CN106965167A - Modularization robot optimization of inside structure method - Google Patents

Abstract

The present invention provides a kind of modularization robot optimization of inside structure method, including：Q1 obtains the element to be assembled in robot module of user's input and sets the locus of each element to constrain；The component size that Q2 is inputted according to user obtains the submodule length of side S of robot module candidate collection；A value in Q3 selection candidate collections, by default element orders and the RANDOM SOLUTION and its correspondence global energy functional value of additional space position constraint one internal structure of acquisition；Q4 obtains the adjacent solution and its correspondence global energy functional value of RANDOM SOLUTION, and the internal structure of optimization is obtained using default optimized algorithm；Q5 judges whether to have traveled through above-mentioned candidate collection, if the internal structure of the optimization then obtained is final optimization of inside structure result, otherwise return to step Q3, existing module robot architecture design can be overcome more excellent than the existing artificial result for empirically carrying out structure design according to the shortcomings of the different type manual designs of user's input element.

Description

Modularization robot optimization of inside structure method

Technical field

The present invention relates to modularization robot technical field, more particularly to a kind of modularization robot optimization of inside structure side Method.

Background technology

Modularization robot is assembled by a large amount of identical robot modules, can according to environment and the difference of task, It is flexible to change configuration.Each module can be considered as a simple robot cell, possess disposal ability, carry and drive Device, sensor, power supply, connecting element and communication device.Compared to traditional fixed configuration robot, modularization robot is by increasing Subtract certain module or existing module is reconfigured, another adapt to newly can be transformed to rapidly by certain geometric configuration The configuration of environment, new task.In recent years, modularization robot has turned into the focus that academia and industrial quarters research are paid close attention to.

Different modularization robot appearance differences is larger, from the point of view of slave module structure, can be divided into single mode block type and Shuangzi Module type.In the modularization robot of single module each module be separated from each other, it is necessary to when be connected with each other again, such as Massachusetts science and engineering M-BLOCKS that institute proposes, the SMORES that the University of Pennsylvania proposes etc.；Each mould in the modularization robot of Shuangzi module Block is made up of two inseparable submodules and connector, such as the M-TRAN that Japanese industries Technical Integration Studies are proposed, Lip river Roombots that the Sang Lianbang Institute of Technology proposes etc..

At present, existing Shuangzi inside modules construction design method needs people to have been manually done, very cumbersome, when selection not With element when, generally require manual redesign, the quality of design result relies on the experience of designer, it is difficult to ensure that obtaining More excellent result.

In consideration of it, how the element for selecting user according to the intended applications of modularization robot be reasonably in the layout of it is double Turn into the current technical issues that need to address in the robot module of sub-module types.

The content of the invention

To solve above-mentioned technical problem, the present invention provides a kind of modularization robot optimization of inside structure method, can Realize the layout of element progress automatically and reasonably in the robot module of Shuangzi module type that input user, to be assembled simultaneously Relevant position generates supporting construction inside robot module, so as to obtain a kind of modularization robot internal structure of optimization.

The present invention provides a kind of modularization robot optimization of inside structure method, including：

Q1, the element to be assembled in robot module for obtaining user's input, and each element for setting user to input Locus constraint；

Q2, the element inputted according to user size, obtain the length of side S of the submodule of robot module Candidate Set Close；

A value in Q3, selection length of side S candidate collection, according to default element orders and corresponding space Position constraint, obtains the corresponding global energy functional value of RANDOM SOLUTION and the RANDOM SOLUTION of an internal structure；

Q4, the adjacent solution for obtaining the RANDOM SOLUTION and the corresponding global energy functional value of the adjacent solution, utilize default optimization Algorithm, obtains the internal structure of optimization；

Q5, judge whether to have traveled through the candidate collection of the length of side S, if so, the internal structure of the optimization then obtained is most Whole optimization of inside structure result, if it is not, then returning to the step Q3.

Alternatively, the robot module is the robot module of Shuangzi module type, is made up of two submodules；It is described Two submodules are respectively son's module and mother and sons' module, are fixed and connected using connector between son's module and mother and sons' module Connect, it is inseparable；

The mother and sons' module for tangling another robot module is stretched out by son's module of a robot module, it is real The connection of existing two robot modules, point that the hook tangled realizes two robot modules has been stretched out by withdrawing son's module From；

The shell of son's module and mother and sons' module is the association that semicylinder is constituted with cuboid, wherein, it is long The length of side of cube is respectively S, S+1 and S/2, a diameter of S of the bottom surface semicircle of semicylinder, a height of S+1 of semicylinder, and S is Default positive number, by the way that a length of S+1 in semicylinder, a width of S rectangular planes are superimposed upon into a length of S+1 in cuboid, a width of S A rectangular planes on constitute and be provided with rotation between the association, the center of circle of two bottom surface semicircles of the semicylinder Rotating shaft, son's module and mother and sons' module can rotate 180 degree around the rotary shaft of itself；

The shell of son's module has three planes, and the position of centre of gravity of each plane is provided with for stretching out and receiving Hang back the in-line groove of hook；The shell of mother and sons' module has three planes, and the position of centre of gravity of each plane is provided with Groove for tangling hook.

Alternatively, the element to be assembled in robot module of user's input, including：One battery, two masters Steering wheel, three small steering wheels and two control boards；

Wherein, two control boards are arranged in mother and sons' module；

One main rudder machine is arranged in son's module, with the control board company being arranged in mother and sons' module Connect, for the instruction sent according to connected control board, control son's module to be rotated around the rotary shaft of itself；

Another main rudder machine is arranged in mother and sons' module, with the control board company being arranged in mother and sons' module Connect, for the instruction sent according to connected control board, control mother and sons' module to be rotated around the rotary shaft of itself；

Three small steering wheels are separately positioned in three planes of son's module, respectively with being arranged on the mothers and sons Control board connection in module, wherein, the instruction that each small steering wheel is sent according to connected control board respectively, The stretching and withdrawal of the hook set in son's module flat where controlling it.

