Modular robot connection mechanism communication method based on positioning deviation identification

Abstract

The application discloses a modular robot connecting mechanism communication method based on positioning deviation identification and belongs to the technical field of robots.The application solves the problem that the wireless communication of the existing modular robot connecting mechanism adopts an electric permanent magnet and the large connecting positioning deviation leads to poor communication stability.The application takes one of two connected modular robot connecting mechanisms as a signal transmitting end to perform pulse signal transmission, and the other one as a receiving end to perform electromagnetic induction and acquire an induced voltage; the induced voltage is used to calculate the deviation distance and angle between the two connected modular robot connecting mechanisms; whether the deviation distance and angle are greater than an induction communication threshold is judged; if yes, an alarm signal is sent; otherwise, induction communication is started.The application is suitable for modular connecting mechanism communication and connecting deviation calculation.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology. Background Technology

[0002] Precise communication and positioning technologies are crucial in fields such as automation control, robotics, and intelligent transportation systems. Especially in complex industrial environments, highly accurate positioning systems are needed to ensure the correct operation and effective communication of machinery. Currently, electro-permanent magnets are widely used in these fields due to their advantages of rapid response and high-precision control. However, traditional communication methods transmit data through mechanical interfaces, which often suffer wear and damage from prolonged use and frequent plugging and unplugging. Therefore, there is an urgent need for a contactless communication method that allows for free data transmission and reception between devices to improve ease of use. However, existing wireless communication methods based on electro-permanent magnets suffer from poor communication stability due to contact deviations. Summary of the Invention

[0003] This invention addresses the problem of poor communication stability in existing modular robot connection mechanisms using electro-permanent magnets due to large connection positioning deviations. It proposes a communication method for modular robot connection mechanisms based on positioning deviation identification.

[0004] The present invention discloses a communication method for a modular robot connection mechanism based on positioning deviation recognition. This method is used to establish communication between the modular robot connection mechanisms. The modular robot connection mechanisms are based on electro-permanent magnets, and this method enables communication through the electro-permanent magnets.

[0005] The method includes:

[0006] Step 1: Use one of the two connected modular robot connection mechanisms as a signal transmitter to transmit pulse signals, and use the other as a receiver to perform electromagnetic induction and obtain the induced voltage.

[0007] Step 2: Calculate the deviation distance and angle between the two connected modular robot connection mechanisms using the induced voltage;

[0008] Step 3: Determine whether the deviation distance and angle are greater than the sensing communication threshold. If so, send an alarm signal; otherwise, start sensing communication.

[0009] Furthermore, in this invention, the method for calculating the deviation distance and angle between two connected modular robot connection mechanisms using induced voltage in step two is as follows:

[0010] Spatial coordinate systems O1-X1Y1Z1 and O2-X2Y2Z2 are established on the connection surfaces of the two modular robot connection mechanisms, respectively.

[0011] Coordinate system O2-X2Y2Z2 moves by Δdx along the X1 direction through coordinate system O1-X1Y1Z1, then moves by Δdy along the Y1 axis, and finally rotates by Δθ about the Z2 axis. z ;

[0012] The coordinate system transformation matrix T is:

[0013]

[0014] Among them, T xy R(Z2·Δθ) represents the translation matrix along the X1, Y1 directions. z ) represents rotation Δθ about the Z2 axis z The rotation matrix; point m1 represents the position coordinates of an electro-permanent magnet on a connecting surface. The vector represents the vector of an electro-permanent magnet on the corresponding connecting surface in coordinate system O1-X1Y1Z1; point m2 represents the position coordinates of an electro-permanent magnet on another connecting surface opposite to point m1. The vector represents the vector of the electro-permanent magnet on the corresponding connecting surface in the coordinate system O2-X2Y2Z2; It is the vector of point m2 in coordinate system O1-X1Y1Z1; These represent the spatial vectors pointing from four uniformly distributed electro-permanent magnets to the opposite electro-permanent magnets; derived from spatial geometric relationships:

[0015]

[0016] Thus, the equation is obtained:

[0017]

[0018] This leads to the equation:

[0019]

[0020]

[0021]

[0022] Therefore, the precise docking deviations Δdx, Δdy, and Δθ of the module group are obtained. z Wherein, parameter r represents the radius of the uniformly distributed magnet, which is a known quantity.

