CN114905496A - Modular robot construction method, modular robot assembly sharing method and interactive system for modular robot construction - Google Patents

Abstract

The invention relates to the field of robots, in particular to a construction method of a modular robot, an assembly and sharing method of the modular robot and an interaction system. One interactive system comprises a server end and a download terminal which are communicated with each other, wherein the server end is used for storing the information of the module robot to be constructed, and the information of the module robot to be constructed comprises the module type, the assembly position and the assembly method of the robot assembly; the system and the method have the advantages that the resource sharing degree is maximized, and a user can obtain better experience.

Description

Modular robot construction method, modular robot assembly sharing method and interactive system for modular robot construction

[ technical field ] A

The invention relates to the field of robots, in particular to a construction method of a modular robot, an assembly and sharing method of the modular robot and an interactive system for constructing the modular robot.

[ background of the invention ]

Along with the rapid development of various technologies in the current society, people have more and more technological senses and more intellectualization in life. At present, robots are also widely used in daily life of people, such as performing a task by using a robot, using a robot as a tool for developing children's intelligence, and the like. The existing robot is usually modularized, and different modules can be assembled into a robot structure which meets the requirements of users according to the use requirements of the robot when the robot is used. In order to guide a user to assemble a module, a merchant usually provides several assembling methods for the user when the user leaves a factory so as to facilitate the user to refer to and splice the modules, but if the user wants to obtain configurations provided by the merchant except for the configuration provided by the merchant when the user leaves the factory, because each user is easily limited to the single thinking of the user, the knowledge mastered by the user and other factors, a relatively large breakthrough is difficult to be made in the configuration of the assembled robot, and even the assembly is easily failed, so that the task cannot be achieved.

[ summary of the invention ]

In order to solve the problems, the invention provides a construction method of a modular robot, an assembly and sharing method of the modular robot and an interactive system for constructing the modular robot.

The technical scheme for solving the technical problem is to provide the following technical scheme:

an interactive system for building a modular robot, wherein the modular robot comprises a plurality of modules which can be assembled with each other, the plurality of modules at least comprise one module which can be communicated with a terminal, the interactive system comprises a server end and a download terminal which are communicated with each other, the server end is used for storing information of the modular robot to be built, the information of the modular robot to be built at least comprises configuration information of the modular robot, and the configuration information at least comprises the type of the module assembled by the robot, an assembling position and an assembling method; the downloading terminal is used for communicating with the to-be-assembled module robot, downloading the to-be-constructed module robot information, analyzing and displaying the downloaded to-be-constructed module robot information, associating the analyzed to-be-constructed module robot information with the to-be-constructed module robot, and generating a construction reminding signal when a user constructs the to-be-constructed module robot based on the displayed to-be-constructed module robot information.

Preferably, the download terminal generates and displays the configuration of the virtual module robot based on the configuration information.

Preferably, the robot information of the module to be constructed further includes at least one of different types of driving information, an execution instruction sequence, execution logic information generated based on the execution instruction sequence, multimedia information, and control interface information.

Preferably, the downloading terminal includes an obtaining module: the system comprises a server side, a module to be built and a robot information acquisition module, wherein the server side is used for communicating with the server side to download the robot information of the module to be built; an analysis module: analyzing the acquired robot information of the module to be constructed and transmitting the information to the robot of the module to be constructed; a display module: the robot information analysis module is used for analyzing the robot information of the module to be constructed; a control module: the robot information analysis system is used for communicating with an analysis module to edit and/or transmit analyzed robot information of the module to be constructed to the robot of the module to be constructed, the number of the control modules is multiple, the types of the control modules are different, and a control module is matched to be associated with the analysis module according to the type of the robot information of the module to be constructed.

Preferably, the server side comprises a plurality of storage modules, and each storage module is used for classifying and storing the robot information of the module to be constructed with the same configuration information.

Preferably, the downloading terminal is further configured to upload other robot information about the module robot to be built, which is automatically edited or created, for downloading by other terminals.

In order to solve the technical problem, the invention further provides an interactive system for building a modular robot, wherein the modular robot comprises a plurality of modules which can be assembled with each other, the plurality of modules at least comprise one module which can be communicated with a terminal, the interactive system comprises a server end and an uploading terminal which are communicated with each other, the uploading terminal is used for establishing communication with an initial modular robot and obtaining robot information about the initial modular robot based on the communication, the robot information at least comprises configuration information, and the configuration information at least comprises module types, assembly positions and assembly methods of robot assembly; uploading the robot information to a server as to-be-constructed module robot information for other terminal users to download, and generating a construction reminding signal when constructing the to-be-constructed module robot based on the to-be-constructed module robot information; and the server is used for receiving and storing the robot information.

Preferably, the robot information further includes at least one of different types of driving information, an execution instruction sequence, execution logic information generated based on the execution instruction sequence, multimedia information, and control interface information; the upload terminal includes: an identification module: configuration information for identifying the initial modular robot; setting a module: the system comprises a control module, a starting module, a control module and a control module, wherein the control module is used for setting at least one of driving information, an execution instruction sequence, execution logic information, multimedia information and control interface information generated based on the execution instruction sequence, which relate to the motion of the starting module robot; a conversion module: the system comprises a configuration module, a driving module, an execution instruction sequence, execution logic information, multimedia information and control interface information, wherein the configuration information, the driving information, the execution instruction sequence, the execution logic information, the multimedia information and the control interface information are generated based on the execution instruction sequence; an uploading module: and communicating with the conversion module, and uploading the robot information obtained by conversion of the conversion module to a server side to serve as the robot information of the module to be constructed.

Preferably, the server side comprises a judging module and a plurality of storage modules, wherein the judging module is used for communicating with the identification module to judge the configuration type of the initial module robot based on the configuration information, and the robot information with the same configuration type is classified and stored in different storage modules.

Preferably, the uploading terminal is also used for downloading robot information uploaded by other terminal users and for generating an assembly reminding signal when the module robot to be constructed is constructed.

In order to solve the technical problem, the present invention further provides an interactive system for building a modular robot, where the modular robot includes a plurality of modules that can be assembled with each other, the plurality of modules includes at least one module that can communicate with a terminal, the interactive system includes an upload terminal, a server terminal, and a download terminal that communicate with each other, the upload terminal is configured to establish communication with an initial modular robot and obtain robot information about the initial modular robot based on the communication, the robot information at least includes configuration information, and the configuration information at least includes a module type, an assembly position, and an assembly method of the robot assembly; uploading the robot information to a server as the robot information of the module to be constructed for other terminal users to download and display, and generating a construction reminding signal when constructing the robot of the module to be constructed based on the displayed robot information of the module to be constructed; the system comprises a module to be built, a robot controller, a module to be built and a module to be built, wherein the module to be built is used for communicating with the robot, downloading the information of the module to be built, analyzing and displaying the downloaded information of the module to be built, associating the analyzed information of the module to be built with the module to be built, and generating a building reminding signal when a user builds the module to be built based on the displayed information of the module to be built; the system comprises a server side and a module robot assembly system, wherein the server side is used for storing module robot information to be constructed about a module robot to be constructed, the module robot information to be constructed at least comprises configuration information of the module robot, and the configuration information at least comprises module types, assembly positions and assembly methods assembled by the robot.

In order to solve the above technical problem, the present invention further provides a method for constructing a modular robot, which is applied to a terminal, the modular robot includes a plurality of modules that can be assembled with each other, the plurality of modules includes at least one module that can communicate with the terminal: acquiring information of a module robot to be constructed for splicing the module robots from a server, wherein the information of the module robot to be constructed at least comprises configuration information of the module robot, and the configuration information at least comprises module types, assembly positions and assembly methods assembled by the robot; analyzing the acquired robot information of the module to be built so as to display the robot information of the module to be built; and associating the information of the module robot to be constructed with the module robot, wherein the information of the module robot to be constructed associated with the module robot is used for generating an assembly reminding signal when a user assembles the module robot to be constructed based on the displayed information of the module robot to be constructed.

Preferably, the information of the module robot to be constructed further includes driving information for controlling the module robot to execute motion, the driving information includes at least one of preset action frame information and preset action control information generated by editing or operating the at least one action frame information, and each action frame information and the preset action control information are displayed in a classified manner.

