Integrated servo actuator wireless protocol processing device and communication method

Abstract

The present invention belongs to the technical field of servo actuator communication, and discloses an integrated servo actuator wireless protocol processing device and communication method, wherein the device comprises a power conversion module, a core processing module, a wireless module, an external interface and a housing for installing the above components, wherein the core processing module comprises an FPGA chip, a USB bus communication component, a serial communication component and a communication transmission component, the communication transmission component is connected to an external bus through an external interface, and is connected to the FPGA chip through a serial communication component, the FPGA chip is connected to a wireless module through a USB bus communication component, the wireless module sends or receives a wireless communication signal through a radio frequency component, the power conversion module is connected to the wireless module and the core processing module, provides power, and is connected to an external power supply through an external interface. The present invention realizes wireless real-time communication between a servo actuator and a host computer, reduces communication cables between devices, and improves the integrated modularization of the system.

Description

Technical Field

[0001] The present invention belongs to the technical field of servo actuator communication, and relates to a wireless device and a communication method for a servo actuator, and in particular to an integrated servo actuator wireless protocol processing device and a communication method. Background Art

[0002] As complex electromechanical equipment develops towards distributed, integrated and modularized directions, the servo actuators in complex electromechanical equipment are physically distributed in different locations. Considering the installation locations and installation space limitations of different devices, using a bus method to build a distributed real-time communication network can realize information interaction between devices.

[0003] The servo actuator controller uses an encoding device integrated with the servo actuator to control the servo actuator protocol, such as RS422, RS485, CAN and other buses. The host computer control selects a standard for communication according to the encoding method of the servo actuator, but when the servo actuator protocol changes, the communication standard of the host computer also needs to be revised and the devices between different buses cannot directly exchange information, which reduces the versatility of the servo actuator.

[0004] At the same time, bus data transmission between complex electromechanical equipment is based on transmission stability and security considerations, generally using physical bus connection, and less using wireless networks. Summary of the invention

[0005] Purpose of the present invention: In order to solve the above problems, the present invention provides an integrated servo actuator wireless protocol processing device and communication method, through which the device bus is connected to the network, and different bus data are processed by software on the wireless network, which can realize wireless communication between the host computer and different types of bus servo actuators and improve their compatibility

[0006] An integrated servo actuator wireless protocol processing device includes a power conversion module, a core processing module, a wireless module, an external interface and a shell for installing the above components, wherein the processing core module includes an FPGA chip, a USB bus communication component, a serial communication component and a communication transmission component, wherein the communication transmission component is connected to an external bus through an external interface and is connected to the FPGA chip through a serial communication component, the FPGA chip is connected to the wireless module through the USB bus communication component, the wireless module sends or receives wireless communication signals through a radio frequency component, the power conversion module is connected to the wireless module and the core processing module, provides power, and is connected to an external power supply through an external interface.

[0007] Furthermore, the communication transmission component is provided with one or more of RS422, RS485, CAN, and 1394B bus serial port interfaces, and the communication transmission component is also provided with a debugging aviation plug interface for connecting a debugging machine; a conversion circuit corresponding to the bus signal of the communication transmission component is provided in the serial port communication component, which is used to convert the serial port bus signal into a UART format signal.

[0008] Furthermore, the voltage level converter of the serial communication component is connected in series with the IC transceiver through the component pins to convert RS422 data into serial communication data.

[0009] Furthermore, the voltage level converter of the serial communication component and the IC transceiver are connected in series through pins to realize CAN type data conversion, and the isolated power module is used to convert the 5V power supply into the CAN data component voltage

[0010] Furthermore, a signal conversion function module is provided in the FPGA chip to convert the input UART signal into a standard USB signal and transmit it to the internal baseband chip, which is then transmitted to the USB bus communication component by the internal baseband chip.

[0011] Furthermore, a reverse loop is provided in the FPGA chip to convert the USB signal transmitted from the internal baseband chip into a UART signal output.

[0012] Furthermore, a bus controller is provided inside the USB bus communication component for converting the USB signal from the FPGA chip into a standard USB signal for transmission; the USB bus communication component has a reverse loop for converting the USB standard signal into a USB signal that can be received by the FPGA chip.

[0013] Furthermore, the RF component includes several switches, two duplexers, a filter, and an amplifier, wherein the two duplexers are arranged in parallel and connected to the same receiving switch through two power amplifiers, and the parallel-arranged transmitting switch is connected to the two duplexers and the RF switch through the PA switch, and the RF switch is also connected to the receiving switch through the power amplifier and connected to the filter at the same time, and the filter and the two duplexers are respectively connected to the main switch.