[0023] Furthermore, in this invention, the method for performing inductive communication in step three is as follows:

[0024] The signal pulse signal is transmitted using a serial communication protocol. The pulse signal includes a complete byte of data, which consists of one start bit, eight data bits, and one stop bit.

[0025] Furthermore, in this invention, each of the eight data bits is 100µs, and the first 10µs of each data bit is a pulse generation segment. If the transmitting end sends a pulse or the receiving end receives an induced voltage during the pulse generation segment, the value is 1; otherwise, the value is 0.

[0026] Furthermore, in this invention, the transmission baud rate of the inductive communication is 10000bps.

[0027] Furthermore, in this invention, in step three, the inductive communication threshold is 2mm and the angle threshold is 1°.

[0028] The method described in this invention not only enables contactless communication but also allows for real-time identification and correction of deviations during the positioning process, significantly improving positioning accuracy. Modular robots rely on this method to ensure stable communication between modules. Simultaneously, the effective identification of positioning deviations ensures stable connection of the robotic arm, while avoiding the impact of connection deviations on the automated control system, providing more reliable and accurate technical support. Attached Figure Description

[0029] Figure 1 This is a flowchart of the method described in this invention;

[0030] Figure 2 A schematic diagram of the connection surface structure of a modular robot connection mechanism;

[0031] Figure 3 This is a schematic diagram of the structure behind the connecting surface of the modular robot connection mechanism;

[0032] Figure 4 Diagram of electro-permanent magnet pulse control circuit for modular robot connection mechanism;

[0033] Figure 5 A protocol diagram for sensor communication in a modular robot connection mechanism;

[0034] Figure 6 A schematic diagram showing the distance between the connection surfaces of two modular robot connection mechanisms;

[0035] Figure 7 A schematic diagram of the structure of two modular robot connection mechanisms installed on a modular robot. Detailed Implementation

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

[0037] Specific implementation method one: Refer to Figure 1-7 This embodiment specifically describes a communication method for modular robot connection mechanisms based on positioning deviation recognition. This method is used to establish communication between the modular robot connection mechanisms. The modular robot connection mechanisms are based on electro-permanent magnet connections, and their specific structures are as follows: Figure 2 and Figure 3 As shown, this method enables communication via the electro-permanent magnet;

[0038] The method includes:

[0039] Step 1: Connect one of the two modular robot connection mechanisms as a signal transmitter to emit a pulse signal, and the other as a receiver to perform electromagnetic induction and obtain the induced voltage; the pulse signal transmission and reception control circuit is as follows: Figure 4 As shown;

[0040] Step 2: Calculate the deviation distance and angle between the two connected modular robot connection mechanisms using the induced voltage;

[0041] Step 3: Determine whether the deviation distance and angle are greater than the sensing communication threshold. If so, send an alarm signal; otherwise, start sensing communication.

[0042] Furthermore, in this invention, the method for calculating the deviation distance and angle between two connected modular robot connection mechanisms using induced voltage in step two is as follows:

[0043] Spatial coordinate systems O1-X1Y1Z1 and O2-X2Y2Z2 are established on the connection surfaces of the two modular robot connection mechanisms, respectively.

[0044] Coordinate system O2-X2Y2Z2 moves by Δdx along the X1 direction through coordinate system O1-X1Y1Z1, then moves by Δdy along the Y1 axis, and finally rotates by Δθ about the Z2 axis. z ;

[0045] The coordinate system transformation matrix T is:

[0046]

[0047] Among them, T xy R(Z2·Δθ) represents the translation matrix along the X1, Y1 directions. z ) represents rotation Δθ about the Z2 axis z The rotation matrix; point m1 represents the position coordinates of an electro-permanent magnet on a connecting surface. The vector represents the vector of an electro-permanent magnet on the corresponding connecting surface in coordinate system O1-X1Y1Z1; point m2 represents the position coordinates of an electro-permanent magnet on another connecting surface opposite to point m1. The vector represents the vector of the electro-permanent magnet on the corresponding connecting surface in the coordinate system O2-X2Y2Z2; It is the vector of point m2 in coordinate system O1-X1Y1Z1; These represent the spatial vectors pointing from four uniformly distributed electro-permanent magnets to the opposite electro-permanent magnets; derived from spatial geometric relationships:

[0048]

[0049] Thus, the equation is obtained:

[0050]

[0051] This leads to the equation:

[0052]

[0053]

[0054]

[0055] Therefore, the precise docking deviations Δdx, Δdy, and Δθ of the module group are obtained. z Wherein, parameter r represents the radius of the uniformly distributed magnet, which is a known quantity, such as... Figure 6 As shown.

