Peripheral gateway communication architecture for robot

Abstract

The invention provides a peripheral gateway communication architecture for a robot, which belongs to the field of robot communication and comprises a plurality of peripheral gateway modules and a first Ethernet switch, a hardware dial switch is configured on the peripheral gateway module and is used for configuring an IP address for the peripheral gateway module; the plurality of peripheral gateway modules are respectively connected with a downlink port of the first Ethernet switch through Ethernet cables, and are used for connecting at least one robot peripheral, acquiring peripheral data, packaging the peripheral data according to a predefined Ethernet protocol, and embedding a hardware timestamp in a data packet to form a standard uplink data packet; an uplink port of the first Ethernet switch is connected to the robot controller through an Ethernet cable, and the first Ethernet switch is used for receiving and forwarding a standard uplink data packet to the robot controller, receiving a downlink control instruction data packet of the robot controller, and forwarding the downlink control instruction data packet to a corresponding peripheral gateway module according to a target IP address.

Description

Technical Field

[0001] This invention relates to the field of robot communication technology, and more particularly to a peripheral gateway communication architecture for robots. Background Technology

[0002] In today's rapidly developing robotics technology, real-time communication between actuators and controllers, and between sensors and controllers, is crucial for ensuring precise robot operation and efficient response. Currently, the industry widely employs diverse bus technologies to construct communication links. Communication between actuators and controllers often relies on buses such as CAN, RS485, and EtherCAT, while communication between sensors and controllers commonly uses bus solutions such as TTL, RS232, RS485, EtherCAT, and Ethernet. Each bus, with its own characteristics, adapts to different scenario requirements.

[0003] From the perspective of actuator communication scenarios, the CAN bus is widely used in low-to-mid-range robots and simple working conditions due to its significant advantages such as low cost, excellent real-time performance, strong anti-interference ability, and high reliability. However, its transmission rate is relatively low and the number of actuators that a single bus can support is limited, making it difficult to meet the communication needs of multi-degree-of-freedom robots.

[0004] In sensor communication, serial buses such as TTL, RS232, and RS485 have become the mainstream choice for sensor data transmission due to their simple structure and controllable cost. However, these serial communication methods mostly use asynchronous transmission modes, which have compatibility differences with the communication mechanisms used by actuators. This makes it difficult to achieve precise synchronization between the position, attitude, and force data collected by the sensors and the control commands and operating status data of the actuators. Insufficient data synchronization can cause robot control delays and motion deviations, and in severe cases, affect the stability of task execution, failing to meet the stringent requirements of high-precision robots for collaborative data transmission.

[0005] In summary, existing bus technologies have shortcomings in transmission capacity, load capacity, and data synchronization in communication scenarios for multi-degree-of-freedom robots and high-precision robots, making it difficult to simultaneously meet the requirements of real-time performance, reliability, high bandwidth, and multi-device compatibility. Summary of the Invention

[0006] This invention provides a peripheral gateway communication architecture for robots, which solves the problem that the existing peripheral gateway communication architecture for robots is too complex, and realizes a simpler peripheral gateway communication architecture for robots.

[0007] This invention provides a peripheral gateway communication architecture for robots, comprising: multiple peripheral gateway modules and a first Ethernet switch; The peripheral gateway module is equipped with a hardware DIP switch for configuring the IP address of the peripheral gateway module. Multiple peripheral gateway modules are connected to the downlink port of the first Ethernet switch via Ethernet cables to connect at least one robot peripheral, acquire peripheral data, encapsulate it according to a predefined Ethernet protocol, and embed a hardware timestamp in the data packet to form a standard uplink data packet. The uplink port of the first Ethernet switch is connected to the robot controller via an Ethernet cable. It is used to receive and forward standard uplink data packets to the robot controller, and to receive downlink control command data packets from the robot controller. Based on the target IP address, it forwards the downlink control command data packets to the corresponding peripheral gateway module.

[0008] In addition, the peripheral gateway communication architecture for robots according to the present invention may also have the following additional technical features: In some embodiments of the present invention, the peripheral gateway module includes 3 CAN interfaces, 1 RS485 interface, a second Ethernet switch and an ARM processor; The CAN interface and RS485 interface are connected to the robot's actuators or sensors, respectively, for sending and receiving peripheral data. The ARM processor communicates with the CAN interface, RS485 interface and the second Ethernet switch. It is used to encapsulate peripheral data according to the predefined Ethernet protocol, embed hardware timestamps in the data packets to form standard uplink data packets, and parse downlink control command data packets from the second Ethernet switch. The second Ethernet switch, connected to the first Ethernet switch and the ARM processor, is used to upload standard uplink data packets to the first Ethernet switch, forward downlink control command data packets from the first Ethernet switch to the ARM processor, and support the connection of multiple peripheral gateway modules in a cascading manner to build a distributed device network.