[0014] A communication method for an integrated servo actuator wireless protocol processing device, wherein the bus signal emitted by the integrated servo actuator is converted into a UART signal, then processed into a standard USB signal by an FPGA chip, and then sent to a radio frequency component, which converts the signal into an antenna radio frequency signal and emits it; conversely, the radio frequency component receives the external antenna radio frequency signal and converts it into a USB signal, which is then processed by the FPGA chip to become a UART signal, and after being processed and converted into a corresponding bus signal, it is transmitted to other servo actuators.

[0015] Beneficial effects of the present invention:

[0016] 1) The present invention realizes wireless real-time communication between the servo actuator and the host computer, reduces the communication cables between devices, and improves the integrated modularization of the system;

[0017] 2) The present invention can realize wireless communication of different types of bus servo actuators by configuring different serial communication modules and modifying configuration files of different types of bus communication protocols, thereby enhancing versatility;

[0018] 3) The combination of the specific model selection of the modules of the present invention makes the bit error rate of wireless data transmission extremely low, which can reach 10-6, and the data delay is only within 10ms. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a physical schematic diagram of the integrated servo actuator wireless protocol processing device of the present invention;

[0020] Figure 2 is an appearance diagram of the top surface of the integrated servo actuator wireless protocol processing device of the present invention;

[0021] Figure 3 is a front appearance diagram of the integrated servo actuator wireless protocol processing device of the present invention;

[0022] Figure 4 is an appearance diagram of the back of the integrated servo actuator wireless protocol processing device of the present invention;

[0023] Figure 5 It is a schematic diagram of the module structure of the integrated servo actuator wireless protocol processing device of the present invention;

[0024] Figure 6 It is a schematic diagram of a data flow of wireless data transmission of a wireless protocol processing device for an integrated servo actuator according to the present invention;

[0025] Figure 7 It is a data scheduling diagram of the integrated servo actuator wireless protocol processing device described in the present invention.

[0026] Among them, 1-power conversion module, 2-communication transmission component, 3-serial communication component, 4-FPGA chip, 5-ROM, 6-RAM, 7-USB bus communication component, 8-core processing module, 9-RF component, 10-wireless module, 11-device housing, 12-signal receiving antenna, 13-power aviation plug, 14-debugging aviation plug, 15-serial port aviation plug, 16-antenna socket. DETAILED DESCRIPTION

[0027] This section is an embodiment of the present invention, which is used to explain and illustrate the technical solution of the present invention.

[0028] An integrated servo actuator wireless protocol processing device includes a power conversion module 1, a core processing module 8, a wireless module 10, an external interface and a shell for installing the above components, wherein the processing core module 8 includes an FPGA chip 4, a USB bus communication component 7, a serial communication component 3 and a communication transmission component 2, wherein the communication transmission component 2 is connected to the external bus through the external interface and is connected to the FPGA chip 4 through the serial communication component 3, the FPGA chip 4 is connected to the wireless module 10 through the USB bus communication component 7, the wireless module 10 sends or receives wireless communication signals through the radio frequency component 9, the power conversion module 1 is connected to the wireless module 10 and the core processing module 8, provides power, and is connected to an external power supply through the external interface.

[0029] The communication transmission component 2 is provided with one or more of RS422, RS485, CAN, and 1394B bus serial port interfaces, and the communication transmission component 2 is also provided with a debugging aviation plug 14 interface connected to a debugging machine; the serial port communication component 3 is provided with a conversion circuit corresponding to the bus signal of the communication transmission component 2, which is used to convert the serial port bus signal into a UART format signal.

[0030] The voltage level converter of the serial communication component 3 is connected in series with the IC transceiver through the component pins to convert RS422 data into serial communication data.

[0031] The voltage level converter of the serial communication component 3 and the IC transceiver are connected in series through pins to realize CAN type data conversion, and the isolated power supply module is used to convert the power supply 5V into the CAN data element voltage.

[0032] Furthermore, a signal conversion function module is provided in the FPGA chip 4 for converting the input UART signal into a standard USB signal and transmitting it to the internal baseband chip, which is then transmitted to the USB bus communication component 7 by the internal baseband chip.

[0033] A reverse loop is provided in the FPGA chip 4 to convert the USB signal transmitted from the internal baseband chip into a UART signal output.

[0034] The USB bus communication component 7 is internally provided with a bus controller for converting the USB signal from the FPGA chip 4 into a standard USB signal for transmission; the USB bus communication component 7 has a reverse loop for converting the USB standard signal into a USB signal that can be received by the FPGA chip 4.

