Communication module and communication method

Abstract

The communication module includes: a transmitting unit and a receiving unit, which are arranged at approximately the center of a connection surface of the communication module to send and receive data according to mutually corresponding data communication schemes; and a first electrode and a plurality of second electrodes, which have mutually different polarities and are arranged in the periphery of the transmitting unit and the receiving unit on the connection surface in an arrangement with N-fold symmetry (N is a natural number of 3 or greater).

Description

Technical Field

[0001] The present disclosure relates to a communication module and a communication method. Background Art

[0002] Recently, a technology for configuring a robot by combining modules that can dynamically change the connectivity between each other has been proposed (e.g., Patent Document 1). The robot obtained by combining such modules can adopt various shapes according to the connection between the modules, and can therefore perform more flexible operations.

[0003] By sending and receiving data between the combined modules, etc., such a robot can operate as a whole robot.

[0004] Reference List

[0005] Patent Literature

[0006] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2000-117672 Summary of the invention

[0007] It is desirable to further increase the degree of freedom of connection between modules to further increase the degree of freedom of shape and movement of a robot configured by combining a plurality of modules.

[0008] Therefore, it is desirable to provide a communication module capable of further increasing the degree of freedom of connection between communication modules and a communication method performed by the communication module.

[0009] A communication module according to one embodiment of the present disclosure includes: a transmitter and a receiver, each of which is arranged at a substantial center of a connection surface, the transmitter and the receiver sending and receiving data through mutually corresponding data communication schemes; and a first electrode and a plurality of second electrodes, the first electrode having a polarity different from that of the plurality of second electrodes, the first electrode and the plurality of second electrodes being arranged in an N-fold symmetric (where N is a natural number of 3 or greater) arrangement in the periphery of the transmitter and the receiver, the transmitter and the receiver being arranged on the connection surface.

[0010] In addition, a communication method according to one embodiment of the present disclosure includes: power is supplied by a first electrode and a plurality of second electrodes, each of the first electrode and the plurality of second electrodes is arranged on a connecting surface in an N-fold symmetric arrangement (where N is a natural number of 3 or greater), and the first electrode has a polarity different from that of the plurality of second electrodes; and a transmitter and a receiver send and receive data through mutually corresponding data communication schemes, each of the transmitter and the receiver being arranged at approximately the center of the inner side of the first electrode and the plurality of second electrodes on the connecting surface.

[0011] The communication module and communication method according to the embodiment of the present disclosure may be: a transmitter and a receiver, each of which is arranged at the approximate center of the connection surface, and the transmitter and the receiver send and receive data through a mutually corresponding data communication scheme; and a first electrode and a plurality of second electrodes, which are arranged in an N-fold symmetrical arrangement in the periphery of the transmitter and the receiver, and the transmitter and the receiver are arranged on the connection surface for supplying power, and the first electrode has a polarity different from that of the plurality of second electrodes. This enables, for example, the communication module to rotate and couple another communication module to the connection surface of the communication module. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] [ Figure 1 ] Figure 1 is an explanatory diagram showing an overview of a communication module according to one embodiment of the present disclosure.

[0013] [ Figure 2 ] Figure 2 is a perspective view of a configuration example of a connection surface of a communication module according to an embodiment.

[0014] [ Figure 3 ] Figure 3 is a schematic cross-sectional view of each component provided on one connection surface and each component provided on the other connection surface in a direction perpendicular to the connection surfaces.

[0015] [ Figure 4 ] Figure 4 is a circuit diagram schematically showing a circuit configuration in a communication unit.

[0016] [ Figure 5A ] Figure 5A is Figure 2 FIG. 1 is a schematic diagram showing the positional relationship between a transmitter and a receiver at a rotation angle of 90 degrees during connection between communication modules.

[0017] [ Figure 5B ] Figure 5B is Figure 2 FIG. 1 is a schematic diagram showing the positional relationship between a transmitter and a receiver at a rotation angle of 180 degrees during connection between communication modules.

[0018] [ Figure 5C ] Figure 5C is Figure 2 FIG. 1 is a schematic diagram showing the positional relationship between a transmitter and a receiver at a rotation angle of 270 degrees during connection between communication modules.

[0019] [ Figure 6 ] Figure 6 is a diagram showing a polarity switching period of the first electrode and the second electrode.

[0020] [ Fig. 7A ] Fig. 7A is Figure 6 Schematic diagram of data transmission and reception performed by a communication unit during the CL-Ne period in FIG.

[0021] [ Figure 7B ] Figure 7B is Figure 6 Schematic diagram of data transmission and reception performed by a communication unit during the CL-Po period in FIG.

[0022] [ Figure 8 ] Figure 8 : is an explanatory diagram showing the configuration of a module system including the communication module according to the present embodiment as a host and a client.

[0023] [ Fig. 9 ] Fig. 9 is a block diagram showing the hardware configuration of the host computer.

[0024] [ Fig.10 ] Fig.10 is a block diagram showing the hardware configuration of a client.

[0025] [ Fig.11 ] Fig.11 is an explanatory diagram showing data transfer performed by a client.

[0026] [ Fig.12 ] Fig.12 is a block diagram illustrating functionality regarding data transmission in an upstream direction or a downstream direction within a client.

[0027] [ Fig.13A ] Fig.13A is a flow chart showing the flow of operations for pairing a host with a client.

[0028] [ Fig. 13B ] Fig. 13B : is a flowchart showing the flow of a process for confirming pairing information.

[0029] [ Fig.14 ] Fig.14 is an explanatory diagram showing an example of connection between a host and a client and an example of pairing information for each connection.

[0030] [ Fig.15A ] Fig.15A is a diagram of the communication path setup performed by the client before pairing.

[0031] [ Fig. 15B ] Fig. 15B is a diagram of the communication path setup performed by the client after pairing.

[0032] [ Fig.16 ] Fig.16 It is a schematic diagram of the connection mode between the host and the client of L1 when the host of L0 assigns an address to the client of L1.

[0033] [ Fig.17 ] Fig.17 1 is a sequence diagram showing the flow of an operation in which a host assigns an address to a client of L1.

[0034] [ Fig.18 ] Fig.18 It is a schematic diagram of the connection mode between the host and the client when the host assigns an address to the client of L2.

[0035] [ Fig.19 ] Fig.19 This is a sequence diagram showing the flow of an operation in which a host assigns an address to an L2 client.

[0036] [ Fig. 20 ] Fig. 20 is a block diagram showing an example of a connection structure of a host and a client and an example of an address in the connection structure. DETAILED DESCRIPTION

[0037] The following describes the embodiments of the present disclosure in detail with reference to the accompanying drawings. The following description is a specific example of the present disclosure, but the present disclosure is not limited to the following embodiments. In addition, the present disclosure is not limited to the arrangement, size, size ratio, etc. of the constituent elements shown in the drawings.

[0038] It should be noted that the description is given in the following order.

[0039] 1. Communication module

[0040] 1.1. Overview

[0041] 1.2. Configuration Example

[0042] 1.3. Operation examples

[0043] 2. System including communication module

[0044] 2.1. Overall configuration example

[0045] 2.2. Host and Client Hardware Configuration Examples

[0046] 2.3. Data sending and receiving performed by the client

[0047] 2.4. Operation examples

[0048] 3. Additional Notes

[0049] <1. Communication module>

[0050] (1.1. Summary)

[0051] First, refer to Figure 1 , an overview of a communication module according to one embodiment of the present disclosure will be described. Figure 1 It is an explanatory diagram showing an outline of the communication module 1 according to the present embodiment.

[0052] like Figure 1 As shown, the communication module 1 according to the present embodiment is a device that can be coupled with another communication module 1 and transmit data to another communication module 1 and receive data from another communication module 1 via a connection surface. For example, the communication module 1 may have a rectangular parallelepiped shape and may be configured to be coupled to another communication module 1 on one or more surfaces of the rectangular parallelepiped shape. The communication modules 1 can operate as a robot 10 as a whole by transferring data and power to each other via corresponding connection surfaces.

[0053] The communication module 1 according to the present embodiment can be coupled to another communication module 1 via the corresponding connection surface with a higher degree of freedom. This enables the communication module 1 to configure the robot 10 having a more complex shape. Hereinafter, the communication module 1 according to the present embodiment will be described in detail.

