Local area network network architecture, node configuration method, mechanical arm and robot

Abstract

The application discloses a kind of LAN network architecture, node configuration method, mechanical arm and robot, LAN network architecture includes: master node, communication line and multiple slave nodes, master node is connected with at least one slave node by communication line, slave node includes bus switch, loop impedance and transceiver connected in communication line;Wherein, when slave node is configured node, bus switch is in first state, first state indicates that slave node is connected with subsequent node, to make subsequent node connect with master node by bus switch.When slave node is unconfigured node, bus switch is in second state, second state indicates that bus switch disconnects the connection of slave node and subsequent node, bus switch is connected with loop impedance, to make loop impedance connect with master node, make slave node become the end node in current loop.The application can effectively reduce the complexity of line while improving the efficiency and accuracy of node configuration.

Description

Technical Field

[0001] This invention relates to the field of local area network technology, and in particular to a local area network architecture, a node configuration method, a robotic arm, and a robot. Background Technology

[0002] In the process of signal transmission control, local area networks (LANs) primarily rely on node codes or node addresses to define the identifiers of various LAN messages, thereby clarifying the identities and operations of the message sender and receiver. Therefore, configuring node codes or node addresses is a prerequisite for the normal operation of a LAN bus system; node devices are shipped with unconfigured node codes. Related technologies mainly employ additional configuration lines or random code generation to configure node devices. Using additional configuration lines increases wiring complexity and reduces maintenance efficiency, while using random code generation may result in duplicate codes and cannot directly correlate with the node's specific physical location. Summary of the Invention

[0003] This invention provides a local area network architecture, a node configuration method, a robotic arm, and a robot, which can effectively reduce the complexity of the wiring while improving the efficiency and accuracy of node configuration.

[0004] In a first aspect, embodiments of the present invention provide a local area network architecture, including: a master control node, a communication line and multiple slave nodes, wherein the master control node is connected to at least one of the slave nodes through the communication line, and the slave node includes a bus switch, a loop impedance and a transceiver connected to the communication line; When the slave node is a configured node, the bus switch is in a first state, which indicates that the slave node is connected to a subsequent node so that the subsequent node can connect to the master node through the bus switch; When the slave node is an unconfigured node, the bus switch is in a second state, which indicates that the bus switch disconnects the slave node from the subsequent node. The bus switch is connected to the loop impedance so that the loop impedance is connected to the master node, making the slave node the end node in the current loop.

[0005] The local area network architecture according to a first aspect embodiment of the present invention has at least the following beneficial effects: In related technologies, automatic configuration of node devices requires additional lines, significantly increasing line complexity. By adding a bus switch and loop impedance to each slave node, during the automatic configuration of node devices, only the connection state of the bus switch needs to be adjusted according to the configuration of the slave node, thus avoiding missed configurations. Compared to adding additional lines, adding a bus switch and loop impedance to each slave node effectively reduces line complexity. Furthermore, since unconfigured nodes are the end nodes of the communication loop, missed configurations can be avoided during the configuration process, and during sequential configuration, the node code generated by the slave node can be directly associated and matched with the specific physical location of the node.

[0006] In the local area network architecture provided in this embodiment of the invention, the common terminal of the bus switch is connected to the communication line and the transceiver respectively, the first terminal of the bus switch is connected to the subsequent node, and the second terminal of the bus switch is connected to the loop impedance. When the bus switch is in the first state, the first terminal of the bus switch is connected to the common terminal, and when the bus switch is in the second state, the second terminal of the bus switch is connected to the common terminal.

[0007] In the local area network architecture provided in this embodiment of the invention, the communication line includes a first connection line and a second connection line, the bus switch includes a first switch node and a second switch node, the first connection terminal of the transceiver is connected to the common terminal of the first connection line and the first switch node respectively, the first terminal of the first switch node is connected to the subsequent node, the second terminal of the first switch node is connected to one end of the loop impedance, the second connection terminal of the transceiver is connected to the common terminal of the second connection line and the second switch node respectively, the first terminal of the second switch node is connected to the subsequent node, and the second terminal of the second switch node is connected to the other end of the loop impedance.

[0008] In the local area network architecture provided in the embodiments of the present invention, the local area network architecture further includes a first terminal resistor and a second terminal resistor, and a plurality of slave nodes are respectively arranged on both sides of the master control node along the communication line, wherein the delay communication duration of the slave node located between the master control node and the first terminal resistor is greater than the delay communication duration of the slave node between the master control node and the second terminal resistor.

[0009] Secondly, an embodiment of the present invention provides a node configuration method, applied to a local area network architecture as described in the first aspect, wherein the node configuration method includes: If the current slave node is an unconfigured node and receives a broadcast query frame sent by the master node, maintain the bus switch in the second state, and obtain the first response reply frame sent by other nodes within the preset delay communication time. The first response reply frame contains the node code corresponding to the sending node. When the delayed communication duration ends, the target node code of the current slave node is determined based on all the obtained node codes; The master node sends a second response frame containing the target node's encoding to the master node, switches the current slave node to a configured node, and controls the bus switch to switch to the first state.

