SEP structure-based force-signal coupling magnetic field communication device and method

Abstract

The invention discloses a communication device and method of a force-signal coupling magnetic field based on an SEP structure. The method comprises the steps that two communication devices are adsorbed through the SEP structure, and a magnetic field intensity threshold judgment unit confirms whether connection is stable or not; a sending end converts information containing ID and data into binary signals through a signal coding unit, the binary signals are modulated into alternating current signals with two frequencies through FSK, the alternating current signals are introduced into an exciting coil through a current driving unit, a static magnetic field is superposed with a synchronous dynamic magnetic field, and a composite magnetic field is generated; a Hall sensor at a receiving end collects a composite magnetic field, and a signal processing PCB extracts a dynamic signal and transmits the dynamic signal to a control circuit; the control circuit demodulates the dynamic signal, recognizes binary restoration information according to frequency, and prevents mistakes through ID matching; monitoring the static magnetic field in real time to judge the connection stability, and analyzing errors to trigger retransmission; and after ending, the excitation coil is powered off, and the device is kept connected by an SEP structure. According to the invention, stable connection and reliable communication can be realized.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of modular robot cooperative control, and particularly relates to a communication device and method based on a force-signal coupling magnetic field of a SEP structure. BACKGROUND

[0002] In the technical field of modular robots, efficient communication and stable connection between modules are the core prerequisite for realizing dynamic reconfiguration and cooperative work. Especially in complex scenes such as post-disaster rescue and industrial inspection, modular robots need to quickly reconfigure modules to adapt to task requirements, which puts extremely high requirements on the reliability of the connection and the real-time performance of the communication.

[0003] At present, the connection and communication of modular robots are mostly designed separately: mechanical connection combined with wired communication can ensure stability, but the mechanical interface is easy to wear out due to frequent plugging and unplugging, and cable constraints will limit the flexible rotation and reconfiguration speed of the module; wireless communication combined with electromagnetic connection does not require physical contact, but the signal is easily affected by module shielding and environmental electromagnetic interference, and when multiple modules are densely cooperating, signal crosstalk and path loss will significantly increase the communication delay, making it difficult to meet the real-time cooperative requirements. Some solutions attempt to integrate the connection and communication functions using electromagnetic structures, such as transmitting information through the induction signal of an electropermanent magnet, but such solutions have key defects: first, the magnetic field is not precisely controlled, and the magnetic field superposition of the permanent magnet and the electromagnetic coil easily enters the nonlinear region, causing small fluctuations in the connection force to directly interfere with signal analysis, resulting in an increase in the bit error rate; second, it is sensitive to module positioning accuracy, and when there is a small attitude deviation of the module, the magnetic field coupling efficiency drops sharply, and the communication stability decreases dramatically, making it difficult to adapt to the attitude changes during the dynamic reconfiguration of the modular robot.

[0004] Therefore, it is of great significance to develop a force-signal coupling technology that can simultaneously realize stable connection and reliable communication through a controllable magnetic field, to break through the bottleneck of cooperative control of modular robots and expand their applications in complex environments. SUMMARY

[0005] The purpose of the embodiments of the present application is to overcome the defects in the existing modular robot communication, such as the separation of connection and communication leading to structural redundancy, traditional electromagnetic communication requiring continuous bias current leading to high power consumption, and signal being easily disturbed or being sensitive to positioning deviation leading to insufficient reliability, and to provide a communication device and method based on a force-signal coupling magnetic field of a SEP structure, which maintains connection by using the static magnetic field of the SEP structure, superimposes a dynamic magnetic field to transmit information, realizes stable connection and reliable communication between the communication devices on the premise of no bias current loss, and provides technical support for dynamic reconfiguration and low-power cooperative control of modular robots.