[0054] (1.2. Configuration example)

[0055] Next, refer to Figure 2 , shows the configuration of the connection surface of the communication module 1 according to the present embodiment. Figure 2 is a perspective view of a configuration example of a connection surface of the communication module 1 according to the embodiment.

[0056] like Figure 2 As shown, the communication module 1 includes, for example, a first electrode 110, a plurality of second electrodes 120A, 120B, and 120C, and a communication unit 130, which includes a transmitter 131 and a receiver 132, on a connection surface 100 coupled to another communication module 1. Similarly, another communication module 1 includes, on a connection surface 200 coupled to the communication module 1, a first electrode 210, a plurality of second electrodes 220A, 220B, and 220C, and a communication unit 230, which includes a transmitter 231 and a receiver 232.

[0057] The communication module 1 is coupled to another communication module 1 in such a manner that the first electrode 110 is opposite to any one of the second electrode 220A, the second electrode 220B, or the second electrode 220C; and any one of the second electrode 120A, the second electrode 120B, or the second electrode 120C is opposite to the first electrode 210. This allows the communication module 1 to transmit power to and from another communication module 1. In addition, the communication module 1 is coupled to another communication module 1 in such a manner that the communication unit 130 and the communication unit 230 are opposite to each other. This allows the communication module 1 to transmit data to and receive data from another communication module 1.

[0058] It should be noted that hereinafter, when the second electrodes 120A, 120B, and 120C are not distinguished from each other, they are collectively referred to as the second electrode 120. Also, in a similar manner, when the second electrodes 220A, 220B, and 220C are not distinguished from each other, they are collectively referred to as the second electrode 220.

[0059] The first electrode 110 and the second electrode 120 are electrodes having polarities different from each other. The first electrode 110 and the second electrode 120 are electrically coupled in parallel and reversely coupled to the opposite first electrode 210 and the second electrode 220, which allows the communication module 1 to transmit power therebetween. Specifically, the polarity of each of the first electrode 110 and the second electrode 120 is not fixed to the positive or negative pole, and is switched at a predetermined cycle. Therefore, the voltage and current supplied from the first electrode 110 and the second electrode 120 are rectified by the rectifier circuit provided in the other communication module 1, and thereafter supplied to the control circuit of the other communication module 1.

[0060] It should be noted that the second electrodes 120A, 120B, and 120C are electrically coupled to each other inside the communication module 1. Therefore, the first electrode 110 can be electrically coupled to any one of the second electrode 220A, the second electrode 220B, or the second electrode 220C. Similarly, the first electrode 210 can be electrically coupled to any one of the second electrode 120A, the second electrode 120B, or the second electrode 120C.

[0061] The first electrode 110 and the second electrode 120 may have shapes that are bonded to each other. For example, the first electrode 110 may be provided as an electrode protruding from the connection surface 100 in a quadrilateral shape, and the second electrode 120 may be provided as an electrode recessed from the connection surface 100 in a quadrilateral shape corresponding to the first electrode 110. Thus, the first electrode 110 and the second electrode 120 can be bonded to each other, so that power can be transmitted more reliably.

[0062] The first electrode 110 and the second electrode 120 may further include a fixing mechanism that allows the first electrode 110 and the second electrode 120 to be physically coupled to each other. For example, the first electrode 110 and the second electrode 120 may further include a magnet or an electromagnet for magnetic coupling or a claw or a protrusion for mechanical fixing as a fixing mechanism. Thus, the first electrode 110 and the second electrode 120 can more tightly couple the connection surface 100 and the connection surface 200 to each other.

[0063] The first electrode 110 and the second electrode 120 are arranged on the connection surface 100 in a rotationally symmetrical manner with each other in the periphery of the communication unit 130. Specifically, the first electrode 110 and the second electrode 120 are arranged in the periphery of the communication unit 130 in an N-fold symmetrical arrangement (where N is a natural number of 3 or more and is the total number of the first electrode 110 and the second electrode 120).

[0064] In this case, except for the case where the first electrodes 110 are opposite to each other (the case where the rotation angle is 0 degrees), each time the connection surface 100 is rotated at a rotation angle of 360 degrees / N, by making the first electrode 110 and the second electrode 220 opposite to each other, the communication module 1 can be coupled to another communication module 1 via the connection surface 100. Therefore, the communication module 1 can be coupled to another communication module 1 at different rotation angles via the connection surface 100. The number of rotation angles is determined by subtracting 1 from the total number of the first electrode 110 and the second electrode 120.

[0065] For example, in Figure 2 In the example shown, one first electrode 110 and three second electrodes 120A, 120B, and 120C that are four-fold symmetrical to each other are provided on the connection surface 100 of the communication module 1. In this case, the communication module 1 can be coupled to another communication module 1 via the connection surface 200 obtained by rotating the connection surface 100 at an angle of 90 degrees, 180 degrees, or 270 degrees. Specifically, in the connection surface 200 obtained by rotating the connection surface 100 clockwise at an angle of 90 degrees, the communication module 1 is coupled to another communication module 1 in such a manner that the first electrode 110 is opposite to the second electrode 220 at the upper right of the connection surface 200. In addition, in the connection surface 200 obtained by rotating the connection surface 100 clockwise at an angle of 180 degrees, the communication module 1 is coupled to another communication module 1 in such a manner that the first electrode 110 is opposite to the second electrode 220 at the lower right of the connection surface 200. Furthermore, in the connection surface 200 obtained by rotating the connection surface 100 clockwise at an angle of 270 degrees, the communication module 1 is coupled to another communication module 1 in such a manner that the first electrode 110 is opposite to the second electrode 220 at the lower left of the connection surface 200. Therefore, Figure 2The communication module 1 shown is capable of being coupled to another communication module 1 at three rotation angles, namely, 90 degrees, 180 degrees, and 270 degrees.

[0066] Next, refer to Figure 3 , a more specific configuration of the communication unit 130 will be described. Figure 3 1 is a schematic cross-sectional view of each component provided on the connection surface 100 and each component provided on the connection surface 200 in a direction perpendicular to the connection surface 100 .

[0067] like Figure 2 and Figure 3 As shown, the communication unit 130 includes a transmitter 131 and a receiver 132, and transmits and receives data between the communication module 1 and another communication module 1 through a wireless communication scheme. The communication unit 130 is provided at a substantially center of the connection surface 100 at a side more inner than the first electrode 110 and the second electrode 120, for example, in a manner opposite to the communication unit 230 provided on the connection surface 200.

[0068] The communication unit 130 enables data to be transmitted and received through a wireless communication scheme using visible light or infrared light. The communication unit 130 uses a wireless communication scheme instead of a wired communication scheme involving physical connection, so that even if the communication modules 1 are coupled to each other at a rotation angle with a high degree of freedom, data transmission and reception can be smoothly performed. In addition, in this case, even if there is a gap between the connection surface 100 and the connection surface 200, the communication unit 130 can also perform data transmission and reception.

[0069] For example, the transmitter 131 may be a light emitting diode (LED) that emits visible light or infrared light. In addition, the receiver 132 may be a photodiode (PD) that is sensitive to visible light or infrared light. Accordingly, the transmitter 131 and the receiver 132 are capable of transmitting and receiving data through optical wireless communication. It should be noted that the transmitter 131 and the receiver 132 may include a light emitting diode and a photodiode that are provided separately, or may include a light reflector that includes a light emitting diode and a photodiode.

[0070] It should be noted that the communication unit 130 can send and receive data through a communication scheme other than the above-mentioned communication scheme. For example, the communication unit 130 can send and receive data through a wireless communication scheme using a magnetic field using a Hall element. Alternatively, the communication unit 130 can send and receive data through a communication scheme using an optical fiber.

[0071] In addition, the communication unit 130 can perform data transmission and reception alternately instead of simultaneously. Therefore, the communication unit 130 can prevent the data transmitted by itself and the data transmitted from the communication unit 230 opposite thereto from crossing due to reflection between the connection surface 100 and the connection surface 200.