[0035] The RF component 9 includes several switches, two duplexers, filters, and amplifiers, wherein the two duplexers are arranged in parallel and connected to the same receiving switch through two power amplifiers. The parallel transmitting switch is connected to the two duplexers and the RF switch through the PA switch. The RF switch is also connected to the receiving switch through the power amplifier and connected to the filter. The filter and the two duplexers are respectively connected to the main switch.

[0036] A communication method for an integrated servo actuator wireless protocol processing device, wherein the bus signal emitted by the integrated servo actuator is converted into a UART signal, then processed into a standard USB signal by an FPGA chip, and then sent to a radio frequency component, which converts the signal into an antenna radio frequency signal and emits it; conversely, the radio frequency component receives the external antenna radio frequency signal and converts it into a USB signal, which is then processed by the FPGA chip to become a UART signal, and after being processed and converted into a corresponding bus signal, it is transmitted to other servo actuators.

[0037] Another embodiment of the present invention is further described below with reference to the accompanying drawings.

[0038] The structure of the protocol processing device in this embodiment is described. Figure 1 to Figure 5 A schematic diagram showing the structure of a protocol processing device. Figure 1 This diagram shows the appearance of an isometric view of a protocol processing device. Figure 2 This figure shows the appearance of the top surface of the protocol processing device. Figure 3 and Figure 4 The front and rear appearances of the protocol processing device are shown respectively. Figure 5 It shows the functional block structure of the protocol processing device.

[0039] like Figure 5 As shown, the protocol processing device includes: a protocol processing device housing 11, a power conversion module 1, a communication transmission component 2, a serial port communication component 3, an embedded FPGA chip 4, a mounted ROM 5, a mounted RAM 6, a USB bus communication component 7, a radio frequency component 8 and a signal receiving antenna 12.

[0040] The protocol processing device housing is partitioned and arranged to house electronic components of various subsystems.

[0041] The power conversion module 1 uses a power module with the characteristics of wide voltage input, low ripple / noise, high efficiency, and high power density.

[0042] The communication transmission component 2 physically connects the protocol processing device and the servo actuator through an aviation plug, so that the servo actuator and the protocol processing device form an integrated layout.

[0043] Serial communication system 3, using analog mixed signal IC transceiver and voltage level converter to realize RS422 data communication of protocol processing device; using IC transceiver, voltage level converter and DC-DC isolation module to realize CAN type data communication of protocol processing device; using Ethernet connector to realize Ethernet interface communication of protocol processing device.

[0044] FPGA chip 4 is an embedded FPGA chip, which uses the embedded FPGA processing chip of the Linux operating system to realize the processing of wireless communication information, adopts the matching memory and FLASH components to realize information storage, and processes the converted servo actuator transmission information. FPGA chip 4 converts the input UART signal into a standard USB signal, and transmits it to the internal baseband chip, which is then transmitted to the USB bus communication component by the internal baseband chip. A reverse loop is set in FPGA chip 4 to convert the USB signal transmitted by the internal baseband chip into a UART signal output.

[0045] The USB bus communication system 7 uses a USB chip and a USB module to convert the USB signal transmitted by the FPGA system into a standard USB signal for transmission.

[0046] The radio frequency component 9 uses a wireless radio frequency module to enable the wireless protocol processing device to have wireless communication access capabilities. The radio frequency component includes a number of switches, two duplexers, a filter, and an amplifier, wherein the two duplexers are arranged in parallel and connected to the same receiving switch through two power amplifiers, and the parallel transmitting switch is connected to the two duplexers and the radio frequency switch through the PA switch, and the radio frequency switch is also connected to the receiving switch through the power amplifier, and is connected to the filter at the same time, and the filter and the two duplexers are respectively connected to the main switch. The duplexer includes two band-stop filters, which are respectively connected to the transmitting end and the receiving end, and resonate at the transmitting and receiving frequencies respectively.

[0047] The signal receiving antenna 12 uses an external antenna to receive wireless signals; the relative positions of the servo actuator and the protocol processing terminal are fixed, so by using an external antenna, the signal receiving and sending strength can be adjusted according to the actual on-site conditions.

[0048] The RF component 9, the signal receiving antenna 12 and part of the power supply system together constitute a wireless module 10; the communication transmission component 2, the embedded FPGA chip 3, the RAM 4, the ROM 5, the serial communication system 6 and the USB bus communication system 7 together constitute a core processing module 8; the power conversion module 1, the core processing module 8 and the wireless module 10 together constitute the hardware circuit of the protocol processing device.

[0049] The hardware circuit PCB board, the communication interface and the signal receiving antenna are packaged in a protocol processing device housing to form an overall integrated servo actuator protocol processing device.

