Robot development system and communication method thereof

Robot development system and communication method thereof

  • CN 106,452,679 B
  • Filed: 11/05/2016
  • Issued: 11/20/2020
  • Est. Priority Date: 11/05/2016
  • Status: Active Grant
First Claim
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1. A communication method of a robot development system comprises user side communication, sensing unit communication and action execution unit communication, and is characterized in that:

  • the user side communication is used for transmitting the instruction sent by the interaction unit to the main control unit, and the instruction feedback information is transmitted back to the interaction unit through the user side communication after the instruction is processed by the main control unit;

    the sensing unit is used for transmitting the instruction processed by the main control unit to the sensing unit in a communication way, and the sensing unit transmits sensing feedback information back to the main control unit through the communication of the sensing unit after sensing;

    the action execution unit is communicated with and used for transmitting the instruction processed by the main control unit to the action execution unit, and the action execution unit transmits the feedback information of the executed action back to the main control unit through the communication of the action execution unit after executing the action;

    the user side communication comprises data sending and data receiving, the user side communication is transmitted by a user side data packet, and the format of the user side data packet is frame header, machine code number, instruction type, data length, sub-command data, check frame and frame tail;

    wherein, the frame header is represented by two bytes, which are respectively 0xfe and 0 xef;

    the data length is the data length after four bytes of frame head and frame tail are removed;

    the frame end, represented by two bytes, is 0xfd, 0 xdf;

    the data sending process comprises the following steps;

    the interactive unit sends a user side data packet, the main control unit waits for a response mark, the interaction unit waits for an overtime request to resend the user side data packet, the main control unit receives the response mark (namely the frame tail) and then checks the data of the user side data packet, the interaction unit resends the user side data packet if the user side data packet has an error request, the user side data packet has no error, the response mark is returned to the main control unit, and the data sending is finished;

    the data receiving steps are as follows;

    waiting for receiving, and waiting for receiving the user side data packet data;

    the frame header is checked, the user side data packet is received and stored after no error, and the waiting is continued if the error exists, specifically, the data receiving end receives the first byte and judges whether the byte is 0xfe, if the byte is 0xfe, the second byte is continuously received, the second byte is judged to be 0xef, the frame header is correct, the effective data received later is stored, and the length of the received data is recorded;

    receiving data, receiving and storing a user side data packet;

    end-of-frame checking to end the reception of the user-side data packet with the correct end-of-frame received, specifically, when the received data is 0xfd and the next received data is 0xdf, indicating that the end-of-frame is received, the data packet is ended;

    data verification, namely acquiring the data length in the user side data packet, recording the data length of the received user side data packet, and comparing the data length with the data length of the received user side data packet;

    if the data packets are not consistent, judging that the user side data packet is an error data packet, and requesting the interaction unit to resend the error data packet;

    if the data packets are consistent, calculating a CRC (cyclic redundancy check) value according to the received user side data packets, comparing the calculated CRC value with the CRC value in the user side data packets, if the data packets are equal, determining that the user side data packets are correct data packets, receiving the user side data packets, returning a correct response mark to the interaction unit, if the data packets are not equal, determining that the user side data packets are error data packets, returning an error response mark to the interaction unit, and requesting the interaction unit to resend the data packets;

    the sensing unit communication adopts a bus communication protocol for transmission, specifically, the bus communication protocol is provided with a sending priority control, when the sensing unit sends the sensing feedback information and the main control unit sends an instruction at the same time, the bus preferentially responds to the main control unit with high sending priority, and the sensing unit with low sending priority abandons sending and is converted into receiving the instruction sent by the main control unit with high sending priority;

    when the sensing units send the sensing feedback information, the bus responds to the sensing unit with high sending priority preferentially, the sensing unit with high priority sends the sensing feedback information to the main control unit, and the sensing unit with low sending priority abandons sending and changes into receiving the instruction sent by the main control unit;

    the action execution unit adopts a bus communication protocol for transmission, specifically, the bus communication protocol is provided with a sending priority control, when the action execution unit sends the execution action feedback information and the main control unit sends an instruction at the same time, the bus responds to the main control unit with high sending priority level preferentially, and the action execution unit with low sending priority level abandons sending and changes to receiving the instruction sent by the main control unit with high sending priority level;

    when the action execution units send the execution action feedback information, the bus responds to the action execution unit with high sending priority level preferentially, the action execution unit with high priority level sends the execution action feedback information to the main control unit, and the action execution unit with low sending priority level abandons the sending to be converted into receiving the instruction sent by the main control unit.

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