Alternatively, the step Q1 is when setting the locus constraint of each element of user's input, to any element c_i, i=1,2 ..., 8, select its bounding box BBox (c_i) one of two maximum faces of area are used as bottom surface in upper six faces, utilize Five dimension coordinatesDetermine the element c_iPosition, wherein,For bounding box BBox (c_i) barycentric coodinates,For for specifying bounding box BBox (c_i) bottom surface normal direction two spherical angles；

Correspondingly, the locus constraint of each element of user's input, including：

Constraint 1：Any element c_iBounding box BBox (c_i) it is being contained in Ω_M(S)∪Ω_F(S), wherein, Ω_M(S) represent By the shell area encompassed of son's module, Ω_F(S) represent by the shell area encompassed of mother and sons' module；

Constraint 2：Steering wheel SmallServo three small in son's module_mThere are two times in corresponding shell plane Bit selecting is put, and the location candidate set of wherein m=1,2,3, m-th small steering wheels is： Wherein,For the 1st position candidate of small m-th steering wheel,For the 2nd time of small m-th steering wheel Bit selecting is put；

Constraint 3：Make the main rudder machine MainServo in son's module₁Rotary shaft overlapped with y-axis, then son's mould Main rudder machine MainServo in block₁Five dimension coordinates in three parametersWithIt is unique It is determined that, the main rudder machine MainServo in son's module₁Location candidate set be

Constraint 4：Main rudder machine MainServo in son's module₁With the main rudder in mother and sons' module Machine MainServo₂Y-axis direction coordinate it is identical：Then in son's module After the position candidate of main rudder machine is determined, the main rudder machine MainServo in mother and sons' module₂Location candidate set is

Constraint 5：Control board ctrl in the battery battery, son's module₁In mother and sons' module Control board ctrl₂Location candidate set be respectively Γ_battery、WithWherein,WithIn position candidate be five dimension coordinatesWherein, c_i=battery, ctrl₁,ctrl₂。

Alternatively, the step Q2 includes：

The size of the element inputted according to user, is calculated by the first formula and obtained in son's module/mother and sons' module Length is the length minimum value S on S+1 side_min+ 1, and then obtain S minimum value S_min；

The size of the element inputted according to user, is calculated by the second formula and obtained in son's module/mother and sons' module Length is the length maximum S on S+1 side_max+ 1, and then obtain S maximum S_max；

In S in the form of arithmetic progression_minAnd S_maxBetween choose predetermined number numerical value, constitute length of side S candidate collection；

Wherein, first formula is：

S_min+ 1=H_MainServo+2×W_SmallServo+2×W_Link+ τ,

Wherein, H_MainServoFor the height of main steering wheel fuselage sections, W_SmallServoFor small steering wheel thickness, W_LinkFor single connection Part width, τ is tolerance；

Second formula is：

Wherein,For the thickness of the control board in son's module,For the control board in mother and sons' module Thickness, W_batteryFor the thickness of battery.

Alternatively, the step Q3 includes：

A value in Q31, selection length of side S candidate collection, according to selected S value and each element Locus constraint, calculate each element c_iLocation candidate set Γ_i；

Q32, to each element c_i, in its location candidate set Γ_iOne position candidate of middle selection, and be the candidate automatically Position generates supporting construction, obtains the RANDOM SOLUTION s of an internal structure；

Q33, according to default element orders, judge whether current internal structure s collides；

Q34, the internal structure s for not colliding, calculate its structural strength, space availability ratio and can assemble respectively Property, and by the 3rd formula by the structural strength, space availability ratio and assembling capacity weighted sum, obtain current internal structure S energy function value F；

Wherein, the 3rd formula is：

F=w₁f_struct+w₂f_space+w₃f_assembly

Wherein, f_structFor structural strength, f_spaceFor space availability ratio, f_assemblyFor assembling capacity, w₁For structural strength Weight, w₂For the weight of space availability ratio, w₃For the weight of assembling capacity, w₁、w₂And w₃It is nonnegative value.

Alternatively, the step Q33, including：

Internal structure set struct is initially set to empty set

Given set I=i | and i=1,2,3 ..., 8 }, correspondingly default element orders are：

{SmallServo₁,SmallServo₂,SmallServo₃,MainServo₁,

MainServo₂,battery,ctrl₁,ctrl₂}；

According to the default element orders, each element c in current internal structure s is judged_iWhether with it is existing Struct collides；

In the event of colliding, return and perform the step Q32；

It is current elements c if do not collided_iGenerate its supporting construction S (c_i), and update internal using the 4th formula Structured set struct value；

Work as i==5, determine position and the revolution space Sweep of connector_link, and update internal junction using the 5th formula Structure set struct value；

If all 8 elements judge to finish and do not collide, it is determined that current internal structure s does not collide；

Wherein, the 4th formula is：

Struct=struct ∪ c_i∪S(c_i)；

5th formula is：

Struct=struct ∪ Sweep_link。

Alternatively, the internal structure s not collided for judging to obtain, calculates its structural strength, sky respectively Between utilization rate and assembling capacity, including：

For the internal structure s not collided for judging to obtain：

Apply the torque of gravity and steering wheel as external force, using the 6th formula, calculating obtains structural strength f_struct；

Using the 7th formula, calculating obtains space availability ratio f_space；

Component placement in the internal structure s not collided obtains a corresponding assembling matrix M, and M is n × n Square formation, n is (i, j) representation element c in number of elements, M_iIn element c_jIn the presence of do not collide in the case of assembling side To；According to preassigned Assembly sequences Π=(c₁,c₂,…,c_n), calculate V (i)=∩_j<iM (i, j), wherein c_jRepresent in c_i The element assembled before；And if only ifWhen, Π is effective Assembly sequences；Calculate effective Assembly sequences Π= (c₁,c₂,…,c_n) redirection number of times, and according to the redirection number of times, using the 8th formula, calculating obtains assembling capacity；

Wherein, the 6th formula is：

Wherein, σ_{abs_max}For the maximum absolute stress on internal structure s, σ_refFor preset reference stress；

7th formula is：

Wherein, Vol_maleFor the volume of son's module, Vol_femaleFor the volume of mother and sons' module, Vol (c_i) it is element c_i's Volume；

8th formula is：

Wherein, n_reorientFor effective Assembly sequences Π redirection number of times.

Alternatively, it is described to calculate effective Assembly sequences Π=(c₁,c₂,…,c_n) redirection number of times, including：

IfThen in assembling c_i,…,c_jDuring be not required to redirect, ifAndThen assemble c_j+1When need once to redirect；Count effective Assembly sequences Π=(c₁,c₂,…,c_n) Redirect number of times.

