A distributed dynamic clock synchronization calibration system and method for modular robots

Abstract

The application discloses a kind of distributed dynamic clock synchronization calibration systems and methods for modular robot, according to speed, acceleration threshold value is automatically divided into high dynamic motion mode, smooth motion mode, transition period motion mode, module idle mode;According to motion mode, dynamic configuration synchronization period is carried out;Least square mathematical model is established by fusing motion speed weight, acceleration weight, module state weight, static inherent offset, and clock offset is calculated;With main bus as reference, it is unified to calibrate from bus timing, and multiple bus clock is aligned;Real-time monitoring of each node synchronization error in whole network;When error is over threshold value, emergency calibration is automatically triggered, and synchronization period is shortened.The application can automatically divide high dynamic, smooth, module plug-in idle and other scenes according to the speed, acceleration threshold value of modular robot, automatically adjust synchronization period, have strong self-adapting ability, give consideration to high precision and low power consumption, solve the problem of resource waste, insufficient precision of traditional scheme.

Description

Technical Field

[0001] This invention belongs to the field of robot control technology, and specifically relates to a distributed dynamic clock synchronization calibration system and method for modular robots. Background Technology

[0002] Modular robots refer to reconfigurable robot systems assembled from standardized, interchangeable functional modules through a unified interface. A modular robot consists of multiple freely pluggable and reconfigurable functional modules, such as servo modules, sensor modules, and execution modules. This modular distributed architecture has been widely applied in various precision robotic fields, such as ophthalmic surgical robots. As a typical high-precision medical special robot, it is mainly used in microsurgical scenarios such as cataract surgery, retinal injection, and corneal transplantation. Relying on servo execution modules, multiple sensor modules, and end effectors to collaboratively complete micron-level surgical operations, it can effectively filter physiological tremors of the human hand, significantly improving surgical accuracy and safety. It has now become an important auxiliary device in ophthalmic clinical diagnosis and treatment.

[0003] To improve communication speed, modular robots generally adopt the EtherCAT multi-distributed bus architecture. Each module node on the bus relies on a unified clock synchronization to achieve coordinated motion control. Currently, existing modular robot clock synchronization methods still use the traditional fixed-period distributed clock synchronization mechanism. However, the communication period of traditional synchronization algorithms remains fixed and cannot adaptively adjust according to different working states of the modular robot, such as high-dynamic motion, smooth walking, and module idle / reconfiguration. In high-dynamic situations, a too-long synchronization period leads to large clock drift and asynchronous module movement, while in static, idle situations, an too-short period results in wasted bus bandwidth and increased system power consumption.

[0004] Modular robots generally adopt a multi-bus discrete architecture. Existing technologies only support internal clock synchronization of a single bus and lack a precise cross-bus alignment mechanism. There is a fixed clock deviation between multiple buses, which leads to lag in the actions of different module groups, motion jitter, and decreased formation coordination accuracy.

[0005] Meanwhile, traditional clock calibration only considers static inherent offset and does not take into account interference factors such as module movement speed, acceleration and module plug-in connection status. Robot movement vibration, electromagnetic interference and poor module contact can all cause dynamic clock offset, resulting in large synchronization error and poor stability.

[0006] The existing solution lacks real-time error closed-loop calibration and fault tolerance mechanism. Once a module's synchronization is abnormal or there are fluctuations in communication due to plugging and unplugging, it cannot quickly self-calibrate, which can easily lead to safety hazards such as robot shutdown and loss of motion control.

[0007] For ophthalmic surgical robots, the adoption of a multi-bus distributed networking mode, along with the integration of numerous servo nodes, vision sensing nodes, force sensing nodes, and end effector nodes, places far more stringent demands on clock synchronization accuracy, timing consistency, and dynamic adaptability than on ordinary industrial robots. For instance, the movement of surgical instruments, intraoperative visual acquisition, force signal feedback, and master-slave control commands must achieve nanosecond or microsecond-level timing alignment. Any clock drift or multi-bus timing misalignment will directly lead to surgical instrument jitter, mismatch between visual images and movements, and delayed force feedback. This can range from affecting surgical precision to causing accidental instrument contact with ocular tissue, posing significant medical risks. Summary of the Invention

[0008] To address the aforementioned issues, this invention provides a distributed dynamic clock synchronization calibration system and method for modular robots. This system can automatically adjust the synchronization cycle according to various scenarios of modular robots, improve synchronization accuracy, and offers high real-time fault tolerance, reliability, and compatibility.

