A communication device and method based on a force-signal coupling magnetic field of a SEP structure

Abstract

The application discloses a kind of communication device and method based on force-signal coupling magnetic field of SEP structure, method includes: two communication devices are absorbed by SEP structure, and magnetic field intensity threshold judging unit confirms whether connection is stable;Sending end information containing ID and data is converted into binary signal by signal coding unit, is modulated into two frequency alternating current signals by FSK, is passed into excitation coil by current driving unit, so that static magnetic field is superimposed synchronous dynamic magnetic field, and composite magnetic field is generated;Composite magnetic field is collected by receiving end hall sensor, and dynamic signal is extracted by signal processing PCB and is transmitted to control circuit;Control circuit demodulates dynamic signal, and identifies binary restoration information according to frequency, and error is prevented by ID matching;Real-time monitoring static magnetic field judges connection stability, and analyzes error trigger retransmission;After ending, excitation coil is powered off, and device is kept connected by SEP structure.The application can realize stable connection and reliable communication.

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.

[0007] The SEP magnetic field generating module comprises a SEP mounting plate and a plurality of SEP structures fixed at equal intervals along the edges 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 is wound around the Al-Ni-Co magnet; the iron end covers are fixed at the two ends of the Al-Ni-Co magnet respectively, and the excitation coil is used for emitting a magnetic field signal.

[0008] The control mounting plate is fixed on the SEP mounting plate and is used for mounting the control circuit and the power module.

[0009] The magnetic field detecting module comprises a signal processing PCB and a plurality of Hall sensors arranged thereon; the signal processing PCB is fixed on the SEP mounting plate, one Hall sensor is arranged between adjacent SEP structures, the spacing between the Hall sensor and the adjacent SEP structure is the same, the signal processing PCB is used for signal extraction of the magnetic field signal, and the Hall sensor is used for collecting the magnetic field signal.

[0010] 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 is used for processing a to-be-transmitted signal into an alternating current signal, the current driving unit is used for inputting the alternating current signal into the excitation coil, the signal decoding unit is 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 is used for judging the magnetic field strength information collected by the Hall sensor.

[0011] The power module is used for supplying power to 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.

[0012] 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.

[0013] Further, the signal processing PCB comprises a high-pass filter circuit, a signal amplification circuit and a band-pass filter circuit.

[0014] 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.

[0015] S1, the communication devices needing communication of both parties are naturally adsorbed by the aluminum-nickel-cobalt 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 aluminum-nickel-cobalt magnet 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 of the magnetic field detection module, and confirms the stable connection;

[0016] S2, the communication device as the sending end encodes the to-be-transmitted information including the communication device ID and data into a binary signal through the signal encoding unit of the sending end, and maps it into an alternating current signal of two frequencies through FSK modulation, and drives the excitation coil of the sending end to pass into the alternating current signal through the current driving unit of the sending end, so that the static magnetic field of the SEP structure of the sending end superimposes a dynamic magnetic field synchronized with the alternating current signal to generate a composite magnetic field;

[0017] S3, the communication device as the receiving end collects the composite magnetic field through the Hall sensor thereof, 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;

[0018] 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 to prevent communication errors;

[0019] 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 of the sending end is powered off, and the two communication devices are connected only through the respective SEP structures.

[0020] Further, 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 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 the dynamic magnetic field is less than 15% of the static magnetic field, so as to avoid affecting the connection stability.

[0021] Furthermore, in S3, the signal extraction via the signal processing PCB at the receiving end specifically involves: the composite magnetic field signal output by the Hall sensor at the receiving end is first filtered by the high-pass filter circuit at the receiving end to remove the static magnetic field component, retaining the dynamic signal of 800Hz-1600Hz; then, the dynamic signal amplitude is amplified to 0-3.3V by the signal amplification circuit at the receiving end to match the input range of the ADC of the control circuit, and then filtered by the bandpass filter circuit at the receiving end, with a passband of 700Hz-1700Hz to suppress environmental noise interference, to obtain the processed dynamic signal.

[0022] Furthermore, in S4, the signal decoding unit of the control circuit at the receiving end demodulates the processed dynamic signal specifically as follows:

[0023] The receiver's control circuit identifies the carrier frequency through periodic detection: within each symbol period of 2.5ms, it counts the number of zero-crossings of the signal. If two periods are detected, corresponding to 800Hz, it is determined as '0'; if four periods are detected, corresponding to 1600Hz, it is determined as '1'. It first identifies the frame header to achieve synchronization, and then sequentially parses the communication device ID, data bits, and check bits. Data is received only when the communication device ID matches and the check passes.

