COMMUNICATION MODULE AND COMMUNICATION METHOD

Abstract

This communication module comprising: a transmit unit and a receive unit which are provided at substantially the center of a connecting surface of the communication module to transmit and receive data according to a mutually corresponding data communication scheme; and a first electrode and a plurality of second electrodes which have mutually different polarities and are provided in an outer periphery of the transmit unit and the receive unit on the connecting surface in an arrangement having an N-fold symmetry (N is a natural number of 3 or more).

Description

[Technical field]

[0001] The present disclosure relates to a communication module and a communication method. [Background technology]

[0002] In recent years, technology has been proposed for constructing robots by combining modules whose mutual connection relationships can be dynamically changed (for example, Patent Document 1). Robots made by combining such modules can take on various shapes depending on the connections between the modules, and therefore can perform movements with a higher degree of freedom.

[0003] Such a robot can function as a single robot as a whole by transmitting and receiving data between the combined modules. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2000-117672 A Summary of the Invention

[0005] In order to increase the degree of freedom in the shape and movement of a robot constructed by combining such a plurality of modules, it is desirable to increase the degree of freedom in the connections between the modules.

[0006] Therefore, it is desirable to provide a communication module that allows greater freedom in mutual connections, and a communication method using the communication module.

[0007] A communication module according to one embodiment of the present disclosure comprises a transmitter and a receiver arranged approximately in the center of a connection surface for transmitting and receiving data in corresponding data communication methods, and a first electrode and a plurality of second electrodes having mutually different polarities and arranged in an N-fold symmetric arrangement (N is a natural number greater than or equal to 3) around the outer periphery of the transmitter and receiver on the connection surface.

[0008] Furthermore, a communication method according to one embodiment of the present disclosure includes supplying power through a first electrode and a plurality of second electrodes arranged in an N-fold symmetric arrangement (N is a natural number greater than or equal to 3) on a connection surface and having mutually different polarities, and transmitting and receiving data in corresponding data communication methods using a transmitter and a receiver arranged approximately at the center inside the first electrode and the plurality of second electrodes on the connection surface.

[0009] According to a communication module and a communication method according to an embodiment of the present disclosure, a transmitter and a receiver provided at approximately the center of a connection surface transmit and receive data in a corresponding data communication method, and power can be supplied by a first electrode and a plurality of second electrodes having different polarities and arranged in an N-fold symmetric arrangement on the outer periphery of the transmitter and receiver of the connection surface. This makes it possible, for example, for a communication module to connect to another communication module by rotating it with respect to the connection surface. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is an explanatory diagram illustrating an overview of a communication module according to an embodiment of the present disclosure. [Diagram 2] 2 is a perspective view showing a configuration example of a connection surface of the communication module according to the embodiment. FIG. [Diagram 3] 3A to 3C are schematic cross-sectional views of components provided on a connection surface and components provided on a connection surface cut in a direction perpendicular to the connection surface. [Figure 4] FIG. 4 is a circuit diagram illustrating a schematic circuit configuration in a communication unit. [Figure 5A] 3 is a schematic diagram showing the positional relationship between a transmitter and a receiver in the connection of the communication modules shown in FIG. 2 at a rotation angle of 90 degrees. [Figure 5B] 3 is a schematic diagram showing the positional relationship between a transmitter and a receiver in the connection of the communication modules shown in FIG. 2 at a rotation angle of 180 degrees. [Figure 5C] 3 is a schematic diagram showing the positional relationship between a transmitter and a receiver in the connection of the communication modules shown in FIG. 2 at a rotation angle of 270 degrees. [Figure 6] 4 is a graph showing a period of polarity switching between a first electrode and a second electrode. FIG. [Figure 7A] 7 is a schematic diagram showing data transmission and reception of the communication section in a CL-Ne period in FIG. 6. [Figure 7B] 7 is a schematic diagram showing data transmission and reception of the communication section in a CL-Po period in FIG. 6. [Figure 8] 1 is an explanatory diagram showing the configuration of a module system in which a communication module according to an embodiment of the present invention is used as a host and a client; [Figure 9] FIG. 2 is a block diagram illustrating a hardware configuration of a host. [Figure 10] FIG. 2 is a block diagram illustrating a hardware configuration of a client. [Figure 11] FIG. 2 is an explanatory diagram illustrating data transmission by a client. [Figure 12] FIG. 2 is a block diagram illustrating functions related to data transmission in an upstream or downstream direction in a client. [Figure 13A] FIG. 11 is a flowchart illustrating the flow of a pairing operation between a host and a client. [Figure 13B] FIG. 11 is a flowchart illustrating the flow of a process for checking pairing information. [Figure 14] FIG. 2 is an explanatory diagram showing an example of a connection between a host and a client, and an example of pairing information in each connection. [Figure 15A] FIG. 11 is a schematic diagram showing a path setting for client communication before pairing. [Figure 15B] FIG. 13 is a schematic diagram showing a path setting for client communication after pairing. [Figure 16] 1 is a schematic diagram showing a state of connection between a host of L0 and a client of L1 when an address is assigned from the host of L0 to the client of L1. FIG. [Figure 17] FIG. 11 is a sequence diagram illustrating the flow of an operation for allocating an address from a host to a client of L1. [Figure 18] 1 is a schematic diagram showing a state of connection between a host and a client when an address is assigned from the host to the L2 client. FIG. [Figure 19] FIG. 11 is a sequence diagram illustrating the flow of an operation for allocating an address from a host to an L2 client. [Figure 20] FIG. 2 is a block diagram showing an example of a connection structure of a host and a client, and an example of addresses in the connection structure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, an embodiment of the present disclosure will be described in detail with reference to the drawings. The embodiment described below is a specific example of the present disclosure, and the technology according to the present disclosure is not limited to the following aspects. Furthermore, the arrangement, dimensions, and dimensional ratios of each component of the present disclosure are not limited to the aspects shown in each drawing.

[0012] The explanation will be given in the following order. 1.Communication module 1.1. Overview 1.2. Configuration Example 1.3. Example of operation 2. System using communication modules 2.1. Overall configuration example 2.2. Host and client hardware configuration examples 2.3. Client Sends and Receives Data 2.4. Example of operation 3. Notes

[0013] <1. Communication module> (1.1. Overview) First, an overview of a communication module according to an embodiment of the present disclosure will be described with reference to Fig. 1. Fig. 1 is an explanatory diagram illustrating an overview of a communication module 1 according to the present embodiment.

[0014] 1, the communication module 1 according to this embodiment is a device that can be mutually connected to other communication modules 1 and can transmit and receive data to and from other communication modules 1 via connection surfaces. For example, the communication module 1 may have a rectangular parallelepiped shape and can be mutually connected to other communication modules 1 at one or more surfaces of the rectangular parallelepiped shape. The communication modules 1 can operate as a single robot 10 as a whole by transmitting data and power to each other via their respective connection surfaces.

[0015] The communication module 1 according to the present embodiment can be connected to another communication module 1 with a higher degree of freedom on the connection surface. This allows the communication module 1 to configure a robot 10 with a more complicated shape. The communication module 1 according to the present embodiment will be specifically described below.

[0016] (1.2. Configuration Example) Next, the configuration of the connection surface of the communication module 1 according to this embodiment will be described with reference to Fig. 2. Fig. 2 is a perspective view showing an example of the configuration of the connection surface of the communication module 1 according to this embodiment.

[0017] 2, the communication module 1 includes, for example, a first electrode 110, a plurality of second electrodes 120A, 120B, 120C, and a communication unit 130 including a transmitter 131 and a receiver 132 on a connection surface 100 with another communication module 1. Similarly, the other communication module 1 connected to the communication module 1 includes, on a connection surface 200, a first electrode 210, a plurality of second electrodes 220A, 220B, 220C, and a communication unit 230 including a transmitter 231 and a receiver 232.