[0009] Therefore, the technical solution of the present invention is: a distributed dynamic clock synchronization calibration system for modular robots, comprising: The master control node is used to issue standard clock signals, collect motion and status data of each module, run dynamic clock synchronization calibration algorithms, and uniformly schedule the timing of all network nodes. The EtherCAT master bus is used to carry real-time data and clock signal transmission between the servo, main functional modules and master control node, and provides reference timing for the EtherCAT slave bus. EtherCAT slave bus is used to extend the branch communication bus, attach auxiliary function modules and sensing units, receive the EtherCAT master bus synchronization clock, and realize distributed networking. Functional module nodes are pluggable independent functional units, including three types: servo modules, sensor modules, and execution modules. Sensor nodes are independent external sensing and acquisition units that provide raw sensing data for various functional module nodes. The TSN switching unit is a time-sensitive network switching device that ensures low-latency and low-jitter real-time forwarding of clock signals and control messages, thereby achieving bus timing regularization. The cross-bus clock synchronization module enables nanosecond-level clock alignment between multiple EtherCAT master and slave buses, eliminating the inherent time skew of multiple buses.

[0010] Based on the above scheme and as a preferred option, it also includes a backup module node, which is configured with redundant backup nodes for the corresponding functional module nodes. When the main module clock is abnormal, communication is interrupted, or there is a plug-in failure, it will automatically and seamlessly switch over to ensure the continuous and stable operation of the system.

[0011] Based on the above scheme and as a preferred embodiment: the master control node is connected to the TSN switching unit; the TSN switching unit is respectively connected to the EtherCAT master bus and the EtherCAT slave bus; several functional module nodes and independent sensor nodes are respectively connected to the two buses; the cross-bus clock synchronization module is connected between the EtherCAT master bus and the EtherCAT slave bus; each functional module node is configured with a backup module node to achieve seamless switching for fault redundancy.

[0012] Based on the above scheme and as a preferred embodiment of the above scheme: the servo module is responsible for power motion, the sensing module is responsible for body posture perception, and the execution module is responsible for end-effector actions.

[0013] Another technical solution of the present invention is: a distributed dynamic clock synchronization calibration method for modular robots, based on the above calibration system, comprising the following steps: S1. System initialization: preset threshold values ​​for each parameter, record the initial plug-in / plug-out connection status of each node, and complete timing configuration. S2. Collect underlying sensing data through sensor nodes, and combine it with the self-operation information of functional module nodes to report the motion speed, acceleration and module plug-in / plug-out connection status of each module in real time. S3. Based on speed and acceleration thresholds, it automatically classifies the motion into high dynamic mode, smooth motion mode, transition period motion mode, and module idle mode; if a module insertion or removal abnormality is detected, it is directly classified into module idle mode. S4. Dynamically configure the synchronization cycle according to the motion mode; S5. Establish a least-squares mathematical model that integrates motion velocity weights, acceleration weights, module state weights, and static inherent offsets, and calculate the clock offset Δ. t i ; S6. The cross-bus clock synchronization module uses the EtherCAT master bus as a reference to uniformly calibrate the timing of the EtherCAT slave bus and achieve multi-bus clock alignment. S7, the master control node monitors the synchronization error of all nodes in the network in real time; when the clock offset Δ t i When the threshold is exceeded, emergency calibration is automatically triggered and the synchronization cycle is shortened; if the functional module node continues to malfunction, the corresponding backup module node is automatically switched to achieve fault-tolerant and uninterrupted operation.

[0014] Based on the above scheme and as a preferred scheme: in step S1, the master control node completes the configuration of the network node addresses, the global reference clock calibration, and presets the initial communication cycle, synchronization error threshold and motion judgment threshold; at the same time, it records the initial plug-in and plug-out connection status of each functional module node and sensor node, and completes the timing configuration of the TSN switching unit and the EtherCAT master bus and EtherCAT slave bus.

