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CN-122027587-A - Peripheral gateway communication architecture for robots

CN122027587ACN 122027587 ACN122027587 ACN 122027587ACN-122027587-A

Abstract

The invention provides a peripheral gateway communication architecture for robots, which belongs to the field of robot communication and comprises a plurality of peripheral gateway modules and a first Ethernet switch, wherein a hardware dial switch is configured on each peripheral gateway module and is used for configuring an IP address for each peripheral gateway module, the plurality of peripheral gateway modules are respectively connected with a downlink port of the first Ethernet switch through Ethernet cables and are used for connecting at least one robot peripheral, peripheral data are acquired and packaged according to a predefined Ethernet protocol, a hardware timestamp is embedded in a data packet to form a standard uplink data packet, the uplink port of each first Ethernet switch is connected to a robot controller through the Ethernet cables and is used for receiving and forwarding the standard uplink data packet to the robot controller and receiving a downlink control instruction data packet of the robot controller, and the downlink control instruction data packet is forwarded to the corresponding peripheral gateway module according to a target IP address.

Inventors

  • Request for anonymity

Assignees

  • 北京加速进化科技有限公司

Dates

Publication Date
20260512
Application Date
20260206

Claims (9)

  1. 1. A peripheral gateway communication architecture for a robot is characterized by comprising a plurality of peripheral gateway modules and a first Ethernet switch; The peripheral gateway module is provided with a hardware dial switch for configuring an IP address for the peripheral gateway module; The plurality of peripheral gateway modules are respectively connected with the downlink port of the first Ethernet switch through Ethernet cables and are used for connecting at least one robot peripheral, acquiring peripheral data, packaging according to a predefined Ethernet protocol, embedding a hardware time stamp into a data packet and forming a standard uplink data packet; The uplink port of the first Ethernet switch is connected to the robot controller through an Ethernet cable and is used for receiving and forwarding the standard uplink data packet to the robot controller, receiving the downlink control instruction data packet of the robot controller and forwarding the downlink control instruction data packet to the corresponding peripheral gateway module according to the target IP address.
  2. 2. The peripheral gateway communication architecture for a robot of claim 1, wherein the peripheral gateway module comprises a 3-way CAN interface, a 1-way RS485 interface, a second ethernet switch, and an ARM processor; The CAN interface and the RS485 interface are respectively connected with an actuator or a sensor of the robot and are used for receiving and transmitting peripheral data; The ARM processor is in communication connection with the CAN interface, the RS485 interface and the second Ethernet switch, and is used for packaging peripheral data according to a predefined Ethernet protocol, embedding a hardware time stamp into a data packet to form a standard uplink data packet and analyzing a downlink control instruction data packet from the second Ethernet switch; the second ethernet switch is connected to the first ethernet switch and the ARM processor, and is configured to upload the standard uplink data packet to the first ethernet switch, forward a downlink control instruction data packet from the first ethernet switch to the ARM processor, and support connecting a plurality of peripheral gateway modules in a cascade manner to construct a distributed device network.
  3. 3. The peripheral gateway communication architecture for a robot of claim 2, wherein the peripheral gateway module further comprises a 1-way RS232 interface, the RS232 interface is connected to a sensor of the robot, and the ARM processor is further configured to encapsulate peripheral data of the RS232 interface according to a predefined ethernet protocol, and embed a hardware timestamp in a data packet to form a standard uplink data packet.
  4. 4. A peripheral gateway communication architecture for a robot as recited in claim 3, wherein the peripheral gateway module further comprises a 1-way TTL interface, the TTL interface being connected to a sensor of the robot, and wherein the ARM processor is further configured to encapsulate peripheral data of the TTL interface according to a predefined ethernet protocol, and embed a hardware timestamp in a data packet to form a standard upstream data packet.
  5. 5. The architecture of claim 4, wherein the 3-way CAN interface is an isolated interface chip, and supports a maximum of 5Mbps baud rate, the RS485 interface supports a maximum of 10Mbps baud rate, the RS232 interface supports a maximum of 5Mbps baud rate, and the TTL interface supports a maximum of 5Mbps baud rate.
  6. 6. The peripheral gateway communication architecture for a robot of claim 4, further comprising a driver software system developed based on FreeRTOS real-time operating system and LWIP network protocol stack; the driving software system comprises a driving layer and an application layer, wherein the driving layer is connected with a CAN interface, an RS485 interface, an RS232 interface and a TTL interface of the peripheral gateway module, is communicated with an upper application layer through a UDP protocol, realizes the forwarding of network data to each actuator and each sensor of the robot, packages feedback data of each actuator and each sensor and reports the feedback data to the application layer.
  7. 7. The architecture of claim 6, wherein the driver layer pre-implements a plurality of communication or control services based on IService base classes, the services including CAN data transceiver services, serial port baud rate configuration services, and the driver layer registers the services to a local service list via ServiceDescribe.
  8. 8. The architecture of claim 7, wherein the application layer specifies a service ID and provides corresponding service data by means of RPC remote call, and calls a service in a local service list, and the driver layer queries whether the service ID exists after receiving the RPC call data, and if so, gives the data to the specified service, and the service calls Invoke () method to execute a specific function.
  9. 9. The architecture of claim 5, wherein the second ethernet switch comprises an input port, an output port, and a port coupled to the ARM processor, the input port and the output port configured to implement a cascade extension of the peripheral gateway module.