[0010] The node configuration method provided by the embodiments of the present invention has at least the following beneficial effects: If the current slave node is an unconfigured slave node, by maintaining the bus switch in the second state, it can be ensured that the current slave node is always the last node during the configuration process, avoiding interference from other nodes. By acquiring the first response reply frame containing the node code corresponding to the sending node sent by other nodes within the delayed communication duration, the current slave node can determine the target node code of the current slave node based on all acquired node codes after the delayed communication duration ends, ensuring the uniqueness of the current slave node's code. By sending the second response reply frame containing the target node code to the master node, the master node can communicate with the current slave node according to the target node code. Furthermore, after sending the target node code to the master node, it indicates that the current slave node has been configured. By switching the control bus switch to the first state, subsequent nodes can form a new communication loop with the master node, ensuring the continuity between configured nodes.

[0011] In the node configuration method provided in this embodiment of the invention, the first response frame further includes a status code for characterizing the node configuration status, and the step of determining the target node code of the current slave node based on all the obtained node codes includes: The configuration status of the other nodes is determined based on the status codes of all the first response reply frames; If a new configuration node exists among the other nodes, the current slave node suspends its work; or, if no new configuration node exists among the other nodes, the target node code of the current slave node is determined based on all the obtained node codes.

[0012] In the node configuration method provided in this embodiment of the invention, the step of determining the target node code of the current slave node based on all the obtained node codes further includes: Based on all the obtained node codes, sort all the node codes to obtain a position sequence; The target node code of the current slave node is determined based on the node code at the end of the position sequence.

[0013] In the node configuration method provided in this embodiment of the invention, after sorting all the node codes to obtain a position sequence, the node configuration method further includes: Based on the continuity of the node codes in the position sequence, a missing code is determined, and the minimum value among all the missing codes is taken as the target node code of the current slave node.

[0014] In the node configuration method provided in this embodiment of the invention, the slave node further includes a memory for storing node codes. After determining the target node code of the current slave node, the node configuration method further includes: The target node is encoded and saved to the memory.

[0015] In the node configuration method provided in this embodiment of the invention, the node configuration method further includes: If the node code is stored in the memory, the current slave node is determined to be a configured node; or, If the node code is not stored in the memory, the current slave node is determined to be an unconfigured node.

[0016] In the node configuration method provided in this embodiment of the invention, the node configuration method further includes: During the timing of the delayed communication duration by the current slave node, the first response reply frame sent by the other node is received, and the delayed communication duration is reset.

[0017] In the node configuration method provided in this embodiment of the invention, the node configuration method further includes: In response to the current slave node being a configured node, the bus switch is controlled to be in the first state.

[0018] Thirdly, embodiments of the present invention provide a robotic arm for implementing a local area network architecture as provided in the first aspect of the embodiments.

[0019] The robotic arm provided by the embodiments of the present invention has at least the following beneficial effects: In related technologies, automatic configuration of node devices requires additional wiring, significantly increasing wiring complexity. By adding a bus switch and loop impedance to each slave node, during the automatic configuration of node devices, only the connection state of the bus switch needs to be adjusted according to the configuration of the slave node, thus avoiding missed configurations. Compared to adding additional wiring, adding a bus switch and loop impedance to each slave node effectively reduces wiring complexity. Furthermore, since unconfigured nodes are the end nodes of the communication loop, missed configurations can be avoided during the configuration process, and during sequential configuration, the node code generated by the slave node can be directly associated and matched with the specific physical location of the node.

[0020] Fourthly, embodiments of the present invention provide a robot, including the robotic arm provided in the third aspect of the embodiments above.

[0021] The robot provided by the embodiments of the present invention has at least the following beneficial effects: In related technologies, automatic configuration of node devices requires additional wiring, significantly increasing wiring complexity. By adding a bus switch and loop impedance to each slave node, during the automatic configuration of node devices, only the connection state of the bus switch needs to be adjusted according to the configuration of the slave node, thus avoiding missed configurations. Compared to adding additional wiring, adding a bus switch and loop impedance to each slave node effectively reduces wiring complexity. Furthermore, since unconfigured nodes are the end nodes of the communication loop, missed configurations can be avoided during the configuration process, and during sequential configuration, the node code generated by the slave node can be directly associated and matched with the specific physical location of the node.

[0022] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the description, claims, and drawings. Attached Figure Description

[0023] The accompanying drawings are provided to further understand the technical solutions of the present invention and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the technical solutions of the present invention, and do not constitute a limitation on the technical solutions of the present invention.