[0015] Based on the above scheme and as a preferred option: in step S4, the high dynamic motion mode and module reorganization scenario automatically shorten the synchronization period and increase the clock synchronization frequency, the smooth motion mode maintains the reference communication period, the stationary or module idle mode automatically lengthens the synchronization period, and the synchronization period of the transition period motion mode is between the smooth motion mode and the stationary or module idle mode.

[0016] Based on the above scheme and as a preferred embodiment of the above scheme: in step S5, the clock offset Δ t i The calculation model is as follows: Δ t i = k1 v + k2 a + k3Δ t 0i + k4 s Where k1 and k2 are the motion parameter weighting coefficients, k3 is the weighting coefficient corresponding to the static inherent offset, and k4 is the module connection state weighting coefficient, which is adaptively adjusted according to the robot's functional module type; Δ t 0i is the node static clock offset; s is the module connection state coefficient, obtained from the initial calibration.

[0017] Compared with the prior art, the beneficial effects of the present invention are: 1. Based on the speed and acceleration threshold of the modular robot, it can automatically classify multiple scenarios such as high dynamic, stable, and module plug-in idle, and automatically adjust the synchronization cycle. It has strong adaptive ability, takes into account both high precision and low power consumption, and solves the problems of resource waste and insufficient precision in traditional solutions.

[0018] 2. An offset calculation model that couples motion and module state is introduced to calculate clock offset. Emergency calibration is performed when the clock offset exceeds a threshold, thereby significantly reducing synchronization error and keeping the multi-bus alignment error within 20ns. The module's coordinated motion is lag-free and jitter-free.

[0019] 3. Supports module plugging and unplugging and dynamic reconfiguration scenarios. Modules can be added or removed according to usage requirements. Automatic frequency reduction and fault tolerance are provided in case of plugging or unplugging abnormalities. It is compatible with the reconfigurable working mode of modular robots. Moreover, it has high real-time fault tolerance and reliability, and has the ability to automatically calibrate errors, detect abnormalities, and seamlessly switch backup nodes to avoid robot shutdown and loss of control due to clock abnormalities.

[0020] 4. Excellent compatibility: Based on the standard EtherCAT architecture, it requires no large-scale hardware modifications and can be directly adapted to various existing modular robots. For example, when applied to various ophthalmic surgical robots, it can achieve nanosecond-level timing alignment, eliminating timing deviations in motion, vision, and force feedback, thus improving the precision and safety of microsurgery. It can also be extended to neurosurgical, minimally invasive, and other medical robots, as well as precision industrial equipment and special-purpose robots, demonstrating significant potential for widespread application. Attached Figure Description

[0021] Figure 1 Diagram of a modular robot's distributed communication architecture; Figure 2 This is a flowchart of the overall algorithm of the present invention; Figure 3 This is a curve comparing the synchronization error of the present invention with that of the traditional algorithm; Figure 4 This is a schematic diagram of the cross-bus clock alignment mechanism of the present invention. Detailed Implementation

[0022] In the description of this invention, it should be noted that directional terms such as "center", "lateral (X)", "longitudinal (Y)", "vertical (Z)", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", and "counterclockwise" indicate the orientation and positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. They should not be construed as limiting the specific protection scope of this invention.

[0023] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features. Thus, the use of "first" and "second" to define a feature may explicitly or implicitly include one or more of that feature. In the description of this invention, "several" or "a number" means two or more, unless otherwise explicitly specified.

[0024] See the attached figures. The distributed dynamic clock synchronization calibration system for modular robots described in this embodiment, as shown in Figure 1, mainly includes: a master control node, an EtherCAT master bus, an EtherCAT slave bus, functional module nodes, independent sensor nodes, a TSN switching unit, a cross-bus clock synchronization module, and a backup module node.

[0025] The master control node is the global reference core for distributed clock synchronization of the modular robot. It is responsible for issuing standard clock signals, collecting motion and status data of each module, running dynamic clock synchronization calibration algorithms, and uniformly scheduling the timing of all network nodes.

[0026] The EtherCAT master bus is the system's main communication bus, carrying real-time data and clock signal transmission between the servo, main functional modules, and master control node, and providing reference timing for the slave buses.

[0027] The EtherCAT slave bus is an extended branch communication bus that carries auxiliary function modules and sensing units, receives the main bus synchronization clock, and realizes distributed networking.