[0056] Furthermore, in this invention, the method for performing inductive communication in step three is as follows:

[0057] The signal pulse signal is transmitted using a serial communication protocol. The pulse signal comprises a complete byte of data, consisting of one start bit, eight data bits, and one stop bit, as detailed below. Figure 5 As shown.

[0058] Furthermore, in this invention, each of the eight data bits is 100µs, and the first 10µs of each data bit is a pulse generation segment. If the transmitting end sends a pulse or the receiving end receives an induced voltage during this pulse generation segment, the value is 1; otherwise, it is 0. Specifically, as follows... Figure 5 As shown.

[0059] Furthermore, in this invention, the transmission baud rate of the inductive communication is 10000bps.

[0060] Furthermore, in this invention, in step three, the inductive communication threshold is 2mm and the angle threshold is 1°.

[0061] Figure 7 This invention relates to two modular self-reconfigurable robots connected by electro-permanent magnets. Each modular robot has four electro-permanent magnet connection surfaces, and each surface can be interconnected. The connection surfaces integrate connectivity, communication, and connection deviation recognition capabilities, achieving multi-functional integration, significantly reducing the size of the modular robots, and improving their integration level. The modular robots rely on the method of this invention to ensure stable communication between modules, while the positioning deviation recognition effectively ensures the connection stability of the robotic arms, improving the reliability of connections and communication between modules.

[0062] While the invention has been described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the invention. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that different dependent claims and features described herein can be combined in ways different from those described in the original claims. It is also understood that features described in conjunction with individual embodiments can be used in other described embodiments.

Claims

1. A communication method for modular robot connection mechanisms based on positioning deviation recognition, characterized in that, This method is used to establish communication between the modular robot connection mechanisms. The modular robot connection mechanism is based on electro-permanent magnet connection, and the method uses the electro-permanent magnet for communication. The method includes: Step 1: Use one of the two connected modular robot connection mechanisms as a signal transmitter to transmit pulse signals, and use the other as a receiver to perform electromagnetic induction and obtain the induced voltage. Step 2: Calculate the deviation distance and angle between the two connected modular robot connection mechanisms using the induced voltage; Step 3: Determine whether the deviation distance and angle are greater than the sensing communication distance threshold. If so, send an alarm signal; otherwise, start sensing communication. In step two, the method for calculating the deviation distance and angle between the two connected modular robot connection mechanisms using induced voltage is as follows: First, establish spatial coordinate systems on the connection surfaces of the two modular robot connection mechanisms. and ; coordinate system Through coordinate system Along Directional movement , and then along Axis movement Finally, go around Shaft rotation angle ; The coordinate system transformation matrix T is: Derived from spatial geometric relations: Thus, the equation is obtained: This leads to the equation: Therefore, the adjustment amount for obtaining the precise docking motion of the module group is obtained. , , Where, parameter r represents the radius of the uniformly distributed magnets. The vector represents a uniformly distributed electro-permanent magnet on a connecting surface. The vector represents the corresponding electro-permanent magnet on the other connecting surface. These represent the spatial vectors pointing from the four uniformly distributed electro-permanent magnets to the relative electro-permanent magnets.

2. The modular robot connection mechanism communication method based on positioning deviation recognition according to claim 1, characterized in that, In step three, the method for performing inductive communication is as follows: The signal pulse signal is transmitted using a serial communication protocol. The pulse signal includes a complete byte of data, which consists of one start bit, eight data bits, and one stop bit.

3. The modular robot connection mechanism communication method based on positioning deviation recognition according to claim 1, characterized in that, In the eight data bits, each data bit is 100us. The first 10us of each data bit is the pulse generation segment. If the transmitting end sends a pulse or the receiving end receives an induced voltage during the pulse generation segment, it is 1; otherwise, it is 0.

4. The modular robot connection mechanism communication method based on positioning deviation recognition according to claim 3, characterized in that, The transmission baud rate for inductive communication is 10000bps.

5. The communication method for a modular robot connection mechanism based on positioning deviation recognition according to claim 1, 2, or 3, characterized in that, In step three, the inductive communication distance threshold is 2mm and the angle threshold is 1°.

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