Preferably, each piece of action frame information and the preset action control information are respectively provided with corresponding identification information, and the preset action control information is directly transmitted to the modular robot according to the identification information so as to control the modular robot to execute movement according to the preset action control information; or selecting at least one piece of displayed action frame information to re-edit or calculate according to the identification information to obtain new preset action control information, and transmitting the new preset action control information to the module robot and/or uploading the new preset action control information to the terminal platform.

Preferably, the robot information of the module to be constructed further includes at least one preset execution instruction sequence and/or execution logic information generated based on the at least one preset execution instruction sequence, and each execution instruction sequence and execution logic information are displayed in a classified manner.

Preferably, each execution instruction sequence and execution logic information respectively have different identification information, and the corresponding execution instruction sequence or execution logic information is selected according to the identification information and transmitted to the module robot; or selecting at least one displayed execution instruction sequence according to the identification information to be edited again so as to obtain new execution logic information, and transmitting the new execution logic information to the modular robot and/or uploading the new execution logic information to the terminal platform.

Preferably, the information of the module robot to be constructed further includes multimedia information, and the multimedia information is directly sent to the module robot to be constructed so as to enable the module robot to operate the multimedia information; or the multimedia information is edited again to obtain new multimedia information, and the new multimedia information is transmitted to the construction module robot and/or uploaded to the server side.

Preferably, the robot information of the module to be built further includes control interface information, the control interface information includes GUI interface change state information corresponding to different assembly schedules in a process of assembling a plurality of modules into the module robot, and a target robot structure is assembled based on the control interface information or the robot information of the module to be built is transmitted to the module robot.

Preferably, the guidance information is generated according to the configuration information and the progress of assembling the module robot to be constructed, and the guidance information includes the configuration of the virtual robot generated based on the configuration information, text and/or voice prompt information for guiding the robot to be assembled, or visual guidance information of the current module and the module to be assembled at the progress of assembling the module robot.

Preferably, after the module robot to be built is built based on the displayed information of the module robot to be built, the built module robot is further edited again to obtain a new module robot and/or the information about the new module robot is uploaded to the server side.

In order to solve the above technical problem, the present invention further provides a method for assembling and sharing a module robot, which is applied to a terminal, the module robot includes a plurality of modules that can be assembled with each other, the plurality of modules at least includes a module that can communicate with the terminal, and the method for assembling and sharing a module robot includes the following steps: establishing communication with an initial module robot, the initial module robot being obtained by a sharer based on a plurality of module assemblies; acquiring configuration information about the initial module robot based on the communication, wherein the configuration information at least comprises module types, assembly positions and assembly methods of robot assembly; and uploading the model configuration information to a server end to serve as the information of the module robot to be constructed for other terminal users to download, wherein the information of the module robot to be constructed is used for generating a construction reminding signal when the module robot to be constructed is constructed.

Preferably, driving information is set for the initial module robot to control the module robot to move, wherein the driving information comprises a plurality of pieces of action frame information and preset action control information obtained by editing or calculating based on the plurality of pieces of action frame information; and uploading the driving information and the configuration information to a server according to different types to serve as the information of the module robot to be constructed.

Preferably, the initial module robot is further provided with an execution instruction sequence, or at least one of execution logic information, multimedia information and control interface information for forming the process of assembling the initial module robot is generated based on the execution instruction sequence and uploaded to a server terminal according to different types; the information of the plurality of action frames is associated with preset action control information, a set execution instruction sequence, generated execution logic information, set multimedia information and formed control interface information are stored as file types which can be analyzed and displayed and/or edited by software, and at least two of the file types are packaged and then uploaded to a server side to serve as the information of the module robot to be constructed.

Compared with the prior art, the construction method of the modular robot, the assembly and sharing method of the modular robot and the interactive system for constructing the modular robot provided by the invention have the following beneficial effects:

1. the interactive system for the construction of the modular robot comprises a server end and a download terminal which are communicated with each other, wherein the server end collects the modular robots assembled by different sharers, sellers, research and development personnel and modular robot enthusiasts, and also comprises configuration information corresponding to the modular robot and/or information contents for driving the modular robot to move, executing different instructions and the like, more abundant intelligent achievements are collected, and after the information of the modular robots is obtained from the server end by using a download terminal product held by a user who needs to follow the assembly, the download terminal analyzes and displays the information, and simultaneously transmits the information to the modular robot through the download terminal, so that the user who follows the assembly can better follow the assembly of the modular robot to be constructed under the reminding signals, and the user is not limited to a plurality of configurations provided by the sellers when purchasing commodities, the resource sharing degree can be maximized well, so that the user can obtain better experience.

2. Each piece of action frame information and the preset action control information are displayed in a classified mode, and each piece of action frame information and the preset action control information are provided with corresponding identification information respectively, so that a user can conveniently select the corresponding action frame information to carry out operation, editing or modification and the like, and the difficulty of user assembly following assembly is further reduced.

3. The robot further comprises at least one preset execution instruction sequence and/or execution logic information, multimedia information and the like generated based on the at least one preset execution instruction sequence, different assembly enthusiasts can be well met, modular robot configurations with different functions are constructed, different information is distinguished by using different identifications, and users can further recreate or directly apply the information.

4. The robot structure construction method further comprises interface control information, a user can assemble a target robot structure based on the control interface information or transmit the information of the module robot to be constructed to the module robot conveniently, and the error rate of operation is reduced.

5. After a sharer creates a new module robot, the virtual module robot is generated based on the configuration information and displayed on the sharing platform for a user to read, so that the user can conveniently select the interested module robot to follow and assemble, and the experience of the user is improved.

6. The driving information, the execution instruction sequence or the control interface information which is generated based on the execution instruction sequence, is used for executing logic information, multimedia information and forms the process of assembling the initial module robot is stored into different types for uploading, so that a user who follows the assembly can conveniently download the information from the shared platform, then download the information from the terminal, analyze the information and enter the corresponding editor, and the accuracy of applying the information of the module robot to the assembled module robot is improved.

[ description of the drawings ]

Fig. 1 is a flowchart illustrating a modular robot assembly sharing method according to a first embodiment of the present invention.

Fig. 2 is a schematic perspective view of a partial structure of a modular robot assembled according to the present invention.

Fig. 3 is a schematic perspective view of a sub-module unit according to the present invention.

Fig. 4 is a schematic interface diagram of a driving information editor in the modular robot assembly sharing method according to the first embodiment of the present invention.

Fig. 5 is a schematic interface diagram illustrating another setting progress of the driving information editor in the modular robot assembly sharing method according to the first embodiment of the present invention.

Fig. 6 is a schematic view of a display interface of a sub-menu corresponding to each action frame information of a driving information editor in the modular robot assembly sharing method according to the first embodiment of the present invention.

Fig. 7 is a perspective view of the modular robot of the present invention including wheels.

Fig. 8 is a schematic interface diagram of a driving information editor in the modular robot assembly sharing method according to the first modified embodiment of the present invention.

Fig. 9 is a schematic interface diagram of a driving information editor in a modular robot assembly sharing method according to a second variant embodiment of the present invention.

Fig. 10 is a schematic interface diagram of a driving information editor in a modular robot assembly sharing method according to a fourth variant embodiment of the present invention.

Fig. 11 is a flowchart illustrating an assembling method of a modular robot according to a second embodiment of the present invention.

Fig. 12 is a schematic diagram of a creation interface into which a module robot to be built is created in the assembly method of a module robot according to the second embodiment of the present invention.

Fig. 13 is a schematic diagram of a creation interface into another state of creating a module robot to be built in the assembly method of a module robot according to the second embodiment of the present invention.

Fig. 14 is a schematic perspective view of a modular robot including wheels according to the present invention.

Fig. 15 is a schematic block diagram of an interactive system for building a modular robot according to a third embodiment of the present invention.

Fig. 16 is a schematic block diagram of a download terminal of a system for assembling a modular robot according to a third embodiment of the present invention.

Fig. 17 is a schematic block diagram of an interactive system for building a modular robot according to a fourth embodiment of the present invention.

Fig. 18 is a schematic block diagram of an upload terminal of an interactive system for building a modular robot according to a fourth embodiment of the present invention.

FIG. 19 is a block diagram of a computer system suitable for use with a server according to an embodiment of the invention.