[0006] The technical scheme comprises a SEP magnetic field generating module, a control mounting plate, a magnetic field detecting module, a control circuit and a power module. The SEP magnetic field generating module comprises a SEP mounting plate and a plurality of SEP structures fixed at equal intervals along the edge of the SEP mounting plate, each SEP structure comprising two iron end covers, an excitation coil and an Al-Ni-Co magnet, the excitation coil being wound around the Al-Ni-Co magnet, the iron end covers being fixed at the two ends of the Al-Ni-Co magnet respectively, and the excitation coil being used for emitting a magnetic field signal. The control mounting plate is fixed on the SEP mounting plate and is used for mounting the control circuit and the power module. The magnetic field detecting module comprises a signal processing PCB and a plurality of Hall sensors arranged on the signal processing PCB, the signal processing PCB being fixed on the SEP mounting plate, one Hall sensor being arranged between adjacent SEP structures, the spacing between the Hall sensor and the adjacent SEP structures being the same, the signal processing PCB being used for signal extraction of the magnetic field signal, and the Hall sensor being used for collecting the magnetic field signal. The control circuit comprises a signal encoding unit, a current driving unit, a signal decoding unit, a power management circuit and a magnetic field strength threshold value judging unit, the signal encoding unit being used for processing a to-be-transmitted signal into an alternating current signal, the current driving unit being used for inputting the alternating current signal into the excitation coil, the signal decoding unit being used for decoding the signal output by the signal processing PCB to restore the original information, and the magnetic field strength threshold value judging unit being used for judging the magnetic field strength information collected by the Hall sensor. The power module is used for powering the device. Further, the magnetic circuit of the SEP structure is designed to ensure that it works in the linear region of the B-H curve, so as to make the alternating current of the excitation coil and the dynamic magnetic field strength have a linear corresponding relationship and avoid signal distortion caused by magnetic saturation. Further, the SEP mounting plate adopts two circular iron plates which are fixed at the top end and the bottom end of the SEP structure respectively.

[0007] Further, the signal processing PCB comprises a high-pass filter circuit, a signal amplification circuit and a band-pass filter circuit.

[0008] A method of a force-signal coupling magnetic field communication device based on a SEP structure, which is implemented based on any of the devices and comprises the following specific steps: S1, the communication devices of both parties needing communication are naturally adsorbed by the Al-Ni-Co magnet of the SEP structure to form a physical connection; at this time, the excitation coil of the sending end has no current input and only relies on the static magnetic field of the Al-Ni-Co magnet to maintain the adsorption force, the magnetic field strength threshold value judging unit monitors the connection state between the communication devices through the static magnetic field component of the device collected by the Hall sensor of the magnetic field detecting module, and confirms the stable connection. S2, the communication device as a sending end, through its control circuit to transmit information, the information to be transmitted includes communication device ID, data through the signal encoding unit of the sending end encoding into binary signal and through FSK modulation mapping into two frequency AC signal, and through the current drive unit of the sending end drive the sending end of the excitation coil into the AC signal, so that the static magnetic field of the SEP structure of the sending end superimposes the dynamic magnetic field synchronized with the AC signal, generating a composite magnetic field; S3, the communication device as a receiving end, through its Hall sensor to collect the composite magnetic field, after signal extraction by the signal processing PCB of the receiving end, the processed dynamic signal is obtained, and the processed dynamic signal is transmitted to the control circuit of the receiving end; S4, the signal decoding unit of the control circuit of the receiving end demodulates the processed dynamic signal, restores the original information according to the frequency characteristics and identifies binary, and detects the communication process through the communication device ID matching to prevent communication errors; S5, real-time monitoring of static magnetic field intensity to judge the connection stability, if the signal analysis is wrong, retransmission is triggered; after the communication is completed, the excitation coil of the sending end is powered off, and the two communication devices are connected only through the respective SEP structure.

[0009] Further, in S2, the FSK modulation method is as follows: binary FSK modulation is adopted, the preset frame structure includes frame header, 6-bit communication device ID, N-bit data bit and 1-bit parity check bit; the frame header is a frequency signal corresponding to continuous 4 '0', wherein '0' corresponds to carrier frequency f1=800Hz, '1' corresponds to carrier frequency f2=1600Hz, and the baud rate is 400bps, i.e. the period is 2.5ms; the peak value of alternating current should ensure that the fluctuation amplitude of dynamic magnetic field is below 15% of static magnetic field, so as to avoid affecting the connection stability.

[0010] Further, in S3, the signal extraction by the signal processing PCB of the receiving end is as follows: the composite magnetic field signal output by the Hall sensor of the receiving end is first removed by the high-pass filter circuit of the receiving end to remove the static magnetic field component, and the dynamic signal of 800Hz-1600Hz is retained; then the dynamic signal amplitude is amplified to 0-3.3V by the signal amplification circuit of the receiving end to adapt to the ADC input range of the control circuit, and the processed dynamic signal is obtained through the band-pass filter circuit of the receiving end with passband of 700Hz-1700Hz to suppress environmental noise interference.

