes: Determining that the real-time connection status is disconnected, then obtaining the position information and attitude information of the upper module; According to the position information and attitude information of the upper module, controlling the robot chassis to move to the current position of the upper module and connect the upper module to itself.

6. The communication method for a stacked robot according to claim 5, characterized in that, The step of, according to the position information and attitude information of the upper module, controlling the robot chassis to move to the current position of the upper module and connect the upper module to itself includes: According to the position information and attitude information of the upper module, detecting whether the robot chassis and the upper module are completely disconnected; When the robot chassis and the upper module are not completely disconnected, controlling the robot chassis to move in the direction close to the upper module and connect the upper module to itself.

7. A communication device for a stacked robot, characterized in that, The device is applied to the stacked robot, which includes a robot chassis and a carrying / trailer-mounted upper module. The upper module is detachably connected to the robot chassis. The device includes: A status acquisition module for acquiring the real-time connection status of the robot chassis and the upper module; A connection communication module for controlling the robot chassis and the upper module to perform data interaction using a first type of communication method when the real-time connection status is connected; A disconnection communication module for controlling the robot chassis and the upper module to perform data interaction using a second type of communication method when the real-time connection status is disconnected; The upper module is provided with a backup battery; The device further includes a backup battery module, which includes: A connection charging unit for controlling the robot chassis to supply power to the upper module and charge the backup battery when the real-time connection status is connected; A disconnection power supply unit for controlling the upper module to supply power using the backup battery when the real-time connection status is disconnected.

8. The communication device of the stacked robot according to claim 7, wherein, The first type of communication method includes at least one of the following: near-field communication, WiGig communication, fiber optic communication, coaxial cable communication, open wire communication, waveguide communication, and optoelectronic communication.

9. The communication device of the stacked robot according to claim 7, wherein, The second type of communication method includes at least one of the following: WIFI communication, Bluetooth communication, ZigBee communication, microwave communication, satellite communication, and atmospheric laser communication.

10. The communication device of the stacked robot according to claim 7, wherein, The connection communication module is used to control the robot chassis and the upper module to perform data interaction using the first type of communication method and the second type of communication method when the real-time connection status is connected.

11. The communication device of the stacked robot according to claim 7, wherein, The device further includes a reconnection module, which includes: An information acquisition unit for determining that the real-time connection status is disconnected, and then acquiring the position information and attitude information of the upper module; A chassis control unit for controlling the robot chassis to move to the current position of the upper module and connect the upper module to itself according to the position information and attitude information of the upper module.

12. The communication device of the stacked robot according to claim 11, wherein, The chassis control unit includes: A disconnection detection sub-unit for detecting whether the robot chassis and the upper module are completely disconnected according to the position information and attitude information of the upper module; A movement control sub-unit for controlling the robot chassis to move in the direction close to the upper module and connect the upper module to itself when the robot chassis and the upper module are not completely disconnected.

13. An electronic device, wherein, The electronic device includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the steps of the method according to any one of claims 1-6 are implemented.

14. A robot chassis Characterized in that The robot chassis includes the electronic device according to claim 13.

15. A stacked robot Characterized in that The stacked robot includes a carrying / trailer-mounted upper module and the robot chassis according to claim 14, and the upper module is detachably connected to the robot chassis.

16. The stacked robot according to claim 15 Characterized in that The robot chassis is provided with a first communication component and a second communication component, and the upper module is provided with a third communication component matching the first communication component and a fourth communication component matching the second communication component.

17. The stacked robot according to claim 16 Characterized in that The first communication component includes at least one of the following: a near-field communication unit, a WiGig communication unit, an optical fiber communication unit, a coaxial cable communication unit, an open-wire communication unit, a waveguide communication unit, and an optoelectronic communication unit; The second communication component includes at least one of the following: a WIFI communication unit, a Bluetooth communication unit, a ZigBee communication unit, a microwave communication unit, a satellite communication unit, and an atmospheric laser communication unit.

18. The stacked robot according to claim 15 Characterized in that The upper module is provided with a backup battery.

19. The stacked robot according to claim 15 Characterized in that The robot chassis is provided with a first component, and each upper module is provided with a second component matching the first component. The upper module and the robot chassis are detachably connected through the first component and the second component.

20. A computer-readable storage medium Characterized in that It stores a computer program, and when the computer program is executed by a processor, the steps of the method according to any one of claims 1-6 are implemented.

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