[0050] refer to Figure 6 and Figure 7 As shown, based on the above-designed integrated servo actuator protocol processing device, a wireless communication data stream transmission process is provided. According to the actuation protocol communication format of the servo actuator, the RS422 type data format is converted into the UART type format through the data scheduling module in the wireless device, and the UART signal is converted into a standard USB signal through the FPGA chip, and the standard USB signal is converted into a USB signal using the USB bus communication system, and the USB signal is converted into a wireless signal through the radio frequency module and sent and transmitted through the wireless base station. During normal communication, the software program will always respond to the signal on the RS422 bus of the servo actuator, package and encapsulate the signal after receiving it, forward it to the wireless module, and send it to the host computer through the wireless network; at the same time, the software program also responds to the wireless data received by the wireless module, parses the instructions issued by these host computers, and sends them to the servo actuator through the RS422 bus.

[0051] The above contents are further detailed descriptions of the present invention in combination with specific preferred implementations, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. For ordinary technicians in the technical field, without departing from the concept of the present invention, several simple deductions or substitutions can be made, which should be regarded as falling within the scope of patent protection determined by the claims submitted by the present invention.

Claims

1. An integrated servo actuator wireless protocol processing device, characterized in that: The invention comprises a power conversion module (1), a core processing module (8), a wireless module (10), an external interface and a housing for installing the above components, wherein the core processing module (8) comprises an FPGA chip (4), a USB bus communication component (7), a serial communication component (3) and a communication transmission component (2), wherein the communication transmission component (2) is connected to an external bus via the external interface and is connected to the FPGA chip (4) via the serial communication component (3), the FPGA chip (4) is connected to the wireless module (10) via the USB bus communication component (7), the wireless module (10) sends or receives wireless communication signals via a radio frequency component (9), and the power conversion module (1) is connected to the wireless module (10) and the core processing module (8) to provide power, and is connected to an external power source via the external interface.

2. The integrated servo actuator wireless protocol processing device according to claim 1, characterized in that: The communication transmission component (2) is provided with one or more of RS422, RS485, CAN, and 1394B bus serial port interfaces, and the communication transmission component (2) is also provided with a debugging aviation plug (14) interface connected to a debugging machine; a conversion circuit corresponding to the bus signal of the communication transmission component (2) is provided in the serial port communication component (3), which is used to convert the serial port bus signal into a UART format signal.

3. The integrated servo actuator wireless protocol processing device according to claim 2, characterized in that: The level voltage converter of the serial communication component (3) is connected in series with the IC transceiver through component pins to convert RS422 data into serial communication data.

4. The integrated servo actuator wireless protocol processing device according to claim 2, characterized in that: The level voltage converter of the serial communication component (3) and the IC transceiver are connected in series via pins to realize CAN type data conversion, and the 5V power supply is converted into the CAN data element voltage by using the isolation power module.

5. The integrated servo actuator wireless protocol processing device according to claim 1, characterized in that: The FPGA chip (4) is provided with a signal conversion function module for converting an input UART signal into a standard USB signal and transmitting the signal to an internal baseband chip, which is then transmitted to a USB bus communication component (7).

6. The integrated servo actuator wireless protocol processing device according to claim 5, characterized in that: A reverse loop is arranged inside the FPGA chip (4) to convert the USB signal transmitted from the internal baseband chip into a UART signal output.

7. The integrated servo actuator wireless protocol processing device according to claim 1, characterized in that: The USB bus communication component (7) is internally provided with a bus controller for converting the USB signal transmitted from the FPGA chip (4) into a standard USB signal for transmission; the USB bus communication component (7) has a reverse loop for converting the USB standard signal into a USB signal that can be received by the FPGA chip (4).

8. The integrated servo actuator wireless protocol processing device according to claim 1, characterized in that: The radio frequency component (9) comprises a plurality of switches, two duplexers, a filter, and an amplifier, wherein the two duplexers are arranged in parallel and connected to the same receiving switch via two power amplifiers, the transmitting switch arranged in parallel is connected to the two duplexers and the radio frequency switch via a PA switch, the radio frequency switch is also connected to the receiving switch via a power amplifier and is connected to a filter at the same time, and the filter and the two duplexers are respectively connected to a main switch.

9. A communication method for an integrated servo actuator wireless protocol processing device, using an integrated servo actuator wireless protocol processing device as described in any one of claims 1 to 8, characterized in that: The bus signal sent by the integrated servo actuator is converted into a UART signal, which is then processed into a standard USB signal by the FPGA chip and then sent to the RF component, which converts it into an antenna RF signal and sends it out; On the contrary, the RF component receives the RF signal from the external antenna and converts it into a USB signal, which is then processed by the FPGA chip to become a UART signal, and is processed and converted into a corresponding bus signal before being transmitted to other servo actuators.

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