[0072] Specifically, the communication unit 130 supplies a voltage and a current to be supplied to the first electrode 110 and the second electrode 120 to each of the transmitter 131 and the receiver 132, thereby performing switching between transmitting data to the transmitter 131 and receiving data from the receiver 132 in a cycle synchronized with a cycle of polarity switching of the first electrode 110 and the second electrode 120. In other words, the communication unit 130 is capable of alternately turning on and off the transmitter 131 and the receiver 132 by coupling a power source whose polarity is alternately switched to the transmitter 131 and the receiver 132. Therefore, the communication unit 130 is capable of performing alternate switching between transmission and reception of data without performing complex control.

[0073] Furthermore, the communication unit 130 may include a plurality of receivers 132. In this case, the communication unit 130 can improve the reliability of data received by the receiver 132. Furthermore, the communication unit 130 becomes capable of determining the rotation angle of the connection between the communication modules 1.

[0074] Here, refer to Figures 4 to 5C , a method for determining a rotation angle of a connection between communication modules 1 based on received signal strength will be described. Figure 4 is a circuit diagram schematically showing a circuit configuration in the communication unit 130 . FIG. 5A to FIG. 5C Respectively in Figure 2 Schematic diagram of the positional relationship of the transmitter 131 and the transmitter 231 relative to the receivers 132A, 132B, 232A and 232B at each rotation angle during connection between the communication modules 1 shown.

[0075] like Figure 4 As shown, for example, two light reflectors including a light emitting diode and a photodiode are used, so that one light emitting diode is used as a transmitter 131 and two photodiodes are used as receivers 132A and 132B. It should be noted that the remaining one light emitting diode is used as a dummy transmitter 133 that does not emit light.

[0076] After passing through the diode 141 for rectification, the data transmitted from the transmitter 131 is input to the light emitting diode included in the transmitter 131, and is transmitted to the other communication module 1 as an optical transmission signal. In contrast, the optical transmission signal transmitted from the other communication module 1 is photoelectrically converted by each photodiode included in the receivers 132A and 132B, and then added by the adder 142. The optical transmission signal that has passed through the adder 142 passes through the diode 143, and is then input to the analog-to-digital converter 144 (ADC) and converted into a digital signal. Accordingly, the communication unit 130 is able to receive the optical transmission signal through each of the receivers 132A and 132B, thereby improving the reliability of the optical transmission signal to be received.

[0077] Furthermore, the communication unit 130 controls the reception sensitivities of the respective receivers 132A and 132B in different ways from each other, which makes it possible to determine the rotation angle of the connection between the communication modules 1 based on the reception output of the light transmission signal.

[0078] Specifically, it is assumed that the reception sensitivity of the receiver 132A is set to 50%, and the reception sensitivity of the receiver 132B is set to 100%.

[0079] In this case, if Figure 5A As shown, in the case where the communication modules 1 are coupled to each other in a state of being rotated 90 degrees in the clockwise direction, the receiver 132A is opposite to the transmitter 231, and thus an output having a receiving sensitivity close to 100% can be obtained. In contrast, the receiver 132B is opposite to the pseudo transmitter 233 that does not emit light and is in an inclined position relationship with the transmitter 231, and thus an output slightly greater than 10% can be obtained. Therefore, in this case, the output after passing through the analog-to-digital converter 144 is obtained by adding the respective outputs from the receivers 132A and 132B to 100% to 90%.

[0080] In addition, if Figure 5B As shown, when the communication module 1 is coupled to each other in a state of being rotated 180 degrees in a clockwise direction, the receiver 132A is opposite to the receiver 232B and is in an inclined position relationship with the transmitter 231, so that an output slightly greater than 10% can be obtained. Similarly, the receiver 132B is opposite to the receiver 232A and is in an inclined position relationship with the transmitter 231, and thus an output slightly greater than 10% can be obtained. Therefore, in this case, the output after passing through the analog-to-digital converter 144 is obtained by adding the respective outputs from the receivers 132A and 132B to 30% to 20%.

[0081] In addition, if Figure 5CAs shown, in the case where the communication modules 1 are coupled to each other in a state of being rotated 270 degrees in the clockwise direction, the receiver 132A is opposite to the pseudo transmitter 233 that does not emit light and is in an inclined position relationship with the transmitter 231, and thus an output slightly greater than 10% can be obtained. In contrast, the receiver 132B is opposite to the transmitter 231, and thus an output having a receiving sensitivity close to 50% can be obtained. Therefore, in this case, the output after passing through the analog-to-digital converter 144 is obtained by adding the corresponding outputs from the receivers 132A and 132B to 70% to 40%.

[0082] As is apparent from the above, the communication module 1 uses a plurality of receivers 132A and 132B having different reception sensitivities, thereby making it possible to change the output amplitude of the reception signal according to the rotation angle of the connection between the communication modules 1. Therefore, the communication module 1 becomes able to determine the rotation angle of the connection between the communication modules 1 based on the output amplitude of the reception signal.

[0083] It should be noted that the receivers 132A and 132B can each change the receiving sensitivity to 100% after completing the determination of the rotation angle of the connection between the communication modules 1. In the communication module 1 according to the present embodiment, the transmitter 131 and the receivers 132A and 132B can process the signal into, for example, a digital H / L signal.

[0084] It should be noted that although Figures 4 to 5C Each example in which two receivers 132A and 132B are provided is shown, but the technology according to the present disclosure is not limited to the above examples. Increasing the number of receivers 132 and making the respective receiving sensitivities of the receivers 132 different from each other makes it possible to determine the rotation angle of the connection between the communication modules 1 more finely and with higher accuracy.

[0085] In the case where the number of the receivers 132 is greater than or equal to 3 and the total number of the transmitters 131 and the receivers 132 is greater than or equal to 4, the transmitters 131 and the receivers 132 may be disposed on the same circumference of the connection surface 100. In this case, even when the communication modules 1 are rotated and coupled to each other, the transmitters 131 and the receivers 132 on the connection surface 100 and the transmitters 231 and the receivers 232 on the connection surface 200 move on the same circumference. Accordingly, it is possible to prevent the positional relationship between the transmitter 131 and the receiver 232 or the positional relationship between the receiver 132 and the transmitter 231 from significantly deviating from the relative positional relationship.

[0086] In addition, the communication module 1 can determine the stability of the connection between the coupled communication modules 1 by monitoring the signal strength received between the transmitter 131 and the receiver 132. Specifically, in the case where the signal strength received between the transmitter 131 and the receiver 132 decreases, the communication module 1 can determine that the stability of the connection decreases due to the communication module 1 being decoupled or dirt appearing on the communication unit 130, etc.

[0087] (1.3. Operation example)

[0088] Then, refer to Figures 6 to 7B , an operation example of communication between the communication modules 1 will be described. Figure 6 is a diagram showing a polarity switching period of the first electrode 110 and the second electrode 120 . Fig. 7A is Figure 6 Schematic diagram of data transmission and reception performed by the communication unit 130 during the CL-Ne period in FIG. Figure 7B is Figure 6 Schematic diagram of data transmission and reception performed by the communication unit 130 during the CL-Po period in FIG.

[0089] exist Figure 6 , facing the figure, the line on the upper side indicates the polarity of the second electrode 120, and the line on the lower side indicates the polarity of the first electrode 110. Figure 6 As shown, the polarity of the first electrode 110 and the polarity of the second electrode 120 are switched at a predetermined clock cycle.

[0090] Specifically, in the CL-Ne period, the first electrode 110 is a positive electrode ("+" pole, solid line), and the second electrode 120 is a negative electrode ("-" pole, dotted line). In contrast, in the CL-Po period, the first electrode 110 is a negative electrode ("-" pole, dotted line), and the second electrode 120 is a positive electrode ("+" pole, solid line).

[0091] During CL-Ne, Fig. 7A As shown, the first electrode 110 and the second electrode 220 opposite to the first electrode 110 are both positive electrodes. Therefore, the light emitting diode of the transmitter 131 coupled to the power supply on the first electrode 110 side becomes luminous, and the photodiode of the receiver 232 coupled to the power supply on the second electrode 220 side becomes capable of receiving the emitted light. At this time, the communication module 1 can transmit data from the transmitter 131 to the receiver 232 in the DN direction by modulating the light emitted by the light emitting diode of the transmitter 131 by the CPU (central processing unit) 150 or performing on / off control in synchronization with the power supply.