[0018] The communication module 1 is connected to another communication module 1 such that the first electrode 110 faces one of the multiple second electrodes 220A, 220B, and 220C, and one of the multiple second electrodes 120A, 120B, and 120C faces the first electrode 210. This allows the communication module 1 to transmit power to the other communication module 1. In addition, the communication module 1 is connected to the other communication module 1 such that the communication unit 130 faces the communication unit 230. This allows the communication module 1 to transmit and receive data to and from the other communication module 1.

[0019] In the following, when there is no need to distinguish between second electrodes 120A, 120B, and 120C, they will be collectively referred to as second electrodes 120. Similarly, when there is no need to distinguish between second electrodes 220A, 220B, and 220C, they will be collectively referred to as second electrodes 220.

[0020] The first electrode 110 and the second electrode 120 are electrodes having different polarities. The first electrode 110 and the second electrode 120 are connected in parallel conduction and inverted connection with the opposing first electrode 210 and the second electrode 220, so that power can be transmitted between the communication modules 1. Specifically, the polarity of the first electrode 110 and the second electrode 120 is not fixed to either a positive pole or a negative pole, but is provided so that the polarity alternates at a predetermined period. Therefore, the voltage and current supplied from the first electrode 110 and the second electrode 120 are rectified by a rectifier circuit provided inside the other communication module 1, and then supplied to the control circuit of the other communication module 1.

[0021] The second electrodes 120A, 120B, and 120C are electrically connected inside the communication module 1. Therefore, the first electrode 110 may be electrically connected to any one of the second electrodes 220A, 220B, and 220C. Similarly, the first electrode 210 may be electrically connected to any one of the second electrodes 120A, 120B, and 120C.

[0022] The first electrode 110 and the second electrode 120 may be provided in shapes that fit together. For example, the first electrode 110 may be provided as an electrode that protrudes from the connection surface 100 in a quadrangular shape, and the second electrode 120 may be provided as an electrode that is recessed from the connection surface 100 in a quadrangular shape that corresponds to the first electrode 110. In this way, the first electrode 110 and the second electrode 120 can fit together, so that power can be transmitted more reliably.

[0023] The first electrode 110 and the second electrode 120 may further include a fixing mechanism that physically connects them to each other. For example, the first electrode 110 and the second electrode 120 may further include, as a fixing mechanism, a magnet or an electromagnet that performs magnetic coupling, or a claw or a protrusion that performs mechanical fixing. This allows the first electrode 110 and the second electrode 120 to more firmly connect the connection surface 100 and the connection surface 200.

[0024] Moreover, the first electrode 110 and the second electrode 120 are provided on the connection surface 100 so as to be rotationally symmetric on the outer periphery of the communication unit 130. Specifically, the first electrode 110 and the second electrode 120 are provided in an arrangement with N-fold symmetry (N is a natural number equal to or greater than 3 and is the total number of the first electrodes 110 and the second electrodes 120) on the outer periphery of the communication unit 130.

[0025] In this case, the communication module 1 can connect to another communication module 1 by facing the first electrode 110 and the second electrode 220 at each rotation of 360 degrees / N rotation angles, except when the first electrodes 110 face each other on the connection surface 100 (when the rotation angle is 0 degrees). Therefore, the communication module 1 can connect to another communication module 1 at different rotation angles on the connection surface 100, the number of which is the total number of the first electrodes 110 and the second electrodes 120 minus 1.

[0026] For example, in the example shown in FIG. 2, one first electrode 110 and three second electrodes 120A, 120B, and 120C are arranged in four-fold symmetry on the connection surface 100 of the communication module 1. In such a case, the communication module 1 can be connected to another communication module 1 at a connection surface 200 obtained by rotating the connection surface 100 by 90 degrees, 180 degrees, or 270 degrees. Specifically, on the connection surface 200 obtained by rotating the connection surface 100 by 90 degrees clockwise, the communication module 1 is connected to another communication module 1 so that the first electrode 110 and the second electrode 220 at the upper right of the connection surface 200 face each other. Also, on the connection surface 200 obtained by rotating the connection surface 100 by 180 degrees clockwise, the communication module 1 is connected to another communication module 1 so that the first electrode 110 and the second electrode 220 at the lower right of the connection surface 200 face each other. Furthermore, at a connection surface 200 obtained by rotating the connection surface 100 clockwise by 270 degrees, the communication module 1 is connected to another communication module 1 such that the first electrode 110 faces the second electrode 220 at the lower left of the connection surface 200. Therefore, the communication module 1 shown in Fig. 2 can be connected to another communication module 1 at three rotation angles: 90 degrees, 180 degrees, and 270 degrees.

[0027] Next, a more specific configuration of the communication unit 130 will be described with further reference to Fig. 3. Fig. 3 is a schematic cross-sectional view of each component provided on the connection surface 100 and each component provided on the connection surface 200, cut in a direction perpendicular to the connection surface 100.

[0028] 2 and 3, the communication unit 130 includes a transmitting unit 131 and a receiving unit 132, and transmits and receives data wirelessly between the communication module 1 and another communication module 1. The communication unit 130 is provided, for example, at approximately the center of the connection surface 100 on the inner side of the first electrode 110 and the second electrode 120 so as to face a communication unit 230 provided on the connection surface 200.

[0029] The communication unit 130 can transmit and receive data by a wireless communication method using visible light or infrared light. By using a wireless communication method instead of a wired communication method involving a physical connection, the communication unit 130 can transmit and receive data smoothly even when the communication module 1 is connected at a rotation angle with a higher degree of freedom. In such a case, the communication unit 130 can transmit and receive data even if there is a gap between the connection surface 100 and the connection surface 200.

[0030] For example, the transmitting unit 131 may be a light emitting diode (LED) that emits visible light or infrared light. The receiving unit 132 may be a photodiode (PD) that has sensitivity to visible light or infrared light. This allows the transmitting unit 131 and the receiving unit 132 to transmit and receive data by optical wireless communication. The transmitting unit 131 and the receiving unit 132 may be configured with a light emitting diode and a photodiode that are provided separately, or may be configured with a photoreflector that includes both a light emitting diode and a photodiode.

[0031] The communication unit 130 may transmit and receive data using a communication method other than the above. For example, the communication unit 130 may transmit and receive data using a wireless communication method based on a magnetic field using a Hall element. Alternatively, the communication unit 130 may transmit and receive data using a communication method using optical fiber.

[0032] Furthermore, the communication unit 130 may transmit and receive data alternately rather than simultaneously. This allows the communication unit 130 to prevent crosstalk between the data transmitted by itself and the data transmitted from the opposing communication unit 230 due to reflection between the connection surface 100 and the connection surface 200.

[0033] Specifically, the communication unit 130 can switch between transmitting and receiving data from the transmitting unit 131 and the receiving unit 132 in a cycle synchronized with the cycle of alternating polarity of the first electrode 110 and the second electrode 120 by supplying the transmitting unit 131 and the receiving unit 132 with the voltage and current supplied to the first electrode 110 and the second electrode 120, respectively. That is, the communication unit 130 can alternately switch on and off the transmitting unit 131 and the receiving unit 132 by connecting a power source whose polarity alternates to the transmitting unit 131 and the receiving unit 132. Thus, the communication unit 130 can alternately switch between transmitting and receiving data without performing complex control.

[0034] Furthermore, the communication unit 130 may include a plurality of receiving units 132. In such a case, the communication unit 130 can improve the reliability of data received by the receiving units 132. The communication unit 130 can also determine the rotation angle of the connection between the communication modules 1.