[0024] Figure 1 This is a schematic diagram of the local area network architecture provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of a local area network architecture provided in another embodiment of the present invention; Figure 3 A detailed flowchart of the node configuration method provided in this embodiment of the invention; Figure 4 for Figure 3 The detailed flowchart of step S200; Figure 5 for Figure 3 Another specific flowchart of step S200; Figure 6 The node configuration timing diagram provided for embodiments of the present invention. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0026] It is understandable that although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first," "second," etc., in the specification, claims, or the aforementioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0027] In the process of signal transmission control, local area networks (LANs) primarily rely on node codes or node addresses to define the identifiers of various LAN messages, thereby clarifying the identities and operations of the message sender and receiver. Therefore, configuring node codes or node addresses is a prerequisite for the normal operation of a LAN bus system; node devices are shipped with unconfigured node codes. Related technologies mainly employ additional configuration lines or random code generation to configure node devices. Using additional configuration lines increases wiring complexity and reduces maintenance efficiency, while using random code generation may result in duplicate codes and cannot directly correlate with the node's specific physical location.

[0028] Based on this, embodiments of the present invention provide a local area network architecture, a node configuration method, a robotic arm, and a robot. In related technologies, automatic configuration of node devices requires additional wiring, significantly increasing wiring complexity. By adding a bus switch and loop impedance to each slave node, during the automatic configuration process, only the connection state of the bus switch needs to be adjusted according to the configuration of the slave node, thus avoiding missed configurations. Compared to adding additional wiring, adding a bus switch and loop impedance to each slave node effectively reduces wiring complexity. Furthermore, since unconfigured nodes are the end nodes of the communication loop, missed configurations can be avoided during the configuration process, and during sequential configuration, the node code generated by the slave node can be directly associated and matched with the specific physical location of the node.

[0029] Firstly, referring to Figure 1 , Figure 1 This is a schematic diagram of the local area network architecture provided in an embodiment of the present invention.

[0030] Understandably, a local area network (LAN) architecture includes a master node, communication lines, and multiple slave nodes. The master node connects to at least one slave node via communication lines, forming the basic physical topology of the LAN. The master node, as the control center of the LAN, manages and coordinates the operation of the entire network, while the slave nodes act as the execution units, receiving instructions from the master node and completing corresponding tasks. The communication line is the physical channel for data exchange between the master node and slave nodes; its selection and deployment directly affect the network's transmission performance and reliability. For example, in industrial automation, the master node can be a PLC controller, the communication line can be an RS485 bus, and the multiple slave nodes can be various sensors or actuators. Alternatively, the communication line can be a CAN bus, which can arbitrate when multiple slave nodes send response frames, preventing signal loss due to slave node signal conflicts. In traditional network structures, the connection method of slave nodes is usually fixed. Adjusting the topology or adding new nodes often requires complex wiring or manual configuration, which can lead to reduced maintenance efficiency. Furthermore, if automatic configuration of slave nodes is required, a control line needs to be configured for each slave node to avoid omissions. However, adding extra configuration lines increases circuit complexity and reduces maintenance efficiency. Therefore, a bus switch, a loop impedance of 120, and a transceiver connected to the communication line are integrated within the slave node. The transceiver is used for data conversion and transmission with the master node via the communication line, enabling the master node to communicate with each slave node. By setting the bus switch and loop impedance of 120, the slave node has the ability to dynamically adjust its physical connection status in the network. For example, the transceiver can be a standard differential signal transceiver chip to adapt to data transmission over long distances or in high-noise environments. The bus switch can be an electronic switch array controlled by a microcontroller, capable of quickly switching in response to control commands. The loop impedance of 120 can be a precision resistor whose resistance value matches the characteristic impedance of the communication line to achieve optimal signal termination matching. If a node only contains a transceiver without a bus switch and a loop impedance of 120Ω, its physical connection state in the network will be fixed and cannot be dynamically adjusted according to configuration requirements, thus limiting the flexibility of the network topology.

[0031] It should be noted that when a slave node is a configured node, the bus switch can be controlled to be in its first state. This keeps the configured node connected to subsequent nodes, allowing them to form a communication loop with the master node via the communication line. For example, in the first state, the bus switch can function as an internal relay contact closure, creating a low-impedance path that allows signals to be transmitted without attenuation from the master node to subsequent nodes, or vice versa. This ensures that configured nodes can participate in network communication normally while providing a signal transmission channel for subsequent unconfigured nodes to connect.

[0032] It should be noted that when a slave node is an unconfigured node, the bus switch can be controlled to enter a second state to disconnect the slave node from subsequent nodes. The bus switch is then connected to loop impedance 120, connecting loop impedance 120 to the master node, making the slave node the end node in the current loop. For example, in the second state, the bus switch can function as an internal electronic switch disconnecting the connection path to subsequent nodes while simultaneously closing another path, connecting loop impedance 120 to the communication line. This allows the master node to identify the unconfigured slave node as the end point of the current loop when probing the network topology. In this way, the master node can discover and configure slave nodes in the network hierarchically and systematically, avoiding conflicts caused by multiple unconfigured nodes responding simultaneously, and providing a clear physical location reference for subsequent node coding and allocation.