[0092] In contrast, in the CL-Po period, Figure 7BAs shown, the second electrode 120 and the first electrode 210 opposite to the second electrode 120 are both positive electrodes. Therefore, the light emitting diode of the transmitter 231 coupled to the power supply on the first electrode 210 side becomes luminous, and the photodiode of the receiver 132 coupled to the power supply on the second electrode 120 side becomes capable of receiving the emitted light. At this time, the communication module 1 can transmit data from the transmitter 231 to the receiver 132 in the UP direction by modulating the light emitted by the light emitting diode of the transmitter 231 by the CPU (central processing unit) 250 or performing on / off control in synchronization with the power supply.

[0093] As described above, the communication module 1 according to the present embodiment can switch the communication direction between the coupled communication modules 1 according to the polarity switching of the first electrode 110 and the second electrode 120. Accordingly, the communication module 1 can switch between the transmission and reception of the signal in synchronization with the polarity switching of the first electrode 110 and the second electrode 120, thereby preventing the signal to be transmitted and the signal to be received from crossing.

[0094] For example, the communication module 1 can transmit 1 bit of data at a single transmission timing and receive 1 bit of data at a single reception timing. That is, the communication module 1 can transmit and receive 1 bit of data in one cycle of polarity switching of the first electrode 110 and the second electrode 120. In addition, according to the frequency compatible with the transmitter 131 and the receiver 132, the communication module 1 can transmit multiple bits of data at a single transmission timing and can receive multiple bits of data at a single reception timing.

[0095] <2. System including communication module>

[0096] (2.1. Overall configuration example)

[0097] Next, refer to Figure 8 , a module system including a communication module 1 will be described. Figure 8 is an explanatory diagram showing the configuration of a module system 5 including a communication module 1 as a host 3 and a client 4 .

[0098] like Figure 8 As shown, the module system 5 is configured by coupling, for example, one host 3 and a plurality of clients 4 to each other. Each of the host 3 and the client 4 can be configured by the above-mentioned communication module 1. Specifically, the module system 5 is configured so that the client 4 is coupled to the host 3 in a tree structure. In the module system 5, the host 3 sequentially sends data to the terminal client 4, thereby performing the operation of the module system 5 as a whole.

[0099] It should be noted that in the following description, in the module system 5 in which the client 4 is coupled to the host 3 in a tree structure, the direction in which the host 3 exists is also referred to as an upstream direction, and the direction opposite to the upstream direction is also referred to as a downstream direction.

[0100] The host 3 includes, for example, a power supply unit 360, a CPU 350, an alternative power driver 363, a communication unit 330, a first electrode 310, and a second electrode 320. Including the power supply unit 360 and the CPU 350 allows the host 3 to operate independently.

[0101] The power supply unit 360 includes a power supply I / F (interface) 362 that can be coupled to an external power supply or a battery 361, and operates as a power supply for the entire module system 5. The CPU 350 controls the operation of the module system 5 as a whole, and, for example, causes the module system 5 to execute an instruction input through the external I / F 371. The alternative power driver 363 controls the power supplied from the power supply unit 360 so that the polarity switches in a predetermined cycle, and supplies the power to the first electrode 310 and the second electrode 320. The first electrode 310 and the second electrode 320 are coupled to the first electrode 410 and the second electrode 420, and supply a voltage and a current whose polarity switches between the first electrode 310 and the second electrode 320 in a predetermined cycle to the client 4. The communication unit 330 includes, for example, a light emitting diode and a photodiode, and switches between the transmission and reception of the light transmission signal in synchronization with the polarity switching cycle of the first electrode 310 and the second electrode 320.

[0102] It should be noted that, similar to the client 4, the host 3 may have a plurality of connection surfaces, each of which includes a first electrode 310, a second electrode 320, and a communication unit 330. In this case, a common voltage and a common current are supplied from the alternative power driver 363 to each of the first electrode 310 and the second electrode 320 provided on the plurality of connection surfaces. In contrast, data is supplied from the CPU 350 to each of the communication units 330 provided on the plurality of connection surfaces, respectively.

[0103] The client terminal 4 includes a CPU 450, a function unit 472, a power rectifier 463, a communication unit 430, a first electrode 410, and a second electrode 420. The client terminal 4 causes the function unit 472 to operate based on power and instructions supplied from the host 3.

[0104] The CPU 450 controls the operation of the function unit 472, for example, based on an instruction from the host 3. In addition, the CPU 450 controls the transmission of data to the client 4 coupled downstream and the reception of data from the client 4. The function unit 472 is a functional block provided for each client 4, and operates according to an instruction from the host 3. The function unit 472 may be, for example, a driver such as a motor or an actuator, a controller such as a servo circuit, a light-emitting unit such as a light-emitting diode, or a sensing unit such as a sensor or a camera. The power rectifier 463 rectifies the voltage and current supplied through the first electrode 410 and the second electrode 420, and converts the rectified voltage and current into a direct current voltage or a direct current. The voltage and current rectified by the power rectifier 463 are supplied to the CPU 450, the function unit 472, and the like. The first electrode 410 and the second electrode 420 are coupled to the first electrode 310 and the second electrode 320 of the host 3, or to the first electrode 410 and the second electrode 420 of another client 4, and receive or transmit a voltage and a current whose polarity is switched in a predetermined cycle. The communication unit 430 includes, for example, a light emitting diode and a photodiode, and switches between transmission and reception of a light transmission signal in synchronization with a polarity switching period of the first electrode 410 and the second electrode 420 .

[0105] It should be noted that the client terminal 4 is provided with a plurality of connection surfaces, each of which includes a first electrode 410, a second electrode 420, and a communication unit 430. The voltage and current supplied from the host 3 are directly supplied to each of the first electrode 410 and the second electrode 420 provided on the plurality of connection surfaces. In contrast, data is supplied from the CPU 450 to each of the communication units 430 provided on the plurality of connection surfaces, respectively.

[0106] (2.2. Hardware configuration examples for host and client)

[0107] Then, refer to Fig. 9 and Fig.10 , a more specific hardware configuration of the host 3 and the client 4 will be described. Fig. 9 is a block diagram showing the hardware configuration of the host computer 3. Fig.10 is a block diagram showing the hardware configuration of the client terminal 4 .

[0108] like Fig. 9 As shown, the host 3 includes, for example, a CPU 350 , a RAM 351 , a flash memory 352 , a current / voltage sensor 364 , a regulator 365 , a power bus generator 366 , an alternative power driver 363 , a communication control circuit 340 , and a communication unit 330 .

[0109] The CPU 350 operates as an arithmetic processing unit or a control unit, and controls the overall operation of the host 3 according to various programs recorded in the RAM 351 or the flash memory 352. The RAM 351 temporarily stores programs executed by the CPU 350 and parameters and the like for executing the programs. The flash memory 352 is a semiconductor storage device and is a data storage device in the host 3. The flash memory 352 can store programs to be executed by the CPU 350, various data, or various data obtained from the outside.

[0110] In addition, the CPU 350 is coupled to an interface (I / F) 371A and a wireless interface (wireless I / F) 371B that accept input from the outside. The CPU 350 can cause the module system 5 to operate based on instructions input via the interface 371A and the wireless interface 371B. The interface 371A is, for example, a connection port such as a USB (Universal Serial Bus). The wireless interface 371B is, for example, a wireless communication interface such as Wi-Fi (registered trademark) or Bluetooth (registered trademark).

[0111] The current / voltage sensor 364 senses the voltage and current of the power supplied from the battery 361. The regulator 365 is a power circuit that controls the voltage and current supplied to the CPU 350 based on the result obtained by the current / voltage sensor 364. The power bus generator 366 converts the power supplied from the battery 361 into power that can be supplied to the power bus. The alternative power driver 363 controls the voltage and current generated by the power bus generator 366 so that the polarity is switched at a predetermined cycle.

[0112] The communication unit (PD / LED) 330 includes, for example, a light emitting diode (LED) as a transmitter and a photodiode (PD) as a receiver. The communication control circuit (driver / ADC) 340 is a drive circuit that controls the driving of the communication unit 330. The communication control circuit 340 controls the communication unit 330 so that the emission of light to the light emitting diode and the reception of light from the photodiode are switched in synchronization with the switching of the polarity of the power source performed by the alternative power source driver 363.

