EP2525883B1 - Construction system having mobile modules - Google Patents

Description

The invention relates to a modular system with movable modules.

It is a construction game that makes it possible to create movable and interactive objects. The invention is preferably usable as a creative toy for children aged 5 to 13 years.

Children who use the construction game learn in a playful way connections between the type of construction, their movement and their specific energy consumption. The modular system makes the topic of robotics, locomotion and energy technology tangible and intuitively comprehensible. It is suitable as a teaching aid in schools and kindergartens as well as for private use.

Beginnings of so-called experimental computing kits have been known since 1987/1988 at Fischertechnik. LEGO has recently developed robotic kits, such as the Cybermaster with CD-Rom animation, and in 1998 the Mindstorm RCX with an 8-bit RAM processor. In 2006, the Mindstorm RCX was replaced by the Mindstorm NXT with a 32-bit RAM processor. With these developments, the kit manufacturers have brought the end of the kits in the classic sense. Despite these tendencies, a countermovement can be observed increasingly: a variety of just as good quality as simple Elementar wooden kits leads back to the origins of the kits and thus to the free forms game.

Especially for pedagogical purposes, children are supposed to become familiar with things that are currently considered to be too complex for their age, through so-called digital manipulations through playful learning. So that should Provide children with tools and environments to design dynamic systems.

LEGO Mindstorms is a product line that includes a programmable lego stone as well as electric motors, sensors and LEGO technology parts. Here, robots and other autonomous, interactive systems can be constructed and subsequently programmed via a graphical user interface on the PC. Such systems, termed "program and play", are based on parameter values, so their movements can be very easily changed and precisely adjusted. Often, these parameter systems are modeled on professional development tools, allowing for the design of more complex models. However, such systems differ in their interface design and the way in which the movements of a model are created, which is why new users have to laboriously work their way into the system. The disadvantage is in particular that the actual generation of the movement sequence is completely decoupled from the built model.

In US 7,747,352 B2 is a game known as Topobo, which includes a 3D construction system with a built-in kinetic memory module that can record and play movements. It consists of a total of ten basic forms, which can be put together in many different ways.

To US 6,636,781 B1 a control of modules of a toy building block is known, wherein modules can be moved by means of actuators. It can be combined the same modules that perform rotary movements.

Furthermore, in EP 1 287 869 B1 describes a modular system for the production of a toy robot with which a toy can be designed by assembling several identical modules. The modules can perform a rotary movement and are interconnected with connecting plates connected. The connection plates allow a mechanical and electrical connection between the modules.

In these arrangements, it is disadvantageous that only similar modules can be combined and these only perform rotary movements.

Out DE 296 10 158 U1 a controllable toy robot is known, which consists of modules in which are required for movement and control required electronic and mechanical components. In addition to the modules, the robot also contains so-called forming components, such as This text was taken from the original sources by the DPMA. It contains no drawings. The presentation of tables and formulas can be unsatisfactory. Side, floor and cover plates. The components can be put together, wherein the electrical connection is made by means of wires that protrude from the modules. From rare plates, axles, sensors and the like are led out.

The US-A-6,454,624 describes a modular system according to the preamble of claim 1.

Out WO 2009/047225 A1 is another modular system known.

The invention has for its object to provide a modular system of the type mentioned, with the movable modules can be made of simple modules, with the modules both rotational and translational movements to be realized and the connection of the modules should be done by simply mating without requiring additional operations.

According to the invention the object is achieved with a modular system, which contains the features specified in claim 1.

Advantageous embodiments are the subject of the dependent claims.

The design game has at least one power module that generally includes an accumulator, at least one control module with a microcontroller, at least one motion module with an integrated servomotor, and multiple interconnect modules. All modules can be connected to one another as required. In addition to the assembly of any models, users can give their creations certain movement and

Assign behaviors. Assembled, all conceivable models, creatures, animals and robots can be brought to life.

A simple plug-in principle enables data and current flow between all active and passive components. This chaining allows a variety of design models and motion patterns.