[0035] Here, a means for determining the rotation angle of the connection between the communication modules 1 based on the received signal strength will be described with reference to Fig. 4 to Fig. 5C. Fig. 4 is a circuit diagram showing a schematic circuit configuration in the communication unit 130. Figs. 5A to 5C are schematic diagrams showing the positional relationship between the transmission units 131 and 231 and the reception units 132A, 132B, 232A, and 232B for each rotation angle in the connection between the communication modules 1 shown in Fig. 2.

[0036] 4, for example, by using two photoreflectors each including a light emitting diode and a photodiode, it is possible to configure the transmitter 131 with one light emitting diode and the receivers 132A and 132B with two photodiodes. The remaining light emitting diode is treated as a dummy transmitter 133 that does not emit light.

[0037] Data transmitted from the transmitting unit 131 passes through diode 141 for rectification, and is then input to a light emitting diode constituting the transmitting unit 131, and transmitted as a light emitting signal to another communication module 1. Meanwhile, light emitting signals transmitted from other communication modules 1 are photoelectrically converted by photodiodes constituting the receiving units 132A and 132B, respectively, and then added by an adder 142. The light emitting signal that has passed through the adder 142 passes through diode 143, and is then input to an analog-digital converter 144 (ADC) and converted into a digital signal. This allows the communication unit 130 to receive the light emitting signals at the receiving units 132A and 132B, respectively, and therefore improves the reliability of the received light emitting signals.

[0038] Furthermore, by controlling the receiving sensitivities of the receiving sections 132A and 132B so that they are different from each other, the communication section 130 becomes able to determine the rotation angle of the connection of the communication module 1 from the received output of the light emission signal.

[0039] Specifically, it is assumed that the receiving sensitivity of the receiving unit 132A is 50% and the receiving sensitivity of the receiving unit 132B is 100%.

[0040] 5A, when the communication modules 1 are connected in a state rotated 90 degrees clockwise, the receiver 132A faces the transmitter 231, and therefore an output with a reception sensitivity of nearly 100% can be obtained. On the other hand, the receiver 132B faces the dummy transmitter 233 that does not emit light, and is in an oblique positional relationship with the transmitter 231, and therefore an output of just over 10% can be obtained. Therefore, in such a case, the output after passing through the analog-digital converter 144 becomes 100% to 90% by adding the outputs from the receivers 132A and 132B.

[0041] 5B, when the communication modules 1 are connected in a state rotated 180 degrees clockwise, receiving unit 132A faces receiving unit 232B and is in a diagonal positional relationship with transmitting unit 231, so that an output of just over 10% can be obtained. Similarly, receiving unit 132B faces receiving unit 232A and is in a diagonal positional relationship with transmitting unit 231, so that an output of just over 10% can be obtained. Therefore, in such a case, the output after passing through analog-digital converter 144 is 30% to 20% by adding up the outputs from receiving units 132A and 132B.

[0042] 5C, when the communication modules 1 are connected in a state rotated 270 degrees clockwise, the receiver 132A faces the dummy transmitter 233 that does not emit light and is in a diagonal positional relationship with the transmitter 231, so that an output of just over 10% can be obtained. On the other hand, the receiver 132B faces the transmitter 231, so that an output close to 50% of the receiving sensitivity can be obtained. Therefore, in such a case, the output after passing through the analog-digital converter 144 becomes 70% to 40% by adding the outputs from the receivers 132A and 132B.

[0043] As can be seen from the above, the communication module 1 uses multiple receivers 132A, 132B with different reception sensitivities, thereby making it possible to change the output magnitude of the received signal according to the rotation angle of the connection between the communication modules 1. Therefore, the communication module 1 becomes able to determine the rotation angle of the connection between the communication modules 1 from the output magnitude of the received signal.

[0044] The receiving units 132A and 132B may each change the receiving sensitivity to 100% after determining the rotation angle of the connection between the communication modules 1. In the communication module 1 according to this embodiment, the transmitting unit 131 and the receiving units 132A and 132B can handle signals as, for example, digital H / L signals.

[0045] 4 to 5C show an example in which two receivers 132A and 132B are provided, but the technology according to the present disclosure is not limited to the above example. By increasing the number of receivers 132 and making the receivers 132 have different reception sensitivities, it becomes possible to determine the rotation angle of the connection between the communication modules 1 more precisely and with higher accuracy.

[0046] When the number of receiving units 132 is three or more and the total number of transmitting units 131 and receiving units 132 is four or more, the transmitting units 131 and the receiving units 132 may be arranged on the same circumference of the connection surface 100. In such a case, even when the communication modules 1 are rotated and connected to each other, the transmitting units 131 and the receiving units 132 of the connection surface 100 and the transmitting units 231 and the receiving units 232 of the connection surface 200 move on the same circumference. This makes it possible to prevent the positional relationship between the transmitting units 131 and the receiving units 232, or the positional relationship between the receiving units 132 and the transmitting units 231, from significantly deviating from the opposing positional relationship.

[0047] Furthermore, the communication module 1 can determine the stability of the connection with the connected communication module 1 by monitoring the strength of the signal received between the transmitting unit 131 and the receiving unit 132. Specifically, when the strength of the signal received between the transmitting unit 131 and the receiving unit 132 decreases, the communication module 1 can determine that the stability of the connection has decreased because the connected communication module 1 is about to come off or the communication unit 130 has become dirty.

[0048] (1.3. Example of operation) Next, an example of the operation of communication between communication modules 1 will be described with reference to Fig. 6 to Fig. 7B. Fig. 6 is a graph showing a period of polarity switching between the first electrode 110 and the second electrode 120. Fig. 7A is a schematic diagram showing data transmission and reception by the communication unit 130 in the CL-Ne period in Fig. 6. Fig. 7B is a schematic diagram showing data transmission and reception by the communication unit 130 in the CL-Po period in Fig. 6.

[0049] 6, the upper line facing the figure indicates the polarity of the second electrode 120, and the lower line facing the figure indicates the polarity of the first electrode 110. As shown in Fig. 6, the polarities of the first electrode 110 and the second electrode 120 are switched at a predetermined clock cycle.

[0050] Specifically, in the CL-Ne period, the first electrode 110 becomes a positive pole (+ pole, solid line) and the second electrode 120 becomes a negative pole (- pole, dotted line). On the other hand, in the CL-Po period, the first electrode 110 becomes a negative pole (- pole, dotted line) and the second electrode 120 becomes a positive pole (+ pole, solid line).

[0051] 7A, in the CL-Ne period, the first electrode 110 and the second electrode 220 opposed to the first electrode 110 become positive electrodes. This enables the light emitting diode of the transmitting unit 131 connected to the power supply on the first electrode 110 side to emit light, and the photodiode of the receiving unit 232 connected to the power supply on the second electrode 220 side to receive the emitted light. At this time, the communication module 1 can transmit data in the DN direction from the transmitting unit 131 to the receiving unit 232 by modulating the light emitted by the light emitting diode of the transmitting unit 131 with a CPU (Central Processing Unit) 150 or controlling it to turn ON / OFF in synchronization with the power supply.

[0052] On the other hand, in the CL-Po period, as shown in Fig. 7B, the second electrode 120 and the first electrode 210 opposed to the second electrode 120 become positive electrodes. This enables the light emitting diode of the transmitting unit 231 connected to the power supply on the first electrode 210 side to emit light, and the photodiode of the receiving unit 132 connected to the power supply on the second electrode 120 side to receive the emitted light. At this time, the communication module 1 can transmit data in the UP direction from the transmitting unit 231 to the receiving unit 132 by modulating the light emitted by the light emitting diode of the transmitting unit 231 with a CPU (Central Processing Unit) 250 or controlling it to turn ON / OFF in synchronization with the power supply.