Description

Peripheral gateway communication architecture for robots Technical Field The invention relates to the technical field of robot communication, in particular to a peripheral gateway communication architecture for a robot. Background At the moment of rapid development of robot technology, real-time communication between an actuator and a controller as well as between a sensor and the controller is a core for guaranteeing precise operation and efficient response of the robot. At present, various bus technologies are commonly adopted in the industry to construct a communication link, wherein the communication between an actuator and a controller depends on buses such as CAN, RS485, etherCAT and the like, and the communication between a sensor and the controller usually adopts bus schemes such as TTL, RS232, RS485, etherCAT, ethernet and the like, and various buses adapt to different scene demands by virtue of the characteristics of the buses. From the view of an actuator communication scene, the CAN bus has the remarkable advantages of low cost, excellent real-time performance, strong anti-interference capability and high reliability, and is widely applied to middle-low end robots and simple working conditions. But the transmission rate is low, the number of the actuators which can be loaded by the single-path bus is limited, and the communication requirement of the multi-degree-of-freedom robot is difficult to meet. In the aspect of sensor communication, serial buses such as TTL, RS232, RS485 and the like become the mainstream choice of sensor data transmission due to simple structure and controllable cost. However, the serial port communication mostly adopts an asynchronous transmission mode, and has compatibility difference with a communication mechanism adopted by an actuator, so that data such as position, posture, force sense and the like acquired by a sensor are difficult to realize accurate synchronization with control instructions and running state data of the actuator. Insufficient data synchronism can cause control delay and action deviation of the robot, and stability of task execution is affected when serious, so that severe requirements of the high-precision robot on cooperative data transmission cannot be met. In summary, in the communication scene of the multi-degree-of-freedom robot and the high-precision robot, the existing bus technology has short boards in the aspects of transmission capability, load capacity, data synchronism and the like, and is difficult to meet the requirements of real-time performance, reliability, high bandwidth and multi-device adaptation. Disclosure of Invention The invention provides a peripheral gateway communication architecture for a robot, which is used for solving the defect that the peripheral gateway communication architecture structure for the robot in the prior art is complex and is simple to realize. The invention provides a peripheral gateway communication architecture for a robot, which comprises a plurality of peripheral gateway modules and a first Ethernet switch; The peripheral gateway module is provided with a hardware dial switch for configuring an IP address for the peripheral gateway module; The plurality of peripheral gateway modules are respectively connected with a downlink port of the first Ethernet switch through Ethernet cables and are used for connecting at least one robot peripheral, acquiring peripheral data, packaging according to a predefined Ethernet protocol, and embedding a hardware time stamp into a data packet to form a standard uplink data packet; The uplink port of the first Ethernet switch is connected to the robot controller through an Ethernet cable and is used for receiving and forwarding the standard uplink data packet to the robot controller, receiving the downlink control instruction data packet of the robot controller and forwarding the downlink control instruction data packet to the corresponding peripheral gateway module according to the target IP address. In addition, the peripheral gateway communication architecture for robots according to the present invention may further have the following additional technical features: in some embodiments of the present invention, the peripheral gateway module includes a 3-way CAN interface, a 1-way RS485 interface, a second ethernet switch, and an ARM processor; The CAN interface and the RS485 interface are respectively connected with an actuator or a sensor of the robot and are used for receiving and transmitting peripheral data; The ARM processor is in communication connection with the CAN interface, the RS485 interface and the second Ethernet switch and is used for packaging peripheral data according to a predefined Ethernet protocol, embedding a hardware time stamp into the data packet to form a standard uplink data packet and analyzing a downlink control instruction data packet from the second Ethernet switch; the second Ethernet switch is connected with the first Ethernet swi