[ detailed description ] A

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to fig. 1, a first embodiment of the present invention provides a modular robot assembly sharing method, where a modular robot includes a plurality of modules capable of being assembled with each other, and the plurality of modules includes at least one module capable of communicating with a terminal, and the method includes the following steps:

s1, establishing communication between the modules and the terminal, and assembling a plurality of modules to obtain an initial module robot;

s2, identifying configuration information about the initial module robot based on the communication, wherein the configuration information at least comprises module types, assembly positions and assembly methods of robot assembly;

and S3, uploading the model configuration information to a server as the information of the module robot to be constructed for other terminal users to download, wherein the information of the module robot to be constructed is used for generating a construction reminding signal when the module robot to be constructed is constructed.

In some specific embodiments, the terminal includes a mobile terminal, and typically includes an electronic device, such as a mobile phone, a computer, a tablet computer, and the like. It will also be appreciated that the user can develop an APP software on the terminal as the control associated with the module. In the following description, the setting of other operation information such as the action setting and the logic information setting of the module robot obtained by assembly is performed on APP software, and therefore the terminal is described using the APP software in the following description. And the terminal here mainly acts as an upload terminal for uploading configuration information and related information about the movement of the modular robot.

The server side generally comprises a cloud end and a server, and is a comprehensive server side which gives consideration to calculation and data storage processing.

The sharing platform is an information sharing display area arranged on the terminal. It can be understood that a shared display area is arranged on the APP software, and information displayed by a shared platform can be seen after the APP software enters the APP software.

In step S1, the module and the terminal may be connected by wire or wirelessly. If the mode of wired connection needs to set an external interface on the module correspondingly. The wireless connection mode includes zigbee technology, bluetooth, NFC, and other technologies for wireless communication. In the present embodiment, zigbee technology connection is preferred.

Referring to fig. 2, the module includes a main control module 30 and a plurality of sub-unit modules 10 connected to the main control module 30, at least one docking portion 14 is disposed on each sub-unit module 10, and the main control module 30 and the sub-unit modules 10 are connected through the docking portion 14 and communicate with the sub-unit modules. The primary robot structure 1a with different configurations can be reconstructed by the main control module 30 and the subunit modules 10 and by different connection modes between the subunit modules 10 and the subunit modules 10. And usually as creators or some higher-end players, a newer module robot is often created according to the modules, so that as a sharer, the configuration information related to the created module robot, the information for controlling the module robot to execute the motion or certain instructions, and the related information for completing certain events are uploaded to a server for other users or players to refer to and assemble.

Referring to fig. 3, the subunit module 10 includes two relatively rotatable submodules 101, and the rotation is controlled by an electric signal. Preferably, it can also be turned by manual control. Preferably, the sub-modules 101 are semi-spherical, each sub-module 101 is provided with at least one butting part 14, and the plurality of sub-unit modules 10 are connected through the butting parts 14. Preferably, the number of the docking portions 14 on each subunit module 10 is 2 or 3 or 4 or 5 or 6 or 7 or 8, and preferably, the different docking portions 14 of each subunit module 10 are provided with corresponding interface identification information so as to determine the relative connection position between the subunit modules 10, i.e., the assembly position information between the modules.

Therefore, the process of acquiring the assembly position information in the configuration information on the initial module robot in step S2 is roughly as follows: the slave main control module 30 performs identification of the interface identification information of the docking part 14 between the adjacent unit modules step by step to the free end of the modular robot according to the sequential connection order of the sub unit modules 10 to obtain the position information of the modular robot. Specifically, the terminal may communicate with the main control module 30 to obtain configuration information.

Different modules are provided with different interface identification information, so that the module type information can be obtained while the interface identification information is identified.

The assembly method may be video information, GUI interface information, or text description information describing the assembly sequence and assembly method, which are shot by the user during the assembly process.

In step S3, the model configuration information is uploaded to the server as information of the modular robot to be constructed for downloading by other terminal users, where the information of the modular robot to be constructed is used to generate a construction prompt signal when the modular robot to be constructed is constructed. Specifically, the terminal that downloads the information of the modular robot to be built generates the configuration of the virtual modular robot associated with the initial modular robot through three-dimensional simulation or three-dimensional modeling according to the acquired configuration information and displays the configuration of the virtual modular robot to provide the user with a choice of whether to build the modular robot having the same configuration as the virtual modular robot. Further description is provided as to how the construction reminder is generated in the subsequent content.

Further, in order to enable the inception module robot to move, it is necessary to further set driving information to the inception module robot to control the module robot to move, the driving information including a plurality of pieces of motion frame information and preset motion control information edited or operated to obtain based on the plurality of pieces of motion frame information.

In order to set the drive information, a drive information editor for setting the drive information is integrated on the APP software for operation. The driving information editor is integrated with visual editing buttons or menus on a display screen of the electronic equipment, and a user can set or edit the driving information by operating the buttons or the menus.

The button identification of the display screen is simply explained: 21. a save button; 22. a delete button; 23. adding a button; 24. an action frame identification; 25. Another action frame identification; 24 and 25 represent the operation time length of the action frame; 26. a run or pause button; 27. a progress bar button; and 28, a return button.

Referring to fig. 4 and 5, based on that the modules communicate with the terminal when the initial module robot is constructed, after the sharer finishes assembling and obtains the initial module robot, the configuration of the virtual module robot is correspondingly displayed on the display screen of the terminal, and the virtual module robot automatically jumps to the "create first action frame" control interface, and clicks the interface information shown in fig. 4 and 5 after entering. The add button 23 is clicked first, and then by rotating any sub-module 101, the setting of an action frame is completed, and the action frame mark 25 is displayed on the screen. And if the next action frame needs to be set continuously, rotating the sub-module 101 again, clicking the increase button 23 again after the rotation is finished, representing that the setting of the two action frames is finished, forming an action frame identifier 25, and so on, and clicking the operation button 26 after the setting of all the required action frames is finished, so that the assembled module robot and the virtual module robot on the display screen can perform movement one by one according to a series of action frames just set. The distance between two action frames represents the running time from the last action frame to the next action frame. The user can adjust the running time of the two by pulling one action frame identification.

Alternatively, after an action frame is set, the next action frame may be directly obtained by copying the action frame, the speed relationship of the motion between two action frames may be adjusted by dragging the distance between two adjacent action frames, or one of the action frames may be selected for modification and editing, for example, the motion speed may be modified, and the action frame may be deleted. And after all the action frames are set, the series of action frames form preset action control information, and a storage button 21 on the display screen is clicked to store the preset action control information and the associated action frames in an associated manner. In order to facilitate identification and distinction, a user pops up an operation box for inputting a name before storage so that the name can be conveniently uploaded to a server and can be quickly distinguished after being downloaded by the user, and the operation box can be better applied to a module robot which is assembled subsequently.

When one of the set series of action frames needs to be deleted, the deletion button 22 is clicked after the action frame is selected.

Referring to fig. 6, different submenus 241 are correspondingly integrated under each action frame identifier 24, the submenus 241 will be automatically displayed when the corresponding action frame identifier 24 is clicked, and the corresponding setting operation, such as adjusting the rotation speed, the rotation angle, and other commands, can be completed by clicking the submenus 241.

It should also be noted that: when the user who follows the assembly downloads the action frame information or the preset action control information, the display and the operation can be performed only on the top of the drive information editor of the same type. Therefore, the action frame information and the corresponding preset action control information need to be format-coded while being stored, so that a subsequent user can conveniently analyze the action frame information and the corresponding preset action control information into a corresponding drive information editor after downloading the action frame information and the corresponding preset action control information from a server side, and the action frame information and the corresponding drive information editor are displayed on a display screen for the user to select and operate so as to be applied to a subsequently assembled modular robot. Therefore, it is described that configuration information and drive information are uploaded to the server side in different format types after being saved.

In a first variant embodiment, a wheeled modular robot 2a is provided. In this case, in addition to setting the motion frame for the sub-module 101 to rotate the two, the running speed and the rotating speed of the wheel 102 need to be set. In this case, an additional driving information editor with setting of the rotation and speed of the wheel is required.