[0033] Understandably, by setting bus switches and loop impedances of 120Ω in each slave node, and then adjusting the connection status of the bus switches according to the configuration status of the slave nodes, the situation of missing slave node configuration can be avoided during the automatic configuration process of slave nodes, and the complexity of the local area network wiring can be reduced.

[0034] Specifically, suppose an industrial production line requires a local area network (LAN) to connect a master node and three slave nodes S1, S2, and S3. These three slave nodes S1, S2, and S3 are connected to the communication line in physical order, with S1 closest to the master node and S3 furthest away. At the factory, all slave nodes S1, S2, and S3 are in an unconfigured state. When the master node starts up and begins configuring the nodes, it sends query signals to each slave node via the communication line. At this time, slave nodes S1, S2, and S3 are all in an unconfigured state, meaning their bus switches are in the second state. S1's bus switch disconnects S1 from S2 and connects the loop impedance 120Ω inside S1 to the communication line, so the master node detects S1 as the network endpoint. Similarly, S2's bus switch disconnects S2 from S3 and connects the loop impedance 120Ω inside S2 to the communication line. The bus switch of slave node S3 will also disconnect from any subsequent nodes and connect the loop impedance 120 inside S3 to the communication line. At this time, since S1 is the first unconfigured node, its bus switch is in the second state, connecting the loop impedance 120 to the communication line. Among the multiple slave nodes, only S1 receives the broadcast query frame sent by the master node. After receiving the broadcast query frame, S1 configures with the master node. After successful configuration, S1 switches to a configured node, and its internal bus switch switches to the first state. In the first state, the bus switch of S1 connects S1 and S2. However, since the bus switch of S2 is still in the second state, that is, S2 is the end node of the communication loop, if the master node sends another broadcast query frame, since S1 is a configured node and its bus switch is in the first state, the broadcast query frame can reach S2 through S1. S2 is still in the unconfigured state, its bus switch is in the second state, disconnecting S2 from S3. Only S1 and S2 can receive the broadcast query frame sent by the master node. The master node then communicates with S2 to complete the configuration of S2. Once S2 is successfully configured as a configured node, its bus switch will also switch to the first state, connecting S2 and S3. S3 becomes the end node of the communication loop. After the master node sends a broadcast query frame again, the broadcast query frame reaches S3 through S1 and S2. After receiving the broadcast query frame, S3 configures with the master node. Once S3 is successfully configured as a configured node, its bus switch will also switch to the first state.

[0035] It should be noted that the common terminal of the bus switch is connected to both the communication line and the transceiver, the first terminal of the bus switch is connected to the subsequent node, and the second terminal of the bus switch is connected to the loop impedance 120. Specifically, when the bus switch is in the first state, the first terminal is connected to the common terminal; when the bus switch is in the second state, the second terminal is connected to the common terminal. By switching the connection between the common terminal and the first or second terminal, the loop impedance 120 can be connected to or disconnected from the communication line.

[0036] Specifically, in another embodiment, the communication line includes a first connection line 400 and a second connection line 410, and the bus switch includes a first switch node 100 and a second switch node 110. The first switch node 100 and the second switch node 110 are single-pole double-throw relays. The first connection terminal of the transceiver is connected to the common terminal of the first connection line 400 and the first switch node 100, respectively. The first end of the first switch node 100 is connected to a subsequent node, and the second end of the first switch node 100 is connected to one end of the loop impedance 120. The second connection terminal of the transceiver is connected to the common terminal of the second connection line 410 and the second switch node 110, respectively. The first end of the second switch node 110 is connected to a subsequent node, and the second end of the second switch node 110 is connected to the other end of the loop impedance 120. Furthermore, during the process of the transceiver controlling the first switch node 100 and the second switch node 110, if the common terminal of the first switch node 100 is connected to the first end, then the common terminal of the second switch node 110 is also connected to the first end to ensure the integrity of the communication loop. Furthermore, in some embodiments, the first switching node 100 and the second switching node 110 may also be a switching circuit composed of two NMOS transistors connected in series. In other embodiments, the first switching node 100 and the second switching node 110 may also be SSR solid-state relays.

[0037] Specifically, a local area network architecture can be used in an automotive local area network bus system, where each ECU node in the automotive local area network bus system is a slave node.

[0038] Specifically, a local area network architecture can be used in robot systems, where each joint controller and sensor node in the robot system is a slave node.

[0039] Reference Figure 2 , Figure 2 This is a schematic diagram of a local area network architecture provided in another embodiment of the present invention.