[0053] As described above, the communication module 1 according to this embodiment can switch the direction of communication between the connected communication modules 1 in response to the change in polarity of the first electrode 110 and the second electrode 120. As a result, the communication module 1 can switch between signal transmission and reception in synchronization with the change in polarity of the first electrode 110 and the second electrode 120, thereby preventing the signals to be transmitted and the signals to be received from being mixed up.

[0054] For example, the communication module 1 may transmit one bit of data at one transmission timing and receive one bit of data at one reception timing. That is, the communication module 1 may transmit and receive one bit of data in one cycle of the polarity switching between the first electrode 110 and the second electrode 120. Furthermore, depending on the supported frequencies of the transmitter 131 and the receiver 132, the communication module 1 may transmit multiple bits of data at one transmission timing and receive multiple bits of data at one reception timing.

[0055] <2. Systems using communication modules> (2.1. Overall configuration example) Next, a module system using the above-mentioned communications module 1 will be described with reference to Fig. 8. Fig. 8 is an explanatory diagram showing the configuration of a module system 5 using the communications module 1 as a host 3 and a client 4.

[0056] 8, the module system 5 is configured, for example, by connecting one host 3 and multiple clients 4. The host 3 and the clients 4 may each be configured with the above-mentioned communication modules 1. Specifically, the module system 5 is configured by connecting the clients 4 to the host 3 in a tree shape. In the module system 5, data is transmitted sequentially from the host 3 to the end clients 4, whereby the operation of the module system 5 as a whole is executed.

[0057] In the following description, in a module system 5 in which hosts 3 and clients 4 are connected in a tree configuration, the direction in which the host 3 exists is also referred to as the upstream direction, and the direction opposite to the upstream direction is also referred to as the downstream direction.

[0058] The host 3 includes, for example, a power supply unit 360, a CPU 350, a power supply driver 363, a communication unit 330, a first electrode 310, and a second electrode 320. By including the power supply unit 360 and the CPU 350, the host 3 is provided to be able to operate independently.

[0059] The power supply unit 360 includes a power supply I / F (Interface) 362 connectable to an external power supply or a battery 361, and functions as a power supply for the entire module system 5. The CPU 350 controls the operation of the entire module system 5, and causes the module system 5 to execute commands input via the external I / F 371, for example. The power supply driver 363 controls the power supplied from the power supply unit 360 so that the polarity is switched at a predetermined cycle, and supplies the power to the first electrode 310 and the second electrode 320. The first electrode 310 and the second electrode 320 are connected to the first electrode 410 and the second electrode 420 of the client 4, and supply the client 4 with a voltage and a current whose polarity is switched between the first electrode 310 and the second electrode 320 at a predetermined cycle. The communication unit 330 includes, for example, a light-emitting diode and a photodiode, and switches between emitting and receiving light of a light emission signal in synchronization with the cycle of switching the polarity of the first electrode 310 and the second electrode 320.

[0060] The host 3 may have a plurality of connection surfaces on which the first electrode 310, the second electrode 320, and the communication unit 330 are provided, similarly to the client 4. In such a case, a common voltage and current are supplied from the power supply driver 363 to each of the first electrodes 310 and second electrodes 320 provided on the plurality of connection surfaces. On the other hand, data is individually supplied from the CPU 350 to each of the communication units 330 provided on the plurality of connection surfaces.

[0061] The client 4 includes a CPU 450, a function unit 472, a power rectifier 463, a communication unit 430, a first electrode 410, and a second electrode 420. The client 4 operates the function unit 472 based on power and instructions supplied from the host 3.

[0062] The CPU 450 controls the operation of the function unit 472 based on, for example, an instruction from the host 3. The CPU 450 also controls the transmission and reception of data to the client 4 connected further downstream. The function unit 472 is a functional block provided for each client 4, and operates based on an instruction from the host 3. The function unit 472 may be, for example, a driving unit such as a motor or actuator, a control unit such as a servo circuit, a light-emitting unit such as a light-emitting diode, or a sensing unit such as a sensor or camera. The power rectifier 463 rectifies the voltage and current supplied via the first electrode 410 and the second electrode 420, and converts them into a direct current voltage or direct current. The voltage and current rectified by the power rectifier 463 are supplied to the CPU 450, the function unit 472, and the like. The first electrode 410 and the second electrode 420 are connected to the first electrode 310 and the second electrode 320 of the host 3, or the first electrode 410 and the second electrode 420 of another client 4, and receive or transmit a voltage and current whose polarity is reversed at a predetermined cycle. The communication unit 430 includes, for example, a light emitting diode and a photodiode, and switches between emitting and receiving light of the light emission signal in synchronization with the cycle of alternating polarities of the first electrode 410 and the second electrode 420 .

[0063] The client 4 is provided with a plurality of connection surfaces on which the first electrode 410, the second electrode 420, and the communication unit 430 are provided. The voltage and current supplied from the host 3 are directly applied to each of the first electrodes 410 and second electrodes 420 provided on the plurality of connection surfaces. On the other hand, data is individually supplied from the CPU 450 to each of the communication units 430 provided on the plurality of connection surfaces.

[0064] (2.2. Host and client hardware configuration examples) Next, a more specific hardware configuration of the host 3 and the client 4 will be described with reference to Fig. 9 and Fig. 10. Fig. 9 is a block diagram illustrating the hardware configuration of the host 3. Fig. 10 is a block diagram illustrating the hardware configuration of the client 4.

[0065] As shown in FIG. 9, the host 3 includes, for example, a CPU 350, a RAM 351, a flash memory 352, a current / voltage sensor 364, a regulator 365, a power BUS generator 366, a power driver 363, a communication control circuit 340, and a communication unit 330.

[0066] The CPU 350 functions as an arithmetic processing unit or control unit, and controls the overall operation of the host 3 in accordance with various programs recorded in the RAM 351 or the flash memory 352. The RAM 351 temporarily stores the programs executed by the CPU 350 and parameters used during the execution of the programs. The flash memory 352 is a semiconductor storage device and is a data storage unit in the host 3. The flash memory 352 may store the programs executed by the CPU 350, various data, or various data acquired from outside.

[0067] Furthermore, an interface unit (I / F) 371A that receives input from the outside and a wireless interface unit (wireless I / F) 371B are connected to the CPU 350. The CPU 350 may operate the module system 5 based on commands input via the interface unit 371A and the wireless interface unit 371B. The interface unit 371A is, for example, a connection port such as a Universal Serial Bus (USB). The wireless interface unit 371B is, for example, a wireless communication interface such as Wi-Fi (registered trademark) or Bluetooth (registered trademark).

[0068] A current / voltage sensor 364 senses the voltage and current of the power supplied from a battery 361. A regulator 365 is a power supply circuit, and controls the voltage and current supplied to the CPU 350 based on the sensing result of the current / voltage sensor 364. A power bus generator 366 converts the power supplied from the battery 361 into power that can be supplied to a power bus. An alternate power driver 363 controls the voltage and current generated by the power bus generator 366 so that the polarity is switched at a predetermined cycle.

[0069] The communication unit (PD / LED) 330 includes, for example, a light emitting diode (LED) as a transmission unit and a photodiode (PD) as a reception unit. The communication control circuit (Driver / ADC) 340 is a drive circuit that controls the driving of the communication unit 330. The communication control circuit 340 controls the communication unit 330 so that the light emission and light reception of the light emitting diode and photodiode are switched in synchronization with the switching of the power supply polarity by the power supply driver 363.