Referring to fig. 7 and 8, to distinguish from the driving information editor of the first embodiment, an editor with velocity editing may be named a rotational motion editor, and the interface thereof is roughly as shown in fig. 8. The editing process is described briefly below with reference to fig. 8: the setting of the steering speed of one of the wheels 102 is done by selecting it and then pulling the speed adjustment button 46 on the screen to set its speed and direction of rotation, at which point the APP software will automatically complete the reading and recording of the steering speed and steering angle. The steering speed of the next wheel 102 is then set in the same manner until the steering speed of all wheels 102 is set and then the save button 41 in the upper right corner is clicked to complete the save. If it is desired to click on the run button 46 in accordance with the settings of the actuation information, and to click on the return button 48 if it is desired to exit the current edit.

The rotation speed of the wheel 102 can also be set by clicking a screen to select one wheel, then rotating the wheel of the entity module robot, at this moment, the rotational motion editor can complete the recording of the rotation speed, and after the setting is completed, the user can continue to click the storage button 41 at the upper right corner for storage. The driving information stored at this time is related to the steering speed of the wheel, because the stored type is different from the stored type of the driving information of the first embodiment, and as for the user who subsequently assembles the modular robot, the user needs to enter the corresponding rotational motion editor to conveniently operate the driving information of the type and apply the driving information to the newly assembled modular robot.

In a second variant, please further refer to fig. 9, when it is needed to set the forward speed, the left turn speed, or the right turn speed of the wheels for the modular robot with wheels, another driving information editor may be further configured to set the contents. Named steering wheel editor for distinctions. If the user needs to set the advancing speed of the wheels, the user firstly needs to adjust all the wheels to be approximately in a straight-going relation relative to the body, clicks the advancing arrow 54, and then walks a distance on the road surface by pushing the entity module robot, and at the moment, the steering wheel editor obtains the advancing speed of the wheels. The speed acquisition here may be carried out by mounting a speed sensor on each wheel, and acquiring the actual speed of each wheel during travel by the speed sensor. And the left-turn arrow 52 and the right-turn arrow 53 can be clicked when the left-turn speed or the right-turn speed needs to be set, and the upper save button 51 can be clicked after the setting is finished. Clicking the right run button 56 controls the modular robot to travel. Clicking the top left exit button 58 exits the current mode.

The driving information stored at this time is related to the steering speed or the forward speed of the wheels, so the type of storing the driving information is different from the type of storing the driving information of the first modified embodiment and the second modified embodiment, and as for a user who subsequently assembles the module robot, the user needs to enter a corresponding steering wheel editor to conveniently operate the driving information of the type and apply the driving information to a new module robot.

In a third variant embodiment, some specific drive information editors (not shown) may also be provided based on interpolation algorithms. The following briefly explains the setup procedure of this type-specific drive information editor: a limit value is set for a motion state, and then an intermediate motion state can be obtained by interpolation algorithm operation. For example, a moving distance is a-B, a starting state a is set to be Va, and a speed in a terminal state B is set to be Vb, and then the speeds between a and B can be obtained by combining an interpolation algorithm with Va and Vb operations. The arrangement mode can make the speed more uniform in the whole moving process of the A-B and can also shorten the arrangement time. At this time, the corresponding operation frame information in the set limit value state can be stored and uploaded to the server. When the user downloads the action frame information, the action frame information can be displayed only on the same type of drive information editors so as to be provided for the user to select and transmit the action frame information to the newly constructed module robot, or the downloaded action frame information is edited or modified on the type of drive information editors to form new preset action control information, and then the new preset action control information is transmitted to the newly constructed module robot or is uploaded to the server side again.

It should be noted that the above driving information editors are just some examples, and other types of driving information editors can be developed according to different modular robot configurations.

In a fourth variant embodiment, an execution instruction sequence is further set for the module robot with the action frame information or the preset action control information set, or execution logic information is generated based on the execution instruction sequence. To set these execution instruction sequences or execute logical information, it can be implemented by graphic programming software. The graphical programming software comprises software such as an existing Python code programming platform. The graphical programming software is also integrated in the above-mentioned APP software, which then enters the corresponding graphical programming software.

Referring to fig. 10, some edited execution instruction sequences appear on the display interface, and are graphically represented, for example, each rectangular box represents an execution instruction sequence. In order to identify the execution sequence of the execution logic, identification information is set on each rectangular box, and the identification information can simply indicate what instruction task the execution instruction sequence corresponds to. And selecting parts in the edited execution instruction sequence to form execution logic information so as to define tasks which need to be executed by the robot in a certain state, wherein the robot can complete the corresponding tasks only by moving according to the selected execution instruction sequence. Typically, a library of different types of execution instruction sequences is presented on the display interface, such as an action execution instruction sequence corresponding to the sub-module 101, including the movement mode of the action, such as the steering angle, the rotation speed, and the like. The identification information such as left turn, right turn, etc. appears on the rectangular frame.

Optionally, in order to enrich the type of modular robot, the modular robot is also typically provided with an external unit (not shown). The external unit is connected with the main control module 30 or the sub-unit module 10. When the external unit works, the working information of the external unit is returned to the control main body 30, and the execution instruction sequence can be set to control the relative rotation between the two sub-modules 101 of the sub-unit module 10 according to the working information returned by the external unit, or control the external unit to work according to the working information of the sub-unit module 10. Preferably, the external unit returns the working information in real time, and the main control module 30 controls the sub-unit module 10 to rotate according to the working information returned by the external unit in real time. In particular, the external unit may be a sensor and/or an actuator. The sensor may be an ultrasonic sensor, an infrared sensor, a temperature sensor, a brightness sensor, a color sensor, or the like. The actuator may be a suction cup, an electromagnet, a gripper, etc. The execution instruction sequence may be configured to control the relative rotation between the two sub-modules 101 of the sub-unit module 10 based on, for example, operational information returned by the sensors and/or the execution unit. For example, the socket 41 of the modular robot 1a is connected with an ultrasonic sensor, when the ultrasonic sensor senses an obstacle, the distance to the obstacle is detected and working information (distance parameter) is returned, an execution instruction is set, when the distance is smaller than a certain value, the main unit module 30 controls the sub unit module 10 to stop rotating, and the modular robot 1a stops moving to avoid contacting with the obstacle. For another example, when the actuator is a suction cup, the pneumatic suction cup is used for sucking an object, and the modular robot 1a acts to transport the object from one place to another place for a certain distance. The pneumatic suction cup returns a working message (execution state) to the control main body 40, informs the control main body 40 whether the article is sucked, and when the control main body 40 receives a working parameter indicating that the article is sucked, the main unit module 30 controls the movement of the sub unit module 10, so that the modular robot 1a moves along a preset path to deliver the article to a destination.

It should be noted that, depending on the type of the actuator or the sensor, or the configuration of the modular robot, the setting of the execution instruction sequence may be performed after the setting of the driving information or before the setting of the driving information. For example, when a user touches the sensor, the corresponding component performs a corresponding action, such as the lighting of an indicator light, or the component emits a voice message, which is completely unrelated to the mutual movement between the modules, which may be set before the setting of the driving information. If the module needs to rotate first and then execute corresponding actions, the driving information needs to be set first and then the execution instruction sequence needs to be set. A sequence of execution instructions associated with an actuator, such as a gripper, picks up an article to be handled. Often, executing a task requires a different set of execution instructions to complete. Then the user needs to select the execution instruction sequence in the corresponding execution instruction sequence library according to the logic to combine to obtain a complete execution logic information.

It should be noted that it is necessary to determine whether a preset execution instruction sequence and/or execution logic information generated based on the preset execution instruction sequence needs to be associated with the driving information according to the type of the actuator.

And after the execution instruction sequences and the corresponding generated execution logic information are set, further storing and uploading the execution instruction sequences and the corresponding generated execution logic information to a server side. After downloading by the end user, the execution instruction sequence and the corresponding execution logic information are displayed in the corresponding graphical programming software. The user can select the execution instruction to edit or modify. And the corresponding operation button can be directly clicked, so that the robot of the new modeling block group executes the set execution logic information.

Referring to fig. 10 again, in order to better differentiate the set execution instruction sequences, different execution libraries are respectively set to store different execution instruction sequences. These libraries include an action command library 62, a multimedia command library 63, and a sensor execution command library 64, each of which has a plurality of sub-execution command sequences with different command information. For example, the motion command library 62 includes a rotation angle command 621, a rotation speed command, etc. of the sub-module 101. The multimedia command library 63 includes a music command sequence 622, or a prompt tone command sequence, etc., and the sensor execution command library 64 includes an infrared sensor activation command 631, etc. The user selects content in different libraries to combine together to generate execution logic information. And clicking the lower run button 66 to run.