[0028] The functional module node refers to the pluggable independent functional unit of the modular robot, which includes three types: servo module, sensor module, and execution module. The servo module is responsible for power motion, the sensor module is responsible for body posture perception, and the execution module is responsible for end-effector actions.

[0029] The sensor node is an independent external sensing and acquisition unit, not a functional module. It is specifically designed to provide raw sensing data such as environment, position, and vibration for various functional module nodes, serving as underlying data support.

[0030] The TSN switching unit is a time-sensitive network switching device that ensures low-latency and low-jitter real-time forwarding of clock signals and control messages, thereby achieving bus timing regularization.

[0031] The cross-bus clock synchronization module can achieve nanosecond-level clock alignment between the EtherCAT master bus and the EtherCAT slave bus, eliminating the inherent time deviation of multiple buses.

[0032] The backup module node is configured with a redundant backup node for the corresponding functional module node. When the main module clock is abnormal, communication is interrupted, or there is a plug-in failure, it will automatically and seamlessly switch over to ensure the continuous and stable operation of the system.

[0033] Connection relationships of each component: The master node serves as the global clock reference and is connected to the TSN switching unit. The TSN switching unit is connected to the EtherCAT master bus and the EtherCAT slave bus respectively. Several functional module nodes and independent sensor nodes are connected to the two buses respectively. The cross-bus clock synchronization module is connected between the EtherCAT master bus and the EtherCAT slave bus. Each functional module node is configured with a backup module node to achieve seamless switching for fault redundancy.

[0034] The specific operation example is as follows: This embodiment is applied to a 16-module reconfigurable modular robot, including 8 servo modules and 8 sensor modules, and adopts a dual EtherCAT bus architecture. The specific implementation steps are as follows: S1. Initialization Configuration The master control node adopts an FPGA+ARM architecture as the clock reference; 16 functional module nodes (8 servo modules, 8 sensor modules), 8 IMU sensor nodes, and 4 encoder nodes are connected to two EtherCAT buses respectively; the TSN switching unit connects the two buses to the master control node; Parameter threshold initialization: initial communication period is 80μs, synchronization error threshold is 50ns; high dynamic speed threshold v 高 The high dynamic acceleration threshold a is 1.5 m / s². 高 5m / s 2 Steady speed threshold v 平 The steady-state acceleration threshold a is 0.5 m / s². 平 2m / s 2 The least squares weighting coefficients are k1=0.6, k2=0.4; k1=0.4, k2=0.6; k3=1; k4=0.2.

[0035] S2. Motion State and Module State Acquisition The module's motion speed (v), acceleration (a), and module connection status are collected in real time through each functional module node and sensor node. The collection frequency is consistent with the initial communication cycle, and the data is uploaded to the main control node via the EtherCAT bus.

[0036] S3, Classification of Motion Status Based on speed and acceleration thresholds, the system is automatically categorized into high-dynamic motion mode, smooth motion mode, and module idle mode. If abnormal module insertion or removal or poor contact is detected, the system is directly classified into module idle mode.

[0037] S4, Communication Cycle Adaptive The synchronization cycle is dynamically configured according to the motion state classification results: the synchronization cycle is automatically shortened and the clock synchronization frequency is increased in high dynamic motion mode and module reorganization scenario; the baseline communication cycle is maintained in stable motion mode; and the synchronization cycle is automatically lengthened in static or module idle mode to reduce EtherCAT bus load and system power consumption.

[0038] For example: ① When the robot servo module speed v≥v 高 And acceleration a ≥ a 高 If so, it is determined that the robot is performing multi-module coordinated high-speed motion, which is classified as a high-dynamic motion mode; For example, the servo module speed v = 2.0m / s > v 高 (1.5 m / s), acceleration a = 6 m / s² 2 >a 高 (5m / s) 2 The servo module bus communication cycle was adjusted to 40μs.

[0039] ② When the speed v of the robot servo module and the sensor module 平 ≤v<v 高 And acceleration a 平 ≤a<a 高 If the robot is in stable motion, it is determined to be in a stable motion mode. For example, the servo module and the sensor module have a speed v = 1.0 m / s and an acceleration a = 3 m / s². 2 The communication cycle is maintained at 80μs.