[0009] In some embodiments of the present invention, the peripheral gateway module further includes an RS232 interface, which is connected to the robot's sensors. The ARM processor is also used to encapsulate the peripheral data of the RS232 interface according to a predefined Ethernet protocol and embed a hardware timestamp in the data packet to form a standard uplink data packet.

[0010] In some embodiments of the present invention, the peripheral gateway module further includes a TTL interface, which is connected to the robot's sensors. The ARM processor is also used to encapsulate the peripheral data of the TTL interface according to a predefined Ethernet protocol and embed a hardware timestamp in the data packet to form a standard uplink data packet.

[0011] In some embodiments of the present invention, the 3-channel CAN interface uses an isolated interface chip, which supports a maximum baud rate of 5 Mbps; the RS485 interface supports a maximum baud rate of 10 Mbps; the RS232 interface supports a maximum baud rate of 5 Mbps; and the TTL interface supports a maximum baud rate of 5 Mbps.

[0012] In some embodiments of the present invention, a driver software system is also included, which is developed based on the FreeRTOS real-time operating system and the LWIP network protocol stack. The driver software system includes a driver layer and an application layer. The driver layer connects to the CAN interface, RS485 interface, RS232 interface and TTL interface of the peripheral gateway module, and communicates with the upper application layer through the UDP protocol to realize the forwarding of network data to the robot's various actuators and sensors, as well as the packaging and reporting of feedback data from various actuators and sensors to the application layer.

[0013] In some embodiments of the present invention, the driver layer pre-implements various communication or control services based on the IService base class, including CAN data transmission and reception services and serial port baud rate configuration services; the driver layer registers the services to the local service list through ServiceDescribe.

[0014] In some embodiments of the present invention, the application layer specifies a service ID and provides corresponding service data through RPC remote call, and calls the service in the local service list; after receiving the RPC call data, the driver layer checks whether the service ID exists. If it exists, the data is handed over to the specified service, and the service calls the Invoke() method to execute the specific function.

[0015] In some embodiments of the present invention, the second Ethernet switch includes an input port, an output port, and a port connected to an ARM processor. The input port and the output port are used to implement the cascading expansion of peripheral gateway modules.

[0016] In summary, this application includes the following beneficial technical effects: This peripheral gateway communication architecture enables rapid deployment and flexible debugging of peripheral gateway modules by configuring IP address settings through hardware DIP switches, reducing on-site installation and maintenance costs, adapting to peripheral expansion and replacement needs in multiple scenarios, and improving the convenience and versatility of architecture deployment.

[0017] The hierarchical connection between multiple peripheral gateway modules and the first Ethernet switch enables parallel acquisition and transmission of peripheral data, avoiding data packet loss caused by single-path congestion and significantly improving data transmission efficiency and reliability. The embedding of hardware timestamps into data packets accurately marks the data acquisition time, providing a precise time reference for the robot controller to perform synchronized data processing and real-time peripheral status analysis, effectively optimizing the response time of control commands.

[0018] By employing a predefined Ethernet protocol encapsulation mechanism, standardized and unified transmission of data from different types of peripherals is ensured. The first Ethernet switch forwards downlink control commands based on the target IP address, achieving precise command delivery, reducing unnecessary transmission overhead, improving the execution accuracy and timeliness of control commands, ensuring the coordination of robot peripherals in collaborative operation, and enhancing the overall control performance and operational stability of the robot system.

[0019] In summary, this communication architecture enables robots to have superior transmission capabilities, ensure data synchronization, and effectively balance the requirements of real-time performance, reliability, high bandwidth, and multi-device compatibility. Attached Figure Description

[0020] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 A schematic diagram of a peripheral gateway communication architecture for a robot according to some embodiments of the present invention is shown.

[0021] Figure 2 A schematic diagram of the peripheral gateway module for a peripheral gateway communication architecture for a robot according to some embodiments of the present invention is shown. Detailed Implementation

[0022] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical solution of the present invention, rather than limitations thereof. In the absence of conflict, the embodiments of the present invention and the technical features in the embodiments can be combined with each other.