[0040] It is understood that the local area network architecture also includes a first-terminal resistor 200 and a second-terminal resistor 300. The first-terminal resistor 200 and the second-terminal resistor 300 are resistive elements used to match the impedance of the communication lines. They are typically placed at the physical ends of a bus-type network. For example, the two ends of the first-terminal resistor 200 are connected to the first connection line 400 and the second connection line 410 of the communication line, respectively, and the two ends of the second-terminal resistor 300 are also connected to the first connection line 400 and the second connection line 410 of the communication line, respectively. By setting the first-terminal resistor 200 and the second-terminal resistor 300, signal reflection at the ends of the transmission lines can be effectively eliminated, ensuring signal integrity, preventing signal distortion and interference, thereby improving the reliability and stability of communication. Furthermore, the first-terminal resistor 200 and the second-terminal resistor 300 can be resistors with fixed resistance values, whose resistance values ​​match the characteristic impedance of the communication line; or they can be adjustable resistors, whose resistance values ​​can be adjusted to precisely match the line impedance to adapt to communication lines of different lengths or characteristics. Furthermore, the resistance values ​​of the loop impedance 120, the first terminal resistor 200, and the second terminal resistor 300 are the same to maintain the reliability and stability of communication when the loop impedance 120 is connected to the communication line. Multiple slave nodes are positioned on either side of the master node along the communication line. The slave node located between the master node and the first terminal resistor 200 has a longer delay communication duration than the slave node located between the master node and the second terminal resistor 300, causing the slave nodes on either side of the master node to exhibit different timing characteristics when communicating with the master node.

[0041] Specifically, suppose an industrial production line requires a local area network (LAN) to connect a master node with three slave nodes S1, S2, and S3. Slave node S1 is located between the master node and the first terminal resistor 200Ω, while slave nodes S2 and S3 are located between the master node and the second terminal resistor 300Ω. That is, the communication delay of slave node S1 is greater than that of slave nodes S2 and S3. S1 and S2 are closer to the master node, while S3 is farther away. At the factory, all slave nodes S1, S2, and S3 are in an unconfigured state. When the master node starts up and begins configuring the nodes, it sends broadcast query frames to each slave node via the communication lines. At this point, since S1 and S2 are located on opposite sides of the master node, they will simultaneously receive the master node's broadcast query frame. However, S3 will not receive the master node's broadcast query frame. Because the delay communication durations of S1 and S2 are different (S2's delay communication duration is shorter), S2 will configure itself with the master node first. At this time, S1 receives the configuration signal transmitted between S2 and the master node and stops configuring to avoid configuration signal conflicts. After S2 completes its configuration, the bus switch corresponding to S2 switches to the first state, and S3 joins the communication loop. Since S3's delay communication duration is shorter than S1's, when the master node sends another broadcast query frame, even if S1 and S3 simultaneously receive the master node's broadcast query frame, S3 will configure itself with the master node first. At this time, S1 receives the configuration signal transmitted between S2 and the master node and stops configuring to avoid configuration signal conflicts. After S3 completes its configuration, the bus switch corresponding to S3 switches to the first state. Since S3 is the end node, there are no other nodes following it. When the master node sends a broadcast query frame again, since both S2 and S3 have already completed their configurations, S1 will configure itself with the master node after the delay communication period ends. By setting different delay communication periods, the configuration order on both sides of the master node can be guaranteed, avoiding configuration conflicts between the slave nodes on both sides of the master node.

[0042] Secondly, referring to Figure 3 , Figure 3 This is a flowchart illustrating the node configuration method provided in this embodiment of the invention, and the application is as described above. Figure 1 and Figure 2 The local area network architecture and node configuration methods include, but are not limited to, the following steps: Step S100: If the current slave node is an unconfigured node and receives a broadcast query frame sent by the master node, maintain the bus switch in the second state and obtain the first response reply frame sent by other nodes within the preset delay communication time. Step S200: When the delayed communication duration ends, determine the target node code of the current slave node based on all the obtained node codes; In step S300, a second response frame containing the target node code is sent to the master node, and the current slave node is switched to a configured node and the control bus switch is switched to the first state.

[0043] Understandably, a local area network (LAN) architecture includes a master node, communication lines, and multiple slave nodes. The master node connects to at least one slave node via the communication lines, forming the basic physical topology of the LAN. Initially, since the master node is unaware of any unconfigured slave nodes, it can send broadcast query frames to all slave nodes via the communication lines. If the current slave node is unconfigured, it will maintain its bus switch in the second state upon receiving the broadcast query frame. Maintaining the bus switch in the second state ensures that the current slave node remains the last node during the configuration process, preventing interference from other nodes. If the slave node is configured, it will immediately send a first response frame to the master node upon receiving the broadcast query frame. This first response frame contains the node code corresponding to the sending node, allowing the master node to communicate with the corresponding slave node based on the node code. During the configuration process, the current slave node needs to obtain the node codes of other nodes. Therefore, after receiving a broadcast query frame from the master node, the current slave node can start a delayed communication timer. Within this time, it acquires the first response reply frames from other nodes. After the timeout, based on all acquired node codes, it determines its target node code. By acquiring the first response reply frames containing the node codes of the sending nodes within the delayed communication time, the current slave node can determine its target node code after the timeout, ensuring the uniqueness of its code. Furthermore, after determining the target node code, the current slave node can return a second response reply frame containing the target node code to the master node. Sending this second response reply frame indicates that the current slave node has completed configuration, allowing it to switch to a configured node status and the control bus switch to the first state. This enables subsequent nodes to form a new communication loop with the master node, ensuring continuity among configured nodes.