[0113] like Fig.10 As shown, the client terminal 4 includes a CPU 450 , a RAM 451 , a flash memory 452 , a regulator 465 , a power rectifier 463 , a power bus detector 464 , a function unit 472 , a communication control circuit 440 , and a communication unit 430 .

[0114] The CPU 450 operates as an arithmetic processing unit or a control unit, and controls the operation of the function unit 472 and the like according to various programs recorded in the RAM 451 or the flash memory 452. The RAM 451 temporarily stores the program executed by the CPU 450 and parameters for executing the program and the like. The flash memory 452 is a semiconductor storage device and is a data storage device in the client terminal 4. The flash memory 452 can store the program to be executed by the CPU 450, various data, or various data obtained from the outside.

[0115] The power rectifier 463 rectifies the voltage and current supplied from the host 3, and converts the rectified voltage and current into a DC voltage or a DC current. The regulator 365 is a power supply circuit that controls the voltage and current supplied to the CPU 450 and the functional unit 472. The power bus detector 464 is a detection circuit, and detects synchronization between the polarity switching cycle of the voltage and current supplied from the host 3 and the light transmission and reception cycle of the communication unit 430.

[0116] Functional unit 472 is a device group provided for each function of client 4. Functional unit 472 may be, for example, a driver such as a motor or an actuator, a controller such as a servo circuit, a light emitting unit such as a light emitting diode, or a sensing unit such as a sensor or a camera.

[0117] The communication unit (PD / LED) 430 includes, for example, a light emitting diode (LED) as a transmitter and a photodiode (PD) as a receiver. The communication control circuit (driver / ADC) 440 is a drive circuit that controls the driving of the communication unit (PD / LED) 430. The communication control circuit 440 controls the communication unit 430 so that the emission of light to the light emitting diode and the reception of light from the photodiode are switched in synchronization with the switching of the polarity of the power supplied from the host 3.

[0118] (2.3. Data transmission and reception performed by the client)

[0119] Next, refer to Fig.11 and Fig.12 , data transmission and reception performed by the client terminal 4 will be described. Fig.11 4 is an explanatory diagram showing data transfer performed by the client 4 .

[0120] For example, consider a case where data is sent from a host 3 of an upstream L0 (layer 0) to a client 4 of an L1 (layer 1) and data is sent from a client 4 of an L1 (layer 1) to a client 4 of a downstream L2.

[0121] In this case, if Fig.11As shown, the client 4 of L1 receives data transmitted from the light emitting diode (LED, corresponding to the transmitter 131) of the host 3 of L0 through the photodiode (PD, corresponding to the receiver 132). Thereafter, the client 4 of L1 transmits an optical transmission signal from the light emitting diode (LED, transmitter 131) to the photodiode (PD, corresponding to the receiver 132) of the client 4 of L2.

[0122] In the communication module 1 according to the present embodiment, the transmitter 131 and the receiver 132 perform data transmission and reception in synchronization with the switching of the polarity of the power supply. Therefore, in the transmitter 131 and the receiver 132, data is transmitted and received once in each cycle of the switching of the polarity of the power supply.

[0123] Therefore, the module system 5 can transmit the data received from the host 3 of L0 to the client 4 of L2 after one cycle by aligning the timing of transmitting the data from the upstream to the downstream with the timing of transmitting the data from the downstream to the upstream in each of the host 3 and the client 4. Therefore, the module system 5 can sequentially transmit 1 bit or more bits of data to the client 4 coupled thereto in each cycle of the polarity switching of the power supply. Therefore, the module system 5 can reduce the delay of signal transmission to one clock.

[0124] In addition, the module system 5 is able to transmit the data received by the receiver 132 on the upstream side to the next client 4 through the transmitter 131 on the downstream side within one cycle of power polarity switching. Specifically, the receiver 132 on the upstream side and the receiver 132 on the downstream side of the client 4 are set to operate with the same power polarity, and the transmitter 131 on the upstream side and the transmitter 131 on the downstream side of the client 4 are set to operate with the same power polarity. This allows the client 4 to transmit the data received from the upstream to the downstream in one cycle, which enables the module system 5 to further reduce the delay of signal transmission to 1 / 2 clock.

[0125] Next, refer to Fig.12 , the processing of data received within the client 4 will be described. Fig.12 4 is a block diagram showing the functions regarding data transmission in the upstream direction or the downstream direction within the client 4.

[0126] For example, Fig.12 As shown, in the direction from upstream to downstream (Down Stream), the data received by the receiver 132 on the upstream side is first stored in the Rx buffer 471 and decoded by the decoder 475. The client 4 determines the request command to be sent from the host 3 to the client 4 based on the decoded data, and the request command is executed by the function unit 472 or the like.

[0127] In the case where a command requiring a response to the host 3 is included in the request command to be transmitted from the host 3 to the client 4, the response unit 474 generates a response to the host 3. After being stored in the Tx buffer 473, the generated response is transferred to the selector 482 in the direction from the downstream to the upstream direction (Up Stream), and is transmitted from the transmitter 131 on the upstream side in the priority order set by the selector 482.

[0128] Furthermore, among the data received by the receiver 132 on the upstream side, the data to be transmitted to the downstream client 4 is distributed to each transmitter 131 on the downstream side, and is simultaneously transmitted from the transmitter 131 to the downstream client 4 .

[0129] In the direction from downstream to upstream (Up Stream), data received by each of the receivers 132 on the plurality of connection surfaces 100 disposed on the downstream side is stored in the Rx buffer 481. For example, in the case where four clients 4 are coupled to the downstream side of the client 4, the Rx buffer 481 stores pieces of data received from the client 4 in the first client buffer 481A, the second client buffer 481B, the third client buffer 481C, and the fourth client buffer 481D, respectively.

[0130] The plurality of pieces of data stored in the Rx buffer 481 are prioritized by the selector 482 and transmitted from the transmitter 131 on the upstream side to the upstream host 3 or client 4. Furthermore, the selector 482 sets a priority order between a response to a request command from the host 3 and data transmitted from downstream to upstream.

[0131] In the direction from downstream to upstream (Up Stream), data is received from each of the receivers 132 provided on the plurality of connection surfaces 100, and the plurality of pieces of data are respectively stored in the Rx buffer 481 so as not to cross. In addition, in the case of these data from the transmitter 131 on the upstream side to the upstream host 3 or client 4, the selector 482 sets a priority order for serializing and transmitting these data to avoid conflicts.

[0132] (2.4. Operation examples)

[0133] Reference FIG. 13A to FIG. 20 , the pairing operation between the host 3 and the client 4 in the module system 5 will be described below. In the module system 5, the host 3 performs pairing with the client 4, so that the connection order, direction, and rotation angle of the client 4 in the module system 5 can be grasped. This allows the host 3 to automatically grasp the structure of the module system 5. For example, when the host 3 and the client 4 are coupled to each other, the pairing operation between the host 3 and the client 4 is performed.

[0134] (Host and client pairing operation)

[0135] First, refer to Fig.13A and Fig. 13B , the process of the pairing operation between the host 3 and the client 4 will be described. Fig.13A 1 is a flowchart showing the flow of an operation of pairing the host 3 and the client 4 .

[0136] like Fig.13A As shown, first, the host 3 coupled to the client 4 detects the coupled communication module 1 (client 4) (S100). At this time, the host 3 determines whether there is another host 3 in the coupled communication module 1 (S110). In the case of determining that there is another host 3 (S110 / Yes), the host 3 terminates the pairing operation to avoid control and power conflicts with the other host 3. Whether the host 3 exists in the coupled communication module 1 can be determined, for example, by detecting a signal output from the host 3. In the case of determining that there is no other host 3 (S110 / No), the host 3 starts to supply power to the coupled client 4 at the same time (S120).