After the user downloads the data, the data is still displayed in the editor in the form of the rectangular boxes for convenience of display. Usually, text information is set on the surface of each rectangular frame to simply describe what the function corresponding to the execution instruction sequence is, so that a user can directly select to apply the function conveniently.

In some other embodiments, the modular robot information to be built further comprises multimedia information. The multimedia information comprises information such as expression materials, sound effect materials, introduction videos and introduction pictures, and the corresponding actuator can be a display screen, a player and the like. Multimedia information can be further set for the initial robot structure obtained by initial assembly so as to be played under corresponding conditions, or the corresponding actuators can be controlled by setting some playing keys to play the multimedia information or display the multimedia information. Alternatively, the multimedia information may be associated with or completely independently set from the preset execution instruction sequence and/or one of the execution logic information and the driving information generated based on the preset execution instruction sequence.

The setting mode of the multimedia information can also be realized by referring to graphical programming software, each sound effect is defined by setting a rectangular frame, and a source program file corresponding to the sound effect is associated in each rectangular frame.

Optionally, in order to better record the process of assembling the modular robot by the sharer, so that the user who needs reference or reference later can be more clear, the method further comprises the following steps:

and forming control interface information based on the process of assembling the initial robot structure so as to upload the control interface information to the terminal platform. It can be understood that, each subunit is in signal connection with the electronic device, so that when a user completes one module unit, a new virtual robot configuration about the already assembled module robot configuration is formed at the electronic device end, and GUI interface information at different assembly schedules in each assembly process is uploaded to the terminal platform, so that the user of the module robot to be constructed can further assemble the module robot with reference to the GUI interface information, thereby reducing the probability of errors in the assembly process and improving the assembly speed. The GUI interface information may be document information that can be downloaded, and it is all right that the user can download document data that is set to be printed on paper.

It should be further noted that the control interface information further includes GUI interface information that is also formed by the sharer in the process of setting the driving information, executing the instruction sequence, executing the logic information, and the multimedia information, and is uploaded to the server side.

Referring to fig. 11, a second embodiment of the present invention provides a method for constructing a modular robot, where the modular robot includes a plurality of modules that can be assembled with each other, and the plurality of modules includes at least one module that can communicate with a terminal, including the following steps:

t1, obtaining information of the module robot to be constructed for splicing the module robots from a server, wherein the information of the module robot to be constructed at least comprises configuration information of the module robot, and the configuration information at least comprises module types, assembly positions and assembly methods assembled by the robot;

t2, analyzing the acquired robot information of the module to be built so as to display the robot information of the module to be built; and

and T3, transmitting the information of the module robot to be built to the module robot, wherein the information of the module robot to be built received by the module robot is used for generating an assembly reminding signal when a user assembles the module robot to be built based on the displayed information of the module robot to be built.

The terminal in this embodiment and the terminal mentioned in the first embodiment may be understood as electronic devices of the same type. The APP software integrated thereon also includes at least the same portions as the functions of the APP software in the first embodiment. It will be appreciated that the holder of the terminal in the first embodiment is a sharer, such as a developer, a seller or a creator of a new modular robot. In this embodiment, the terminal serves as a download terminal, and the holder of the terminal can be understood as some users who need to assemble the module according to the module robot shared by the sharers. For convenience of description, this part of users will be referred to as sharees hereinafter.

In the step T1, after the sharee takes out the modules to be assembled, communication between the main control module and the terminal needs to be established first. The modules involved in this embodiment at least include the main control module, and some or all of the subunit modules in the first embodiment. The main control module and the sub-unit module are completely the same as those of the first embodiment, and therefore, the description of the content of this part is omitted in this embodiment.

And the parts of the wheels, the sensors and the actuators can be selectively matched according to the configuration of the modular robot.

After the connection between the main control module and the terminal is established, a user selects a module robot which is expected to be assembled along with the virtual module robot configuration shared by sharers on the sharing platform. As an optional operation, an identification symbol is provided at one side of the display area of the virtual module robot configuration, after selection, the module type and the module number included in the selected virtual module robot are first matched with the module type and the module number of the module robot to be built, which have established communication with the terminal, respectively, and if matching is successful, step T1 and the subsequent steps are performed. If the matching is not successful, step T1 and subsequent steps are performed or robot information associated with other virtual module robot configurations is selected for transmission to the modular robot to be built.

If the module types and the module numbers of the module robots to be constructed, which are communicated with the terminal, are all included in the configuration of the selected virtual module robot, the matching is successful, and otherwise, the matching is not successful.

Alternatively, this step of matching may be omitted, and the download command may be executed regardless of whether the module type and the number of modules of the module-to-be-built robot match those of the module-to-be-built robot information to be downloaded.

Referring to fig. 12, after step T1 is executed, the interface information is skipped after the virtual module robot configuration corresponding to the area 71 is selected by the sharee. If the assembly needs to be started, the edit is clicked, and then the user automatically jumps to the interface presented in FIG. 12.

Referring to fig. 13, in step T2, the acquired module to be built robot information is analyzed to display the module to be built robot information, and specific display content is shown as 13. In this step, the information of the module to be built is displayed based on the analysis of the source code information integrated with the information of the module to be built. The specific analysis process involves mathematical or procedural operations, which are not described in detail herein.

In step T3, the information of the module to be built is transmitted to the module robot, and the information of the module to be built received by the module robot is used to generate an assembly reminding signal when the user assembles the module to be built based on the displayed information of the module to be built. In this step, based on the communication between the main control module and the terminal, the robot information of the module to be constructed is transmitted to the subunit modules one by the main control module or transmitted to one subunit module connected thereto by the main control module and then further transmitted to the next subunit module connected thereto by the subunit module, and so on.

After the information of the module robots to be constructed is obtained, a forming mode of a reminding signal is provided as follows:

the module robot shared in the sharing platform comprises M unit modules connected through a butt joint part;

acquiring configuration information of a current constructed entity, wherein the constructed entity comprises N unit modules connected through a butt joint part, and N is smaller than M;

calculating configuration information of the module robot shared by the shared platform and configuration information of a current constructed entity to obtain a butt joint part position where at least the (N +1) th unit module is accessed on the constructed entity; and

and sending prompt information to the position of the butt joint part, accessed by at least the (N +1) th unit module on the constructed entity, according to the calculation, so as to prompt the position of the butt joint part, accessed by at least the (N +1) th unit module. Then connecting at least the (N +1) th unit module to the constructed entity according to the prompt message;

and repeating the steps until the connection among the plurality of unit modules is completed, and obtaining the modular robot to be constructed.

The reminding signal can also be based on the fact that the current building module and the whole module robot model compare a local virtual robot structure corresponding to the building progress, the local virtual robot structure is displayed on the main control module or the terminal, a lamp of the corresponding butt joint part to be spliced is turned on, or other guiding information is formed to indicate the position of the corresponding butt joint part, and text prompting information can also be formed to be displayed on the terminal or the main control module to remind a user of the type and the splicing position of the next spliced module. The lighting of the lights of the docking station is here preferably on a physical module.

It will be appreciated that the text formation is broadcast to the user.

It will also be appreciated that a display or player associated with the master control module may be provided in order to prompt the user with such reminders.

