CN110065071A - A kind of group's self assembly robot modeling method based on the description of three element configurations - Google Patents
A kind of group's self assembly robot modeling method based on the description of three element configurations Download PDFInfo
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Abstract
The invention discloses a kind of group's self assembly robot modeling strategy for describing method based on three element configurations, step includes: 1) to input target topological relation；2) three element configuration datas are constructed；3) active and passive docking monomer is selected；4) passive part navigation information is planned；5) control docking mechanism completes docking；6) configuration data of monomer is updated；7) the new configuration data that monomer is added of building；8) judge whether configuration constructs completion；9) final configuration is exported.The present invention describes method using three element configurations, in conjunction with its polar form, through the three element configuration datas on upper layer in conjunction with the polar coordinates configuration data of bottom, completes a kind of configuration building of self assembly robot, group based on regular prism shape.The method overcome the deficiencies of existing configuration strategy, the advantages of having data volume few, be convenient for control, can be applied to the formation building of chain type docking group's self assembly robot.
Description
Technical field
The invention belongs to robotic technology fields, and in particular to a kind of group's self assembly machine based on the description of three element configurations
Device people's configuration method.
Background technique
Self assembly robot, group is can be with the Group Robots of self assembly.It is converted, is had strong by group collaboration, configuration
Big function and development potentiality, the advantage for having many single robots that cannot compare.Group's self assembly robot modeling strategy
There are close ties with robot architecture's platform.Wherein quadrangular and hexagon robot are flexible with configuration, motor function is strong
Big advantage, is widely studied.The present invention has carried out the design of configuration strategy for a kind of multi-edge column-shaped robot of chain type docking.
Wei Hongxing et al. is at Chinese patent " robot butt junction location and navigation strategy based on monocular cam and LED "
It (patent No.: in 2011103998961), discloses a kind of with distributed and self-assembly characteristic group flying robot.It should
Method describes robot modeling using generalized adjacent matrix, and carries out self assembly control.But deficiency existing for this method is, uses
Adjacency matrix describes robot modeling, and data volume is exponentially increased with robot scale, is not suitable for based on embedded Control
The robot of system is also not easy to data transmission；Meanwhile this method does not cope with the configuration strategy of complex configuration.Wang Tianmiao etc.
People is at periodical " Self-Assembling for Swarm Modular Robots Using MIMO Fuzzy Control "
In (Advances in Mechanical Engineering, 2013,2013 (Pt.2): 598647-1-598647-10.), opinion
A kind of modularization self assembly robot with entirely autonomous locomotivity is stated.This method uses the method control of finite state machine
Self assembly robot navigation docking processed.But it is same, this method does not cope with the configuration strategy of complex configuration.It is therefore desirable to needles
It is big to above method data volume, be not suitable for the problem of complex configuration building, carry out the group that method is described based on three element configurations
Body self assembly robot modeling strategy study.
Summary of the invention
It is an object of the invention to overcome above-mentioned the deficiencies in the prior art, a kind of group based on the description of three element configurations is provided
Body self assembly robot modeling method copes with the configuration strategy of complex configuration to reduce data volume.