[0137] Thereafter, the host 3 determines whether there is a client 4 of L1 (layer 1) coupled to the host 3 as L0 (layer 0) (S130). In the case where it is determined that there is a client 4 of L1 (S130 / Yes), the host 3 performs a process of confirming pairing information for each client 4 of L1 (S140). As will be described later, Fig. 13B As described above, the process of confirming the pairing information is, for example, a process of acquiring information about the surface, orientation, and angle to which the client 4 is coupled and registering the acquired information as the pairing information. Thereafter, the host 3 returns to S130 to determine whether the client 4 of L2 (layer 2) coupled to L1 exists. Therefore, the host 3 increments the number of layers by 1, and performs the process of detecting the client 4 and confirming the pairing information.

[0138] In the case where it is determined in S130 that the client terminal 4 does not exist (S130 / No), the host 3 performs detection of the client terminal 4 again and determines whether the client terminal 4 is further detected for confirmation (S150). In the case where it is determined that the client terminal 4 is detected (S150 / Yes), the host 3 returns to S130 and performs detection of the client terminal 4 and a process of confirming pairing information. In the case where it is determined that the client terminal 4 is not detected (S150 / Yes), the host 3 terminates the pairing operation.

[0139] Next, refer to Fig. 13B , the process of confirming pairing information will be described. Fig. 13B : is a flowchart showing the flow of a process for confirming pairing information.

[0140] like Fig. 13BAs shown, first, the host 3 determines whether the client 4 exists on the S0 surface based on the numbers assigned sequentially from 0 to the connection surface 100 (S141). In the case of determining that the client 4 does not exist on the S0 plane, the host 3 increments the number assigned to the connection surface 100 by 1, and then returns to S141 to determine whether the client 4 exists on the S1 plane.

[0141] In the case where it is determined that the client 4 exists on the S0 surface, the host 3 acquires information about the rotation angle of the connection of the client 4 based on the reception strength of the signal from the client 4 on the connection surface 100 (S142). Thereafter, the host 3 acquires information about the coupled client 4 side from the coupled client 4 (S143). The information on the client 4 side is, for example, information about the connection surface on the client 4 side and the orientation and angle of the client 4. Thereafter, the host 3 creates pairing information of the client 4 using the acquired information, and registers the pairing information in a database or the like (S144).

[0142] Thereafter, the host 3 increments the number assigned to the connection surface 100 by 1 and creates the pairing information of the client 4. After completing the pairing information creation performed by the client 4 for the connection surface 100 with the largest assigned number (S145 / Yes), the host 3 terminates the process of confirming the pairing information. The host 3 is thus able to create and register the pairing information of the client 4 in each connection surface 100.

[0143] Now refer to Fig.14 , a specific example of pairing information will be described. Fig.14 is an explanatory diagram showing an example of connection between the host 3 and the client 4 and an example of pairing information for each connection.

[0144] like Fig.14 As shown, for example, it is assumed that client L1A of L1 (layer 1) is coupled to host 3 (layer 0) of L0, and client L2A and client L2B of L2 (layer 2) are coupled to client L1A of L1. It is assumed that the connection surface 100 of each of host 3 and clients L1A, L2A and L2B is set with numbers S0, S1, S2, S3, S4 and S5. It is assumed that client L1A is rotated 90 degrees counterclockwise around the rotation axis pointing from the S0 surface to the S2 surface relative to host 3 and clients L2A and L2B.

[0145] In this case, the pairing information of each interconnection of the host 3 and the clients L1A, L2A, and L2B can be represented by a combination of layer information, connection surface information, and angle information. The layer information is information indicating to which level the host 3 or the client L1A, L2A, or L2B belongs in the entirety of the module system 5. The connection surface information is information indicating on which connection surface 100 the host 3 or the client L1A, L2A, or L2B is coupled to another client. The angle information is information indicating the three-dimensional orientation of the host 3 or the client L1A, L2A, or L2B.

[0146] Specifically, the pairing information of the connection between the host 3 and the client L1A can be represented by a combination of the following items: the layer information "L0", the connection surface information "S2", and the angle information "A0" as the pairing information on the host 3 side; and the layer information "L1", the connection surface information "S0", and the angle information "A1" as the pairing information on the client L1A side. In addition, the pairing information of the connection between the client L1A and the client L2A can be represented by a combination of the following items: the layer information "L1", the connection surface information "S1", and the angle information "A0" as the pairing information on the client L1A side; and the layer information "L2", the connection surface information "S5", and the angle information "A0" as the pairing information on the client L2A side. In addition, the pairing information of the connection between client L1A and client L2B can be represented by a combination of the following items: layer information "L1", connection surface information "S3", angle information "A0" as pairing information on the client L1A side; and layer information "L2", connection surface information "S2" and angle information "A0" as pairing information on the client L2B side.

[0147] The pairing information may also include functional information of each client 4. The functional information is information indicating the function, size, movable range, etc. of the functional unit 472 included in each client 4. Accordingly, the module system 5 is able to derive the shape of the module system 5 as a whole based on the information about the interconnection of the client 4 and the size of the functional unit 472 included in the functional information of each client 4.

[0148] In this case, the module system 5 can derive the overall shape, and thus can set the movable range in a manner that does not contact another client 4 for the functional unit 472, such as a servo mechanism in which the movable range can be set. Accordingly, the module system 5 can avoid damage due to collision between the clients 4 or between the corresponding functional units 472 provided in the clients 4. In other words, the module system 5 can cause the module system 5 to generate appropriate deformation or movable range by grasping the overall shape.

[0149] According to the above flow, a pairing operation is performed between the host 3 and the client 4. In the module system 5, pairing with the host 3 enables the upstream and downstream directions in the module system 5 to be defined. Therefore, the client 4 can dynamically switch the communication path setting based on the upstream and downstream directions.

[0150] Reference Fig.15A and Fig. 15B , changes in communication path settings performed by the client terminal 4 before and after the pairing operation will be described. Fig.15A is a schematic diagram of the communication path setting performed by the client 4 before pairing. Fig. 15B is a schematic diagram of the communication path setting performed by the client 4 after pairing.

[0151] It should be noted that although Fig.15A and Fig. 15B S0 to S3 are each shown as the corresponding connection surfaces 100, but the number of connection surfaces 100 is not limited to Fig.15A and Fig. 15B The number of connection surfaces 100 shown. The number of connection surfaces 100 can be less or greater than Fig.15A and Fig. 15B The number of connection surfaces 100 is shown.

[0152] like Fig.15A As shown, before pairing, the client 4 does not know on which connection surface 100 side the host 3 exists. Therefore, the client 4 equally controls whether to perform transmission and reception with respect to any connection surface 100. Therefore, in this case, the client 4 determines whether the communication is from the host 3 side for each communication, and controls transmission and reception.

[0153] In the module system 5 according to the present embodiment, when power supply to the client 4 starts, the host 3 sends a host 3 presence notification to all the clients 4 coupled to the host 3, and performs a pairing operation with each client 4. This allows the client 4 to determine the connection surface 100 on the side where the host 3 is located, and thus can switch the communication path setting, so that communication with the host 3 and with other clients 4 can be performed more efficiently.

[0154] Specifically, Fig. 15B As shown, the client 4 switches the communication path setting in the following manner: the client 4 distributes the data received from the upstream side coupled to the host 3 to each of the clients 4 on the downstream side, respectively, and gathers the data received from each of the clients 4 on the downstream side, and sends the gathered data to the host 3 or the client 4 on the upstream side. Fig. 15BIn the example shown, the host 3 is coupled to the S0 surface side of the client 4. Therefore, the client 4 switches the communication path setting in the following manner: the client 4 distributes the data received by the S0 surface to the S1 surface, the S2 surface, and the S3 surface respectively, and aggregates the data received on each of the S1 surface, the S2 surface, and the S3 surface, and sends the aggregated data to the S0 surface.

[0155] According to this, the module system 5 performs a pairing operation, thereby setting the communication path setting of each client 4 to a structure in which the client 4 is coupled to the host 3 provided as a vertex in a tree shape. Therefore, the module system 5 can improve the communication efficiency between the host 3 and the client 4. (Address allocation operation from the host to the client)

[0156] Next, we will refer to Figures 16 to 19 The flow of the operation of the host 3 assigning an address to each of the clients 4 is described. The module system 5 allows the host 3 to more efficiently control the clients 4 by assigning a unique address to each of the clients 4 coupled to the host 3.