[0024] A force-signal coupled magnetic field modulation modular robot based on a SEP structure, which uses any of the aforementioned devices to achieve communication.

[0025] Beneficial effects:

[0026] 1. This application proposes a novel communication device based on a SEP structure, combined with an FSK modulation communication method, which allows a static magnetic field to maintain the connection of the communication device while transmitting information through a dynamic magnetic field. This device eliminates the need for traditional independent mechanical connectors and communication modules. The method is adapted to the characteristics of the device to achieve efficient information transmission, forming an integrated communication solution specifically designed for modular robots. It solves the redundancy problem of separating connection and communication, reduces the module size to a certain extent, and improves integration and dynamic reconfiguration flexibility.

[0027] 2. This application utilizes a magnetic field detection module to monitor the static magnetic field strength in real time, accurately capturing dynamic changes such as vibration and displacement during the communication device connection process. It provides immediate warnings when connection stability fluctuates, perfectly adapting to the complex working conditions of dynamic reconfiguration of reconfigurable modular robots, ensuring uninterrupted communication and solving the problem of excessive reliance on fixed connection postures in traditional communication. Furthermore, this communication method relies on magnetic field signal transmission, exhibiting low signal attenuation and strong anti-interference capabilities in underwater environments, ensuring stable operation. As it is a near-field communication method, the signal range is controllable, effectively avoiding long-distance crosstalk during multi-module collaboration and significantly improving application reliability in special scenarios.

[0028] 3, The application relies on the permanent magnet characteristics of the aluminum nickel cobalt magnet with SEP structure, does not need any current input in the static connection stage, only loads low frequency alternating current signal through the excitation coil during communication, greatly reduces the power consumption compared with the traditional electromagnetic communication scheme which needs continuous bias current. At the same time, FSK modulation method is adopted, which is suitable for the inductance characteristics of the coil, can effectively avoid high frequency noise interference, and the signal transmission stability is strong; Combined with the communication device ID matching and verification mechanism, further reduce the crosstalk problem in the multi module cooperative scene, significantly improve the communication reliability, and provide strong support for the long-term stable operation of the modular robot. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments of the present application. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0030] Figure 1 The overall structure diagram of the communication device of an embodiment of the present application is shown in the figure.

[0031] Figure 2 The SEP structure diagram of an embodiment of the present application is shown in the figure.

[0032] Figure 3 The communication method flow chart of an embodiment of the present application is shown in the figure.

[0033] Figure 4 The FSK modulation signal waveform diagram of an embodiment of the present application is shown in the figure.

[0034] Figure 5 The signal processing flow chart of an embodiment of the present application is shown in the figure.

[0035] Figure 6 The communication device connection application diagram of an embodiment of the present application is shown in the figure.

[0036] 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

[0037] 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, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application. Embodiment 1:

[0038] Referring to Figure 1 , 2 and 6, the application is a kind of communication device and method based on the force-signal coupling magnetic field of SEP structure. The device integrates connection and communication functions in the same magnetic field system by relying on the self-holding and dynamic magnetic field modulation characteristics of the static magnetic field of SEP structure 1. The device includes SEP magnetic field generation module, control mounting plate 4, magnetic field detection module, control circuit and power module.

[0039] The SEP magnetic field generation module includes SEP mounting plate 8, specifically two circular iron plates; 12 SEP structures 1 fixed at equal intervals along the edge of the SEP mounting plate 8, each SEP structure 1 including two iron end caps 5, an excitation coil 6, and an aluminum-nickel-cobalt magnet 7; the excitation coil 6 is wound around the cylindrical aluminum-nickel-cobalt magnet 7; the iron end caps 5 are fixed to the two ends of the aluminum-nickel-cobalt magnet 7, respectively, for enhancing the focusing effect of the magnetic field.

[0040] The magnetic field detection module includes signal processing PCB 3 and 12 Hall sensors 2 arranged thereon; the signal processing PCB 3 is fixed to the SEP mounting plate 8, and there is a Hall sensor 2 between adjacent SEP structures 1, and the spacing between the Hall sensor 2 and the adjacent SEP structure 1 is the same;

[0041] The control circuit and power module are installed on the control mounting plate 4, which is fixed to the SEP mounting plate 8, and the electrical structure is omitted in the figure. The control circuit includes embedded microprocessor STM32F103 series products, which integrate signal encoding unit, current driving unit, signal decoding unit, power management circuit and magnetic field strength threshold judgment unit; the signal encoding unit converts the information to be transmitted into preset rule AC modulation signal; the current driving unit outputs 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 component of the device collected by the Hall sensor 2 of the magnetic field detection module, and confirms the stable connection; the power module is used to power the device.