[0044] It should be noted that after a node completes its configuration, the bus switch switches to the first state, reconnecting subsequent nodes. This allows the master node to discover and configure new end nodes sequentially, completing the automatic configuration of slave nodes. For example, in an industrial automation scenario, the master node first identifies the unconfigured node closest to it. This node isolates subsequent nodes by maintaining the bus switch in the second state and obtains the first response frames from the remaining nodes during the delayed communication period. Based on the node code within the response frame, it determines its own target node code. After configuration, the bus switch switches to the first state, and the master node sends a broadcast query frame to detect new end nodes, repeating the above process until all nodes are configured. This not only eliminates the need for additional configuration lines but also significantly reduces wiring complexity, fundamentally avoiding the duplication problem caused by random code generation. Furthermore, it ensures that node codes directly reflect the physical location order, greatly improving network fault location and maintenance efficiency.

[0045] Understandably, the slave node also includes memory for storing the node code, specifically for persistently storing the node code assigned to the slave node. For example, non-volatile memory, such as electrically erasable programmable read-only memory (EEPROM), can be used to retain data after power failure; flash memory, such as NAND Flash or NOR Flash, can be used to improve storage density and write / erase life; ferroelectric random access memory (FRAM) or magnetoresistive random access memory (MRAM) can also be selected. The memory can be a storage module integrated within the transceiver used by the slave node, or it can be a separate chip connected to the transceiver via a bus interface (such as SPI or I2C). After determining the target node code, the target node code can be saved to the memory, thus solidifying the unique identifier (i.e., the target node code) determined by the configuration of the slave node. This ensures that the node code is not lost after the slave node is powered off or the system is reset, thereby achieving persistence of configuration information. The specific saving operation can be performed by the transceiver inside the slave node. For example, after the transceiver completes the calculation and confirmation of the target node code, it will call the corresponding memory write function or driver to write the target node code into the preset address space of the memory. To ensure the reliability of data writing, the writing process can include data verification, error handling mechanisms, and even atomic write operations to prevent data corruption caused by unexpected interruptions during the writing process.

[0046] Specifically, since the slave node stores the node code in the memory after configuration, when the current slave node is powered on, it can first determine whether the node code is stored in the memory. If the node code is stored in the memory, the current slave node is determined to be a configured node, and the control bus switch is in the first state so that subsequent nodes can connect to the master node through the communication line. Similarly, if the node code is not stored in the memory, the current slave node is determined to be an unconfigured node, and the control bus switch is in the second state so that the current slave node is the end node of the current loop.

[0047] Understandably, since a communication line can only transmit one first response frame or one second response frame at a time, the signal transmission time required for multiple first response frames may exceed the delayed communication duration when there are multiple configured nodes. Therefore, during the current slave node's delayed communication duration timing, if a first response frame from another node is received, the delayed communication duration is reset, thereby dynamically extending the waiting time to accommodate the asynchronous nature of the responses from each slave node. This ensures that the node codes of all configured nodes in the current loop can be obtained before the target node code is determined, thus guaranteeing the uniqueness of the target node code.

[0048] Reference Figure 4 , Figure 4 for Figure 3 The detailed flowchart of step S200 includes, but is not limited to, the following steps: Step S210: Sort all the obtained node codes to obtain the position sequence; Step S220: Determine the target node code of the current slave node based on the node code at the end of the position sequence.

[0049] Understandably, since the timing of the first response frames sent by each slave node is random, directly using the acquisition order of these frames to determine the target node code of the current slave node might lead to a mismatch between the target node code and the physical location. Therefore, after acquiring the first response frames sent by other nodes, all acquired node codes can be sorted in ascending order to obtain a position sequence. Then, the target node code of the current slave node can be determined based on the last node code in the position sequence. For example, the target node code can be obtained by adding one to the last node code; that is, if the last node code is 4, then the target node code is 5. By transforming discrete node codes into an ordered position sequence, the current slave node can clearly identify the logical order of the configured nodes in the local area network. This ensures that the target node code determined by the last node code in the position sequence is a logical continuation of the existing code sequence and corresponds to the "end" position of the current slave node in the physical topology. This enables the node code to be automatically and effectively associated with the physical location, improving the maintainability, scalability, and automation level of the local area network architecture, and reducing the complexity and error rate of manual configuration.

[0050] It should be noted that during the position sorting process, the replacement of slave nodes may cause discontinuities in the node codes within the position sequence. Therefore, based on the continuity of the node codes in the position sequence, missing codes can be determined, and the minimum value among all missing codes can be used as the target node code for the current slave node. For example, if the position sequence is 10, 12, 14, 15, then the missing codes are 11 and 13. In this case, 11 can be selected as the target position code for the current slave node.

