Receiving and transmitting bus structure for conveniently disassembling battery based on quadruped robot

Abstract

The utility model relates to a quadruped robot-based battery transmit-receive bus structure convenient to disassemble, which comprises a concentrator I and a concentrator II, the concentrator I is connected with a PC terminal, a battery, a motor and an IMU module, the battery is transmitted to the concentrator I through an RS protocol at a bps rate, the motor is transmitted to the concentrator I through a CANFD protocol at an M rate, and the IMU module is connected with the PC terminal. The IMU module transmits bps to the concentrator I through a UART (Universal Asynchronous Receiver / Transmitter) protocol; the concentrator 2 is connected with a UWB positioning module 1, a UWB positioning module 2 and a UWB positioning module 3. The concentrator 2 is connected to a PC terminal through a USBHID + CDC. The system can be used for optimizing the bus structure of the quadruped robot, increasing the control information effect of the robot and improving the running quality of a long-time gait system of the robot.

Description

TECHNICAL FIELD

[0001] The utility model relates to four -legged robot technical field, concretely is a kind of convenient disassembly battery transceiver bus structure based on four -legged robot. BACKGROUND

[0002] The original invention CN113044131A a four-legged robot based on bus, by setting up EtherCAT bus and being electrically connected leg movement controller.But the original invention has the following shortcomings (1) bus structure is relatively dispersed: in the movement control process of robot bus structure determines the efficiency of transmission, and the original invention does not further integrate bus structure to reduce unnecessary transmission waste processor performance.(2) bus structure function is not unified: the original invention does not unify bus function, so when processor different function task classification can preferentially process key information, improve efficiency and stability.(3) there is no battery transmission transceiver line: when motor long time runs, battery power information transmission is particularly important, and the original invention does not design the transceiver line. UTILITY MODEL CONTENT

[0003] The utility model aims at providing a kind of convenient disassembly battery transceiver bus structure based on four -legged robot to solve the problems raised in the above background technology.

[0004] To achieve the above object, the utility model provides the following technical scheme: a kind of convenient disassembly battery transceiver bus structure based on four -legged robot, including concentrator one and concentrator two, the concentrator one is connected with PC end, battery, motor and IMU module,

[0005] The battery is transmitted to concentrator one by RS protocol at bps rate, and the motor is transmitted to concentrator one by CANFD protocol at M rate, and the IMU module is transmitted to concentrator one by UART protocol at bps;

[0006] The concentrator two is connected with uwb positioning module one, uwb positioning module two and uwb positioning module three, and the concentrator two is connected to PC end with USBHID+CDC.

[0007] Further, the concentrator one is provided with P0, P1, P2, P3, P4, P5, P6 six interfaces, and the PC end interface is connected with P0.

[0008] Further, the P1 connects robot dog left front first leg interface, P2 connects robot dog right front second leg interface, P3 connects robot dog left rear third leg interface, and P4 connects robot dog right rear fourth leg interface.

[0009] Further, each leg respectively transmits feedback signals and instructions of the hip joint motor, the knee joint motor and the ankle joint motor.

[0010] Further, the battery is connected with P5 interface, and the IMU module is connected with P6 interface.

[0011] Further, the uwb positioning module one, the uwb positioning module two and the uwb positioning module three are respectively transmitted to the concentrator two through RS485 protocol at a rate of 115200bps.

[0012] Further, the LORA receiver is further connected, and the LORA receiver transmits the received information to the concentrator two at a frequency of 500Hz.

[0013] Compared with the prior art, the beneficial effects of the utility model are that the convenient disassembly battery transceiving bus structure based on the quadruped robot

[0014] (1) Bus structure is unified: the bus structure is further integrated in the present application to reduce unnecessary transmission and greatly improve the processor efficiency. (2) Bus structure function is unified: in the process of motion control of the robot, when the processor faces the information transmission of the internal function modules of the battery, the motor, the IMU module and the external function modules such as the positioning system and the receiver, different concentrators are used to help transceiving information and improve the operation efficiency of the PC controller. (3) Independent battery transmission transceiving line structure: it greatly guarantees the display of the power information of the motor in the process of long-time work, provides the working time of the portable disassembly battery and improves the gait motion quality of the quadruped robot. BRIEF DESCRIPTION OF DRAWINGS

[0015] Fig. 1 It is the bus structure schematic view of the utility model;

[0016] Fig. 2 It is the key concentrator structure schematic view of the utility model;

[0017] In the drawing: 1, concentrator one; 2, concentrator two; 3, PC end; 4, battery; 5, motor; 6, IMU module; 7, uwb positioning module one; 8, uwb positioning module two; 9, uwb positioning module three; 10, LORA receiver. DETAILED DESCRIPTION

[0018] The technical scheme in the embodiments of the utility model will be described clearly and completely in combination with the drawings in the embodiments of the utility model. Based on the embodiments in the utility model, all other embodiments obtained by the person skilled in the art without making creative labor belong to the protection scope of the utility model.