• Das Bewegungsmodul ist sowohl aktiver Bewegungsantrieb für sich selbst und zum anderen steuert es über eine Daten- und Stromsteckverbindung zusätzlich Antriebe für andere Module.
• Es ist möglich, dass mindestens ein Bewegungsmodul und mindestens ein Energiemodul im zusammengesteckten Zustand Strom und Daten über eine Steckverbindung leiten, um ein fortbewegungsfähiges Modell zu schaffen, ohne den zwingenden Einsatz von passiven Bausteinen.
• Die Veränderung von Lage und Anordnung der Module untereinander ermöglicht ein Bewegungsmodul mit zwei integrierten, gelenkig verbundenen Bewegungsteilen. Das zusammengesteckte Modell bleibt dabei in seinem Verbund erhalten. Die Verbindungsflächen bewegen sich nicht gegeneinander. Die Bewegungen der Modelle des Baukastens werden in den Bewegungsmodulen erzeugt, indem sie ihre Form verändern.
• Die Bewegungsmodule sind um 90° versetzt steckbar und erzeugen damit unterschiedliche Bewegungsformen.

The modular system is characterized by a number of advantages. These include in particular:

• The motion module is both active motion drive for itself and on the other hand, it controls drives for other modules via a data and power connector.
• It is possible for at least one motion module and at least one power module in the mated state to route power and data over a connector to provide a viable model without the need for passive devices.
• The change in position and arrangement of the modules with each other allows a movement module with two integrated, articulated moving parts. The assembled model remains intact in its composite. The connecting surfaces do not move against each other. The movements of the models of the kit are generated in the movement modules by changing their shape.
• The movement modules can be plugged offset by 90 ° and thus generate different forms of movement.

Figur 1

schematisch eine Übersicht über die Module des Baukastensystems,

Figur 2

schematisch ein montiertes Bewegungsmodel,

Figur 3

schematisch die Funktionsweise der Dreh-Steckverbindung,

Figur 4

schematisch das Steckerteil einer Steckverbindung,

Figuren 5.1 bis 5.5

schematisch Ausführungsformen für Gelenkmodule,

Figur 6

schematisch eine Baugruppe mit Solarmodulen,

Figur 7

schematisch eine Ausführungsform von Bewegungsmodulen mit speziellen auf die Bewegungsmodule gesteckten Bausteinen,

Figur 8

schematisch eine weitere Ausführungsform von Bewegungsmodulen mit speziellen auf die Bewegungsmodule gesteckten Bausteinen und

Figur 9

schematisch ein Gehirnmodul.

Embodiments of the invention are explained in more detail below with reference to drawings. Showing:

FIG. 1

schematically an overview of the modules of the modular system,

FIG. 2

schematically a mounted movement model,

FIG. 3

schematically the operation of the rotary connector,

FIG. 4

schematically the plug part of a plug connection,

Figures 5.1 to 5.5

schematically embodiments for joint modules,

FIG. 6

schematically an assembly with solar modules,

FIG. 7

schematically an embodiment of movement modules with special modules plugged into the movement modules,

FIG. 8

schematically a further embodiment of movement modules with special placed on the movement modules blocks and

FIG. 9

schematically a brain module.

Corresponding parts are provided in all figures with the same reference numerals.

The system consists of controlling, connecting, stopping, energy saving and kinematic modules. The assembled models form a movement network which, depending on the arrangement and combination of the respective module types and shapes, contains innumerable movement variants.

Furthermore, it is possible that even small passive modules are plugged into the modules in the usual size. With these modules it is possible to design further shapes.

• Bewegungsmodule 1, welche durch einen integrierten Servomotor bewegt werden. Im dargestellten Fall sind zwei Ausführungsformen vorgesehen: zum einen in Form eines Quaders, der sich in Bewegung zum Parallelepiped verschiebt, oder zum anderen in Form eines Zylindersteins, der aus zwei rotationsfähigen Teilzylindern besteht.

FIG. 1 shows the modules used. Specifically, these are:

• Movement modules 1, which are moved by an integrated servo motor. In the illustrated case, two embodiments are provided: on the one hand in the form of a cuboid, which shifts in motion to the parallelepiped, or on the other hand in the form of a cylinder block, which consists of two rotatable sub-cylinders.