[0157] Fig.16 It is a schematic diagram of the connection mode between the host 3 of L1 and the client 4 when the host 3 of L0 (layer 0) allocates an address to the client 4 of L1 (layer 1). Fig.17 1 is a sequence diagram showing the flow of an operation in which the host 3 assigns an address to the client 4 of L1. Fig.18 It is a schematic diagram of a connection mode between the host 3 and the client 4 when the host 3 assigns an address to the client 4 of L2 (layer 2). Fig.19 1 is a sequence diagram showing the flow of an operation in which the host 3 assigns an address to the client 4 of L2.

[0158] like Fig.16 As shown, for example, in the case where four clients L1A, L2A, L2B, and L3A are coupled to the host 3, first, power is supplied from the host 3 to all four clients L1A, L2A, L2B, and L3A at the same time. At this time, each of the clients L1A, L2A, L2B, and L3A is in Fig.15A This allows the host 3 to communicate only with the directly coupled client L1A and is in a state where it is unable to communicate with the clients L2A, L2B, and L3A in the subsequent stages.

[0159] Here, if Fig.17 As shown, first, the client L1A sends a pairing request probe (PairRequest Probe) serving as a pairing request to the host 3 (S200). Thereafter, the host 3 having received the pairing request probe sends a device discovery (Device Discovery) packet to the client L1A (S210).

[0160] The client L1A having received the device discovery packet sends a serial ID, through which the client L1A can be individually identified by the host 3 (S220). This causes the host 3 to send a layer ID (ID0×10) associated with the sent serial ID to the client L1A (S230). The client L1A having received the layer ID sends back a reception confirmation (Ack) (S240), thereby completing pairing with the client L1A and address allocation to the client L1A.

[0161] like Fig.18 As shown, the completion of the pairing between the host 3 and the client L1A and the address assignment allows the communication path setting of the client L1A to be switched to Fig. 15B The state shown, and host 3 becomes able to communicate with client L2A and client L2B.

[0162] Here, the pairing request probe sent from the client L2A at the time of power supply does not reach the host 3. Therefore, the host 3 searches for a lower client after pairing with the client L1A and assigning an address to the client L1A. Specifically, as Fig.19 As shown, the host 3 sends a device discovery packet to the client L1A (S310). The client L1A also sends the device discovery packet sent from the host 3 to the client L2A.

[0163] The client L2A having received the device discovery packet sends a serial ID in a similar manner to the client L1A, through which the client L2A can be individually identified by the host 3 (S320). This causes the host 3 to send a layer ID (ID0×20) associated with the sent serial ID to the client L2A (S330). The client L2A having received the layer ID sends back a reception confirmation (Ack) (S340), thereby completing pairing with the client L2A and address allocation to the client L2A.

[0164] Thereafter, the host 3 further transmits a device discovery packet to the client L1A after pairing with the client L2A and assigning an address to the client L2A (S410). The client L1A transmits the device discovery packet that has been transmitted from the host 3 to the client L2B.

[0165] The client L2B that has received the device discovery packet sends a serial ID in a similar manner to the client L2A, through which the client L2B can be individually identified by the host 3 (S420). This causes the host 3 to send a layer ID (ID0x21) associated with the sent serial ID to the client L2B (S430). The client L2B that has received the layer ID sends back a reception confirmation (Ack) (S440), thereby completing the pairing with the client L2B and the address allocation to the client L2B.

[0166] In addition, the host 3 also sends a device discovery packet to the client L1A after pairing with the client L2B and allocating an address to the client L2B (S510). The client L1A sends the device discovery packet that has been sent from the host 3 to the connection surface 100 other than the connection surface 100 to which the client L2A and the client L2B are coupled, but there is no response to the device discovery packet. Therefore, the client L1A sends a notification to the host 3 that the pairing and address allocation have been completed (S520). Through the above operations, the host 3 is able to perform pairing with the clients L1A, L2A and L2B in L1 and L2 and address allocation to the clients L1A, L2A and L2B.

[0167] Thereafter, the host 3 sends a device discovery packet to each of the clients L2A and L2B in a manner similar to sending the device discovery packet to the client L1A, thereby being able to perform pairing with each of the clients 4 coupled to L3 (layer 3) and address allocation to each of the clients 4.

[0168] Through the above operations, in the module system 5 , the host 3 is able to assign an address to each of the clients 4 coupled thereto. Fig. 20 An example of addresses assigned to the respective clients 4 is shown. Fig. 20 is a block diagram showing an example of a connection structure of the host 3 and the client 4 and an example of addresses in the connection structure.

[0169] exist Fig. 20 In the module system 5 shown, client L1A of L1 (layer 1) is coupled to host 3 of L0 (layer 0), and clients L2A and L2B of L2 (layer 2) are coupled to client L1A of L1. In addition, clients L3A and L3B of L3 (layer 3) are coupled to client L2A of L2. In addition, clients L4A, L4B and L4C of L4 (layer 4) are coupled to client L3A of L3, and client L4D of L4 is coupled to client L3B of L3.

[0170] In this case, for example, the host 3 can assign the address "ID0x10" to the client L1A of L1, the address "ID0x20" to the client L2A of L2, and the address "ID0x21" to the client L2B of L2. In addition, the host 3 can assign the address "ID0x30" to the client L3A of L3, and the address "ID0x31" to the client L3B of L3. In addition, the host 3 can assign the address "ID0x40" to the client L4A of L4, the address "ID0x41" to the client L4B of L4, the address "ID0x42" to the client L4C of L4, and the address "ID0x43" to the client L4D of L4.

[0171] <3. Additional Notes>

[0172] Although the present disclosure has been described above with reference to exemplary embodiments and modified examples, these embodiments and modified examples should not be construed as limiting the scope of the present disclosure but may be modified in various ways.

[0173] For example, in the module system 5, the coupled client 4 can be freely separated. Whether the coupled client 4 remains connected can be determined, for example, by each client 4 confirming the response from the client 4 of the lower layer. Specifically, in the case where each client 4 does not receive a response from the client 4 of the lower layer, each client 4 can notify the host 3 that the corresponding client 4 has been separated. Therefore, the host 3 that has received the notification can delete the pairing information of the separated client 4 from the registered pairing information.

[0174] In addition, the module system 5 is able to grasp the tree-like connection structure of the host 3 and the client 4, so that a loop occurring in the connection between the host 3 and the client 4 can be detected. In this case, the module system 5 can prompt the user to resolve the loop by indicating the location of the loop to the user or by indicating a connection example for resolving the loop. In the case where it can be confirmed that there is no loop, no power collision occurs. Therefore, the module system 5 is able to supply power from multiple power sources.

[0175] In addition, the module system 5 can show the user the connection of the client 4 in which no loop occurs, the more efficient connection of the client 4, etc. by learning the connection of the client 4 to the host 3. In addition, the module system 5 can also automatically adapt the entire structure and movable range by learning the connection of the client 4 to the host 3.

[0176] In addition, each of the host 3 or client 4 of the module system 5 can enhance interactivity with the user. Specifically, when another client 4 is coupled to each of the host 3 or client 4, each of the host 3 or client 4 can output a sound or light notifying the user that a connection (pairing) has been established. In addition, each of the host 3 or client 4 can detect with an acceleration sensor that it has been lifted by the user, and can take actions such as outputting a sound or light. In order to achieve these actions, the client 4 can also be equipped with a power source such as a battery.

[0177] Such a module system 5 is suitable for example: a combat robot; or a household robot such as a toy robot capable of performing various operations. In addition, the module system 5 is also suitable for example: an industrial robot, such as a pick-up arm robot for manufacturing or logistics, which is suitable for dynamic reorganization of a production line; or an IoT (Internet of Things) device, to which a sensor module can optionally be added.

[0178] In addition, not all configurations and operations described in the above embodiments are indispensable to the configurations and operations of the present disclosure. For example, among the components in the above embodiments, components not described in the independent claims indicating the most important concepts of the present disclosure should be understood as optional components.

[0179] The terms used throughout this specification and the appended claims should be interpreted as "non-limiting" terms. For example, the terms "include" or "comprises" should be interpreted as "not limited to the modes recited as included". The term "includes" should be interpreted as "not limited to the modes recited as included".