Alternatively, the default optimized algorithm is simulated annealing, correspondingly, the step Q4, including：

R1, set optimal energy functional value to be initial value, give set I={ i | i=1,2,3 ..., 8 }, it is correspondingly default Element orders are：

{SmallServo₁,SmallServo₂,SmallServo₃,MainServo₁,

MainServo₂,battery,ctrl₁,ctrl₂, adjacent solution s '=s is set,

Indicate flag=true；

If R2, flag=true, the number i in set I is randomly choosed, in the corresponding location candidate set Γ of i_iIt is interior Randomly choose another position and obtain internal structure s ' instead of current location；

R3, the current internal structure s in the step Q33 replaced with into internal structure s ', by performing the step Q33, judges whether internal structure s ' collides；If internal structure s ' collides, return and perform the step R2；Such as Fruit internal structure s ' does not collide, then flag=false, using the s ' not collided as RANDOM SOLUTION s adjacent solution；

R4, the internal structure s not collided in the step Q34 is replaced with to the s ' not collided, pass through and perform The step Q34, the energy function value for the s ' not collided；

R5, the Metropolis criterions according to simulated annealing, calculating are changed into its adjacent solution s ' from current RANDOM SOLUTION s Possibility probability P；

If R6, possibility probability P are more than predetermined threshold value, current RANDOM SOLUTION s is updated to s ', and T is updated to 0.95T；

R7, circulation perform the step R1-R6, until iterations reaches preset times and F '-F<0；

If R8, the energy function value of current RANDOM SOLUTION are less than optimal energy functional value, current internal structure is updated, and Optimal energy functional value is updated to the energy function value of current RANDOM SOLUTION；

Wherein, the predetermined threshold value is a random number between 0 to 1, and the Metropolis of the simulated annealing is accurate It is then：

Wherein, T is Current Temperatures, and F is current RANDOM SOLUTION s energy function value, and F ' is current RANDOM SOLUTION s adjacent solution s ' Energy function value.

As shown from the above technical solution, modularization robot optimization of inside structure method of the invention, by Q1, obtains and uses The element to be assembled in robot module of family input, and the locus constraint of each element of user's input is set；Q2、 The size of the element inputted according to user, obtains the length of side S of the submodule of robot module candidate collection；Q3, selection A value in the candidate collection of the length of side S, constrains according to default element orders and corresponding locus, obtains one The RANDOM SOLUTION of individual internal structure and the corresponding global energy functional value of the RANDOM SOLUTION；Q4, the adjacent solution for obtaining the RANDOM SOLUTION and The corresponding global energy functional value of adjacent solution, utilizes default optimized algorithm, obtains the internal structure of optimization；Q5, judge whether Length of side S candidate collection is traveled through, if the internal structure of the optimization then obtained is final optimization of inside structure result, if otherwise Return to step Q3, thereby, it is possible to realize the element inputting user, to be assembled in the robot module of Shuangzi module type Carry out layout automatically and reasonably and relevant position generates supporting construction inside robot module, so as to obtain a kind of mould of optimization Block robot interior structure, overcome existing module robot architecture design need inputted according to user, it is to be assembled The shortcoming of the different type manual designs of element in the robot module of Shuangzi module type, it is artificial according to warp compared to existing Result is more excellent for the carry out structure design tested.

Brief description of the drawings

A kind of flow signal for modularization robot optimization of inside structure method that Fig. 1 provides for one embodiment of the invention Figure；

Fig. 2 is the contour structures schematic diagram of the robot module of Shuangzi module type provided in an embodiment of the present invention；

Fig. 3 is the change in coordinate axis direction of five dimension coordinate provided in an embodiment of the present invention and the length of side corresponding relation of submodule；

Fig. 4 is two position candidates of the small steering wheel provided in an embodiment of the present invention in the respective planes of son's module housing Schematic diagram；

Fig. 5 be son's module provided in an embodiment of the present invention in main rudder machine position candidate schematic diagram；

Fig. 6 be mother and sons' module provided in an embodiment of the present invention in main rudder machine position candidate schematic diagram；

Fig. 7 is the two-dimensional graphical layout in a kind of robot module provided in an embodiment of the present invention and its corresponding assembling Matrix schematic diagram；

Fig. 8 is the entity structure schematic diagram of a kind of electronic equipment provided in an embodiment of the present invention.

Embodiment

To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention In accompanying drawing, clear, complete description is carried out to the technical scheme in the embodiment of the present invention, it is clear that described embodiment is only Only it is a part of embodiment of the invention, rather than whole embodiments.Based on embodiments of the invention, ordinary skill people The every other embodiment that member is obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.

Fig. 1 shows the flow signal for the modularization robot optimization of inside structure method that one embodiment of the invention is provided Figure, as shown in figure 1, the modularization robot optimization of inside structure method of the present embodiment is as described below.

Q1, the element to be assembled in robot module for obtaining user's input, and each element for setting user to input Locus constraint.

In a particular application, Fig. 2 is referred to, the robot module is the robot module of Shuangzi module type, by two Individual submodule composition；Described two submodules are respectively son's module 01 and mother and sons' module 02, son's module 01 and mothers and sons It is fixedly connected between module 02 using connector 03, it is inseparable；

The mother and sons' module for tangling another robot module is stretched out by son's module 01 of a robot module 02, the connection of two robot modules is realized, the hook tangled has been stretched out by withdrawing son's module 01 and has realized Liang Ge robots The separation of module；

The shell of son's module 01 and mother and sons' module 02 is the association that semicylinder is constituted with cuboid, can be joined Fig. 3 is examined, wherein, the length of side of cuboid is respectively S, S+1 and S/2, a diameter of S of the bottom surface semicircle of semicylinder, semicylinder A height of S+1, S is default positive number, by the way that a length of S+1 in semicylinder, a width of S rectangular planes are superimposed upon in cuboid The association, the circle of two bottom surface semicircles of the semicylinder are constituted on a length of S+1, an a width of S rectangular planes Rotary shaft is provided between the heart, son's module 01 and mother and sons' module 02 can rotate 180 degree around the rotary shaft of itself；

The shell of son's module 01 has three planes, the position of centre of gravity of each plane be provided with for stretching out and Withdraw the in-line groove of hook；The shell of mother and sons' module 02 has three planes, and the position of centre of gravity of each plane is all provided with It is equipped with the groove for tangling hook.For example, the groove for being used to tangle hook can be imperfect shown in Fig. 2 Cross groove.

In a particular application, the element to be assembled in robot module of user's input, can include：One electricity Pond, two main rudder machines, three small steering wheels and two control boards；

Wherein, two control boards are arranged in mother and sons' module；

One main rudder machine is arranged in son's module, with the control board company being arranged in mother and sons' module Connect, for the instruction sent according to connected control board, control son's module to be rotated around the rotary shaft of itself；

Another main rudder machine is arranged in mother and sons' module, with the control board company being arranged in mother and sons' module Connect, for the instruction sent according to connected control board, control mother and sons' module to be rotated around the rotary shaft of itself；

Three small steering wheels are separately positioned in three planes of son's module, respectively with being arranged on the mothers and sons Control board connection in module, wherein, the instruction that each small steering wheel is sent according to connected control board respectively, The stretching and withdrawal of the hook set in son's module flat where controlling it.

For example, first control board in mother and sons' module can use ATmega328P as control core Piece, and integrated bluetooth module, second control board for receiving in instruction, mother and sons' module can be with integrated wireless mould Block is used for intermodule communication, and provides the socket of steering wheel, and signal is provided for steering wheel.