[0011] Further, in S4, the signal decoding unit of the control circuit of the receiving end demodulates the processed dynamic signal, which is as follows: The control circuit of the receiving end identifies the carrier frequency through period detection: within each symbol period of 2.5 ms, the number of signal zero crossings is counted, if 2 periods are detected, i.e. 800 Hz, it is determined as '0', and if 4 periods are detected, i.e. 1600 Hz, it is determined as '1'; synchronization is realized by identifying the frame header first, and then analyzing the communication device ID, data bits and check bits in turn, and only when the communication device ID matches and the check passes, the data is received.

[0012] A force-signal coupling magnetic field modulation modular robot based on the SEP structure, which realizes communication by using any of the devices. Advantages

[0013] 1. The application proposes a new communication device based on the SEP structure, which cooperates with the FSK modulation communication method to maintain the connection of the static magnetic field while transmitting information through the dynamic magnetic field. The device eliminates the traditional independent mechanical connecting member and the communication module, the method adapts to the characteristics of the device to realize efficient information transmission, forms an integrated communication solution specially designed for modular robots, solves the redundancy problem of connection and communication separation, reduces the size of the module by a certain amplitude, and improves the integration and dynamic reconstruction flexibility.

[0014] 2. The application can accurately capture the dynamic changes such as vibration and displacement during the connection of the communication device by monitoring the strength of the static magnetic field in real time through the magnetic field detection module, and can give an early warning when the connection stability fluctuates, which perfectly adapts to the complex working conditions of the reconfigurable modular robot dynamic reconstruction, ensures uninterrupted communication, and solves the problem of excessive dependence on fixed connection posture in traditional communication. At the same time, this communication method relies on magnetic field to transmit signals, has small signal attenuation and strong anti-interference in underwater environment, and can work stably; and it belongs to near-field communication, and the signal range is controllable, which can effectively avoid long-distance crosstalk of multiple modules working at the same time, and significantly improve the application reliability in special scenes.

[0015] 3. The application relies on the permanent magnet characteristics of the aluminum-nickel-cobalt magnet of the SEP structure, and does not need any current input in the static connection stage, and only loads a low-frequency alternating signal through the excitation coil during communication, which greatly reduces the power consumption compared with the traditional electromagnetic communication scheme which needs continuous bias current. At the same time, the FSK modulation method is adopted, which adapts to the inductance characteristics of the coil and can effectively avoid high-frequency noise interference, and the signal transmission stability is strong; combined with the communication device ID matching and check mechanism, the crosstalk problem in the multi-module collaborative scene is further reduced, and the communication reliability is significantly improved, which provides strong support for the long-term stable operation of the modular robot. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly introduced as follows. It should be understood that the following drawings only show some of the embodiments of the present application, and therefore should not be regarded as a limitation on the scope, and for those of ordinary skill in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0017] Figure 1 The schematic diagram of the overall structure of the communication device of an embodiment of the present application is shown in the figure. Figure 2 The schematic diagram of the SEP structure of an embodiment of the present application is shown in the figure. Figure 3 The flow chart of the communication method of an embodiment of the present application is shown in the figure. Figure 4 The waveform diagram of the FSK modulated signal of an embodiment of the present application is shown in the figure. Figure 5 The flow chart of the signal processing of an embodiment of the present application is shown in the figure. Figure 6 The schematic diagram of the connection application of the communication device of an embodiment of the present application is shown in the figure. In the figure: 1, SEP structure; 2, Hall sensor; 3, signal processing PCB; 4, control mounting plate; 5, iron end cover; 6, excitation coil; 7, aluminum-nickel-cobalt magnet; 8, SEP mounting plate. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of the present application. Embodiment 1

[0019] Please refer to Figure 1 , 2 and 6, the communication device and method of force-signal coupling magnetic field based on SEP structure of the present application, the device relies on the static magnetic field self-holding and dynamic magnetic field modulation characteristics of SEP structure 1, integrates the connection and communication functions in the same magnetic field system, including SEP magnetic field generation module, control mounting plate 4, magnetic field detection module, control circuit and power module.