[0042] The magnetic circuit design of the magnetic core of the aluminum-nickel-cobalt 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;

[0043] The signal processing PCB 3 includes high-pass filter circuit, signal amplification circuit and band-pass filter circuit. Embodiment 2

[0044] As Figure 3 , 4 and 5, based on the communication device described in embodiment 1, the embodiment of the application also provides a communication method of a force-signal coupling magnetic field communication device based on a SEP structure, which connects through the static magnetic field of the SEP structure 1 and transmits information through the dynamic magnetic field. The specific steps include:

[0045] S1, the communication devices that need to communicate 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. The magnetic field strength threshold 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;

[0046] S2, as the sending end of the communication device, the control circuit of the communication device encodes the information to be transmitted, including the communication device ID and data, into a binary signal through the signal encoding unit of the sending end, and maps it 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 the 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, generating a composite magnetic field;

[0047] S3, as the receiving end of the communication device, the Hall sensor 2 of the communication device collects the composite magnetic field, and after signal extraction by the signal processing PCB 3 of the receiving end, a processed dynamic signal is obtained, which is transmitted to the control circuit of the receiving end;

[0048] 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 to prevent communication errors;

[0049] S5, the static magnetic field strength is monitored in real time to judge the connection stability, and if the signal analysis is wrong, the 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 their respective SEP structures 1.

[0050] In S2, the FSK modulation mode is as follows: a binary FSK modulation is adopted, a preset frame structure comprises 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 = 800 Hz, '1' corresponds to a carrier frequency f2 = 1600 Hz, and the baud rate is 400 bps, that is, the period is 2.5 ms; the alternating current peak value should ensure that the dynamic magnetic field fluctuation amplitude is below 15% of the static magnetic field, so as to avoid affecting the connection stability.

[0051] In S3, the signal extraction of the signal processing PCB3 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 subjected to the high-pass filter circuit of the receiving end to remove the static magnetic field component and retain the dynamic signal of 800 Hz-1600 Hz; then the dynamic signal amplitude is amplified to 0-3.3 V by the signal amplification circuit of the receiving end to adapt to the input range of the control circuit ADC, and the processed dynamic signal is obtained through the band-pass filter circuit of the receiving end with a passband of 700 Hz-1700 Hz to suppress environmental noise interference.

[0052] In S4, the signal decoding unit of the control circuit of the receiving end demodulates the processed dynamic signal, and the demodulation process is specifically as follows:

[0053] The control circuit of the receiving end identifies the carrier frequency through period detection: in each symbol period of 2.5 ms, the number of signal zero crossings is counted, if 2 periods are detected, that is, corresponding to 800 Hz, it is determined as '0', and if 4 periods are detected, that is, corresponding to 1600 Hz, 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.

[0054] The communication device of the application is especially suitable for modular robots that realize physical connection and information interaction integration through magnetic field. The method and device can realize stable connection and low-power data transmission simultaneously in the scene of dynamic reconstruction of modules, multi-target collaborative work, such as post-disaster rescue and industrial inspection, and are suitable for collaborative control research and development of modular robots in colleges and universities, near-distance collaborative control of micro intelligent devices in complex environments, and intelligent equipment fields that need to consider connection reliability and communication anti-interference performance.

[0055] The above-described embodiments are only used to describe the preferred embodiments of the application, and do not limit the scope of the application, and various modifications and improvements to the technical solutions of the application made by those skilled in the art without departing from the design spirit of the application shall fall within the protection scope of the application.

Claims

1. A communication device based on a force-signal coupled magnetic field of a SEP structure, characterized in that, Includes SEP magnetic field generating module, control mounting plate, magnetic field detection module, control circuit and power supply module; The SEP magnetic field generating module includes a SEP mounting plate and several SEP structures fixed at equal intervals along the edge of the SEP mounting plate. Each SEP structure includes two iron end caps, an excitation coil, and an AlNiCo magnet. The excitation coil is wound around the AlNiCo magnet. The iron end caps are respectively fixed to both ends of the AlNiCo magnet. The excitation coil is used to emit magnetic field signals. The control mounting plate is fixed to the SEP mounting plate and is used to install the control circuit and power module; The magnetic field detection module includes a signal processing PCB and several Hall sensors mounted thereon; the signal processing PCB is fixed to the SEP mounting plate, and a Hall sensor is provided between adjacent SEP structures. The Hall sensor is spaced at the same distance from the adjacent SEP structure. The signal processing PCB is used to extract magnetic field signals, and the Hall sensors are used to acquire magnetic field signals. 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 judgment unit. The signal encoding unit is used to process the signal to be transmitted into an AC signal. The current driving unit is used to pass the AC signal into the excitation coil. The signal decoding unit is used to decode the signal output by the signal processing PCB to restore the original information. The magnetic field strength threshold judgment unit is used to judge the magnetic field strength information collected by the Hall sensor. The power module is used to supply power to the device.