[0051] Reference Figure 5 , Figure 5 for Figure 3 Another specific flowchart for step S200 includes, but is not limited to, the following steps: Step S230: Determine the configuration status of other nodes based on the status codes of all first response reply frames; Step S240: If a new configuration node exists among other nodes, the current slave node suspends its work; Step S250: If there are no newly configured nodes among other nodes, determine the target node code of the current slave node based on all the obtained node codes.

[0052] Understandably, during node configuration, if multiple unconfigured nodes are configured simultaneously, node encoding conflicts may occur. Therefore, the first response frame sent by other nodes also includes a status code to characterize the node's configuration status. For example, status code 1 indicates that the slave node is a configured node, and status code 2 indicates that the slave node is a newly configured node (transformed from an unconfigured node to a configured node).

[0053] Specifically, the current slave node can determine the configuration status of other nodes based on the status codes of all first response frames. If a new configuration node exists among the other nodes, the current slave node suspends its work to avoid coding conflicts and ensure the reliability and order of the configuration process. If no new configuration node exists among the other nodes, the current slave node can be considered the new configuration node, and the target node code of the current slave node can be determined based on all the obtained node codes.

[0054] Specifically, Figure 6 The node configuration timing diagram provided in the embodiments of the present invention is as follows: Figure 6 As shown, the local area network architecture includes a master node, slave node A, slave node B, and slave node C. Slave node A is a configured node, while slave node B and slave node C are unconfigured nodes.

[0055] In the initial stage, the master node, slave node A, slave node B, and slave node C are powered on simultaneously. At this time, slave node A, slave node B, and slave node C query the memory. Since slave node A is a configured node, slave node A queries node code 10. Slave node B and slave node C cannot query node codes, that is, the bus switch corresponding to slave node A switches to the first state, and the bus switches corresponding to slave node B and slave node C are both in the second state. That is, slave node B is the end node of the communication loop, and slave node C is not connected to the communication loop.

[0056] The master node sends a broadcast query frame, which is simultaneously received by slave nodes A and B. Since slave node B is an unconfigured node, it starts a delay communication duration timer. Slave node A returns a first response reply frame [10,1] to the master node. During the delay communication duration, slave node B receives the first response reply frame [10,1] sent by slave node A, resets the delay communication duration, and determines that slave node A's node code is 10 and that it is a configured node. After the delay communication duration ends, slave node B sends a second response reply frame [11,2] to the master node and controls the bus switch to switch to the first state.

[0057] After receiving the second response frame from slave node B, the master node can determine that slave node B is a newly configured node with node code 11. At this time, the master node sends a broadcast query frame again. Since the bus switch of slave node B is in the first state, slave nodes A, B, and C can all receive the broadcast query frame sent by the master node. Since slave node C is an unconfigured node, slave node C starts the delay communication timer. Slave node A returns the first response frame [10,1] to the master node, and slave node B returns the first response frame [11,1] to the master node. Among them, slave node C, in the delay... During the communication delay, the first response reply frame [10,1] sent by slave node A is obtained. Slave node C resets the communication delay duration. After slave node C resets the communication delay duration, it obtains the first response reply frame [11,1] sent by slave node B again. Slave node C resets the communication delay duration again. After the communication delay duration ends, slave node C obtains the first response reply frame [10,1] sent by slave node A and the first response reply frame [11,1] sent by slave node B during the communication delay duration. Slave node C sends the second response reply frame [12,2] to the master node and controls the bus switch to switch to the first state.

[0058] In addition, after receiving the second response frame from slave node C, the master node will send another broadcast query frame until it fails to obtain the new configuration node in three consecutive broadcast query frames, at which point it will stop sending broadcast query frames to the slave node.

[0059] Thirdly, embodiments of the present invention also provide a robotic arm that includes the local area network architecture of the first aspect embodiment.

[0060] It should be noted that, since the robotic arm in this embodiment of the invention includes the local area network architecture of the above embodiments, the local area network architecture can execute the node configuration method of any of the above embodiments. The robotic arm includes a main control unit, multiple joint controllers, and multiple sensor nodes. The main control unit is connected to the multiple joint controllers and multiple sensor nodes respectively, and controls each joint controller according to the perception signals returned by the sensor nodes, or according to preset control information. The main control unit acts as the master control node, and each joint control unit and sensor node is a slave node. Therefore, the specific implementation method and technical effects of the robotic arm in this application embodiment can be referred to the specific implementation method and technical effects of the node configuration method of any of the above embodiments.

[0061] Fourthly, embodiments of the present invention also provide a robot, which includes the robotic arm of the third aspect embodiment.