[0020] The SEP magnetic field generating module comprises: an SEP mounting plate 8, specifically two circular iron plates; 12 SEP structures 1 fixed at equal intervals along the edges of the SEP mounting plate 8, each SEP structure 1 comprising two iron end covers 5, an excitation coil 6 and an Al-Ni-Co magnet 7; the excitation coil 6 is wound around the cylindrical Al-Ni-Co magnet 7; the iron end covers 5 are fixed at the two ends of the Al-Ni-Co magnet 7 respectively, for enhancing the focusing effect of the magnetic field.

[0021] The magnetic field detection module comprises a signal processing PCB 3 and 12 Hall sensors 2 arranged thereon; the signal processing PCB 3 is fixed on the SEP mounting plate 8, and one Hall sensor 2 is arranged between adjacent SEP structures 1, the spacing between the Hall sensor 2 and the adjacent SEP structure 1 being the same; The control circuit and power supply module are installed on a control mounting plate 4, which is fixed on the SEP mounting plate 8, and the electrical structure is omitted in the figure. The control circuit comprises an embedded microprocessor STM32F103 series product, which integrates a signal coding unit, a current driving unit, a signal decoding unit, a power management circuit and a magnetic field strength threshold judgment unit; the signal coding unit converts the information to be transmitted into an AC modulation signal of a preset rule; the current driving unit outputs a matching AC current to the excitation coil 6 according to the modulation signal; the signal decoding unit receives the dynamic signal output by the magnetic field detection module, restores the original information by identifying the frequency and amplitude characteristics; the power management circuit supports the multi-path independent output of the AC current of the excitation coil 6, and cuts off the power supply of the excitation coil 6 in the non-communication stage; the magnetic field strength threshold judgment unit monitors the connection state between the communication devices through the static magnetic field components collected by the Hall sensors 2 of the magnetic field detection module, and confirms the stable connection; the power supply module is used to power the device.

[0022] The magnetic circuit design of the magnetic core of the Al-Ni-Co magnet 7 of the SEP structure 1 ensures that it works in the linear region of the B-H curve, so that the AC current of the excitation coil 6 and the dynamic magnetic field strength have a linear correspondence relationship, avoiding signal distortion caused by magnetic saturation; The signal processing PCB 3 comprises a high-pass filter circuit, a signal amplification circuit and a band-pass filter circuit. Embodiment 2:

[0023] As Figure 3 , 4 and 5, based on the communication device described in embodiment 1, the application further provides a communication method of a force-signal coupling magnetic field communication device based on SEP structure, which connects through the static magnetic field maintaining module of the SEP structure 1 and transmits information through the dynamic magnetic field, and the specific steps comprise: S1, the communication devices needing communication are naturally adsorbed by the aluminum-nickel-cobalt magnet 7 of the SEP structure 1 to form a physical connection; at this time, the excitation coil 6 of the sending end has no current input, and only relies on the static magnetic field of the aluminum-nickel-cobalt magnet 7 to maintain the adsorption force, and the magnetic field strength threshold value judgment unit monitors the connection state between the communication devices through the static magnetic field component of the device collected by the Hall sensor 2 of the magnetic field detection module, and confirms the stable connection; S2, the communication device as the sending end transmits the information to be transmitted through the control circuit thereof, the information to be transmitted including the communication device ID and data, encodes the information to be transmitted into a binary signal through a signal encoding unit of the sending end, maps the binary signal into an alternating current signal of two frequencies through FSK modulation, and drives the excitation coil 6 of the sending end to input the alternating current signal through a current driving unit of the sending end, so that the static magnetic field of the SEP structure 1 of the sending end superimposes a dynamic magnetic field synchronized with the alternating current signal to generate a composite magnetic field; S3, the communication device as the receiving end collects the composite magnetic field through the Hall sensor 2 thereof, obtains a processed dynamic signal after signal extraction by a signal processing PCB 3 of the receiving end, and transmits the processed dynamic signal to the control circuit of the receiving end; S4, the signal decoding unit of the control circuit of the receiving end demodulates the processed dynamic signal, identifies the binary according to the frequency characteristics, and restores the original information; the communication process is completed through the matching detection of the communication device ID, and communication errors are prevented; S5, the static magnetic field strength is monitored in real time to judge the connection stability, and if the signal analysis is wrong, retransmission is triggered; after the communication is completed, the excitation coil 6 of the sending end is powered off, and the two communication devices are connected only through the respective SEP structures 1.