2. The communication device based on the force-signal coupled magnetic field of the SEP structure according to claim 1, characterized in that, The magnetic circuit design of the SEP structure is to ensure that it operates in the linear region of the BH curve.

3. The communication device based on the force-signal coupled magnetic field of the SEP structure according to claim 1, characterized in that, The SEP mounting plate consists of two circular iron plates, which are fixed to the top and bottom of the SEP structure, respectively.

4. The communication device based on the force-signal coupled magnetic field of the SEP structure according to claim 1, characterized in that, The signal processing PCB includes a high-pass filter circuit, a signal amplification circuit, and a band-pass filter circuit.

5. A method for a force-signal coupled magnetic field communication device based on a SEP structure, characterized in that, Based on the apparatus according to any one of claims 1-4, the specific steps include: S1. The communication devices that need to communicate between the two parties are naturally attracted by the SEP structure AlNiCo magnet to form a physical connection. At this time, the excitation coil of the transmitting end has no current input and only relies on the static magnetic field of the AlNiCo magnet to maintain the attraction force. The magnetic field strength threshold judgment unit monitors the connection status between the communication devices through the static magnetic field component of the device collected by the Hall sensor of the magnetic field detection module to confirm the connection is stable. S2. As a communication device at the transmitting end, the control circuit encodes the information to be transmitted, including the communication device ID and data, into a binary signal through the signal encoding unit at the transmitting end and maps it into two-frequency AC signals through FSK modulation. The current driving unit at the transmitting end drives the excitation coil of the transmitting end to pass the AC signal, so that the static magnetic field of the SEP structure at the transmitting end is superimposed with a dynamic magnetic field synchronized with the AC signal to generate a composite magnetic field. S3. As a communication device at the receiving end, the device collects the composite magnetic field through its Hall sensor, extracts the signal through the signal processing PCB at the receiving end to obtain the processed dynamic signal, and transmits the processed dynamic signal to the control circuit at the receiving end. S4. The signal decoding unit of the control circuit at the receiving end demodulates the processed dynamic signal, identifies the binary information based on the frequency characteristics, and restores the original information; the communication process is completed by the ID matching detection of the communication device to prevent communication errors. S5. Real-time monitoring of static magnetic field strength to determine connection stability; if signal parsing error occurs, retransmission is triggered; after communication ends, the excitation coil of the transmitting end is de-energized, and the two communication devices maintain connection only through their respective SEP structures.

6. The method according to claim 5, characterized in that, In S2, the FSK modulation method is as follows: binary FSK modulation is adopted, and the preset frame structure includes a frame header, a 6-bit communication device ID, N data bits, and a 1-bit parity bit; the frame header is a frequency signal corresponding to four consecutive '0's, where '0' corresponds to a carrier frequency f1=800Hz, '1' corresponds to a carrier frequency f2=1600Hz, the baud rate is 400bps, and the period is 2.5ms; the peak value of the AC 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 according to claim 5, characterized in that, In S3, the signal extraction via the signal processing PCB at the receiving end specifically involves: the composite magnetic field signal output by the Hall sensor at the receiving end is first filtered by the high-pass filter circuit at the receiving end to remove the static magnetic field component, retaining the dynamic signal of 800Hz-1600Hz; then, the dynamic signal amplitude is amplified to 0-3.3V by the signal amplification circuit at the receiving end to match the input range of the ADC of the control circuit, and then filtered by the band-pass filter circuit at the receiving end, with a passband of 700Hz-1700Hz to suppress environmental noise interference, thus obtaining the processed dynamic signal.

8. The method according to claim 6, characterized in that, In S4, the signal decoding unit of the control circuit at the receiving end demodulates the processed dynamic signal specifically as follows: The receiver's control circuit identifies the carrier frequency through periodic detection: within each symbol period of 2.5ms, it counts the number of zero-crossings of the signal. If two periods are detected, corresponding to 800Hz, it is determined as '0'; if four periods are detected, corresponding to 1600Hz, it is determined as '1'. It first identifies the frame header to achieve synchronization, and then sequentially parses the communication device ID, data bits, and check bits. Data is received only when the communication device ID matches and the check passes.

9. A force-signal coupled magnetic field modulation modular robot based on a SEP structure, characterized in that, Communication is achieved using the apparatus described in any one of claims 1-4.

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