[0062] It should be noted that, since the robot in this embodiment of the invention includes the robotic arm of the above embodiments, and this embodiment is mainly a humanoid robot, the humanoid robot is equipped with the above robotic arm to perform actions under control. Therefore, the specific implementation method and technical effect of the robot in this application embodiment can refer to the specific implementation method and technical effect of the node configuration method of any of the above embodiments.

[0063] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0064] The above is a detailed description of the preferred embodiments of the present invention. However, the present invention is not limited to the above embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of the present invention.

Claims

1. A local area network architecture, characterized in that, include: The system includes a master node, a communication line, and multiple slave nodes. The master node is connected to at least one of the slave nodes via the communication line. Each slave node includes a bus switch, a loop impedance, and a transceiver connected to the communication line. When the slave node is a configured node, the bus switch is in a first state, which indicates that the slave node is connected to a subsequent node so that the subsequent node can connect to the master node through the bus switch; When the slave node is an unconfigured node, the bus switch is in a second state, which indicates that the bus switch disconnects the slave node from the subsequent node. The bus switch is connected to the loop impedance so that the loop impedance is connected to the master node, making the slave node the end node in the current loop.

2. The local area network architecture according to claim 1, characterized in that, The common terminal of the bus switch is connected to the communication line and the transceiver, respectively. The first terminal of the bus switch is connected to the subsequent node, and the second terminal of the bus switch is connected to the loop impedance. When the bus switch is in the first state, the first terminal of the bus switch is connected to the common terminal. When the bus switch is in the second state, the second terminal of the bus switch is connected to the common terminal.

3. The local area network architecture according to claim 2, characterized in that, The communication line includes a first connection line and a second connection line. The bus switch includes a first switch node and a second switch node. The first connection terminal of the transceiver is connected to the common terminal of the first connection line and the first switch node, respectively. The first end of the first switch node is connected to the subsequent node, and the second end of the first switch node is connected to one end of the loop impedance. The second connection terminal of the transceiver is connected to the common terminal of the second connection line and the second switch node, respectively. The first end of the second switch node is connected to the subsequent node, and the second end of the second switch node is connected to the other end of the loop impedance.

4. The local area network architecture according to claim 1, characterized in that, The local area network architecture also includes a first terminal resistor and a second terminal resistor. Multiple slave nodes are respectively arranged on both sides of the master control node along the communication line. The delay communication duration of the slave node located between the master control node and the first terminal resistor is greater than the delay communication duration of the slave node between the master control node and the second terminal resistor.

5. A node configuration method, characterized in that, Applied to a local area network architecture as described in any one of claims 1 to 4, the node configuration method includes: If the current slave node is an unconfigured node and receives a broadcast query frame sent by the master node, maintain the bus switch in the second state, and obtain the first response reply frame sent by other nodes within the preset delay communication time. The first response reply frame contains the node code corresponding to the sending node. When the delayed communication duration ends, the target node code of the current slave node is determined based on all the obtained node codes; The master node sends a second response frame containing the target node's encoding to the master node, switches the current slave node to a configured node, and controls the bus switch to switch to the first state.

6. The node configuration method according to claim 5, characterized in that, The first response frame further includes a status code for characterizing the node configuration status, and the step of determining the target node code of the current slave node based on all the acquired node codes includes: The configuration status of the other nodes is determined based on the status codes of all the first response reply frames; If a new configuration node exists among the other nodes, the current slave node suspends its work; or, if no new configuration node exists among the other nodes, the target node code of the current slave node is determined based on all the obtained node codes.

7. The node configuration method according to claim 5, characterized in that, The step of determining the target node code of the current slave node based on all the obtained node codes further includes: Based on all the obtained node codes, sort all the node codes to obtain a position sequence; The target node code of the current slave node is determined based on the node code at the end of the position sequence.

8. The node configuration method according to claim 7, characterized in that, After sorting all the node codes to obtain the position sequence, the node configuration method further includes: Based on the continuity of the node codes in the position sequence, a missing code is determined, and the minimum value among all the missing codes is taken as the target node code of the current slave node.

9. The node configuration method according to claim 5, characterized in that, The slave node also includes a memory for storing node codes. After determining the target node code of the current slave node, the node configuration method further includes: The target node is encoded and saved to the memory.

10. The node configuration method according to claim 9, characterized in that, The node configuration method also includes: If the node code is stored in the memory, the current slave node is determined to be a configured node; or, If the node code is not stored in the memory, the current slave node is determined to be an unconfigured node.

11. The node configuration method according to claim 5, characterized in that, The node configuration method also includes: During the timing of the delayed communication duration by the current slave node, the first response reply frame sent by the other node is received, and the delayed communication duration is reset.

12. The node configuration method according to claim 5, characterized in that, The node configuration method also includes: In response to the current slave node being a configured node, the bus switch is controlled to be in the first state.

13. A robotic arm, characterized in that, The robotic arm includes a local area network architecture as described in any one of claims 1 to 4.

14. A robot, characterized in that, The robot includes the robotic arm as described in claim 13.

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