[0024] In S2, the FSK modulation method is as follows: binary FSK modulation is adopted, a preset frame structure includes a frame header, a 6-bit communication device ID, N-bit data bits and a 1-bit parity check bit; the frame header is a frequency signal corresponding to continuous 4 '0's, wherein '0' corresponds to a carrier frequency f1=800Hz, '1' corresponds to a carrier frequency f2=1600Hz, and the baud rate is 400bps, i.e. the period is 2.5ms; the peak value of the alternating current should ensure that the fluctuation amplitude of the dynamic magnetic field is less than 15% of the static magnetic field, so as to avoid affecting the connection stability.

[0025] In S3, the signal extraction by the signal processing PCB 3 of the receiving end is specifically as follows: the composite magnetic field signal output by the Hall sensor 2 of the receiving end is first removed of the static magnetic field component by a high-pass filter circuit of the receiving end, and the dynamic signal of 800Hz-1600Hz is retained; then the dynamic signal is amplified to 0-3.3V in amplitude by a signal amplification circuit of the receiving end to adapt to the ADC input range of the control circuit, and a band-pass filter circuit of the receiving end with a passband of 700Hz-1700Hz is used to suppress environmental noise interference, so as to obtain the processed dynamic signal.

[0026] In S4, the signal decoding unit of the control circuit of the receiving end demodulates the processed dynamic signal, specifically: The control circuit of the receiving end identifies the carrier frequency through periodic detection: within each symbol period of 2.5 ms, the number of signal zero crossings is counted, if 2 periods are detected, i.e., corresponding to 800 Hz, it is determined as '0', and if 4 periods are detected, i.e., corresponding to 1600 Hz, it is determined as '1'; synchronization is realized by identifying the frame header first, then the communication device ID, data bits and check bits are parsed in turn, and only when the communication device ID matches and the check passes, the data is received.

[0027] The communication device of the application is particularly suitable for modular robots that realize the integration of physical connection and information interaction through magnetic fields. The method and device can realize stable connection and low-power data transmission simultaneously in scenarios such as post-disaster rescue, industrial inspection, etc., and are suitable for collaborative control research and development of modular robots, near-distance collaborative control of micro intelligent devices in complex environments, and intelligent equipment fields that require consideration of connection reliability and communication anti-interference.

[0028] The above-described embodiments are merely preferred embodiments of the application and do not limit the scope of the application. Without departing from the design spirit of the application, various modifications and improvements to the technical solutions of the application made by those skilled in the art shall fall within the protection scope of the application.

Claims

1. A communication device based on force-signaling coupling magnetic field of SEP structure, characterized in that, The SEP magnetic field generating module, the control mounting plate, the magnetic field detecting module, the control circuit and the power module are included. The SEP magnetic field generating module includes a SEP mounting plate and a plurality of SEP structures fixed along the edges of the SEP mounting plate at equal intervals, each SEP structure including two iron end covers, an excitation coil and an Al-Ni-Co magnet, the excitation coil being wound around the Al-Ni-Co magnet, and the iron end covers being fixed to the two ends of the Al-Ni-Co magnet respectively, the excitation coil being used to emit a magnetic field signal. The control mounting plate is fixed to the SEP mounting plate and used to mount the control circuit and the power module. The magnetic field detecting module includes a signal processing PCB and a plurality of Hall sensors arranged thereon, the signal processing PCB being fixed to the SEP mounting plate, one Hall sensor being arranged between adjacent SEP structures, the Hall sensor having the same spacing as the adjacent SEP structures, the signal processing PCB being used to extract a magnetic field signal, and the Hall sensor being used to collect a magnetic field signal. The control circuit includes a signal encoding unit, a current driving unit, a signal decoding unit, a power management circuit and a magnetic field strength threshold judging unit, the signal encoding unit being used to process a to-be-transmitted signal into an alternating current signal, the current driving unit being used to input the alternating current signal into the excitation coil, the signal decoding unit being used to decode a signal output by the signal processing PCB to restore original information, and the magnetic field strength threshold judging unit being used to judge magnetic field strength information collected by the Hall sensor. The power module is used to power the device.