The technical scheme is that a kind of group's self assembly robot modeling method based on the description of three element configurations,
It is characterized in that: including at least following steps:
(1) target topological relation is inputted
Input user provide target topological relation, including robot monomer shape, the number of Group Robots monomer and
The relative position of each robot monomer；
(2) three element configuration datas are constructed
Three element configuration datas are constructed according to the topological relation of self assembly robot, group:
{IDa,IDb,A}
Wherein: IDaFor the number of active mating monomer a, IDbFor the number for passively docking monomer b, A is passive interface；
(3) active and passive docking monomer is selected
A robot monomer is sequentially completed as passive docking monomer with it as passive docking monomer in selected group
Data pair successively select the active mating monomer of related data centering；
(4) passive part navigation information is planned
According to the navigation information of the polar coordinates configuration data planning passive part of passive docking monomer, mean pole will be calculated to obtain
Angle is distributed to the other robot monomer of passive butted part, and then each monomer plans respective navigation information；
(5) control docking mechanism completes docking
Active mating monomer drives docking mechanism to complete docking close to passive docking monomer；
(6) configuration data of monomer is updated
After the completion of docking, according to active and passive docking monomer geometrical relationship, the active mating monomer being newly added is calculated passive
Coordinate in butted part in other monomers coordinate system, coordinate of the active mating monomer j+1 in monomer i coordinate system are as follows:
Wherein ri,j+1,θi,j+1,αi,j+1Polar diameter, polar angle and vector angle of the respectively monomer j+1 in monomer i coordinate system,{rij,θij,αijIt is coordinate of the passive docking monomer j in monomer i coordinate system, the calculation formula of β is such as
Under:
Wherein β is the vector angle of active and passive docking monomer, and A is passive interface, and n is the total docking of robot monomer
Face number；
(7) the new configuration data that monomer is added of building
On the basis of step (6), the new configuration information that monomer i+1 is added and is grasped according to passive docking monomer i,
The configuration information of oneself is obtained by polar coordinate transform:
Wherein ri+1,j,θi+1,j,αi+1,jRespectively monomer j is in polar diameter, polar angle and the arrow being newly added in monomer i+1 coordinate system
Measure angle, { rij,θij,αijIt is coordinate of the monomer j in passively docking monomer i coordinate system, β is the arrow of active and passive docking monomer
Measure angle, θi+1,jDomain it is as follows:
(8) judge whether configuration constructs completion
Judge whether configuration constructs completion, if completed, goes to step (9), otherwise go to step (3)；
(9) final configuration is exported
It realizes target topological relation, exports final configuration.
Robot described in above-mentioned steps (1) is the positive polygon prism containing an active mating face and several passive interfaces
Robot, target topological relation include number and the relative position of each robot monomer of all robot monomers.
Navigation information described in above-mentioned steps (4) is a kind of method based on polar coordinates configuration data and vector, specifically such as
Under:
4a) first configuration is constructed, polar coordinates configuration data need to be established:
{r,θ,α}
Wherein r is the polar diameter of monomer, and θ is the polar angle of monomer, and α is the angle of monomer vector and polar axis, in each butt joint body
The distance of active and passive monomer geometric center is unit 1, the range of θ and α be (- π, π]；
4b) calculate average polar angle:
Wherein θmeanFor the average polar angle of all monomers in passive monomer i coordinate system, θijIt is single in passive monomer i coordinate system
The polar angle of body j, k are monomer populations in passive docking monomer i coordinate system, are with average polar angle in passively docking monomer coordinate system
Boundary axis, then into passive docking monomer coordinate system, all monomers issue the average polar angle；
4c) passive butted part monomer judges the position of itself opposite boundary axis, and the face on the boundary axis left side shows right navigation
Signal, the right show left navigation signal, the face to demarcate on axis, when its vector and boundary axle clamp angle are less than 0, show that left navigation is believed
Breath shows that right navigation information, guidance active mating monomer find target interface when greater than 0.
The principle of the present invention and advantage are: the present invention obtains three element configuration numbers according to the target configuration that user inputs first
According to, select active and passive docking monomer, according to the polar coordinates configuration data of passive part plan navigation information, guide active mating
Monomer navigation docking, then updates the polar coordinates configuration data of passive butted part monomer, constructs the new configuration number that monomer is added
According to finally judging whether configuration constructs completion, if not completing to construct, continue that active and passive docking monomer is selected to be led
Boat docking, if completing building, completes the configuration task, exports final configuration.
Compared with prior art, square of the present invention has the advantage that
First, the present invention describes method using three element configurations, and without redundant data, data volume is small, convenient for the fast of topology
Speed planning.
Second, the present invention represents robot monomer using vector, and configuration is described in polar coordinates, is not only convenient for navigation information
Planning, and be also convenient for the control of robot mass motion.
The present invention is described in further details below with reference to attached drawing:
Detailed description of the invention
Fig. 1 is flow chart of the invention；
Fig. 2 is that passive butted part monomer polar coordinates configuration data updates schematic diagram；
Fig. 3 is that active butted part monomer polar coordinates configuration data constructs schematic diagram；
Fig. 4 is target example topology figure.