In a particular application, the step Q1 is when setting the locus constraint of each element of user's input, to appointing Anticipate element c_i, i=1,2 ..., 8, select its bounding box BBox (c_i) one of two maximum faces of area are used as bottom in upper six faces Face, utilizes five dimension coordinatesDetermine the element c_iPosition, wherein,For Bounding box BBox (c_i) barycentric coodinates,For for specifying bounding box BBox (c_i) bottom surface normal direction two spheres Angle；

Correspondingly, the locus constraint of each element of user's input, can include following constraint 1- constraints 5：

Constraint 1：Any element c_iBounding box BBox (c_i) it is being contained in Ω_M(S)∪Ω_F(S), wherein, Ω_M(S) represent By the shell area encompassed of son's module, Ω_F(S) represent by the shell area encompassed of mother and sons' module.

Constraint 2：Steering wheel SmallServo three small in son's module_mThere are two times in corresponding shell plane Bit selecting is put, and the location candidate set of wherein m=1,2,3, m-th small steering wheels is： Wherein,For the 1st position candidate of small m-th steering wheel,For the 2nd time of small m-th steering wheel Bit selecting is put.

It is understood that because the effect of three small steering wheels in son's module is its place son's module of control The stretching and withdrawal of set hook in the plane of shell, and being used for of being set in son's module stretches out and withdraws hook In-line groove each plane position of centre of gravity, therefore, each small steering wheel in the respective planes of son's module housing only With two position candidates, Fig. 4 is referred to.

Constraint 3：Make the main rudder machine MainServo in son's module₁Rotary shaft overlapped with y-axis, then the son Main rudder machine MainServo in module₁Five dimension coordinates in three parametersWithIt is now uniquely determined, the main rudder machine MainServo in son's module₁Location candidate set beRefer to Fig. 5.

It is understood that due to the main rudder machine MainServo in each submodule (son's module/mother and sons' module)₁With In controlling son's module to be rotated around the rotary shaft of itself, so the rotary shaft weight that the rotary shaft of main rudder machine should be with the submodule Close, the submodule can be made to be rotated against with connector, in the son's module and mother and sons' module in uniform machinery people's module The connecting line of main rudder machine center of gravity should be vertical with y-axis direction, refer to Fig. 6.

Constraint 4：Main rudder machine MainServo in son's module₁With the main rudder machine MainServo in mother and sons' module₂ Y-axis direction coordinate it is identical：Then the position candidate of the main rudder machine in son's module is true After fixed, the main rudder machine MainServo in mother and sons' module₂Location candidate set isIt can join Examine Fig. 6.

Constraint 5：Control board ctrl in the battery battery, son's module₁In mother and sons' module Control board ctrl₂Location candidate set be respectively Γ_battery、WithWherein, Γ_battery、WithIn position candidate be five dimension coordinatesWherein, c_i=battery, ctrl₁,ctrl₂。

Q2, the element inputted according to user size, obtain the length of side S of the submodule of robot module Candidate Set Close.

In a particular application, the step Q2 can include the step Q21-Q23 not shown in figure：

Q21, the element inputted according to user size, are calculated by the first formula and obtain the son's module/mother son die Length is the length minimum value S on S+1 side in block_min+ 1, and then obtain S minimum value S_min。

Wherein, first formula is：

S_min+ 1=H_MainServo+2×W_SmallServo+2×W_Link+τ (1)

Wherein, H_MainServoFor the height of main steering wheel fuselage sections, W_SmallServoFor small steering wheel thickness, W_LinkFor single connection Part width, τ is tolerance.

For example, it is 39 × 21 × 8 (millimeter mm) 7.4v by length, width and height of the battery in the element that user inputs, 500mAh chargeable lithium cells, two main rudder machines be length, width and height be 32 × 11.5 × 30 (mm) HX1218D main rudder machines, three Small steering wheel be length, width and height be 32 × 12.2 × 29 (mm) the small steering wheels of SG90, and length, width and height be 31.75 × 20.96 respectively × Exemplified by 2.85 (mm) and 27.94 × 14.65 × 1.71 (mm) two control boards：Length is minimum for the length on S+1 side Value S_min+ 1=27.2+2 × 12.2+2 × 6+ τ ≈ 69mm, wherein, the height (y-axis direction length) of main rudder machine fuselage sections is 27.2mm, small steering wheel thickness is 12.2mm, and single connector width is 6mm, and tolerance τ is set to 5mm.

Q22, the element inputted according to user size, are calculated by the second formula and obtain the son's module/mother son die Length is the length maximum S on S+1 side in block_max+ 1, and then obtain S maximum S_max。

Wherein, second formula is：

Wherein,For the thickness of the control board in son's module,For the control circuit in mother and sons' module The thickness of plate, W_batteryFor the thickness of battery.

By taking step Q21 given examples as an example, length is the length maximum S on S+1 side_max+ 1=69+2.85+1.71+8 ≈ 82mm, wherein, 2.85,1.71,8 be respectively the thickness of two control boards and battery.

Q23, in the form of arithmetic progression in S_minAnd S_maxBetween choose predetermined number numerical value, constitute length of side S candidate Set.

By taking step Q21 given examples as an example, it is assumed that predetermined number numerical value is 4, can select S={ 68,72,76,81 } For length of side S candidate collection.

A value in Q3, selection length of side S candidate collection, according to default element orders and corresponding space Position constraint, obtains the corresponding global energy functional value of RANDOM SOLUTION and the RANDOM SOLUTION of an internal structure.

In a particular application, the step Q3 can include the step Q31-Q34 not shown in figure：

A value in Q31, selection length of side S candidate collection, according to selected S value and each element Locus constraint, calculate each element c_iLocation candidate set Γ_i。

Q32, to each element c_i, in its location candidate set Γ_iOne position candidate of middle selection, and be the candidate automatically Position generates supporting construction, obtains the RANDOM SOLUTION s of an internal structure.

Q33, according to default element orders, judge whether current internal structure s collides.

Specifically, the step Q33 can include the step T1-T5 not shown in figure：

T1, internal structure set struct is initially set to empty set

T2, given set I={ i | i=1,2,3 ..., 8 }, correspondingly default element orders are：

{SmallServo₁,SmallServo₂,SmallServo₃,MainServo₁,

MainServo₂,battery,ctrl₁,ctrl₂}。

T3, according to the default element orders, judge each element c in current internal structure s_iWhether with it is existing Struct collides；In the event of colliding, return and perform the step Q32；It is current elements c if do not collided_iIt is raw Into its supporting construction S (c_i), and utilize the 4th formula renewal internal structure set struct value.

Wherein, the 4th formula is：

Struct=struct ∪ c_i∪S(c_i) (3)。

It is understood that the step Q33 is after the step Q32 generates a RANDOM SOLUTION, current internal is checked Whether structure s collides；If collision, it is returned to the execution step Q32 and regenerates a RANDOM SOLUTION, until generation one The individual RANDOM SOLUTION not collided.