[0070] As shown in FIG. 10, the client 4 includes a CPU 450, a RAM 451, a flash memory 452, a regulator 465, a power rectifier 463, a power BUS detector 464, a function unit 472, a communication control circuit 440, and a communication unit 430.

[0071] The CPU 450 functions as an arithmetic processing unit or a control unit, and controls the operation of the function unit 472 and the like in accordance with various programs recorded in the RAM 451 or the flash memory 452. The RAM 451 temporarily stores the programs executed by the CPU 450 and parameters used when executing the programs. The flash memory 452 is a semiconductor storage device and is a data storage device in the client 4. The flash memory 452 may store the programs executed by the CPU 450, various data, or various data acquired from outside.

[0072] The power rectifier 463 rectifies the voltage and current supplied from the host 3 and converts them into DC voltage or DC current. The regulator 365 is a power supply circuit and controls the voltage and current supplied to the CPU 450 and the function unit 472. The power bus detector 464 is a detection circuit and detects synchronization between the polarity switching period of the voltage and current supplied from the host 3 and the light emission and light reception period of the communication unit 430.

[0073] The function unit 472 is a group of devices provided for each function of the client 4. The function unit 472 may be, for example, a driving unit such as a motor or an actuator, a control unit such as a servo circuit, a light emitting unit such as a light emitting diode, or a sensing unit such as a sensor or a camera.

[0074] The communication unit (PD / LED) 430 includes, for example, a light emitting diode (LED) as a transmitting unit and a photodiode (PD) as a receiving unit. The communication control circuit (Driver / ADC) 440 is a drive circuit that controls the driving of the communication unit (PD / LED) 430. The communication control circuit 440 controls the communication unit 430 so that the light emission and light reception of the light emitting diode and photodiode are switched in synchronization with the switching of the polarity of the power supply supplied from the host 3.

[0075] (2.3. Data transmission and reception by clients) Next, data transmission and reception by the client 4 will be described with reference to Fig. 11 and Fig. 12. Fig. 11 is an explanatory diagram for explaining data transmission by the client 4.

[0076] For example, consider a case where data is transmitted from an upstream L0 (layer 0) host 3 to an L1 (layer 1) client 4, and data is transmitted from the L1 (layer 1) client 4 to a downstream L2 client 4.

[0077] 11, the client 4 of L1 receives the data transmitted from the light emitting diode (LED, equivalent to the transmitter 131) of the host 3 of L0 at a photodiode (PD, equivalent to the receiver 132). After that, the client 4 of L1 transmits a light emitting signal from the light emitting diode (LED, equivalent to the transmitter 131) to the photodiode (PD, equivalent to the receiver 132) of the client 4 of L2.

[0078] In the communication module 1 according to this embodiment, data is transmitted and received by the transmitter 131 and the receiver 132 in synchronization with the change in polarity of the power supply. Therefore, the transmitter 131 and the receiver 132 each transmit and receive data once during one cycle of the change in polarity of the power supply.

[0079] Therefore, the module system 5 can transmit data received from the host 3 of L0 to the client 4 of L2 one cycle later by matching the timing of transmitting data from upstream to downstream with the timing of transmitting data from downstream to upstream in each of the host 3 and the client 4. Therefore, the module system 5 can transmit one or multiple bits of data sequentially to the connected client 4 for each cycle of the period in which the polarity of the power supply is switched. This makes it possible for the module system 5 to reduce the delay in signal transmission to one clock.

[0080] Furthermore, in the module system 5, data received by the upstream receiving unit 132 can also be transmitted to the next client 4 by the downstream transmitting unit 131 within one cycle in which the polarity of the power supply is switched. Specifically, the upstream receiving unit 132 and the downstream receiving unit 132 of the client 4 operate with the same power supply polarity, and the upstream transmitting unit 131 and the downstream transmitting unit 131 of the client 4 operate with the same power supply polarity. This allows the client 4 to transmit data received from upstream to downstream within one cycle, so that the module system 5 can reduce the delay in signal transmission to as little as 1 / 2 clock.

[0081] Next, the handling of the received data within the client 4 will be described with reference to Fig. 12. Fig. 12 is a block diagram illustrating functions related to the transmission of data in the upstream or downstream direction in the client 4.

[0082] 12, in the downstream direction, data received by the upstream receiver 132 is first stored in an Rx buffer 471 and decoded by a decoder 475. Based on the decoded data, the client 4 determines the request command from the host 3 to the client 4, and executes the request command in a function unit 472 or the like.

[0083] When a request command from the host 3 to the client 4 includes a command that requires a response to the host 3, a response to the host 3 is generated in the reply unit 474. The generated response is stored in the Tx buffer unit 473, and then transferred to the selector unit 482 in the downstream-to-upstream direction (Up Stream), and is transmitted from the upstream transmitting unit 131 in the order of priority set by the selector unit 482.

[0084] In addition, among the data received by the upstream receiving unit 132, the data to be transmitted to the downstream clients 4 is distributed to each of the downstream transmitting units 131 and transmitted from the transmitting units 131 all at once to the downstream clients 4.

[0085] In the direction from downstream to upstream (Up Stream), data received by each of the receiving units 132 provided on the multiple downstream connection faces 100 is stored in the Rx buffer unit 481. For example, when four clients 4 are connected downstream of the client 4, the Rx buffer unit 481 stores data received from each client 4 in a first client buffer unit 481A, a second client buffer unit 481B, a third client buffer unit 481C, and a fourth client buffer unit 481D.

[0086] The data stored in the Rx buffer unit 481 has a priority set by the selector unit 482 and is transmitted from the upstream transmission unit 131 to the upstream host 3 or client 4. The selector unit 482 also sets a priority between a response to a request command from the host 3 and data transmitted from downstream to upstream.

[0087] In the downstream to upstream direction (Up Stream), data is received from each of the receivers 132 provided on the multiple connection faces 100, and so the data is stored individually in the Rx buffer unit 481 to prevent crosstalk. When transmitting the data from the upstream transmitter 131 to the upstream host 3 or client 4, the selector unit 482 serializes and transmits the data by setting a priority order to prevent collisions.

[0088] (2.4. Example of operation) 13A to 20, a pairing operation between the host 3 and the client 4 in the module system 5 will be described below. In the module system 5, the host 3 performs pairing with the client 4, thereby being able to grasp the connection order, orientation, and rotation angle of the connection of the client 4 in the module system 5. This allows the host 3 to automatically grasp the structure of the module system 5. The pairing operation between the host 3 and the client 4 is executed, for example, when the host 3 and the client 4 are connected.

[0089] (Pairing operation between host and client) 13A and 13B, a flow of a pairing operation between the host 3 and the client 4 will be described. FIG 13A is a flow chart illustrating the flow of a pairing operation between the host 3 and the client 4.

[0090] As shown in FIG. 13A, first, the host 3 connected to the client 4 detects the connected communication module 1 (client 4) (S100). At this time, the host 3 judges whether or not another host 3 exists in the connected communication module 1 (S110). If it is judged that another host 3 exists (S110 / Yes), the host 3 ends the pairing operation to avoid a conflict of control and power with the other host 3. Whether or not a host 3 exists in the connected communication module 1 can be judged, for example, by detecting a signal emitted from the host 3. If it is judged that no other host 3 exists (S110 / No), the host 3 starts supplying power to the connected clients 4 all at once (S120).