Specific embodiment
With reference to the accompanying drawing 1, the specific embodiment of the invention is described in further detail:
A kind of group's self assembly robot modeling method based on the description of three element configurations, includes the following steps:
Step 1, the target topological relation that input user provides, including robot monomer shape, Group Robots monomers
The relative position of number and each robot monomer, wherein the robot is passively to dock containing an active mating face with several
The regular prism anthropomorphic robot in face；
Step 2, three element configuration datas, each data pair are constructed according to the topological relation of self assembly robot, group are as follows:
{IDa,IDb,A}
Wherein IDaFor the number of active mating monomer a, IDbFor the number for passively docking monomer b, A is passive interface；
Step 3, a robot monomer is selected as passive docking monomer, is sequentially completed with it as passive docking monomer
Data pair successively select the active mating monomer of related data centering；
Step 4, it according to the navigation information of the polar coordinates configuration data planning passive part of passive docking monomer, will calculate
Average polar angle is distributed to the other robot monomer of passive butted part, and then each monomer plans respective navigation information, tool
Steps are as follows for body:
4a) first configuration is constructed, polar coordinates configuration data need to be established:
{r,θ,α}
Wherein r is the polar diameter of monomer, and θ is the polar angle of monomer, and α is the angle of monomer vector and polar axis, in each butt joint body
The distance of active and passive monomer geometric center is unit 1, the range of θ and α be (- π, π]；
4b) calculate average polar angle:
Wherein θmeanFor the average polar angle of all monomers in passive monomer i coordinate system, θijIt is single in passive monomer i coordinate system
The polar angle of body j, k are monomer populations in passive docking monomer i coordinate system, are with average polar angle in passively docking monomer coordinate system
Boundary axis, then into passive docking monomer coordinate system, all monomers issue the average polar angle；
4c) passive butted part monomer judges the position of itself opposite boundary axis, and the face on the boundary axis left side shows right navigation
Signal, the right show left navigation signal, the face to demarcate on axis, when its vector and boundary axle clamp angle are less than 0, show that left navigation is believed
Breath shows that right navigation information, guidance active mating monomer find target interface when greater than 0；
Step 5, active mating monomer is close to passive docking monomer, and docking mechanism is driven to complete docking；
Step 6, it according to active and passive docking monomer geometrical relationship, calculates the active mating monomer being newly added and is passively docking
Coordinate in part in other monomers coordinate system, as shown in Fig. 2, coordinate of the active mating monomer j+1 in monomer i coordinate system
Are as follows:
Wherein ri,j+1,θi,j+1,αi,j+1Respectively monomer j+1 is in list
Polar diameter, polar angle and vector angle in body i coordinate system,{rij,θij,αijIt is that passive docking monomer j exists
Coordinate in monomer i coordinate system, the calculation formula of β are as follows:
Wherein β is the vector angle of active and passive docking monomer, and A is passive interface, and n is the total docking of robot monomer
Face number；
Step 7, it on the basis of step (6), is grasped as shown in figure 3, monomer i+1 is newly added according to passive docking monomer i
Configuration information, the configuration information of oneself is obtained by polar coordinate transform:
Wherein ri+1,j,θi+1,j,αi+1,jRespectively monomer j is in polar diameter, polar angle and the arrow being newly added in monomer i+1 coordinate system
Measure angle, { rij,θij,αijIt is coordinate of the monomer j in passively docking monomer i coordinate system, β is the arrow of active and passive docking monomer
Measure angle, θi+1,jDomain it is as follows:
Step 8, judge whether configuration constructs completion, if completed, go to step (9), otherwise go to step (3)；
Step 9, it realizes target topological relation, exports final configuration.
To sum up, the present invention obtains three element configuration datas according to the target configuration that user inputs first, and it is active and passive right to select
Order body plans navigation information according to the polar coordinates configuration data of passive part, and guidance active mating monomer navigation is docked, then
The polar coordinates configuration data of passive butted part monomer is updated, the new configuration data that monomer is added is constructed, finally judges that configuration is
No building is completed, if not completing to construct, continues that active and passive docking monomer is selected to carry out navigation docking, if completed
Building, then complete the configuration task, export final configuration.
Compared with prior art, square of the present invention has the advantage that
First, the present invention describes method using three element configurations, and without redundant data, data volume is small, convenient for the fast of topology
Speed planning.
Second, the present invention represents robot monomer using vector, and configuration is described in polar coordinates, is not only convenient for navigation information
Planning, and be also convenient for the control of robot mass motion.
