Walking Robot Communication Path Error Detection
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Solution Overview
Problem
In walking robots, communication errors between joints can occur due to reduced lift spans of communication lines or defects, leading to a lack of communication means when errors occur, especially during increased control data volumes and rapid control cycles, posing a challenge in stabilizing the robot during walking.
Innovation Solution
A walking robot with a ring-structured main and subsidiary communication path, where a master generates a communication protocol with an access counter, transmitted through both paths, and slaves form loop-back paths to detect and judge communication errors, generating an alarm if errors are detected, ensuring stable operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If a point-to-point communication structure is used in a walking robot, then the control cycle can be reduced to milliseconds or less and control velocity increases, but communication errors between devices cannot be detected and there is no communication means to communicate with an end under error occurrence
Solution Approach 1:
The communication path is segmented into multiple independent segments by introducing intermediate slave devices that can independently detect and report communication errors. Each slave device monitors the communication signals passing through it, dividing the overall communication reliability problem into manageable segments that can be individually monitored and reported.
Solution Approach 2:
Slave devices serve as intermediaries between the master controller and other slaves/devices in the communication network. These intermediary devices actively monitor communication signals, detect errors, and provide feedback about communication status, enabling error detection without sacrificing control velocity.
2Adaptability or versatility
If communication lines have reduced lift spans due to robot motions, then the robot achieves greater mobility, but communication lines may be cut or connector portions may be damaged
Solution Approach 1:
The system implements feedback mechanisms where slave devices continuously monitor communication signals and report error status back to the master controller. This feedback enables real-time detection of communication line issues caused by robot motion, allowing the system to respond appropriately while maintaining mobility.
Solution Approach 2:
The communication protocol includes preliminary error detection capabilities built into the signal structure itself, with access counters and error checking mechanisms that proactively identify communication issues before they cause system failure, even during dynamic robot operations.
Data Source
AI summary
A walking robot and a control method thereof. The walking robot includes a main communication path, a subsidiary communication path, at least one master generating a communication protocol and transmitting the communication protocol through the main and subsidiary communication paths, and a plurality of slaves communicably connected to the at least one master through the main and subsidiary communication paths, increasing a value of an access counter of the communication protocol received through the main communication path, decreasing a value of the access counter of the communication protocol received through the subsidiary communication path, and forming loop-back paths connecting the main communication path and the subsidiary communication path when a communication error has occurred, wherein the at least one master judges whether or not the communication error has occurred from the values of the access counter of the communication protocol having passed through the plurality of slaves.