[0091] Next, the host 3 judges whether or not there is a client 4 of L1 (layer 1) connected to the host 3 which is L0 (layer 0) (S130). When it is judged that a client 4 of L1 exists (S130 / Yes), the host 3 performs a process of confirming pairing information for each of the clients 4 of L1 (S140). As will be described later with reference to FIG. 13B, the process of confirming pairing information is, for example, a process of acquiring information on the face, direction, and angle to which the client 4 is connected, and registering the information as pairing information. After that, the host 3 returns to S130 and judges whether or not there is a client 4 of L2 (layer 2) connected to L1. In this way, the host 3 performs a process of detecting the client 4 and a process of confirming pairing information while increasing the number of layers by one at a time.

[0092] If it is determined in S130 that the client 4 does not exist (S130 / No), the host 3 detects the client 4 again for confirmation and determines whether or not a further client 4 is detected (S150). If it is determined that a client 4 has been detected (S150 / Yes), the host 3 returns to S130 and executes the process of detecting the client 4 and confirming the pairing information. If it is determined that a client 4 has not been detected (S150 / Yes), the host 3 ends the pairing operation.

[0093] Next, the pairing information confirmation process will be described with reference to Fig. 13B. Fig. 13B is a flow chart illustrating the flow of the pairing information confirmation process.

[0094] 13B, first, the host 3 judges whether or not a client 4 exists on the S0 plane based on the numbers assigned consecutively from 0 to the connection plane 100 (S141). If it is judged that a client 4 does not exist on the S0 plane, the host 3 increments the number assigned to the connection plane 100 by 1, and then returns to S141 to judge whether or not a client 4 exists on the S1 plane.

[0095] If it is determined that the client 4 is present on the S0 plane, the host 3 acquires information about the rotation angle of the connection of the client 4 based on the reception strength of the signal from the client 4 on the connection plane 100 (S142). Next, the host 3 acquires information about the connected client 4 from the connected client 4 (S143). The information about the client 4 is, for example, information about the connection plane on the client 4 side, and the orientation and angle of the client 4. Next, the host 3 uses the acquired information to create pairing information for the client 4 and registers it in a database or the like (S144).

[0096] Thereafter, the host 3 creates pairing information for the client 4 while incrementing the number assigned to the connection surface 100 by 1. After the host 3 finishes creating the pairing information for the client 4 of the connection surface 100 with the highest assigned number (S145 / Yes), the host 3 ends the pairing information confirmation process. This allows the host 3 to create and register pairing information for the client 4 on all connection surfaces 100.

[0097] Here, a specific example of the pairing information will be described with reference to Fig. 14. Fig. 14 is an explanatory diagram showing an example of a connection between the host 3 and the client 4, and an example of the pairing information for each connection.

[0098] 14, for example, assume that an L1 (layer 1) client L1A is connected to an L0 (layer 0) host 3, and that L2 (layer 2) clients L2A and L2B are connected to the L1 client L1A. The numbers S0, S1, S2, S3, S4, and S5 are set on the connection planes 100 of the host 3 and clients L1A, L2A, and L2B, respectively, and that the client L1A is rotated 90 degrees counterclockwise around the axis of rotation from the S0 plane toward the S2 plane with respect to the host 3 and clients L2A and L2B.

[0099] In such a case, the pairing information of the mutual connection between the host 3 and the clients L1A, L2A, L2B can be expressed by a combination of layer information, connection plane information, and angle information. The layer information is information indicating at which layer in the entire module system 5 the host 3 or the clients L1A, L2A, L2B exists. The connection plane information is information indicating at which connection plane 100 the host 3 or the clients L1A, L2A, L2B is connected to other clients. The angle information is information indicating the three-dimensional orientation of the host 3 or the clients L1A, L2A, L2B.

[0100] Specifically, the pairing information of the connection between the host 3 and the client L1A can be expressed by a combination of the pairing information on the host 3 side, which is layer information "L0", connection plane information "S2", and angle information "A0", and the pairing information on the client L1A side, which is layer information "L1", connection plane information "S0", and angle information "A1". Also, the pairing information of the connection between the client L1A and the client L2A can be expressed by a combination of the pairing information on the client L1A side, which is layer information "L1", connection plane information "S1", and angle information "A0", and the pairing information on the client L2A side, which is layer information "L2", connection plane information "S5", and angle information "A0". Furthermore, the pairing information of the connection between client L1A and client L2B can be expressed as a combination of layer information "L1", connection plane information "S3", and angle information "A0", which are pairing information on the client L1A side, and layer information "L2", connection plane information "S2", and angle information "A0", which are pairing information on the client L2B side.

[0101] The pairing information may further include function information of each of the clients 4. The function information is information indicating the function, size, or movable range of the function unit 472 included in each of the clients 4. This enables the module system 5 to derive the shape of the entire module system 5 from information regarding the mutual connections of the clients 4 and the size of the function unit 472 included in the function information of each of the clients 4.

[0102] In such a case, since the module system 5 can derive the overall shape, it can set a movement range for the function unit 472 capable of setting a movement range such as a servo, so that the function unit 472 does not come into contact with other clients 4. This makes it possible for the module system 5 to avoid damage caused by collision between the clients 4 or the function units 472 provided in the clients 4. In other words, by grasping the overall shape, the module system 5 can optimize the deformation or movement range of the module system 5.

[0103] Through the above process, a pairing operation is performed between the host 3 and the client 4. In the module system 5, the upstream and downstream directions in the module system 5 can be determined through pairing with the host 3, and therefore the client 4 can dynamically switch communication path settings based on the upstream and downstream directions.

[0104] 15A and 15B, a description will be given of changes in communication path settings of the client 4 before and after a pairing operation. Fig. 15A is a schematic diagram showing communication path settings of the client 4 before pairing, and Fig. 15B is a schematic diagram showing communication path settings of the client 4 after pairing.

[0105] 15A and 15B, S0 to S3 are illustrated as the connection surfaces 100, but the number of the connection surfaces 100 is not limited to the number illustrated in Fig. 15A and 15B. The number of the connection surfaces 100 may be less than or more than the number illustrated in Fig. 15A and 15B.

[0106] 15A, before pairing, the client 4 does not know which connection surface 100 the host 3 is on. Therefore, the client 4 equally controls whether to transmit and receive to each connection surface 100. Therefore, in such a case, the client 4 determines whether each communication is from the host 3 side and controls the transmission and reception.

[0107] In the module system 5 according to this embodiment, when the host 3 starts supplying power to the clients 4, the host 3 transmits a notification of the presence of the host 3 to all connected clients 4 and performs a pairing operation with each of the clients 4. This allows the client 4 to determine the connection surface 100 on which the host 3 exists, and therefore allows the client 4 to switch the communication path setting so that communication with the host 3 and other clients 4 can be performed more efficiently.

[0108] Specifically, as shown in Fig. 15B, the client 4 switches the communication path setting so that data received from the upstream side to which the host 3 is connected is distributed to each downstream client 4, and data received from each downstream client 4 is aggregated and transmitted to the upstream host 3 or client 4. For example, in the example shown in Fig. 15B, the host 3 is connected to the S0 plane side of the client 4. Therefore, the client 4 switches the communication path setting so that data received on the S0 plane is distributed to the S1 plane, S2 plane, and S3 plane, and data received on the S1 plane, S2 plane, and S3 plane is aggregated and transmitted to the S0 plane.

[0109] According to this, in the module system 5, the pairing operation enables the setting of communication paths in each of the clients 4 as a structure in which the clients 4 are connected in a tree shape with the host 3 as the apex. Therefore, the module system 5 can improve the efficiency of communication between the host 3 and the clients 4.

[0110] (Address allocation from host to client) 16 to 19, a description will be given of the flow of operations for assigning addresses from the host 3 to each of the clients 4. In the module system 5, by assigning a unique address to each of the clients 4 connected to the host 3, the host 3 can control the clients 4 more efficiently.