[0180] The terms used herein are for convenience of explanation only and include terms that are not used to limit configuration and operation. For example, the terms "right", "left", "top", "bottom", etc., only indicate directions on the referenced drawings. The terms "inside" and "outside" only indicate directions toward the center of the element of interest and directions away from the center of the element of interest, respectively. The same applies to terms similar to these terms and terms having similar meanings.

[0181] It should be noted that the technology according to the present disclosure may have the following configuration. According to the technology of the present disclosure having the following configuration, even when the communication module is rotated and coupled to the connection surface of another communication module, data transmission and reception and power supply can be performed. The communication modules can therefore be coupled to each other with a higher degree of freedom. The effects of the technology according to the present disclosure are not necessarily limited to the effects described herein. The present disclosure may also include any effects other than the effects described herein. (1)

[0183] A communication module, comprising:

[0184] a transmitter and a receiver, each of which is disposed at a substantially center of the connection surface, and the transmitter and the receiver transmit and receive data by a data communication scheme corresponding to each other; and

[0185] A first electrode and a plurality of second electrodes, the first electrode having a polarity different from that of the plurality of second electrodes, the first electrode and the plurality of second electrodes being arranged in an N-fold symmetric (where N is a natural number of 3 or greater) arrangement in the periphery of the transmitter and the receiver, the transmitter and the receiver being arranged on the connection surface. (2)

[0187] The communication module according to (1), wherein the polarity of the first electrode and the polarities of the plurality of second electrodes are alternately switched at a predetermined cycle. (3)

[0189] The communication module according to (2), wherein the transmitter and the receiver transmit and receive the data alternately at a cycle synchronized with a cycle of polarity switching of the first electrode and the plurality of second electrodes. (4)

[0191] The communication module according to (3), wherein the transmitter and the receiver transmit and receive the data of one bit in one cycle of transmission and reception. (5)

[0193] The communication module according to any one of (1) to (4), wherein the transmitter and the receiver transmit and receive the data through wireless communication. (6)

[0195] The communication module according to (5), wherein the transmitter and the receiver transmit and receive the data through a wireless communication scheme using visible light, infrared light, or a magnetic field. (7)

[0197] The communication module according to any one of (1) to (6), wherein:

[0198] A plurality of said receivers are arranged on said connection surface, and

[0199] The receiving sensitivity of each of the plurality of receivers is variable. (8)

[0201] The communication module according to (7), wherein the transmitter and the plurality of receivers are arranged on the same circumference. (9)

[0203] The communication module according to any one of (1) to (8), wherein a shape of the first electrode fits with a shape of each of the plurality of second electrodes. (10)

[0205] The communication module according to any one of (1) to (9), wherein:

[0206] Each of the first electrode and the plurality of second electrodes includes a fixing mechanism, and

[0207] The fixing mechanism physically couples the first electrode and the plurality of second electrodes to each other. (11)

[0209] The communication module according to any one of (1) to (10), wherein the communication module acts as a host to which one or more clients are coupled. (12)

[0211] The communication module according to (11), wherein the first electrode and the plurality of second electrodes simultaneously supply power to each of the clients. (13)

[0213] The communication module according to (11) or (12), wherein the transmitter sequentially transmits the device discovery packet to each of the clients. (14)

[0215] The communication module according to (13), wherein the transmitter transmits address information to each of the clients that have responded to the device discovery packet, the address information identifying the client. (15)

[0217] The communication module according to any one of (1) to (10), wherein the communication module functions as a client to be coupled to a host. (16)

[0219] The communication module according to (15), wherein the transmitter and the receiver switch a path for transmitting and receiving the data based on a direction in which a signal transmitted from the host is received. (17)

[0221] The communication module according to (16), wherein the path has a tree structure. (18)

[0223] The communication module according to any one of (1) to (17), wherein the shape of the communication module is a polyhedron. (19)

[0225] The communication module according to (18), wherein:

[0226] A plurality of said connection surfaces are arranged on said polyhedron, and

[0227] The transmitter, the receiver, the first electrode, and the plurality of second electrodes are disposed on each of the plurality of connection surfaces. (20)

[0229] A communication method, comprising:

[0230] power is supplied by a first electrode and a plurality of second electrodes, each of the first electrode and the plurality of second electrodes being arranged on a connection surface in an N-fold symmetric (where N is a natural number of 3 or more) arrangement, the first electrode having a polarity different from that of the plurality of second electrodes; and

[0231] A transmitter and a receiver transmit and receive data by mutually corresponding data communication schemes, each of which is disposed at a substantially center of an inner side of the first electrode and the plurality of second electrodes of the connection surface.

[0232] This application claims the benefit of Japanese Priority Patent Application JP2020-026293 filed in the Japan Patent Office on February 19, 2020, the entire contents of which are incorporated herein by reference.

[0233] It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and alterations may occur depending on design requirements and other factors insofar as they are within the scope of the appended claims or the equivalents thereof.

Claims

1. A communication module, include: a communication unit including a transmitter and a receiver, the communication unit being disposed at the center of the connection surface, the transmitter and the receiver transmitting and receiving data by mutually corresponding data communication schemes; as well as A first electrode and a plurality of second electrodes, the first electrode having a polarity different from that of the plurality of second electrodes, the first electrode and the plurality of second electrodes being arranged in an N-fold symmetrical arrangement in the periphery of the transmitter and the receiver, the transmitter and the receiver being arranged on the connection surface, wherein N is a natural number of 3 or greater.

2. The communication module according to claim 1, in, The polarity of the first electrode and the polarities of the plurality of second electrodes are alternately switched at a predetermined cycle.

3. The communication module according to claim 2, in, The transmitter and the receiver transmit and receive the data alternately at a cycle synchronized with a cycle in which polarities of the first electrode and the plurality of second electrodes are switched.

4. The communication module according to claim 3, in, The transmitter and the receiver transmit and receive the data of one bit in one cycle of transmission and reception.

5. The communication module according to claim 1, in, The transmitter and the receiver transmit and receive the data through wireless communication.

6. The communication module according to claim 5, in, The transmitter and the receiver transmit and receive the data through a wireless communication scheme using visible light, infrared light, or a magnetic field.

7. The communication module according to claim 1, in, A plurality of said receivers are arranged on said connection surface, and The receiving sensitivity of each of the plurality of receivers is variable.

8. The communication module according to claim 7, in, The transmitter and the plurality of receivers are arranged on the same circumference.

9. The communication module according to claim 1, in, The shape of the first electrode matches the shape of each of the plurality of second electrodes.

10. The communication module according to claim 1, in, The first electrode and the plurality of second electrodes each include a fixing mechanism, and The fixing mechanism physically couples the first electrode and the plurality of second electrodes to each other.

11. The communication module according to claim 1, in, The communication module acts as a host to which one or more clients are coupled.

12. The communication module according to claim 11, in, The first electrode and the plurality of second electrodes simultaneously supply power to each of the clients.

13. The communication module according to claim 11, in, The sender sequentially sends a device discovery packet to each of the clients.

14. The communication module according to claim 13, in, The transmitter transmits address information to each of the clients that have responded to the device discovery packet, the address information identifying the client.

15. The communication module according to claim 1, in, The communication module acts as a client to be coupled to a host.

16. The communication module according to claim 15, in, The transmitter and the receiver switch a path for transmitting and receiving the data based on a direction in which a signal transmitted from the host is received.

17. The communication module according to claim 16, in, The path has a tree structure.

18. The communication module according to claim 1, in, The communication module is in the shape of a polyhedron.

19. The communication module according to claim 18, in, A plurality of said connection surfaces are arranged on said polyhedron, and The transmitter, the receiver, the first electrode, and the plurality of second electrodes are disposed on each of the plurality of connection surfaces.

20. A communication method, include: Power is supplied by a first electrode and a plurality of second electrodes, the first electrode and the plurality of second electrodes being arranged on a connection surface in an N-fold symmetrical arrangement, the first electrode having a polarity different from that of the plurality of second electrodes, wherein N is a natural number of 3 or more; and A transmitter and a receiver in a communication unit transmit and receive data by a data communication scheme corresponding to each other, wherein the communication unit is provided at the center of the inner side of the first electrode and the plurality of second electrodes of the connection surface.

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