2. The SEP structure based force-signaling coupling magnetic field communication device according to claim 1, wherein, The magnetic circuit of the SEP structure is designed to ensure that it works in the linear region of the B-H curve.

3. The SEP structure based force-signaling coupling magnetic field communication device of claim 1, wherein, The SEP mounting plate adopts two circular iron plates, which are fixed to the top end and the bottom end of the SEP structure respectively.

4. The SEP structure based force-signaling coupling magnetic field communication device of claim 1, wherein, The signal processing PCB includes a high-pass filter circuit, a signal amplification circuit and a band-pass filter circuit.

5. A method of a force and signal coupling magnetic field communication device based on a SEP structure, characterized by, The device is implemented based on any one of claims 1-4, and the specific steps include: S1, the communication devices of both parties needing communication are naturally adsorbed by the Al-Ni-Co magnet of the SEP structure to form a physical connection; at this time, the excitation coil of the sending end has no current input, and only the static magnetic field of the Al-Ni-Co magnet maintains the adsorption force, and the magnetic field strength threshold judging unit monitors the connection state between the communication devices through the static magnetic field component of the device collected by the Hall sensor of the magnetic field detecting module to confirm the stable connection; S2, as the sending end, the communication device transmits information through the signal encoding unit of the control circuit, the information including the communication device ID and data, which is encoded into a binary signal and mapped into an alternating current signal with two frequencies through FSK modulation, and the current driving unit of the sending end drives the excitation coil of the sending end to input the alternating current signal, so that the static magnetic field of the SEP structure of the sending end is superimposed with a dynamic magnetic field synchronized with the alternating current signal to generate a composite magnetic field; S3, as the receiving end, the communication device collects the composite magnetic field through the Hall sensor, and obtains a processed dynamic signal after signal extraction by the signal processing PCB of the receiving end, and transmits the processed dynamic signal to the control circuit of the receiving end. S4, the signal decoding unit of the control circuit of the receiving end demodulates the processed dynamic signal, identifies binary according to frequency characteristics, restores the original information, and completes the communication process through the ID matching detection communication device to prevent communication errors. S5, the static magnetic field intensity is monitored in real time to determine the connection stability, and if the signal analysis is incorrect, retransmission is triggered; after the communication is completed, the excitation coil of the sending end is powered off, and the two communication devices are connected only through their respective SEP structures.

6. The method of claim 5, wherein, In S2, the FSK modulation method is as follows: binary FSK modulation is adopted, the preset frame structure includes a frame header, a 6-bit communication device ID, N-bit data bits, and a 1-bit parity check bit; the frame header is a frequency signal corresponding to four consecutive '0's, wherein '0' corresponds to the carrier frequency f1=800Hz, '1' corresponds to the carrier frequency f2=1600Hz, and the baud rate is 400bps, i.e. the period is 2.5ms; the peak value of alternating current should ensure that the dynamic magnetic field fluctuation amplitude is less than 15% of the static magnetic field to avoid affecting the connection stability.

7. The method of claim 5, wherein, In S3, the signal extraction by the signal processing PCB of the receiving end is specifically as follows: the composite magnetic field signal output by the Hall sensor of the receiving end is first subjected to the high-pass filter circuit of the receiving end to remove the static magnetic field component and retain the dynamic signal of 800Hz-1600Hz; then the dynamic signal amplitude is amplified to 0-3.3V by the signal amplification circuit of the receiving end to adapt to the ADC input range of the control circuit, and the processed dynamic signal is obtained through the band-pass filter circuit of the receiving end with a passband of 700Hz-1700Hz to suppress environmental noise interference.

8. The method of claim 6, wherein, In S4, the signal decoding unit of the control circuit of the receiving end demodulates the processed dynamic signal specifically as follows: The control circuit of the receiving end identifies the carrier frequency through period detection: within each symbol period of 2.5ms, the number of signal zero crossings is counted, if 2 periods are detected, i.e. corresponding to 800Hz, it is determined as '0', and if 4 periods are detected, i.e. corresponding to 1600Hz, it is determined as '1'; the frame header is identified first to realize synchronization, and then the communication device ID, data bits, and check bits are analyzed in sequence, and only when the communication device ID matches and the check passes, the data is received.

9. A force-signaling coupling magnetic field modulation modular robot based on SEP structure, characterized by, The device of any one of claims 1-4 is used to realize communication.

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