Advantages of the present invention can be further illustrated by following instance:
1. inputting target topological relation
Input as shown in figure 4,
Step 1, target topological relation is inputted, including robot monomer shape, the number of Group Robots monomer and each
The relative position of robot monomer, wherein the robot is the regular prism containing an active mating face and several passive interfaces
Anthropomorphic robot；
As shown in figure 4, robot monomer is hexagon, robot monomer number is 001,002,003,004.
Step 2, three element configuration datas are constructed
Three element configuration datas are constructed according to the topological relation of self assembly robot, group:
{IDa,IDb,A}
Wherein: IDaFor the number of active mating monomer a, IDbFor the number for passively docking monomer b, A is passive interface；
As shown in table 1,
1 three element configuration data of table
Step 3, a robot monomer is selected as passive docking monomer, is sequentially completed with it as passive docking monomer
Data pair successively select the active mating monomer of related data centering；
Such as: successively select 001 and 003 for passive docking monomer, three selected element configuration datas to be followed successively by 002,
001,2}、{003,001,3}、{004,003,3}。
Step 4, it according to the navigation information of the polar coordinates configuration data planning passive part of passive docking monomer, will calculate
Average polar angle is distributed to the other robot monomer of passive butted part, and then each monomer plans respective navigation information, tool
Steps are as follows for body:
4a) first configuration is constructed, polar coordinates configuration data need to be established:
{r,θ,α}
Wherein r is the polar diameter of monomer, and θ is the polar angle of monomer, and α is the angle of monomer vector and polar axis, in each butt joint body
The distance of active and passive monomer geometric center is unit 1, the range of θ and α be (- π, π]；
4b) calculate average polar angle:
Wherein θmeanFor the average polar angle of all monomers in passive monomer i coordinate system, θijIt is single in passive monomer i coordinate system
The polar angle of body j, k are monomer populations in passive docking monomer i coordinate system, are with average polar angle in passively docking monomer coordinate system
Boundary axis, then into passive docking monomer coordinate system, all monomers issue the average polar angle；
4c) passive butted part monomer judges the position of itself opposite boundary axis, and the face on the boundary axis left side shows right navigation
Signal, the right show left navigation signal, the face to demarcate on axis, when its vector and boundary axle clamp angle are less than 0, show that left navigation is believed
Breath shows that right navigation information, guidance active mating monomer find target interface when greater than 0.
Specifically:
For three element configuration datas to { 002,001,2 }:
There was only own, its coordinate are as follows: r in passive docking 001 local Coordinate System of monomer1,1=0, θ1,1=0, α1,1=
0.Therefore averagely polar angle is 0.It does not need to issue navigation instruction to other monomers.
Then the navigation information of oneself is planned, No. 2 faces are target face, and 3,4, No. 5 faces show right navigation information, 6, No. 1 faces
Show left navigation information.Guidance active mating monomer 002 finds target face.
For three element configuration datas to { 003,001,3 }:
Contain robot monomer 001 and 002 in passive docking 001 local Coordinate System of monomer.Average polar angle is
Passive docking monomer 001 issues average polar angle to 002.
No. 3 faces displaying target face of passive docking monomer 001, No. 2 faces are located on the right of boundary axis, show left navigation information,
Other faces show right navigation information.
The 1 of robot monomer 002,3,4,5, No. 6 faces are on the right of boundary axis, show left navigation information.At its No. 2 monomers
In boundary axis on, No. 2 face vectors with demarcate axle clamp angle beGreater than 0, right navigation information is shown.
For three element configuration datas to { 004,003,3 }:
Contain robot monomer 001,002 and 003 in passive docking 003 local Coordinate System of monomer.Average polar angle isPassive docking monomer 003 issues average polar angle to 001 and 002.
No. 3 faces displaying target face of passive docking monomer 003, No. 2 faces are located on the right of boundary axis, show left navigation information,
Other faces show right navigation information.
The 1 of robot monomer 001,3,4,5, No. 6 faces are in the boundary axis left side, show right navigation information.At its No. 2 monomers
In boundary axis on, No. 2 face vectors with demarcate axle clamp angle beLess than 0, left navigation information is shown.
The 2 of robot monomer 002,3,4,5, No. 6 faces are on the right of boundary axis, show left navigation information.At its No. 1 monomer
In boundary axis on, No. 1 face vector with demarcate axle clamp angle beGreater than 0, right navigation information is shown.