[0040] ③ When the sensing module remains stationary, it is determined to be in stationary mode, and the communication cycle of the sensing module bus is adjusted to 150μs; ④ If a sensor module is not properly inserted or removed, it is determined to be in idle mode, and the communication cycle of that module is adjusted to 150μs; ⑤ In addition to the above four motion modes, the robot is in a transitional motion mode in other motion states; For example, the servo module and the sensor module have a speed v = 0.3 m / s and an acceleration a = 1 m / s². 2 The communication cycle is maintained at 110μs.

[0041] S5, Improved Clock Offset Calculation: A least-squares mathematical model integrating motion velocity weights, acceleration weights, module state weights, and static inherent offsets is established to quantify and eliminate dynamic clock errors caused by robot motion vibration, electromagnetic interference, and poor module insertion and removal contact, thereby improving the synchronization accuracy of single nodes.

[0042] The clock offset Δ ti The calculation model is as follows: Δ t i = k1 v + k2 a + k3Δ t 0i + k4 s Where k1 and k2 are motion parameter weighting coefficients, k3 is the weighting coefficient corresponding to the static inherent offset, and k4 is the module connection state weighting coefficient, which is adaptively adjusted according to the robot's functional module type (servo module, sensor module). For servo modules, k1=0.6, k2=0.4; for sensor modules, k1=0.4, k2=0.6; Δ t 0i s is the node static clock offset; s is the module connection status coefficient (insertion / removal in place). s =0, insertion / removal error s =1), obtained from the initial calibration.

[0043] For example, servo module node v = 2.0m / s, a = 6m / s 2 Node static clock offset Δ t 0i =10ns, if the module connection is normal, then the clock offset Δ t i =0.6×2.0 + 0.4×6 + 1×10 + 0.2×0 =14.4ns, which does not exceed Δth=50ns, so no emergency calibration is required.

[0044] S6, Cross-bus clock alignment The servo module bus is used as the EtherCAT master bus, and the sensor module bus is used as the EtherCAT slave bus. The architecture of master bus reference and slave bus follow is adopted. The cross-bus clock synchronization module receives the clock synchronization frame of EtherCAT master bus in real time and adjusts the reference clock of EtherCAT slave bus so that the clock alignment error between buses is 15ns ≤ 30ns.

[0045] S7, Closed-loop iterative optimization The master control node monitors the synchronization error of all nodes in the network in real time. As shown in the performance comparison in Figure 4, the synchronization error of the present invention is much lower than that of the traditional fixed-period algorithm.

[0046] When a servo module node experiences a synchronization error of 60ns due to electromagnetic interference, exceeding the threshold of 50ns, an emergency calibration mechanism is triggered. This mechanism adjusts the node's communication cycle to 40μs, recalculates and calibrates the clock offset, and corrects the synchronization error to 35ns within 1ms, returning it to the threshold range.

[0047] If the synchronization error of a certain sensor module node exceeds 50ns for three consecutive times, it is determined to be a node failure. The master control node automatically disconnects the link of that node and starts the backup module node to ensure the normal operation of the robot.

[0048] When a module is plugged in, unplugged, or reassembled, the synchronization period is automatically adjusted to 40μs. After reassembly, it returns to the corresponding mode period.

[0049] In this embodiment, the synchronization error is ≤40ns during high-dynamic robot movement; ≤30ns during steady movement; ≤20ns when stationary / module idle; and ≤40ns during dynamic module reconfiguration. The bus load is reduced by 40% compared to the traditional fixed-cycle algorithm, and the module coordination accuracy is improved by 35%, meeting the high-precision operation requirements of the 16-module reconfigurable modular robot.

[0050] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A distributed dynamic clock synchronization calibration system for modular robots, characterized in that: include: The master control node is used to issue standard clock signals, collect motion and status data of each module, run dynamic clock synchronization calibration algorithms, and uniformly schedule the timing of all network nodes. The EtherCAT master bus is used to carry real-time data and clock signal transmission between the servo, main functional modules and master control node, and provides reference timing for the EtherCAT slave bus. EtherCAT slave bus is used to extend the branch communication bus, mount auxiliary function modules and sensing units, receive the EtherCAT master bus synchronization clock, and realize distributed networking. Functional module nodes are pluggable independent functional units, including three types: servo modules, sensor modules, and execution modules. Sensor nodes are independent external sensing and acquisition units that provide raw sensing data for various functional module nodes. The TSN switching unit is a time-sensitive network switching device that ensures low-latency and low-jitter real-time forwarding of clock signals and control messages, thereby achieving bus timing regularization. The cross-bus clock synchronization module enables nanosecond-level clock alignment between multiple EtherCAT master and slave buses, eliminating the inherent time skew of multiple buses.