[0111] FIG. 16 is a schematic diagram showing a state of connection between the host 3 of L0 (layer 0) and the client 4 of L1 (layer 1) when the host 3 of L0 assigns an address to the client 4 of L1. FIG. 17 is a sequence diagram explaining the flow of an operation for assigning an address from the host 3 to the client 4 of L1. FIG. 18 is a schematic diagram showing a state of connection between the host 3 and the client 4 when the host 3 assigns an address to the client 4 of L2 (layer 2). FIG. 19 is a sequence diagram explaining the flow of an operation for assigning an address from the host 3 to the client 4 of L2.

[0112] As shown in Fig. 16, for example, when four clients L1A, L2A, L2B, and L3A are connected to the host 3, first, power is supplied from the host 3 to all four clients L1A, L2A, L2B, and L3A at the same time. At this time, each of the clients L1A, L2A, L2B, and L3A has a communication path setting before pairing shown in Fig. 15A. As a result, the host 3 can communicate only with the directly connected client L1A, and cannot communicate with the subsequent clients L2A, L2B, and L3A.

[0113] 17, first, a Pair Request Probe serving as a pairing request is transmitted from the client L1A to the host 3 (S200). Next, the host 3 that has received the Pair Request Probe transmits a Device Discovery packet to the client L1A (S210).

[0114] Upon receiving the Device Discovery packet, the client L1A sends a serial ID that allows it to be individually identified to the host 3 (S220). In response, the host 3 sends a layer ID (ID0x10) that corresponds to the sent serial ID to the client L1A (S230). Upon receiving the layer ID, the client L1A returns an acknowledgement (Ack) (S240), completing the pairing and address assignment of the client L1A.

[0115] Once the pairing between host 3 and client L1A and the address assignment are completed, as shown in FIG. 18, the communication path setting for client L1A switches to that shown in FIG. 15B, and host 3 becomes able to communicate with clients L2A and L2B.

[0116] Here, the Pair Request Probe sent from the client L2A when power was supplied has not reached the host 3. Therefore, following pairing with the client L1A and address assignment, the host 3 searches for lower level clients. Specifically, as shown in Fig. 19, the host 3 sends a Device Discovery packet to the client L1A (S310). The client L1A further sends the Device Discovery packet sent from the host 3 to the client L2A.

[0117] The client L2A that received the Device Discovery packet sends a serial ID that can individually identify itself to the host 3, just like the client L1A (S320). In response, the host 3 sends a layer ID (ID0x20) that corresponds to the sent serial ID to the client L2A (S330). The client L2A that received the layer ID returns an acknowledgement (Ack) (S340), and the pairing and address assignment of the client L2A are completed.

[0118] Next, following pairing with client L2A and address allocation, host 3 further transmits a Device Discovery packet to client L1A (S410). Client L1A transmits the Device Discovery packet transmitted from host 3 to client L2B.

[0119] Similar to client L2A, client L2B that has received the Device Discovery packet sends a serial ID that can individually identify itself to the host 3 (S420). In response, the host 3 sends a layer ID (ID0x21) that corresponds to the sent serial ID to client L2B (S430). Client L2B that has received the layer ID returns an acknowledgement (Ack) (S440), and the pairing and address assignment of client L2B are completed.

[0120] Furthermore, following pairing with client L2B and address assignment, host 3 further transmits a Device Discovery packet to client L1A (S510). Client L1A transmits the Device Discovery packet transmitted from host 3 to a connection plane other than the connection plane 100 to which clients L2A and L2B are connected, but since there is no response to the Device Discovery packet, it transmits a notification to host 3 that pairing and address assignment are complete (S520). Through the above operations, host 3 can perform pairing with clients L1A, L2A, and L2B in L1 and L2 and assign addresses.

[0121] Thereafter, the host 3 transmits Device Discovery packets to clients L2A and L2B similar to that to client L1A, thereby enabling pairing and address assignment for each of the clients 4 connected to L3 (layer 3).

[0122] Through the above operations, in the module system 5, the host 3 can assign addresses to each of the connected clients 4. An example of an address assigned to each of the clients 4 is shown in Fig. 20. Fig. 20 is a block diagram showing an example of a connection structure of the host 3 and the clients 4, and an example of addresses in the connection structure.

[0123] In the module system 5 shown in Fig. 20, an L1 (layer 1) client L1A is connected to an L0 (layer 0) host 3, and L2 (layer 2) clients L2A and L2B are connected to the L1 client L1A. Furthermore, L3 (layer 3) clients L3A and L3B are connected to the L2 client L2A. Furthermore, L4 (layer 4) clients L4A, L4B, and L4C are connected to the L3 client L3A, and an L4 client L4D is connected to the L3 client L3B.

[0124] In such a case, for example, the host 3 can assign an address of "ID0x10" to the client L1A of L1, an address of "ID0x20" to the client L2A of L2, and an address of "ID0x21" to the client L2B of L2. The host 3 can also assign an address of "ID0x30" to the client L3A of L3, and an address of "ID0x31" to the client L3B of L3. The host 3 can also assign an address of "ID0x40" to the client L4A of L4, an address of "ID0x41" to the client L4B of L4, an address of "ID0x42" to the client L4C of L4, and an address of "ID0x43" to the client L4D of L4.

[0125] <3. Notes> The technology according to the present disclosure has been described above by giving embodiments and modified examples. However, the technology according to the present disclosure is not limited to the above embodiments, and various modifications are possible.

[0126] For example, in the module system 5, a connected client 4 can be freely removed. Whether or not a connected client 4 maintains a connection can be determined by, for example, each of the clients 4 checking a response from a client 4 in a lower layer. Specifically, each of the clients 4 may notify the host 3 that the corresponding client 4 has been removed when a response from the client 4 in the lower layer is no longer received. In this way, the host 3 that receives the notification can delete the pairing information of the removed client 4 from the registered pairing information.

[0127] Furthermore, since the module system 5 can grasp the tree-like connection structure of the hosts 3 and clients 4, it is possible to detect a loop that occurs in the connection between the hosts 3 and clients 4. In such a case, the module system 5 can urge the user to eliminate the loop by showing the user the location of the loop or by showing an example of a connection that eliminates the loop. If it is possible to confirm that no loop exists, no power conflict will occur, and the module system 5 can supply power from multiple power sources.

[0128] Furthermore, the module system 5 can present to the user, for example, a connection of the client 4 that does not cause a loop or a more efficient connection of the client 4, by learning the connection of the client 4 to the host 3. Also, the module system 5 can automatically optimize the overall structure and range of motion by learning the connection of the client 4 to the host 3.

[0129] In addition, each of the host 3 or the client 4 of the module system 5 may further enhance interactivity with the user. Specifically, each of the host 3 or the client 4 may emit sound or light when another client 4 is connected to notify the user that it has been connected (paired). Also, each of the host 3 or the client 4 may detect by an acceleration sensor that it has been lifted by the user and take an action such as emitting sound or light. To enable these actions, the client 4 may also be equipped with a power source such as a battery.

[0130] Such a module system 5 can be applied to, for example, a battle robot for fighting, or a household robot such as a toy robot capable of various movements. The module system 5 can also be applied to an industrial robot such as a pickup arm robot for manufacturing or logistics capable of dynamically rearranging a line, or an IoT (Internet of Things) device to which a sensor module can be added at will.

[0131] Furthermore, not all of the configurations and operations described in the above embodiments are necessarily essential to the configurations and operations of the present disclosure. For example, among the components in the above embodiments, components that are not described in the independent claims showing the highest concept of the present disclosure should be understood as optional components.