[0019] Please refer toFigs. 1-2 The utility model provides an embodiment: a kind of based on four-foot robot's convenient disassembly battery transceiver bus structure, including concentrator one 1 and concentrator two 2, and concentrator one 1 is connected with PC end 3, battery 4, motor 5 and IMU module 6.

[0020] Battery 4 is transmitted to concentrator one 1 by RS485 protocol at 115200bps rate.

[0021] Through the mode, battery independent transceiver is realized, and the task demand of guaranteeing battery portable disassembly is ensured.

[0022] Motor 5 is transmitted to concentrator one 1 by CANFD protocol at 8M rate.

[0023] The mode is used to ensure the fast response of motor, to complete the gait dynamic effect of four-foot robot.

[0024] IMU module 6 is transmitted to concentrator one 1 by UART protocol at 921600bps.

[0025] While guaranteeing transmission four-foot robot body pose deflection efficiency, the processing effect of PC end 3 is also met.

[0026] Concentrator two 2 is connected with uwb positioning module one 7, uwb positioning module two 8 and uwb positioning module three 9, to determine the current position of four-foot robot.

[0027] Concentrator two 2 is connected to PC end 3 by USBHID+CDC.

[0028] PC end 3 is guaranteed to process the feedback information of aggregation, and task instruction is issued, to ensure that robot dog runs quickly and stably.

[0029] Concentrator one 1 is provided with P0, P1, P2, P3, P4, P5, P6 six interfaces, and PC end 3 interface is connected with P0.

[0030] P1 connects robot dog left front first leg interface, P2 connects robot dog right front second leg interface, P3 connects robot dog left rear third leg interface, and P4 connects robot dog right rear fourth leg interface.

[0031] Each leg respectively transmits and sends hip joint motor, knee joint motor, ankle joint motor feedback signal and instruction.

[0032] Battery 4 is connected with P5 interface, and IMU module 6 is connected with P6 interface.

[0033] Uwb positioning module one 7, uwb positioning module two 8 and uwb positioning module three 9 are respectively transmitted to concentrator two 2 by RS485 protocol at 115200bps rate.

[0034] Also connected is a LORA receiver 10, and the LORA receiver 10 transmits received information to the hub two 2 at a frequency of 500Hz.

[0035] Ensure the flexibility when the handle operates the robot dog.

[0036] Obviously, the above-described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should belong to the scope of protection of the present application.

[0037] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, steps, operations, devices, components and / or combinations thereof, but do not preclude the presence or addition of one or more other features, steps, operations, devices, components and / or combinations thereof.

[0038] It should be noted that the terms "first", "second", and the like, used in the specification and in the claims of the present application are intended to distinguish analogous objects, and are not necessarily used to describe a particular order or sequence, unless explicitly stated otherwise. It is to be understood that the use of data herein can be interchanged, where appropriate, so that the embodiments of the present application described herein can be practiced in other than the order illustrated or described herein.

[0039] The above only is the preferred embodiment of the present application, and does not limit the present application, and for those skilled in the art, the present application can have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A convenient detachable battery transceiver bus structure based on a quadruped robot, characterized by: It comprises a hub one (1) and a hub two (2), the hub one (1) is connected with PC end (3), battery (4), motor (5) and IMU module (6), The battery (4) is transmitted to the hub one (1) by RS485 protocol at 115200bps rate, and the motor (5) is transmitted to the hub one (1) by CANFD protocol at 8M rate, and the IMU module (6) is transmitted to the hub one (1) by UART protocol at 921600bps rate. The hub two (2) is connected with UWB positioning module one (7), UWB positioning module two (8) and UWB positioning module three (9), and the hub two (2) is connected to the PC end (3) by USBHID+CDC.

2. The battery transceiver bus structure based on the quadruped robot according to claim 1, wherein: The hub one (1) is provided with P0, P1, P2, P3, P4, P5, P6 six interfaces, and the PC end (3) interface is connected with P0.

3. The battery transceiver bus structure based on the quadruped robot convenient to disassemble according to claim 2, characterized in that: The P1 is connected with the left front first leg interface of the robot dog, the P2 is connected with the right front second leg interface of the robot dog, the P3 is connected with the left rear third leg interface of the robot dog, and the P4 is connected with the right rear fourth leg interface of the robot dog.

4. The battery transceiver bus structure based on the quadruped robot according to claim 3, wherein: Each leg respectively transmits the feedback signal and the instruction of the hip joint motor, the knee joint motor and the ankle joint motor.

5. The easily detachable battery transceiver bus structure based on quadruped robot according to claim 1, characterized in that: The battery (4) is connected with P5 interface, and the IMU module (6) is connected with P6 interface.

6. The easily detachable battery transceiver bus structure based on a quadruped robot according to claim 1, characterized in that: The UWB positioning module one (7), UWB positioning module two (8) and UWB positioning module three (9) are respectively transmitted to the hub two (2) by RS485 protocol at 115200bps rate.

7. The easily detachable battery transceiver bus structure based on a quadruped robot according to claim 1, characterized in that: The hub two (2) is also connected with LORA receiver (10), and the LORA receiver (10) transmits the received information to the hub two (2) at 500Hz frequency.

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