2. The distributed dynamic clock synchronization calibration system for modular robots as described in claim 1, characterized in that: It also includes backup module nodes, which are configured with redundant backup nodes for the corresponding functional module nodes. When the main module clock is abnormal, communication is interrupted, or there is a plug-in failure, the system will automatically and seamlessly switch over to ensure continuous and stable operation.

3. The distributed dynamic clock synchronization calibration system for modular robots as described in claim 2, characterized in that: The master control node is connected to the TSN switching unit; the TSN switching unit is equipped with an EtherCAT master bus and an EtherCAT slave bus; several functional module nodes and independent sensor nodes are respectively connected to the two buses; the cross-bus clock synchronization module is connected between the EtherCAT master bus and the EtherCAT slave bus; each functional module node is configured with a backup module node to achieve seamless switching for fault redundancy.

4. The distributed dynamic clock synchronization calibration system for modular robots as described in claim 1, characterized in that: The servo module is responsible for power motion, the sensing module is responsible for body posture perception, and the execution module is responsible for end-effector actions.

5. A distributed dynamic clock synchronization calibration method for modular robots, based on the calibration system described in any one of claims 1 to 4, characterized in that: Includes the following steps: S1. System initialization: preset threshold values ​​for each parameter, record the initial plug-in / plug-out connection status of each node, and complete timing configuration. S2. Collect underlying sensing data through sensor nodes, and combine it with the self-operation information of functional module nodes to report the motion speed, acceleration and module plug-in / plug-out connection status of each module in real time. S3. Based on speed and acceleration thresholds, it automatically classifies the motion into high dynamic mode, smooth motion mode, transition period motion mode, and module idle mode; if a module insertion or removal abnormality is detected, it is directly classified into module idle mode. S4. Dynamically configure the synchronization cycle according to the motion mode; S5. Establish a least-squares mathematical model that integrates motion velocity weights, acceleration weights, module state weights, and static inherent offsets, and calculate the clock offset Δ. t i ; S6. The cross-bus clock synchronization module uses the EtherCAT master bus as a reference to uniformly calibrate the timing of the EtherCAT slave bus and achieve multi-bus clock alignment. S7, the master control node monitors the synchronization error of all nodes in the network in real time; when the clock offset Δ t i When the threshold is exceeded, emergency calibration is automatically triggered and the synchronization cycle is shortened; if the functional module node continues to malfunction, the corresponding backup module node is automatically switched to achieve fault-tolerant and uninterrupted operation.

6. The distributed dynamic clock synchronization calibration method for modular robots as described in claim 5, characterized in that: In step S1, the master control node completes the configuration of the network node addresses, the calibration of the global reference clock, and presets the initial communication cycle, synchronization error threshold, and motion judgment threshold. At the same time, it records the initial plug-in and plug-out connection status of each functional module node and sensor node, and completes the timing configuration of the TSN switching unit and the EtherCAT master bus and EtherCAT slave bus.

7. In the distributed dynamic clock synchronization calibration method for modular robots as described in claim 5, in step S4, the synchronization period is automatically shortened and the clock synchronization frequency is increased in the high dynamic motion mode and module reorganization scenario, the reference communication period is maintained in the stable motion mode, the synchronization period is automatically lengthened in the stationary or module idle mode, and the synchronization period of the transitional motion mode is between the stable motion mode and the stationary or module idle mode.

8. The distributed dynamic clock synchronization calibration method for modular robots as described in claim 5, wherein in step S5, the clock offset Δ t i The calculation model is as follows: D t i = k1 v + k2 a + k3D t 0i + k4 s in, k1 and k2 are the motion parameter weighting coefficients, k3 is the weighting coefficient corresponding to the static inherent offset, and k4 is the module connection state weighting coefficient, which is adaptively adjusted according to the robot's functional module type. Δ t 0i This refers to the node's static clock offset. s is the module connection state coefficient, obtained from the initial calibration.

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