[0023] like Figure 1 and Figure 2 As shown, according to an embodiment of the first aspect of the present invention, a peripheral gateway communication architecture for a robot is proposed, comprising: a plurality of peripheral gateway modules and a first Ethernet switch; The peripheral gateway module is equipped with a hardware DIP switch for configuring the IP address of the peripheral gateway module. Multiple peripheral gateway modules are connected to the downlink port of the first Ethernet switch via Ethernet cables to connect at least one robot peripheral, acquire peripheral data, encapsulate it according to a predefined Ethernet protocol, and embed a hardware timestamp in the data packet to form a standard uplink data packet. The uplink port of the first Ethernet switch is connected to the robot controller via an Ethernet cable. It is used to receive and forward standard uplink data packets to the robot controller, and to receive downlink control command data packets from the robot controller. Based on the target IP address, it forwards the downlink control command data packets to the corresponding peripheral gateway module.

[0024] The technical effects achieved by the above embodiments are as follows: This peripheral gateway communication architecture enables rapid deployment and flexible debugging of peripheral gateway modules by configuring IP address settings through hardware DIP switches, reducing on-site installation and maintenance costs, adapting to peripheral expansion and replacement needs in multiple scenarios, and improving the convenience and versatility of architecture deployment.

[0025] The hierarchical connection between multiple peripheral gateway modules and the first Ethernet switch enables parallel acquisition and transmission of peripheral data, avoiding data packet loss caused by single-path congestion and significantly improving data transmission efficiency and reliability. The embedding of hardware timestamps into data packets accurately marks the data acquisition time, providing a precise time reference for the robot controller to perform synchronized data processing and real-time peripheral status analysis, effectively optimizing the response time of control commands.

[0026] By employing a predefined Ethernet protocol encapsulation mechanism, standardized and unified transmission of data from different types of peripherals is ensured. The first Ethernet switch forwards downlink control commands based on the target IP address, achieving precise command delivery, reducing unnecessary transmission overhead, improving the execution accuracy and timeliness of control commands, ensuring the coordination of robot peripherals in collaborative operation, and enhancing the overall control performance and operational stability of the robot system.

[0027] In summary, this communication architecture enables robots to have superior transmission capabilities, ensure data synchronization, and effectively balance the requirements of real-time performance, reliability, high bandwidth, and multi-device compatibility.

[0028] Optional, such as Figure 1 and Figure 2 As shown, the peripheral gateway module includes 3 CAN interfaces, 1 RS485 interface, a second Ethernet switch, and an ARM processor. The CAN interface and RS485 interface are connected to the robot's actuators or sensors, respectively, for sending and receiving peripheral data. The ARM processor communicates with the CAN interface, RS485 interface and the second Ethernet switch. It is used to encapsulate peripheral data according to the predefined Ethernet protocol, embed hardware timestamps in the data packets to form standard uplink data packets, and parse downlink control command data packets from the second Ethernet switch. The second Ethernet switch, connected to the first Ethernet switch and the ARM processor, is used to upload standard uplink data packets to the first Ethernet switch, forward downlink control command data packets from the first Ethernet switch to the ARM processor, and support the connection of multiple peripheral gateway modules in a cascading manner to build a distributed device network.

[0029] The peripheral gateway module also includes one RS232 interface, which is connected to the robot's sensors. The ARM processor is also used to encapsulate the peripheral data of the RS232 interface according to the predefined Ethernet protocol and embed hardware timestamps in the data packets to form standard uplink data packets.

[0030] The peripheral gateway module also includes a TTL interface, which is connected to the robot's sensors. The ARM processor is also used to encapsulate the peripheral data of the TTL interface according to a predefined Ethernet protocol and embed hardware timestamps in the data packets to form standard uplink data packets.

[0031] The advantages of the above optional embodiments are as follows: by integrating 3 CAN interfaces, 1 RS485 interface, 1 RS232 interface and 1 TTL interface through the peripheral gateway module, it can comprehensively adapt to actuators and sensors with different protocols, realize unified access and centralized management of multiple types and specifications of peripherals, significantly enhance the architecture's adaptability to heterogeneous peripherals, and meet the diverse peripheral configuration needs of robots in different operating scenarios.

[0032] By using an ARM processor as the core processing unit and linking it with various interfaces and a second Ethernet switch, it can not only synchronously acquire peripheral data from four interfaces—CAN, RS485, RS232, and TTL—but also quickly encapsulate data according to a predefined Ethernet protocol and embed hardware timestamps to generate standard uplink data packets. This ensures the timeliness and consistency of multi-interface data conversion and processing, and provides a more accurate time reference for the robot controller. This helps the robot controller to achieve real-time judgment of peripheral status and synchronous data processing, thereby improving the accuracy of control decisions.