Referring to fig. 13 and 14 again, further, the information of the module robot to be constructed further includes driving information for controlling the module robot to execute motion, where the driving information includes at least one preset action frame information, and at least one of preset action control information generated by editing or calculating the at least one action frame information, and each action frame information and the preset action control information are displayed in a classified manner. And when the downloading is completed and the analysis is carried out, automatically jumping to the driving information editor of the corresponding type. The motion frame information involved therein is displayed on the display screen according to the type of the driving information. Including driver information parsed into the action library 72, execution instruction sequences parsed into the programming library 73, and execution logic information or multimedia information parsed into a multimedia information library. And each library correspondingly stores a plurality of different pieces of sub information. To illustrate these sub-information, the modular robot to be constructed is a two-wheel modular robot with sensors, and includes a main control module 60, a head 601 rotatably connected to the main control module 60, a sub-unit module 603 connected to the main control module 60, and two wheels 604 connected to two interfaces of the sub-unit module 603. The head 601 is provided with a sensor, and the head 601 can shake the head or make a sound according to a set execution action or instruction. And the wheel 604 can move forward, left, and right according to the set driving information. And each action frame information and the preset action control information are respectively provided with corresponding identification information. It can be seen that fig. 12 uses simple "front", "left", "right" and "shaking head" as identification information of different motion frame information, respectively. These pieces of drive information are drive information about the motion, and are stored in the motion library. It can be further seen that clicking the "left" button will correspondingly display an edit button 7221, an activate button 7222, and a recycle button 7223. If it is desired to directly transmit the advance-related action frame information to the assembled modular robot, the actuation button 7222 may be clicked. If it is desired to make a modification name for the action frame, the edit button 7221 is clicked to make an editing modification. If it is desired to delete the operation frame information, the collection button 7223 may be clicked.

If the user needs to reset some action frame information, clicking the create button 75 on the left, the page will automatically jump to the page corresponding to the module that drives the information editor.

When the user uses the action frame information, the preset action control information is directly transmitted to the module robot so as to control the module robot to execute the movement according to the preset action control information; or selecting at least one piece of displayed action frame information to re-edit or calculate according to the identification information to obtain new preset action control information, and transmitting the new preset action control information to the module robot and/or uploading the new preset action control information to the terminal platform. The specific operation is roughly as follows:

it should be noted that: the driving information is defined into different categories based on the configuration information, and the driving information is analyzed based on the categories to form different categories of driving information to be displayed respectively. The different types of configuration information defined herein can be distinguished from the drive information obtained by the different types of drive information editors in the first embodiment. The corresponding input is carried into the same type of drive information editor after the analysis.

In some other embodiments, the robot information of the module to be constructed further includes at least one preset execution instruction sequence and/or execution logic information generated based on the at least one preset execution instruction sequence, and each execution instruction sequence and execution logic information are displayed in a classified manner. It should be noted that after the execution instruction sequence and the execution logic information are acquired and analyzed, the application software program interface correspondingly jumps to the corresponding logic editor, the software of the logic editor is consistent with the graphical programming software in the first embodiment, and the user can operate the analyzed execution instruction sequence and the analyzed execution logic information. If the execution instruction sequence and the execution logic information need to be applied to the newly built module robot, the corresponding operation can be performed by clicking the programming library 73.

Each execution instruction sequence and execution logic information respectively have different identification information, and the corresponding execution instruction sequence or execution logic information is selected according to the identification information and transmitted to the modular robot; or selecting at least one displayed execution instruction sequence according to the identification information to be edited again so as to obtain new execution logic information, and transmitting the new execution logic information to the modular robot and/or uploading the new execution logic information to the terminal platform. The specific identification information is also similar to the driving information identification, for example, the identification information is "turn on light after head is lowered", which can simply explain the content information of the execution instruction sequence, so as to facilitate the user to select according to the requirement. The operation of applying the execution instruction sequence and the execution logic information to the assembled modular robot and the operation process of the driving information are substantially similar, and will not be described in detail herein.

According to different configuration modules included in the modular robot, optionally, the modular robot information to be constructed further includes multimedia information, and the multimedia information is directly sent to a target robot structure so as to enable the target robot structure to operate the multimedia information;

or re-editing the multimedia information to obtain new multimedia information, and transmitting the new multimedia information to the modular robot and/or uploading the new multimedia information to a terminal platform.

The display mode of the multimedia information can be consistent with the execution instruction sequence or the execution logic information, so that a user can add, edit or apply the multimedia information by selecting one graph.

The information of the to-be-constructed module robot further comprises control interface information, the control interface information comprises GUI interface change state information corresponding to different assembly schedules in the process of assembling a plurality of modules into the module robot, and a target robot structure is assembled or the information of the to-be-constructed module robot is transmitted to the module robot based on the control interface information. The information correspondence of the control interface can be stored in a picture format.

Generating guide information according to the configuration information and the progress of assembling the module robot to be constructed, wherein the guide information comprises virtual robot configuration generated based on the configuration information, text and/or voice prompt information for guiding the robot to assemble, or visual guide information of a current module and a next module to be assembled at the assembly progress of the module robot. The generation of these guide information is described in the first embodiment, and will not be described herein.

In order to further improve the experience of the user, after the shared user completes the assembly according to the information of the robot to be constructed shared by the sharer and sets the corresponding driving information or execution information, the shared user can further re-edit the assembled module robot, for example, simply change the configuration information, change the driving information or modify at least one of the executed logic information and multimedia information.

The specific modifying and editing processes are substantially the same as the setting process of the first embodiment, and are not described herein again.

Referring to fig. 15 and 16, a third embodiment of the present invention provides an interactive system 50 for building a modular robot, the modular robot includes a plurality of modules capable of being assembled with each other, the plurality of modules includes at least one module capable of communicating with a terminal, the interactive system includes a server 51 and a download terminal 52 communicating with each other,

the server 51 is used for storing information of the module robot to be constructed about the module robot to be constructed, wherein the information of the module robot to be constructed at least comprises configuration information of the module robot, and the configuration information at least comprises module types, assembly positions and assembly methods assembled by the robot;

the downloading terminal 52 is configured to communicate with the module to be assembled robot, download the information of the module to be constructed robot, analyze and display the downloaded information of the module to be constructed robot, transmit the analyzed information of the module to be constructed robot to the module to be constructed robot, and generate a construction prompting signal when the user constructs the module to be constructed robot based on the displayed information of the module to be constructed robot.

The download terminal 82 also generates and displays the configuration of the virtual module robot based on the configuration information.

The downloading terminal 52 includes an obtaining module 521, an analyzing module 522, a displaying module 523, and an operating module 524.

The obtaining module 521: the system comprises a server side, a module to be built and a robot information acquisition module, wherein the server side is used for communicating with the server side to download the robot information of the module to be built;

the parsing module 522: analyzing the acquired robot information of the module to be constructed and transmitting the information to the robot of the module to be constructed;

the display module 523: the robot information analysis module is used for analyzing the robot information of the module to be constructed;

the manipulation module 524: the robot information processing module is used for communicating with the analysis module so as to edit and/or transmit the analyzed robot information of the module to be constructed to the robot of the module to be constructed.

The robot information of the module to be constructed also comprises action frame information, preset action control information associated with the action frame information, a set execution instruction sequence, generated execution logic information, set multimedia information and formed control interface information,

the number of the control modules is multiple, and one control module is matched according to the type of the robot information of the module to be constructed and is associated with the analysis module. The manipulation module 524 may correspond to an editor related to the action information or the execution logic information provided for the above-described first embodiment.

The server side 51 comprises a decision module 511 and a plurality of storage modules 512,

the determining module 511 is configured to communicate with the downloading terminal 52, and the determining module 511 acquires the module type and the module number of the to-be-built module robot that communicates with the downloading terminal 52, determines whether the module type and the module number of the to-be-assembled module robot information to be downloaded are included, and determines to download the to-be-assembled module robot information or other information about the to-be-assembled module robot that is uploaded by other terminal users based on the determination result.

Each storage module 512 is used for classifying and storing the robot information of the module to be constructed with the same configuration information. That is, the robot information of the module to be constructed with the same configuration is stored in the same storage module 512, which is convenient for the user to select and download, and also convenient for the server 51 to perform ordered management. It is also understood that each storage module 512 may further include different sub-storage modules, which are respectively used for storing configuration information and action frame information of the same module robot configuration, preset action control information associated with the action frame information, a set execution instruction sequence, generated execution logic information, set multimedia information, and formed control interface information.

As a variation, the determination module 511 may be omitted, and the download command may be executed regardless of whether the module type and the module number of the to-be-built module robot match those in the to-be-built module robot information to be downloaded.

Referring to fig. 17 and 18, a fourth embodiment of the present invention provides another interactive system 90 for building a modular robot, where the modular robot includes a plurality of modules that can be assembled with each other, the plurality of modules includes at least one module that can communicate with a terminal, the interactive system includes a server side and an upload terminal that communicate with each other, and the interactive system 90 for building the modular robot includes a server side 91 and an upload terminal 92 that communicate with each other.