[0132] Terms used throughout this specification and the appended claims should be construed as "open-ended" terms. For example, the terms "including" or "including" should be construed as "not limited to the manner in which it is described as including." The term "having" should be construed as "not limited to the manner in which it is described as having."

[0133] The terms used in this specification include terms that are used merely for convenience of explanation and are not used for the purpose of limiting the configuration and operation. For example, terms such as "right", "left", "upper", and "lower" merely indicate directions on the drawings to which reference is made. Furthermore, the terms "inner" and "outer" merely indicate directions toward and away from the center of the focused element, respectively. The same applies to terms similar to these and terms of a similar meaning.

[0134] The technology according to the present disclosure may also have the following configuration. According to the technology according to the present disclosure having the following configuration, even if another communication module is rotated and connected to the connection surface of a communication module, it is possible to transmit and receive data and supply power. Therefore, communication modules can be connected to each other with a higher degree of freedom. The effects achieved by the technology according to the present disclosure are not necessarily limited to the effects described herein, and may be any of the effects described in the present disclosure. (1) a transmitting unit and a receiving unit provided at approximately the center of the connection surface, the transmitting unit and the receiving unit configured to transmit and receive data in a corresponding data communication method; a first electrode and a plurality of second electrodes having mutually different polarities and arranged in an N-fold symmetric arrangement (N is a natural number of 3 or more) on the outer periphery of the transmitting section and the receiving section of the connecting surface; A communication module comprising: (2) The communication module according to (1) above, wherein the polarities of the first electrode and the second electrodes alternate at a predetermined period. (3) The communication module described in (2) above, wherein the transmitter and the receiver alternately transmit and receive the data in a cycle synchronized with a cycle of alternating polarities of the first electrode and the multiple second electrodes. (4) The communication module according to (3) above, wherein the transmitting unit and the receiving unit transmit and receive one bit of the data in one period of transmission and reception. (5) The communication module according to any one of (1) to (4) above, wherein the transmitting unit and the receiving unit transmit and receive the data by wireless communication. (6) The communication module according to (5) above, wherein the transmitter and the receiver transmit and receive the data via a wireless communication method using visible light, infrared light, or a magnetic field. (7) The receiving unit is provided in plurality on the connection surface, The communication module according to any one of (1) to (6) above, wherein the plurality of receivers are provided with variable reception sensitivity. (8) The communication module according to (7) above, wherein the transmitting unit and the multiple receiving units are arranged on the same circumference. (9) The communication module according to any one of (1) to (8) above, wherein the first electrode and the plurality of second electrodes are provided in a shape that fits into each other. (10) the first electrode and the plurality of second electrodes include a fixing mechanism; The communication module according to any one of (1) to (9) above, wherein the fixing mechanism physically connects the first electrode and the second electrodes to each other. (11) The communication module according to any one of (1) to (10) above, which functions as a host to which at least one client is connected. (12) The communication module described in (11) above, wherein the first electrode and the multiple second electrodes supply power to each of the clients simultaneously. (13) The communication module according to (11) or (12), wherein the transmission unit sequentially transmits a device discovery packet to each of the clients. (14) The communication module according to (13) above, wherein the transmitting unit transmits address information identifying the client to each of the clients that respond to the device discovery packet. (15) The communication module according to any one of (1) to (10) above, which functions as a client connected to a host. (16) The communication module according to (15) above, wherein the transmitter and the receiver switch the path for transmitting and receiving the data based on the receiving direction of the signal transmitted from the host. (17) The communication module according to (16) above, wherein the path has a tree structure. (18) The communication module according to any one of (1) to (17) above, wherein the communication module has a polyhedral shape. (19) the connecting surface is provided on the polyhedron in plurality, The communication module according to (18) above, wherein each of the plurality of connection surfaces is provided with the transmitter, the receiver, the first electrode, and a plurality of the second electrodes. (20) supplying power through a first electrode and a plurality of second electrodes, which are arranged in an N-fold symmetric arrangement (N is a natural number of 3 or more) on the connection surface and have mutually different polarities; transmitting and receiving data in a corresponding data communication method at a transmitting section and a receiving section provided at approximately the center inside the first electrode and the plurality of second electrodes on the connection surface; A communication method comprising:

[0135] This application claims priority based on Japanese Patent Application No. 2020-026293, filed on February 19, 2020 in the Japan Patent Office, the entire contents of which are incorporated herein by reference.

[0136] Those skilled in the art will recognize that various modifications, combinations, subcombinations, and variations may occur to those skilled in the art depending on design requirements and other factors, and that such modifications are within the scope of the appended claims and their equivalents.

Claims

1. a transmitting unit and a receiving unit provided at approximately the center of the connection surface, the transmitting unit and the receiving unit configured to transmit and receive data in a corresponding data communication method; a first electrode and a plurality of second electrodes having mutually different polarities and arranged in an N-fold symmetric arrangement (N is a natural number of 3 or more) on the outer periphery of the transmitting section and the receiving section of the connection surface; A communication module comprising:

2. The communication module according to claim 1 , wherein polarities of the first electrode and the second electrodes alternate at a predetermined cycle.

3. The communication module according to claim 2 , wherein the transmitter and the receiver alternately transmit and receive the data in a cycle synchronized with a cycle in which the polarities of the first electrode and the second electrodes are switched.

4. The communication module according to claim 3 , wherein the transmitting section and the receiving section transmit and receive one bit of the data in one period of transmission and reception.

5. The communication module according to claim 1 , wherein the transmitting unit and the receiving unit transmit and receive the data by wireless communication.

6. The communication module according to claim 5 , wherein the transmitting section and the receiving section transmit and receive the data by a wireless communication method using visible light, infrared light, or a magnetic field.

7. The receiving unit is provided in plurality on the connection surface, The communication module according to claim 1 , wherein the plurality of receivers are provided with variable reception sensitivity.

8. The communication module according to claim 7 , wherein the transmitting unit and the plurality of receiving units are provided on the same circumference.

9. The communication module according to claim 1 , wherein the first electrode and the plurality of second electrodes are provided in a shape that fits into each other.

10. the first electrode and the plurality of second electrodes include a fixing mechanism; The communication module of claim 1 , wherein the fastening mechanism physically connects the first electrode and the plurality of second electrodes to each other.

11. The communication module of claim 1 , wherein the communication module functions as a host to which at least one or more clients are connected.

12. The communications module of claim 11 , wherein the first electrode and the plurality of second electrodes simultaneously supply power to each of the clients.

13. The communication module of claim 11 , wherein the transmitter transmits device discovery packets to each of the clients in sequence.

14. The communication module according to claim 13 , wherein the transmitter transmits address information identifying the client to each of the clients that respond to the device discovery packet.

15. The communication module of claim 1 , wherein the communication module functions as a client connected to a host.

16. The communication module according to claim 15 , wherein the transmitter and the receiver switch paths for transmitting and receiving the data based on a receiving direction of a signal transmitted from the host.

17. The communication module of claim 16 , wherein the path has a tree structure.

18. The communication module according to claim 1 , wherein the communication module has a polyhedral shape.

19. the connecting surface is provided on the polyhedron in plurality, The communication module according to claim 18 , wherein each of the plurality of connection surfaces is provided with the transmitter, the receiver, the first electrode, and a plurality of the second electrodes.

20. supplying power through a first electrode and a plurality of second electrodes that are arranged in an N-fold symmetric arrangement (N is a natural number of 3 or more) on the connection surface and have mutually different polarities; transmitting and receiving data in a data communication system corresponding to each other at a transmitting section and a receiving section provided at approximately the center inside the first electrode and the plurality of second electrodes on the connection surface; A communication method comprising:

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