T4, work as i==5, determine position and the revolution space Sweep of connector_link, and update internal using the 5th formula Structured set struct value.

Wherein, the 5th formula is：

Struct=struct ∪ Sweep_link (4)。

It is understood that once the position on main rudder machine y-axis direction determines that the position of the end connection of main rudder machine two also can Uniquely determine, the rotating range of connector is 180 °, and inswept space (i.e. revolution space) is Sweep_link。

If T5, all 8 elements judge to finish and do not collide, it is determined that current internal structure s is not touched Hit, illustrate that current internal structure s's is rationally distributed.

Q34, the internal structure s for not colliding, calculate its structural strength, space availability ratio and can assemble respectively Property, and by the 3rd formula by the structural strength, space availability ratio and assembling capacity weighted sum, obtain current internal structure S energy function value F.

Wherein, the 3rd formula is：

F=w₁f_struct+w₂f_space+w₃f_assembly (5)

Wherein, f_structFor structural strength, f_spaceFor space availability ratio, f_assemblyFor assembling capacity, w₁For structural strength Weight, w₂For the weight of space availability ratio, w₃For the weight of assembling capacity, w₁、w₂And w₃It is nonnegative value.For example, can set w₁=10.0, w₂=1.0, w₃=1.5.

Specifically, in the step Q34 " for the internal structure s not collided for judging to obtain, it is calculated respectively Structural strength, space availability ratio and assembling capacity ", can be specifically included：

For the internal structure s not collided for judging to obtain：

1) torque of gravity and steering wheel is applied as external force, using the 6th formula, calculating obtains structural strength f_struct。

Wherein, the 6th formula is：

Wherein, σ_{abs_max}For the maximum absolute stress on internal structure s, σ_refFor preset reference stress.

It should be noted that f_structValue is smaller, and structural strength is better.

2) the 7th formula is utilized, calculating obtains space availability ratio f_space。

Wherein, the 7th formula is：

Wherein, Vol_maleFor the volume of son's module, Vol_femaleFor the volume of mother and sons' module, Vol (c_i) it is element c_i's Volume, Vol (c_i) value is smaller, space availability ratio is bigger.

3) it is understood that it is final do not produce the component placement of collision it can also happen that situation about can not assemble, it is necessary to Can the design is weighed with assembly complexity smoothly assembly or disassembly.Can be according in the internal structure s not collided Component placement obtains a corresponding assembling matrix M, and M is n × n square formation, and n is (i, j) representation element c in number of elements, M_i In element c_jIn the presence of do not collide in the case of assembly direction, Fig. 7 be a kind of robot module in X-Y scheme cloth Office and its corresponding assembling matrix schematic diagram, in the figure 7：A, B and C are small steering wheel, and D is main steering wheel, and E and F are side wall, and G is Bottom plate, H is main steering wheel supporting table；According to preassigned Assembly sequences Π=(c₁,c₂,…,c_n), calculate V (i)=∩_j<iM (i, j), wherein c_jRepresent in c_iThe element assembled before；And if only ifWhen, Π is effective Assembly sequences；Meter Calculate effective Assembly sequences Π=(c₁,c₂,…,c_n) redirection number of times, and according to the redirection number of times, utilize the 8th public Formula, calculating obtains assembling capacity；

8th formula is：

Wherein, n_reorientFor effective Assembly sequences Π redirection number of times.

Wherein, effective Assembly sequences Π=(c is calculated₁,c₂,…,c_n) redirection number of times, may particularly include：

IfThen in assembling c_i,…,c_jDuring be not required to redirect, ifAndThen assemble c_j+1When need once to redirect；Count effective Assembly sequences Π=(c₁,c₂,…,c_n) weight Orient number of times.

Q4, the adjacent solution for obtaining the RANDOM SOLUTION and the corresponding global energy functional value of the adjacent solution, utilize default optimization Algorithm, obtains the internal structure of optimization.

In a particular application, the default optimized algorithm can be simulated annealing, and correspondingly, the step Q4 can Specifically include the step R1-R8 not shown in figure：

R1, setting optimal energy functional value F_optFor initial value, set I={ i | i=1,2,3 ..., 8 } is given, correspondence is in advance If element orders be：

{SmallServo₁,SmallServo₂,SmallServo₃,MainServo₁,

MainServo₂,battery,ctrl₁,ctrl₂, adjacent solution s '=s is set,

Indicate flag=true.

It should be noted that the optimal energy functional value F_optInitial value be an abundant big numerical value, in theory may be used To be infinitely great.For example, in the present embodiment, can be by F_optInitial value be set to 10⁶.In subsequent iterative cycles In, optimal energy functional value is the smaller the better.

If R2, flag=true, the number i in set I is randomly choosed, in the corresponding location candidate set Γ of i_iIt is interior Randomly choose another position and obtain internal structure s ' instead of current location.

R3, the current internal structure s in the step Q33 replaced with into internal structure s ', by performing the step Q33, judges whether internal structure s ' collides；If internal structure s ' collides, return and perform the step R2；Such as Fruit internal structure s ' does not collide, then flag=false, using the s ' not collided as RANDOM SOLUTION s adjacent solution.

R4, the internal structure s not collided in the step Q34 is replaced with to the s ' not collided, pass through and perform The step Q34, the energy function value for the s ' not collided.

R5, the Metropolis criterions according to simulated annealing, calculating are changed into its adjacent solution s ' from current RANDOM SOLUTION s Possibility probability P.

Wherein, the Metropolis criterions of the simulated annealing are：

Wherein, T is Current Temperatures, and F is current RANDOM SOLUTION s energy function value, and F ' is current RANDOM SOLUTION s adjacent solution s ' Energy function value.

If R6, possibility probability P are more than predetermined threshold value, current RANDOM SOLUTION s is updated to s ', and T is updated to 0.95T。

In a particular application, the predetermined threshold value is a random number between 0 to 1.

R7, circulation perform the step R1-R6, until iterations reaches preset times and F '-F<0.

If R8, the energy function value of current RANDOM SOLUTION are less than optimal energy functional value F_opt, then current internal knot is updated Structure, and optimal energy functional value is updated to the energy function value of current RANDOM SOLUTION.

Q5, judge whether to have traveled through the candidate collection of the length of side S, if so, the internal structure of the optimization then obtained is most Whole optimization of inside structure result, if it is not, then returning to the step Q3.

It is understood that can increase algorithm using simulated annealing when optimizing energy function jumps out local optimum The possibility of solution.