The uploading terminal 92 is used for establishing communication with the initial module robot, and acquiring robot information about the initial module robot based on the communication, wherein the robot information at least comprises configuration information, and the configuration information at least comprises module types, assembly positions and assembly methods assembled by the robot; uploading the robot information to a server as to-be-constructed module robot information for other terminal users to download, and generating a construction reminding signal when constructing the to-be-constructed module robot based on the to-be-constructed module robot information;

the server 91 is configured to receive and store the robot information. The uploading terminal 92 includes an identification module 921, a setting module 922, a conversion module 923, and an uploading module 924.

The recognition module 921: configuration information for identifying the initial robot structure, the configuration information at least comprising a module type, an assembly position and an assembly method of robot assembly;

the setting module 922: the system comprises a control system, a control system and a control system, wherein the control system is used for setting at least one of driving information, an execution instruction sequence, execution logic information, multimedia information and control interface information of the initial robot structure execution motion;

the conversion module 923: converting at least one of the driving information, the execution instruction sequence, the execution logic information generated based on the execution instruction sequence, the multimedia information and the control interface information into a file which can be analyzed by an analysis module;

the upload module 924: and communicating with the conversion module 923, and uploading the information obtained by the conversion of the conversion module 923 to the server 91.

The setting module 923 may correspond to an editor related to the action information or the execution logic information provided in the first embodiment.

The server side 91 comprises a decision module 911 and a plurality of storage modules 912,

the determining module 911 is configured to communicate with the identifying module 921 to determine the configuration class of the initial module robot based on the configuration information, and classify and store the robot information with the same configuration class in one storage module 912. It is also understood that each of the storage modules 912 may further include different sub-storage modules, which are respectively used for storing configuration information of the same module robot configuration, action frame information, and driving information such as preset action control information associated with the action frame information, a set execution instruction sequence, generated execution logic information, set multimedia information, and formed control interface information.

The upload terminal 92 is also used to download robot information uploaded by other end users and to generate an assembly reminder signal when building a modular robot to be built.

A fifth embodiment of the present invention provides another interactive system for building a modular robot, the modular robot includes a plurality of modules capable of being assembled with each other, the plurality of modules includes at least one module capable of communicating with a terminal, the interactive system includes an upload terminal, a server terminal and a download terminal which communicate with each other,

the system comprises an uploading terminal, a module assembling terminal and a module assembling terminal, wherein the uploading terminal is used for establishing communication with an initial module robot and acquiring robot information related to the initial module robot based on the communication, the robot information at least comprises configuration information, and the configuration information at least comprises module types, assembling positions and assembling methods assembled by the robot; uploading the robot information to a server as the robot information of the module to be constructed for other terminal users to download and display, and generating a construction reminding signal when constructing the robot of the module to be constructed based on the displayed robot information of the module to be constructed;

the system comprises a module to be built, a robot controller, a module to be built and a module to be built, wherein the module to be built is used for communicating with the robot, downloading the information of the module to be built, analyzing and displaying the downloaded information of the module to be built, associating the analyzed information of the module to be built with the module to be built, and generating a building reminding signal when a user builds the module to be built based on the displayed information of the module to be built;

the system comprises a server side and a module robot assembly system, wherein the server side is used for storing module robot information to be constructed about a module robot to be constructed, the module robot information to be constructed at least comprises configuration information of the module robot, and the configuration information at least comprises module types, assembly positions and assembly methods assembled by the robot.

The uploading terminal has the same function as the uploading terminal 92 provided in the above embodiments, and is not described herein again. The functions of the download terminal are the same as those of the download terminal 52 provided in the above embodiments and will not be described again.

A sixth embodiment of the present invention provides an electronic device, which includes a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute the assembling method of the modular robot in the second embodiment or the method for guiding the modular robot to assemble according to the first embodiment by the computer program.

Referring now to fig. 19, a block diagram of a computer system 800 suitable for use in implementing a terminal device/server of an embodiment of the present application is shown. The terminal device/server shown in fig. 19 is only an example, and should not bring any limitation to the functions and the use range of the embodiment of the present application.

As shown in fig. 19, the computer system 800 includes a Central Processing Unit (CPU)801 that can perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM)802 or a program loaded from a storage section 808 into a Random Access Memory (RAM) 803. In the RAM803, various programs and data necessary for the operation of the system 800 are also stored. The CPU 801, ROM 802, and RAM803 are connected to each other via a bus 804. An input/output (I/0) interface 805 is also connected to bus 804.

The following components are connected to the I/0 interface 805: an input portion 806 including a keyboard, a mouse, and the like; an output section 807 including a signal such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage portion 808 including a hard disk and the like; and a communication section 809 including a network interface card such as a LAN card, a modem, or the like. The communication section 809 performs communication processing via a network such as the internet. A drive 810 is also connected to the I/0 interface 805 as necessary. A removable medium 811 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 810 as necessary, so that a computer program read out therefrom is mounted on the storage section 808 as necessary.

According to embodiments of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer-readable medium, the computer program comprising program code for performing the method illustrated by the flow chart. In such an embodiment, the computer program can be downloaded and installed from a network through the communication section 809 and/or installed from the removable medium 811. The computer program performs the above-described functions defined in the method of the present application when executed by the Central Processing Unit (CPU) 801. It should be noted that the computer readable medium described herein can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

Computer program code for carrying out operations for aspects of the present application may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "for example" programming language or similar programming languages. The program code may execute entirely on the management-side computer, partly on the management-side computer, as a stand-alone software package, partly on the management-side computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the administrative side computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and should not be taken as limiting the scope of the present invention, and any modifications, equivalents and improvements made within the spirit of the present invention should be included in the scope of the present invention.

Claims (23)

1. An interactive system for modular robot construction, characterized by: the module robot comprises a plurality of modules which can be assembled with each other, the plurality of modules comprise at least one module which can be communicated with a terminal, the interactive system comprises a server end and a download terminal which are communicated with each other,

the system comprises a server side, a building module and a module robot, wherein the server side is used for storing module robot information to be built of a module robot to be built, the module robot information to be built at least comprises configuration information of the module robot, and the configuration information at least comprises module types, assembly positions and assembly methods assembled by the robot;

the downloading terminal is used for communicating with the module robot to be constructed, downloading the information of the module robot to be constructed, analyzing and displaying the downloaded information of the module robot to be constructed, associating the analyzed information of the module robot to be constructed with the module robot to be constructed, and generating a construction reminding signal when a user constructs the module robot to be constructed based on the displayed information of the module robot to be constructed.

2. The interactive system for modular robotic construction as claimed in claim 1, wherein: and the downloading terminal generates and displays the configuration of the virtual module robot based on the configuration information.

3. The interactive system for modular robotic construction as claimed in claim 1, wherein: the robot information of the module to be constructed further comprises at least one of different types of driving information, execution instruction sequences, execution logic information generated based on the execution instruction sequences, multimedia information and control interface information.

4. The interactive system for modular robotic construction as claimed in claim 3, wherein: the download terminal comprises

An acquisition module: the system is used for communicating with a server side to download the robot information of the module to be constructed;

an analysis module: analyzing the acquired robot information of the module to be constructed;

a display module: the robot information analysis module is used for analyzing the robot information of the module to be constructed;

a control module: for communicating with the analysis module to edit and/or transmit the analyzed robot information of the module to be constructed to the robot of the module to be constructed,

the robot information analysis system comprises a plurality of control modules, wherein the plurality of control modules are different in type, and one control module is matched according to the type of the robot information of the module to be constructed and is associated with the analysis module.

5. The interactive system for modular robotic construction as claimed in claim 4, wherein: the server side comprises a plurality of storage modules, and each storage module is used for classifying and storing the robot information of the modules to be constructed with the same configuration information.

6. An interactive system for modular robot construction according to any of claims 1-5, characterized in that:

the downloading terminal is also used for uploading other robot information which is automatically edited or created and relates to the module robot to be constructed for downloading by other terminals.

7. An interactive system for modular robot construction, characterized by: the modular robot comprises a plurality of modules which can be assembled with each other, the plurality of modules at least comprise a module which can be communicated with a terminal, the interactive system comprises a server end and an uploading terminal which are communicated with each other,

the robot information at least comprises configuration information, and the configuration information at least comprises module types, assembly positions and assembly methods assembled by the robot; uploading the robot information to a server as the robot information of the module to be constructed for other terminal users to download and display, and generating a construction reminding signal when constructing the robot of the module to be constructed based on the displayed robot information of the module to be constructed;

and the server side is used for receiving and storing the robot information.