[0033] By configuring a second Ethernet switch, the uplink data packets can be accurately transmitted to the first Ethernet switch, and downlink control commands can be forwarded in a targeted manner. This, combined with the first Ethernet switch, creates a stable and reliable transmission link, preventing data loss and transmission delays. The cascading function of the second and first Ethernet switches supports networking multiple peripheral gateway modules, forming a distributed device network. This not only meets the robot's peripheral expansion needs but also enables centralized global management, ensuring accurate command delivery and efficient data flow. It effectively enhances the coordination and collaborative operation of the robot's various peripherals, improving system stability and operational reliability.

[0034] Optional, such as Figure 1 and Figure 2 As shown, the 3-channel CAN interface uses an isolated interface chip, supporting a maximum baud rate of 5Mbps; the RS485 interface supports a maximum baud rate of 10Mbps; the RS232 interface supports a maximum baud rate of 5Mbps, and the TTL interface supports a maximum baud rate of 5Mbps.

[0035] The advantages of the above optional embodiments are as follows: the 3-channel CAN interface adopts an isolated chip with a maximum baud rate of 5Mbps, which can resist external electromagnetic interference and ensure high-speed data transmission of multiple actuators; the RS485 interface with a high baud rate of 10Mbps is suitable for long-distance high-speed communication, and the RS232 and TTL interfaces both support a baud rate of 5Mbps to meet the data transmission needs of various sensors.

[0036] Optional, such as Figure 1 and Figure 2 As shown, it also includes a driver software system, which is developed based on the FreeRTOS real-time operating system and the LWIP network protocol stack. The driver software system includes a driver layer and an application layer. The driver layer connects to the CAN interface, RS485 interface, RS232 interface and TTL interface of the peripheral gateway module, and communicates with the upper application layer through the UDP protocol to realize the forwarding of network data to the robot's various actuators and sensors, as well as the packaging and reporting of feedback data from various actuators and sensors to the application layer.

[0037] The driver layer pre-implements various communication or control services based on the IService base class, including CAN data transmission and reception services and serial port baud rate configuration services; the driver layer registers the services to the local service list through ServiceDescribe.

[0038] The application layer specifies the service ID and provides the corresponding service data through RPC remote calls, and calls the service in the local service list; after receiving the RPC call data, the driver layer checks whether the service ID exists. If it exists, the data is handed over to the specified service, and the service calls the Invoke() method to execute the specific function.

[0039] The advantages of the above optional embodiments are as follows: by setting the driver software based on the FreeRTOS real-time operating system and the LWIP network protocol stack, the precise scheduling capability of FreeRTOS can match the high-speed data processing requirements of high baud rate interfaces, and the LWIP protocol stack realizes lightweight network communication. Combined with the advantages of hardware isolation and high baud rate, the foundation for data transmission is solidified.

[0040] The layered architecture of the driver layer and application layer connects the hardware and software data links, enabling accurate forwarding of network data and peripheral devices, as well as standardized reporting of feedback data.

[0041] The driver layer pre-configures services such as CAN data transmission and reception, and serial port baud rate configuration based on the IService base class. These services are registered to the local service list via ServiceDescribe, enabling modular service management and standardized invocation, reducing interface adaptation and later feature iteration costs. The application layer uses RPC remote calls to invoke local services and transmit data based on service IDs. After ID verification, the driver layer triggers the corresponding service's Invoke() method to execute the function, forming a closed-loop scheduling process. This avoids redundant logic in interface calls, improves service call accuracy and response speed, and supports parallel data processing and concurrent service calls across multiple interfaces.

[0042] This communication architecture balances high-bandwidth hardware transmission with efficient software scheduling, leveraging the complementary advantages of both hardware and software. It ensures stable access and high-speed data flow for multi-protocol peripherals while enhancing system compatibility and maintainability through a standardized service architecture. This adapts to high real-time operation scenarios and significantly improves the robot system's control response accuracy, peripheral collaboration efficiency, and overall operational stability.

[0043] The driver layer directly interfaces with various hardware interfaces and communicates efficiently with the application layer via the UDP protocol. This enables precise forwarding of network data and peripherals, standardized packaging and reporting of feedback data, and establishes a seamless data transmission link between software and hardware. Balancing the stability of interface drivers with the efficiency of data interaction, and leveraging hardware isolation and high baud rate advantages, it allows for parallel processing of data from multiple interfaces with zero latency, adapting to high real-time operation scenarios and significantly improving the control response accuracy and overall operational stability of the robot system.