By taking above-mentioned steps Q21 given examples as an example, the present embodiment methods described obtains the set of the element of user's input, will Initial F_optIt is set to 10⁶, optimization solution result starts as sky, selects S={ 68,72,76,81 } to be length of side S according to above-mentioned steps Q23 Candidate collection；To each candidate's length of side S ∈ { 68,72,76,81 }, constrain and calculate according to the locus in the step Q1 Go out the position candidate of each element, initial temperature T=100；One Lothrus apterus solution s of generation calculates its energy as current solution at random Flow function value；If primary iteration number of times iter=0, often take turns iter after iteration and add one, the difference of energy function value in two-wheeled iteration Δ F is initially set to 10；When iterations is less than 10000 or Δ F>0, generate adjacent solution s ' and calculate adjacent solution s ' energy Functional value, calculates its acceptance probability value P, if P >=random (0,1), then will currently solve and update and reduce Current Temperatures, That is T ← 0.95T；Jump out after circulation, the result after being optimized.

The modularization robot optimization of inside structure method of the present embodiment, can be realized by processor, can realize by User the inputs, element to be assembled in the robot module of Shuangzi module type carries out layout automatically and reasonably and in machine People's inside modules relevant position generates supporting construction, so as to obtain a kind of modularization robot internal structure of optimization.This implementation Example methods described is general to the polytype of element, and overcoming existing module robot architecture design needs to be inputted according to user , the shortcomings of the different type manual designs of the element to be assembled in the robot module of Shuangzi module type, pass through iteration Optimization make it that the internal structure of the robot module result for existing artificial carry out structure design empirically is more excellent.

Fig. 8 shows the entity structure schematic diagram of a kind of electronic equipment provided in an embodiment of the present invention, as shown in figure 8, should Electronic equipment can include：Processor 11, memory 12, bus 13 and it is stored on memory 12 and can be transported on processor 11 Capable computer program；

Wherein, the processor 11, memory 12 completes mutual communication by the bus 13；

The processor 11 realizes the method that above method embodiment is provided when performing the computer program, for example, wrap Include：Q1, the element to be assembled in robot module for obtaining user's input, and the space of each element of user's input is set Position constraint；Q2, the element inputted according to user size, obtain the length of side S of the submodule of robot module candidate Set；A value in Q3, selection length of side S candidate collection, according to default element orders and corresponding space bit Constraint is put, the corresponding global energy functional value of RANDOM SOLUTION and the RANDOM SOLUTION of an internal structure is obtained；Q4, acquisition are described random The adjacent solution of solution and the corresponding global energy functional value of adjacent solution, utilize default optimized algorithm, obtain the internal structure of optimization； Q5, judge whether to have traveled through the candidate collection of the length of side S, if so, the internal structure of the optimization then obtained is final internal junction Structure optimum results, if it is not, then returning to the step Q3.

The embodiment of the present invention provides a kind of non-transient computer readable storage medium storing program for executing, is stored thereon with computer program, should The method that above method embodiment is provided is realized when computer program is executed by processor, for example including：Q1, acquisition user are defeated The element to be assembled in robot module entered, and the locus constraint of each element of user's input is set；Q2, basis The size of the element of user's input, obtains the length of side S of the submodule of robot module candidate collection；Q3, selection are described A value in length of side S candidate collection, constrains according to default element orders and corresponding locus, obtains in one The RANDOM SOLUTION of portion's structure and the corresponding global energy functional value of the RANDOM SOLUTION；Q4, the adjacent solution and the phase for obtaining the RANDOM SOLUTION The corresponding global energy functional value of neighbour's solution, using default optimized algorithm, obtains the internal structure of optimization；Q5, judge whether traversal Complete length of side S candidate collection, if so, the internal structure of the optimization then obtained is final optimization of inside structure result, if it is not, Then return to the step Q3.

It should be understood by those skilled in the art that, embodiments herein can be provided as method, system or computer program Product.Therefore, the application can be using the reality in terms of complete hardware embodiment, complete software embodiment or combination software and hardware Apply the form of example.Moreover, the application can be used in one or more computers for wherein including computer usable program code The computer program production that usable storage medium is implemented on (including but is not limited to magnetic disk storage, CD-ROM, optical memory etc.) The form of product.

The application is the flow with reference to method, equipment (system) and computer program product according to the embodiment of the present application Figure and/or block diagram are described.It should be understood that can be by every first-class in computer program instructions implementation process figure and/or block diagram Journey and/or the flow in square frame and flow chart and/or block diagram and/or the combination of square frame.These computer programs can be provided The processor of all-purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce A raw machine so that produced by the instruction of computer or the computing device of other programmable data processing devices for real The device for the function of being specified in present one flow of flow chart or one square frame of multiple flows and/or block diagram or multiple square frames/ System.

These computer program instructions, which may be alternatively stored in, can guide computer or other programmable data processing devices with spy Determine in the computer-readable memory that mode works so that the instruction being stored in the computer-readable memory, which is produced, to be included referring to Make the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one square frame of block diagram or The function of being specified in multiple square frames.

These computer program instructions can be also loaded into computer or other programmable data processing devices so that in meter Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented processing, thus in computer or The instruction performed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one The step of function of being specified in individual square frame or multiple square frames.

It should be noted that herein, such as first and second or the like relational terms are used merely to a reality Body or operation make a distinction with another entity or operation, and not necessarily require or imply these entities or deposited between operating In any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant are intended to Nonexcludability is included, so that process, method, article or equipment including a series of key elements not only will including those Element, but also other key elements including being not expressly set out, or also include being this process, method, article or equipment Intrinsic key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that Also there is other identical element in process, method, article or equipment including the key element.Term " on ", " under " etc. refers to The orientation or position relationship shown is, based on orientation shown in the drawings or position relationship, to be for only for ease of the description present invention and simplify Description, rather than indicate or imply that the device or element of meaning must have specific orientation, with specific azimuth configuration and behaviour Make, therefore be not considered as limiting the invention.Unless otherwise clearly defined and limited, term " installation ", " connected ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can be Mechanically connect or electrically connect；Can be joined directly together, can also be indirectly connected to by intermediary, can be two The connection of element internal.For the ordinary skill in the art, above-mentioned term can be understood at this as the case may be Concrete meaning in invention.

In the specification of the present invention, numerous specific details are set forth.Although it is understood that, embodiments of the invention can To be put into practice in the case of these no details.In some instances, known method, structure and skill is not been shown in detail Art, so as not to obscure the understanding of this description.Similarly, it will be appreciated that disclose in order to simplify the present invention and helps to understand respectively One or more of individual inventive aspect, above in the description of the exemplary embodiment of the present invention, each of the invention is special Levy and be grouped together into sometimes in single embodiment, figure or descriptions thereof.However, should not be by the method solution of the disclosure Release and be intended in reflection is following：I.e. the present invention for required protection requirement is than the feature that is expressly recited in each claim more Many features.More precisely, as the following claims reflect, inventive aspect is to be less than single reality disclosed above Apply all features of example.Therefore, it then follows thus claims of embodiment are expressly incorporated in the embodiment, Wherein each claim is in itself as the separate embodiments of the present invention.It should be noted that in the case where not conflicting, this The feature in embodiment and embodiment in application can be mutually combined.The invention is not limited in any single aspect, Any single embodiment is not limited to, any combination and/or the displacement of these aspects and/or embodiment is also not limited to.And And, can be used alone the present invention each aspect and/or embodiment or with other one or more aspects and/or its implementation Example is used in combination.

Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its according to The technical scheme described in foregoing embodiments can so be modified, or which part or all technical characteristic are entered Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology The scope of scheme, it all should cover among the claim of the present invention and the scope of specification.

Claims (10)

1. a kind of modularization robot optimization of inside structure method, it is characterised in that including：

Q1, the element to be assembled in robot module for obtaining user's input, and the sky of each element of user's input is set Between position constraint；

Q2, the element inputted according to user size, obtain the length of side S of the submodule of robot module candidate collection；

A value in Q3, selection length of side S candidate collection, according to default element orders and corresponding locus Constraint, obtains the corresponding global energy functional value of RANDOM SOLUTION and the RANDOM SOLUTION of an internal structure；

Q4, the adjacent solution for obtaining the RANDOM SOLUTION and the corresponding global energy functional value of the adjacent solution, using default optimized algorithm, Obtain the internal structure of optimization；

Q5, judge whether to have traveled through the candidate collection of the length of side S, if so, the internal structure of the optimization then obtained is in final Portion's structure optimization result, if it is not, then returning to the step Q3.

2. according to the method described in claim 1, it is characterised in that the robot module is the robot of Shuangzi module type Module, is made up of two submodules；Described two submodules are respectively son's module and mother and sons' module, son's module and mother It is fixedly connected between submodule using connector, it is inseparable；

The mother and sons' module for tangling another robot module is stretched out by son's module of a robot module, two are realized The connection of individual robot module, the separation that the hook tangled realizes two robot modules has been stretched out by withdrawing son's module；

The shell of son's module and mother and sons' module is the association that semicylinder is constituted with cuboid, wherein, cuboid The length of side be respectively S, S+1 and S/2, a diameter of S of the bottom surface semicircle of semicylinder, a height of S+1 of semicylinder, S is default Positive number, by by a length of S+1 in semicylinder, a width of S rectangular planes be superimposed upon a length of S+1 in cuboid, a width of S one Constituted in individual rectangular planes and be provided with rotation between the association, the center of circle of two bottom surface semicircles of the semicylinder Axle, son's module and mother and sons' module can rotate 180 degree around the rotary shaft of itself；

The shell of son's module has three planes, and the position of centre of gravity of each plane is provided with for stretching out and withdrawing extension The in-line groove of hook；The shell of mother and sons' module has three planes, and the position of centre of gravity of each plane, which is provided with, to be used for Tangle the groove of hook.

3. method according to claim 2, it is characterised in that it is to be assembled in robot module that the user inputs Element, including：One battery, two main rudder machines, three small steering wheels and two control boards；

Wherein, two control boards are arranged in mother and sons' module；

One main rudder machine is arranged in son's module, is connected with the control board being arranged in mother and sons' module, is used In the instruction sent according to connected control board, son's module is controlled to be rotated around the rotary shaft of itself；

Another main rudder machine is arranged in mother and sons' module, is connected with the control board being arranged in mother and sons' module, For the instruction sent according to connected control board, mother and sons' module is controlled to be rotated around the rotary shaft of itself；

Three small steering wheels are separately positioned in three planes of son's module, respectively with being arranged on mother and sons' module In control board connection, wherein, each small steering wheel respectively according to connected control board send instruction, control The stretching and withdrawal of the hook set in son's module flat where it.

4. method according to claim 3, it is characterised in that the step Q1 is setting each element of user's input When locus is constrained, to any element c_i, i=1,2 ..., 8, select its bounding box BBox (c_i) area is maximum in upper six faces One of two faces as bottom surface, utilize five dimension coordinatesDetermine the element c_iPosition Put, wherein,For bounding box BBox (c_i) barycentric coodinates,For for specifying bounding box BBox (c_i) bottom surface normal direction two spherical angles；

Correspondingly, the locus constraint of each element of user's input, including：

Constraint 1：Any element c_iBounding box BBox (c_i) it is being contained in Ω_M(S)∪Ω_F(S), wherein, Ω_M(S) represent by institute State the shell area encompassed of son's module, Ω_F(S) represent by the shell area encompassed of mother and sons' module；

Constraint 2：Steering wheel SmallServo three small in son's module_mThere are two candidate bits in corresponding shell plane Put, the location candidate set of wherein m=1,2,3, m-th small steering wheels is： Wherein,For the 1st position candidate of small m-th steering wheel,For the 2nd time of small m-th steering wheel Bit selecting is put；

Constraint 3：Make the main rudder machine MainServo in son's module₁Rotary shaft overlapped with y-axis, then in son's module Main rudder machine MainServo₁Five dimension coordinates in three parametersWithIt is now uniquely determined, institute State the main rudder machine MainServo in son's module₁Location candidate set be

Constraint 4：Main rudder machine MainServo in son's module₁With the main rudder machine MainServo in mother and sons' module₂'s Y-axis direction coordinate is identical：Then the position candidate of the main rudder machine in son's module is determined Afterwards, the main rudder machine MainServo in mother and sons' module₂Location candidate set is

Constraint 5：Control board ctrl in the battery battery, son's module₁With the control in mother and sons' module Circuit board ctrl processed₂Location candidate set be respectively Γ_battery、WithWherein, Γ_battery、WithIn Position candidate is five dimension coordinatesWherein, c_i=battery, ctrl₁,ctrl₂。

5. method according to claim 3, it is characterised in that the step Q2 includes：

The size of the element inputted according to user, is calculated by the first formula and obtains length in son's module/mother and sons' module For the length minimum value S on S+1 side_min+ 1, and then obtain S minimum value S_min；

The size of the element inputted according to user, is calculated by the second formula and obtains length in son's module/mother and sons' module For the length maximum S on S+1 side_max+ 1, and then obtain S maximum S_max；

In S in the form of arithmetic progression_minAnd S_maxBetween choose predetermined number numerical value, constitute length of side S candidate collection；

Wherein, first formula is：

S_min+ 1=H_MainServo+2×W_SmallServo+2×W_Link+ τ,

Wherein, H_MainServoFor the height of main steering wheel fuselage sections, W_SmallServoFor small steering wheel thickness, W_LinkIt is wide for single connector Degree, τ is tolerance；

Second formula is：

$S_{max}+1=S_{min}+W_{{\mathrm{Ctrl}}_1}+W_{{\mathrm{Ctrl}}_2}+W_{battery},$

Wherein,For the thickness of the control board in son's module,For the thickness of the control board in mother and sons' module Degree, W_batteryFor the thickness of battery.