Step 5, active mating monomer is close to passive docking monomer, and docking mechanism is driven to complete docking；
Specifically:
For three element configuration datas to { 002,001,2 }:
Active mating monomer 002 drives docking mechanism to complete docking close to passive docking monomer 001.
For three element configuration datas to { 003,001,3 }:
Active mating monomer 003 drives docking mechanism to complete docking close to passive docking monomer 001.
For three element configuration datas to { 004,003,3 }:
Active mating monomer 004 drives docking mechanism to complete docking close to passive docking monomer 003.
Step 6, the configuration data of monomer is updated
After the completion of docking, according to active and passive docking monomer geometrical relationship, the active mating monomer being newly added is calculated passive
Coordinate in butted part in other monomers coordinate system, coordinate of the active mating monomer j+1 in monomer i coordinate system are as follows:
Wherein ri,j+1,θi,j+1,αi,j+1Polar diameter, polar angle and vector angle of the respectively monomer j+1 in monomer i coordinate system,{rij,θij,αijIt is coordinate of the passive docking monomer j in monomer i coordinate system, the calculation formula of β is such as
Under:
Wherein β is the vector angle of active and passive docking monomer, and A is passive interface, and n is the total docking of robot monomer
Face number；
Specifically:
For three element configuration datas to { 002,001,2 }:
Update the configuration data of monomer 001, coordinate of the robot monomer 002 in 001 are as follows: r1,2=1,
For three element configuration datas to { 003,001,3 }:
Update the configuration data of monomer 001, coordinate of the robot monomer 003 in 001 are as follows: r1,3=1,
Update the configuration data of monomer 002, coordinate of the robot monomer 003 in 002 are as follows: r2,3=1,
For three element configuration datas to { 004,003,3 }:
Update the configuration data of monomer 001, coordinate of the robot monomer 004 in 001 are as follows:
Update the configuration data of monomer 002, coordinate of the robot monomer 004 in 002 are as follows: r2,4=1,α2,4
=0.
Update the configuration data of monomer 003, coordinate of the robot monomer 004 in 003 are as follows: r3,4=1,
Step 7, the new configuration data that monomer is added of building
On the basis of step (6), the new configuration information that monomer i+1 is added and is grasped according to passive docking monomer i passes through pole
Coordinate transform obtains the configuration information of oneself:
Wherein ri+1,j,θi+1,j,αi+1,jRespectively monomer j is in polar diameter, polar angle and the arrow being newly added in monomer i+1 coordinate system
Measure angle, { rij,θij,αijIt is coordinate of the monomer j in passively docking monomer i coordinate system, β is the arrow of active and passive docking monomer
Measure angle, θi+1,jDomain it is as follows:
Specifically:
For three element configuration datas to { 002,001,2 }:
Construct the configuration data of monomer 002,002 own coordinate of robot monomer are as follows: r2,2=0, θ2,2=0, α2,2=0.It will
The coordinate transform of robot monomer 001 is into 002 local Coordinate System in 001 local Coordinate System of robot monomer: r2,1=1, θ2,1
=0,
For three element configuration datas to { 003,001,3 }:
Construct the configuration data of monomer 003,003 own coordinate of robot monomer are as follows: r3,3=0, θ3,3=0, α3,3=0.In machine
In 001 local Coordinate System of people's monomer, by the coordinate transform of robot monomer 001 into 003 local Coordinate System: r3,1=1, θ3,1=0,By the coordinate transform of robot monomer 002 into 003 local Coordinate System: r3,2=1,
For three element configuration datas to { 004,003,3 }:
Construct the configuration data of monomer 004,004 own coordinate of robot monomer are as follows: r4,4=0, θ4,4=0, α4,4=0.?
In 003 local Coordinate System of robot monomer, by the coordinate transform of robot monomer 001 into 004 local Coordinate System:By the coordinate transform of robot monomer 002 into 004 local Coordinate System: r4,2
=1,α4,2=0.By the coordinate transform of robot monomer 003 into 004 local Coordinate System: r4,3=1, θ4,3=0,
Step 8, judge whether configuration constructs completion
Judge whether configuration constructs completion, if completed, goes to step (9), otherwise go to step (3)；
Step 9, it realizes target topological relation, exports final configuration.
There is no the part described in detail to belong to the well known conventional means of the industry in present embodiment, does not chat one by one here
It states.