8. The interactive system for modular robotic construction as claimed in claim 7, wherein: the robot information also comprises at least one of different types of driving information, an execution instruction sequence, execution logic information generated based on the execution instruction sequence, multimedia information and control interface information;

the upload terminal includes:

an identification module: configuration information for identifying the initial modular robot;

setting a module: the system comprises a control module, a starting module, a control module and a control module, wherein the control module is used for setting at least one of driving information, an execution instruction sequence, execution logic information, multimedia information and control interface information generated based on the execution instruction sequence, which relate to the motion of the starting module robot;

a conversion module: the system comprises a configuration module, a driving module, an execution instruction sequence, execution logic information, multimedia information and control interface information, wherein the configuration information, the driving information, the execution instruction sequence, the execution logic information, the multimedia information and the control interface information are generated based on the execution instruction sequence;

an uploading module: and communicating with the conversion module, and uploading the robot information obtained by conversion of the conversion module to a server side to serve as the robot information of the module to be constructed.

9. The interactive system for modular robotic construction as claimed in claim 8, wherein: the server side comprises a judging module and a plurality of storage modules,

the judging module is used for communicating with the identifying module to judge the configuration type of the initial module robot based on the configuration information, and the robot information with the same configuration type is classified and stored in the same storage module.

10. The interactive system for modular robotic construction as claimed in claim 8, wherein: the uploading terminal is also used for downloading robot information uploaded by other terminal users and generating an assembly reminding signal when the module robot to be constructed is constructed.

11. An interactive system for modular robot construction, characterized by: the modular robot comprises a plurality of modules which can be assembled with each other, the plurality of modules at least comprise one module which can be communicated with a terminal, the interactive system comprises an uploading terminal, a server terminal and a downloading terminal which are communicated with each other,

the system comprises an uploading terminal, a module assembling terminal and a module assembling terminal, wherein the uploading terminal is used for establishing communication with an initial module robot and acquiring robot information related to the initial module robot based on the communication, the robot information at least comprises configuration information, and the configuration information at least comprises module types, assembling positions and assembling methods assembled by the robot; uploading the robot information to a server as the robot information of the module to be constructed for other terminal users to download and display, and generating a construction reminding signal when constructing the robot of the module to be constructed based on the displayed robot information of the module to be constructed;

the system comprises a module to be built, a robot controller, a module to be built and a module to be built, wherein the module to be built is used for communicating with the robot, downloading the information of the module to be built, analyzing and displaying the downloaded information of the module to be built, associating the analyzed information of the module to be built with the module to be built, and generating a building reminding signal when a user builds the module to be built based on the displayed information of the module to be built;

the system comprises a server side and a module robot assembly system, wherein the server side is used for storing module robot information to be constructed about a module robot to be constructed, the module robot information to be constructed at least comprises configuration information of the module robot, and the configuration information at least comprises module types, assembly positions and assembly methods assembled by the robot.

12. The construction method of the modular robot is applied to a terminal, and is characterized in that: the module robot comprises a plurality of modules which can be assembled with each other, and the plurality of modules at least comprise a module which can be communicated with a terminal:

acquiring information of a module robot to be constructed for constructing the module robot from a server, wherein the information of the module robot to be constructed at least comprises configuration information of the module robot, and the configuration information at least comprises module types, assembly positions and assembly methods assembled by the robot;

analyzing the acquired robot information of the module to be constructed so as to display the robot information of the module to be constructed; and

and associating the information of the module robot to be constructed with the module robot, wherein the information of the module robot to be constructed associated with the module robot is used for generating an assembly reminding signal when a user assembles the module robot to be constructed based on the displayed information of the module robot to be constructed.

13. The method of constructing a modular robot of claim 12, wherein: the information of the module robot to be constructed further comprises driving information for controlling the module robot to execute movement, the driving information comprises at least one preset action frame information and at least one preset action control information generated by editing or calculating the at least one action frame information, and each action frame information and the preset action control information are displayed in a classified mode.

14. The method of constructing a modular robot of claim 13, wherein: each action frame information and the preset action control information are respectively provided with corresponding identification information,

the preset action control information is directly transmitted to the modular robot according to the identification information so as to control the modular robot to execute the movement according to the preset action control information;

or selecting at least one piece of displayed action frame information to re-edit or calculate according to the identification information to obtain new preset action control information, and transmitting the new preset action control information to the module robot and/or uploading the new preset action control information to the server side.

15. The method of constructing a modular robot of claim 12, wherein: the robot information of the module to be constructed further comprises at least one preset execution instruction sequence and/or execution logic information generated based on the at least one preset execution instruction sequence, and each execution instruction sequence and the execution logic information are displayed in a classified mode.

16. The method of constructing a modular robot of claim 15, wherein: each execution instruction sequence and the execution logic information respectively have different identification information;

selecting a corresponding execution instruction sequence or execution logic information according to the identification information and transmitting the execution instruction sequence or the execution logic information to the module robot;

or selecting at least one displayed execution instruction sequence according to the identification information to re-edit so as to obtain new execution logic information, and transmitting the new execution logic information to the module robot and/or uploading the new execution logic information to the server side.

17. The method of constructing a modular robot of claim 12, wherein: the information of the robot with the module to be built also comprises multimedia information, and the multimedia information is directly sent to the robot with the module to be built so as to enable the robot with the module to be built to operate the multimedia information;

or re-editing the multimedia information to obtain new multimedia information, and transmitting the new multimedia information to the construction module robot and/or uploading the new multimedia information to a server side.

18. The construction method of a modular robot according to claims 12-17, characterized in that: the information of the to-be-constructed module robot further comprises control interface information, the control interface information comprises GUI interface change state information corresponding to different assembly schedules in the process of assembling a plurality of modules into the module robot, and a target robot structure is assembled or the information of the to-be-constructed module robot is transmitted to the module robot based on the control interface information.

19. The method of constructing a modular robot of claim 12, wherein: generating guide information according to the configuration information and the progress of assembling the module robot to be constructed, wherein the guide information comprises virtual robot configuration generated based on the configuration information, text and/or voice prompt information for guiding the robot to assemble, or visual guide information of a current module and a next module to be assembled at the assembly progress of the module robot.

20. The method of constructing a modular robot of claim 12, wherein: and after the module robot to be constructed is constructed based on the displayed information of the module robot to be constructed, further re-editing the constructed module robot to obtain a new module robot and/or uploading the information about the new module robot to a server side.

21. A modular robot assembly sharing method is applied to a terminal, and is characterized in that a modular robot comprises a plurality of modules which can be assembled with each other, the plurality of modules at least comprise one module which can be communicated with the terminal, and the method for assembling the modular robot comprises the following steps:

establishing communication between the modules and a terminal, and assembling a plurality of modules to obtain an initial module robot;

identifying configuration information about the initial modular robot based on the communication, the configuration information including at least a module type, an assembly location, and an assembly method of robot assembly;

and uploading the model configuration information to a server end to serve as the information of the module robot to be constructed for other terminal users to download and display, wherein the displayed information of the module robot to be constructed is used for generating a construction reminding signal when the module robot to be constructed is constructed.

22. The modular robot assembly sharing method of claim 21, wherein: setting driving information for the initial module robot to control the module robot to move, wherein the driving information comprises a plurality of pieces of action frame information and preset action control information obtained by editing or calculating based on the plurality of pieces of action frame information;

and uploading the driving information and the configuration information to a server according to different types to serve as the information of the module robot to be constructed.

23. The modular robot assembly sharing method of claim 22, wherein:

setting at least one of further setting an execution instruction sequence for the initial module robot, or generating execution logic information based on the execution instruction sequence, setting multimedia information, and forming control interface information of the process of assembling the initial module robot, and uploading the information to a server end according to different types;

the information of the plurality of action frames is associated with preset action control information, a set execution instruction sequence, generated execution logic information, set multimedia information and formed control interface information are stored as file types which can be analyzed and displayed and/or edited by software, and at least two of the file types are packaged at the same time and then uploaded to a server side to serve as the information of the robot module to be constructed.

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