Data transmission method and device for robot using buffer

Patent metadata

Field	Value
Publication number	US-10313150-B2
Application number	US-201715669961-A
Country	US
Kind code	B2
Filing date	Aug 7, 2017
Priority date	Dec 30, 2016
Publication date	Jun 4, 2019
Grant date	Jun 4, 2019

Abstract

The present disclosure relates to a data transmission method for robot, including: transmitting an attribute reporting request to at least one node via an attribute request frame, receiving an attribute reporting response transmitted from the node, updating the length of a buffer according to the attribute reporting response when a length of at least one attribute to be reported being determined to be greater than the length of the buffer. The attribute reporting response carries the length of the attribute data, and receiving the attribute data reported from the node via at least one block data, when the length of the attribute to be reported being determined to be less than or equals to the length of the buffer.

First claim

What is claimed is:

1. A data transmission method for robot, comprising:
transmitting, by a main controller, an attribute reporting request to at least one node via an attribute request frame, wherein the attribute request frame is an extended data frame and the attribute reporting request carries a length of a buffer configured to store attribute data, and the attribute data is in form of block data;
determining, by the node, whether a length of attribute data to be reported is greater than the length of the buffer, transmitting a first attribute reporting response to the main controller in response to the length of the attribute data to be reported being greater than the length of the buffer, and transmitting the attribute data in response to the length of the attribute data to be reported being not greater than the length of the buffer, wherein the first attribute reporting response carries the length of the attribute data to be reported; and
receiving, by the main controller, the first attribute reporting response transmitted from the node, updating the length of the buffer according to the first attribute reporting response, and returning step of transmitting the attribute reporting request to the at least one node via the attribute request frame.

2. The data transmission method for robot according to claim 1 , wherein the method further comprises:
receiving, by the main controller, a second attribute reporting response transmitted from the node after receiving the attribute data, wherein the second attribute reporting response is configured to indicate the attribute data being completely transmitted.

3. The data transmission method for robot according to claim 2 , wherein the extended data frame comprises an arbitration field, the arbitration field comprises an identity sub-field, and the identity sub-field comprises:
a frame-mode indication sub-field configured to indicate a frame analytical method wherein the frame-mode indication sub-field comprises 3 bits comprising M 1 , M 0 , and EM 0 , and values of M 1 , M 0 , and EM 0 comprise 0 or 1;
a channel identification field configured to indicate the channel between the main controller and the node, wherein the channel identification field comprises 16 bits illustrating by CH 15 to CH 0 , a value of the channel identification field is in a range from 0 to 65535, and a zero value indicates a broadcast channel; and
a flag field comprises 10 bits comprising N, END, and I, wherein N indicates a reserved bit, END is configured to indicate the last frame, a value of END is 0 or 1, and I is a self-increasing cycle code configured to indicate a sending serial number of the frame.

4. The data transmission method for robot according to claim 3 , wherein the block data is transmitted via the block data inputting frame, and the block data inputting frame is of the extended data frame format.

5. The data transmission method for robot according to claim 3 , wherein the attribute reporting request is transmitted via a channel between the main controller and the node, and the channel is assigned by the main controller; and
wherein step of determining, by the node, whether the length of the attribute data to be reported is greater than the length of the buffer, comprises:
determining, by the node, whether the attribute reporting request is transmitted via the broadcast channel, and determining whether the length of the attribute data to be reported is greater than the length of the buffer, in response to the attribute reporting request being not transmitted via the broadcast channel.

6. The data transmission method for robot according to claim 3 , wherein the first attribute reporting response and the second attribute reporting response received via a block instruction attribute request response frame, and the block instruction attribute request response frame adopts the extended data frame.

7. The data transmission method for robot according to claim 4 , wherein the receiving step further comprises:
receiving at least one block inputting data transmitted from the node, and the flag field of the block data inputting frame indicating that the attribute data of the node have been completely transmitted.

8. The data transmission method for robot according to claim 6 , wherein the first attribute reporting response and the second attribute reporting response are transmitted via a channel between the main controller and the node, and the channel is assigned by the main controller; and
wherein step of updating the length of the buffer according to the first attribute reporting response, comprises:
determining, by main controller, whether the first attribute reporting response is transmitted via the broadcast channel, and updating the length of the buffer according to the first attribute reporting response, in response to the first attribute reporting response being not transmitted via the broadcast channel; and
wherein after step of receiving, by the main controller, the second attribute reporting response transmitted from the node after receiving the attribute data, the method further comprises:
ignoring, by the main controller, the second attribute reporting response, in response to the second attribute reporting response being transmitted via the broadcast channel.

9. The data transmission method for robot according to claim 7 , wherein the extended data frame format further comprises a data field, the data field comprises a CMD field of 1 bit and a field of 7 bits, the CMD field is configured to indicate a secondary instruction corresponding to different analytical methods of the extended data frame, and the field is configured to indicate the data carried by the secondary instruction.

10. The data transmission method for robot according to claim 4 , wherein the attribute data adopts an ini configuration file format, the ini configuration file format comprises a constant portion and a variable portion, and the attribute data are transformed into a data format carried by the block data inputting frame via coding.

11. The data transmission method for robot according to claim 9 , wherein the data field of the block data inputting frame comprises 8 bits which are configured to carry the data.

12. A data transmission device for robot, comprising:
a transmitter configured to transmit an attribute reporting request to at least one node via an attribute request frame, wherein the attribute request frame is an extended data frame, and the attribute reporting request carries a length of a buffer configured to store attribute data, and the attribute data is in form of block data;
a receiver configured to:
receive a first attribute reporting response transmitted from the node, update the length of the buffer according to the first attribute reporting response, wherein the node determines whether a length of attribute data to be reported is greater than the length of the buffer, transmits the first attribute reporting response to the data transmission device in response to the length of the attribute data to be reported being greater than the length of the buffer, and the first attribute reporting response carries the length of the attribute data to be reported;
receive the attribute data reported from the node wherein the node transmits the attribute data to the data transmission device in response to the length of the attribute data to be reported being not greater than the length of the buffer.

13. The data transmission device for robot according to claim 12 , wherein the receiver is further configured to:
receive a second attribute reporting response transmitted from the node after receiving the attribute data, whe

Assignees

• Ubtech Robotics Corp

Inventors

• Xiong Youjun
• Zhou Hailang
• Zhang Musen

Classifications

• H04L12/40 Primary

  Bus networks · CPC title

• H04L12/40071 Primary

  Packet processing; Packet format (adaptation of digital video signals for transport over a specific network H04N21/2381, H04N21/4363, H04N21/4381; packet switches H04L49/00; intermediate storage or scheduling H04L49/90) · CPC title

• H04L2012/40215

  Controller Area Network CAN · CPC title

• H04L67/12

  specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks · CPC title

• H04L12/40006 Primary

  Architecture of a communication node (current supply arrangements H04L12/10; intermediate storage or scheduling H04L49/90) · CPC title