The foregoing examples are only illustrative of the present invention, does not constitute the limitation to protection scope of the present invention, all
It is within being all belonged to the scope of protection of the present invention with the same or similar configuration strategy of the present invention.
Claims (3)
1. a kind of group's self assembly robot modeling method based on the description of three element configurations, it is characterized in that: including at least as follows
Step:
(1) target topological relation is inputted
The target topological relation that user provides is inputted, including robot monomer shape, the number of Group Robots monomer and each
The relative position of robot monomer；
(2) three element configuration datas are constructed
Three element configuration datas are constructed according to the topological relation of self assembly robot, group:
{IDa,IDb,A}
Wherein: IDaFor the number of active mating monomer a, IDbFor the number for passively docking monomer b, A is passive interface；
(3) active and passive docking monomer is selected
A robot monomer is sequentially completed the data with it for passive docking monomer as passive docking monomer in selected group
It is right, i.e., successively select the active mating monomer of related data centering；
(4) passive part navigation information is planned
According to the navigation information of the polar coordinates configuration data planning passive part of passive docking monomer, average polar angle hair will be calculated to obtain
Cloth gives the other robot monomer of passive butted part, and then each monomer plans respective navigation information；
(5) control docking mechanism completes docking
Active mating monomer drives docking mechanism to complete docking close to passive docking monomer；
(6) configuration data of monomer is updated
After the completion of docking, according to active and passive docking monomer geometrical relationship, calculates the active mating monomer being newly added and passively docking
Coordinate in part in other monomers coordinate system, coordinate of the active mating monomer j+1 in monomer i coordinate system are as follows:
Wherein ri,j+1,θi,j+1,αi,j+1Polar diameter, polar angle and vector angle of the respectively monomer j+1 in monomer i coordinate system,{rij,θij,αijIt is coordinate of the passive docking monomer j in monomer i coordinate system, the calculation formula of β is such as
Under:
Wherein β is the vector angle of active and passive docking monomer, and A is passive interface, and n is the total interface number of robot monomer；
(7) the new configuration data that monomer is added of building
On the basis of step (6), the new configuration information that monomer i+1 is added and is grasped according to passive docking monomer i,
The configuration information of oneself is obtained by polar coordinate transform:
Wherein ri+1,j,θi+1,j,αi+1,jRespectively monomer j is in polar diameter, polar angle and the vector folder being newly added in monomer i+1 coordinate system
Angle, { rij,θij,αijIt is coordinate of the monomer j in passively docking monomer i coordinate system, β is the vector folder of active and passive docking monomer
Angle, θi+1,jDomain it is as follows:
(8) judge whether configuration constructs completion
Judge whether configuration constructs completion, if completed, goes to step (9), otherwise go to step (3)；
(9) final configuration is exported
It realizes target topological relation, exports final configuration.
2. a kind of group's self assembly robot modeling method based on the description of three element configurations according to claim 1,
Be characterized in: robot described in above-mentioned steps (1) is the positive polygon prism containing an active mating face and several passive interfaces
Robot, target topological relation include number and the relative position of each robot monomer of all robot monomers.
3. a kind of group's self assembly robot modeling method based on the description of three element configurations according to claim 1,
Be characterized in: navigation information described in above-mentioned steps (4) is a kind of method based on polar coordinates configuration data and vector, specifically such as
Under:
4a) first configuration is constructed, polar coordinates configuration data need to be established:
{r,θ,α}
Wherein r is the polar diameter of monomer, and θ is the polar angle of monomer, and α is the angle of monomer vector and polar axis, main, quilt in each butt joint body
The distance of dynamic monomer geometric center is unit 1, the range of θ and α be (- π, π]；
4b) calculate average polar angle:
Wherein θmeanFor the average polar angle of all monomers in passive monomer i coordinate system, θijFor monomer j in passive monomer i coordinate system
Polar angle, k is monomer populations in passive docking monomer i coordinate system, with average polar angle is point in passively docking monomer coordinate system
Boundary's axis, then into passive docking monomer coordinate system, all monomers issue the average polar angle；
4c) passive butted part monomer judges that the position of itself opposite boundary axis, the face on the boundary axis left side show right navigation signal,
The right shows left navigation signal, the face to demarcate on axis, when its vector and boundary axle clamp angle are less than 0, shows left navigation information, greatly
Show that right navigation information, guidance active mating monomer find target interface when 0.
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