[0044] Optional, such as Figure 1 and Figure 2 As shown, the second Ethernet switch includes input ports, output ports, and a port connected to the ARM processor. The input ports and output ports are used to implement the cascading expansion of peripheral gateway modules.

[0045] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0046] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0047] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0048] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0049] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A peripheral gateway communication architecture for robots, characterized in that, include: Multiple peripheral gateway modules and a first Ethernet switch; The peripheral gateway module is equipped with a hardware DIP switch for configuring the IP address of the peripheral gateway module. The multiple peripheral gateway modules are connected to the downlink port of the first Ethernet switch via Ethernet cables to connect at least one robot peripheral, acquire peripheral data, encapsulate it according to a predefined Ethernet protocol, and embed a hardware timestamp in the data packet to form a standard uplink data packet. The uplink port of the first Ethernet switch is connected to the robot controller via an Ethernet cable. It is used to receive and forward standard uplink data packets to the robot controller, and to receive downlink control command data packets from the robot controller. Based on the target IP address, it forwards the downlink control command data packets to the corresponding peripheral gateway module.

2. The peripheral gateway communication architecture for robots according to claim 1, characterized in that, The peripheral gateway module includes 3 CAN interfaces, 1 RS485 interface, a second Ethernet switch, and an ARM processor. The CAN interface and the RS485 interface are respectively connected to the robot's actuators or sensors for sending and receiving peripheral data. The ARM processor is communicatively connected to the CAN interface, the RS485 interface and the second Ethernet switch. It is used to encapsulate peripheral data according to a predefined Ethernet protocol, embed hardware timestamps in the data packets to form standard uplink data packets, and parse downlink control command data packets from the second Ethernet switch. The second Ethernet switch, connected to the first Ethernet switch and the ARM processor, is used to upload the standard uplink data packets to the first Ethernet switch, forward downlink control command data packets from the first Ethernet switch to the ARM processor, and support the connection of multiple peripheral gateway modules in a cascading manner to build a distributed device network.

3. The peripheral gateway communication architecture for robots according to claim 2, characterized in that, The peripheral gateway module also includes one RS232 interface, which is connected to the robot's sensors. The ARM processor is also used to encapsulate the peripheral data of the RS232 interface according to a predefined Ethernet protocol and embed a hardware timestamp in the data packet to form a standard uplink data packet.

4. The peripheral gateway communication architecture for robots according to claim 3, characterized in that, The peripheral gateway module also includes a TTL interface, which is connected to the robot's sensors. The ARM processor is also used to encapsulate the peripheral data of the TTL interface according to a predefined Ethernet protocol and embed a hardware timestamp in the data packet to form a standard uplink data packet.

5. The peripheral gateway communication architecture for robots according to claim 4, characterized in that, The three CAN interfaces use isolated interface chips and support a maximum baud rate of 5 Mbps; the RS485 interface supports a maximum baud rate of 10 Mbps; the RS232 interface supports a maximum baud rate of 5 Mbps and the TTL interface supports a maximum baud rate of 5 Mbps.

6. The peripheral gateway communication architecture for robots according to claim 4, characterized in that, It also includes a driver software system, which is developed based on the FreeRTOS real-time operating system and the LWIP network protocol stack; The driving software system includes a driving layer and an application layer. The driving layer is connected to the CAN interface, RS485 interface, RS232 interface and TTL interface of the peripheral gateway module. It communicates with the upper application layer through the UDP protocol to realize the forwarding of network data to the robot's various actuators and sensors, and to package and report the feedback data of each actuator and sensor to the application layer.

7. The peripheral gateway communication architecture for robots according to claim 6, characterized in that, The driver layer pre-implements various communication or control services based on the IService base class, including CAN data transceiver service and serial port baud rate configuration service; the driver layer registers the services to the local service list through ServiceDescribe.

8. The peripheral gateway communication architecture for robots according to claim 7, characterized in that, The application layer specifies a service ID and provides corresponding service data via RPC remote call to invoke services in the local service list; after receiving the RPC call data, the driver layer checks whether the service ID exists. If it exists, the data is handed over to the specified service, which then calls the Invoke() method to execute the specific function.

9. The peripheral gateway communication architecture for robots according to claim 5, characterized in that, The second Ethernet switch includes an input port, an output port, and a port connected to an ARM processor. The input port and the output port are used to enable the cascading expansion of peripheral gateway modules.

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