6. method according to claim 4, it is characterised in that the step Q3 includes：

A value in Q31, selection length of side S candidate collection, according to selected S value and the sky of each element Between position constraint, calculate each element c_iLocation candidate set Γ_i；

Q32, to each element c_i, in its location candidate set Γ_iOne position candidate of middle selection, and be the position candidate automatically Supporting construction is generated, the RANDOM SOLUTION s of an internal structure is obtained；

Q33, according to default element orders, judge whether current internal structure s collides；

Q34, the internal structure s for not colliding, calculate its structural strength, space availability ratio and assembling capacity respectively, and By the 3rd formula by the structural strength, space availability ratio and assembling capacity weighted sum, current internal structure s energy is obtained Flow function value F；

Wherein, the 3rd formula is：

F=w₁f_struct+w₂f_space+w₃f_assembly

Wherein, f_structFor structural strength, f_spaceFor space availability ratio, f_assemblyFor assembling capacity, w₁For the power of structural strength Weight, w₂For the weight of space availability ratio, w₃For the weight of assembling capacity, w₁、w₂And w₃It is nonnegative value.

7. method according to claim 6, it is characterised in that the step Q33, including：

Internal structure set struct is initially set to empty set

Given set I=i | and i=1,2,3 ..., 8 }, correspondingly default element orders are：

{SmallServo₁,SmallServo₂,SmallServo₃,MainServo₁,

MainServo₂,battery,ctrl₁,ctrl₂}；

According to the default element orders, each element c in current internal structure s is judged_iWhether occur with existing struct Collision；

In the event of colliding, return and perform the step Q32；

It is current elements c if do not collided_iGenerate its supporting construction S (c_i), and update internal structure using the 4th formula Set struct value；

Work as i==5, determine position and the revolution space Sweep of connector_link, and update internal structure set using the 5th formula Struct value；

If all 8 elements judge to finish and do not collide, it is determined that current internal structure s does not collide；

Wherein, the 4th formula is：

Struct=struct ∪ c_i∪S(c_i)；

5th formula is：

Struct=struct ∪ Sweep_link。

8. method according to claim 6, it is characterised in that the internal junction not collided for judging to obtain Structure s, calculates its structural strength, space availability ratio and assembling capacity respectively, including：

For the internal structure s not collided for judging to obtain：

Apply the torque of gravity and steering wheel as external force, using the 6th formula, calculating obtains structural strength f_struct；

Using the 7th formula, calculating obtains space availability ratio f_space；

Component placement in the internal structure s not collided obtains a corresponding assembling matrix M, and M is n × n side Battle array, n is (i, j) representation element c in number of elements, M_iIn element c_jIn the presence of do not collide in the case of assembly direction；Root According to preassigned Assembly sequences Π=(c₁,c₂,…,c_n), calculate V (i)=∩_j<iM (i, j), wherein c_jRepresent in c_iFill before The element matched somebody with somebody；And if only ifWhen, Π is effective Assembly sequences；Calculate effective Assembly sequences Π=(c₁, c₂,…,c_n) redirection number of times, and according to the redirection number of times, using the 8th formula, calculating obtains assembling capacity；

Wherein, the 6th formula is：

$f_{struct}=\frac{{\mathrm{\&sigma;}}_{abs\_max}}{{\mathrm{\&sigma;}}_{ref}},$

Wherein, σ_{abs_max}For the maximum absolute stress on internal structure s, σ_refFor preset reference stress；

7th formula is：

$f_{space}=\frac{{\mathrm{Vol}}_{male}+{\mathrm{Vol}}_{female}}{{\mathrm{\&Sigma;}}_{i=1}^{8}Vol\left(c_i\right)},$

Wherein, Vol_maleFor the volume of son's module, Vol_femaleFor the volume of mother and sons' module, Vol (c_i) it is element c_iVolume；

8th formula is：

Wherein, n_reorientFor effective Assembly sequences Π redirection number of times.

9. method according to claim 6, it is characterised in that the effective Assembly sequences Π=(c of calculating₁,c₂,…, c_n) redirection number of times, including：

IfThen in assembling c_i,…,c_jDuring be not required to redirect, ifAnd Then assemble c_j+1When need once to redirect；Count effective Assembly sequences Π=(c₁,c₂,…,c_n) redirection number of times.

10. method according to claim 7, it is characterised in that the default optimized algorithm is simulated annealing, accordingly Ground, the step Q4, including：

R1, set optimal energy functional value to be initial value, give set I={ i | i=1,2,3 ..., 8 }, correspondingly default element Sequentially it is：

{SmallServo₁,SmallServo₂,SmallServo₃,MainServo₁,

MainServo₂,battery,ctrl₁,ctrl₂, adjacent solution s '=s is set,

Indicate flag=true；

If R2, flag=true, the number i in set I is randomly choosed, in the corresponding location candidate set Γ of i_iIt is interior random Another position is selected to obtain internal structure s ' instead of current location；

R3, the current internal structure s in the step Q33 replaced with into internal structure s ', by performing the step Q33, sentenced Whether disconnected internal structure s ' collides；If internal structure s ' collides, return and perform the step R2；If internal Structure s ' does not collide, then flag=false, using the s ' not collided as RANDOM SOLUTION s adjacent solution；

R4, the internal structure s not collided in the step Q34 is replaced with to the s ' not collided, it is described by performing Step Q34, the energy function value for the s ' not collided；

R5, the Metropolis criterions according to simulated annealing, calculate from current RANDOM SOLUTION s be changed into its adjacent solution s ' can Can property probability P；

If R6, possibility probability P are more than predetermined threshold value, current RANDOM SOLUTION s is updated to s ', and T is updated to 0.95T；

R7, circulation perform the step R1-R6, until iterations reaches preset times and F '-F<0；

If R8, the energy function value of current RANDOM SOLUTION are less than optimal energy functional value, current internal structure is updated, and will most Excellent energy function value is updated to the energy function value of current RANDOM SOLUTION；

Wherein, the predetermined threshold value is a random number between 0 to 1, and the Metropolis criterions of the simulated annealing are：

$P=\left\{\begin{array}{cc}{e}^{-\frac{F^{\&prime;}-F}{T}}& \begin{array}{cc}if& F^{\&prime;}-F>0\end{array}\\ 1& otherwise\end{array}\right.$

Wherein, T is Current Temperatures, and F is current RANDOM SOLUTION s energy function value, and F ' is current RANDOM SOLUTION s adjacent solution s ' energy Flow function value.