• Steuerungsmodule 2, welche jeweils über einen Microcontroller verfügen. Alle sechs Seitenflächen eines quaderförmigen Moduls sind mit Steckbuchsen ausgestattet, mit denen Bewegungsinformationen ausgegeben werden können.
• Energiemodule 3, welche als Stromlieferanten des Bewegungsmodells dienen. Mithilfe eines On-Off-Buttons kann der Stromfluss und somit der Bewegungsvorgang an- und abgeschaltet werden. Die Module sind in Würfel- oder Quaderform gestaltet und beherbergen in ihrem Inneren Lithium-Ionen-Akkus. Sie stellen das schwergewichtigste Element dar und können gleichzeitig als Schwerpunktmodul im Objektbau eingesetzt werden.
• Verbindungsmodule 4, welche in Gestalt von Würfel, Halbwürfel, Dreiecksprisma, Quader oder anderen geometrischen Formen ausgeführt sein können und die Verbindung zwischen Bewegungsmodul, Steuerungsmodul und Energiemodul herstellen. Sie erlauben dem Spieler, Modelle mit höherer Komplexität zu konstruieren und ermöglichen den ungehinderten Daten- und Stromdurchfluss.
• Stoppmodule 5, welche im Gegensatz zu den restlichen Modulen des Systems keinen Daten-, sondern lediglich den Stromfluss unterstützen. Sie können deshalb als Bewegung blockierendes Element eingesetzt werden. Damit werden innerhalb eines Bauobjekts mehrere voneinander unabhängige Bewegungsabläufe möglich.

An advantageous embodiment provides that the movement modules are equipped with lithium-ion batteries. An integrated On / Off button on the motion module interrupts the power supply to all infected motion modules and to itself. It is also possible to arrange a micro-controller in the motion module.

• Control modules 2, which each have a microcontroller. All six side surfaces of a cuboid module are equipped with sockets with which movement information can be output.
• Energy modules 3, which serve as electricity suppliers of the movement model. Using an on-off button, the current flow and thus the movement process can be switched on and off. The modules are designed in cube or cuboid shape and contain inside their lithium-ion batteries. They represent the most important element and can also be used as a focal point module in the construction of buildings.
• Connecting modules 4, which are designed in the shape of cubes, half cubes, triangular prism, cuboid or other geometric shapes can and establish the connection between the motion module, the control module and the power module. They allow the player to construct models of greater complexity and allow unimpeded data and power flow.
• Stop modules 5, which in contrast to the remaining modules of the system do not support data, but only the current flow. They can therefore be used as a movement blocking element. This allows several independent motion sequences within a building object.

In FIG. 2 is a mounted model shown.

The mating of a movement module 1 with a few passive modules already allows four directions of movement. To embarrass a movement, all that is required is: An energy module 3, which is responsible for the power supply and has an on-off button to switch the movement process on and off. A control module 2 outputs the movement information for a movement module 1. The first two modules 2 and 3 are passive elements, while the movement module 1 represents an active element of the modular system. The plug-in sequence of the individual modules does not matter here - a movement is always output as soon as power module 3 and control module 2 are installed. This feature of the plug-in system creates innumerable possible combinations of the modules and thus allows the user to experience countless movements in three-dimensional space. For this purpose, a magnetic 90-degree rotary plug assembly is used using jack and socket connections, which gives the connector on the one hand stability and a smooth engagement in the rotation allowed. In addition, an internal data-stream flow between all modules is possible.

The size of the modules can be different. As appropriate, a side surface of the modules of 40 mm x 40 mm has been found. It is also possible to use the standard size of Lego bricks (31.8 mm x 31.8 mm or 39.75 mm x 39.75 mm). This allows a fully compatible combination of the two modular systems. This purpose is an adapter stone, which also has holes for axles and fasteners in addition to the known knobs.

The connection of the modules with each other is done with a plug connection.

In the FIG. 3 90-degree rotary connector shown has magnets and jack and socket connections and allows a rapid change in the module position. The holding force is determined by magnets. Certain movements and forces can separate the magnets from each other and thus twist the modules. The connection holds the modules together and gives stability to the construction. This ensures that even with the moving models, the modules do not kink or twist. The modules engage in 90 ° increments and can be easily pulled apart in the 45 ° positions between them.

FIG. 4 explains the data and power transmission via the plug connection. The power for the servo motor and the microcontroller is transmitted via a jack or two metal plugs. The contact surfaces of the plug contact mating contacts in the associated sockets. The data information for the sensor and control signals can also be transmitted via the jack, two metal plugs or via Bluetooth. It is particularly advantageous that the connector in addition to the holding together of the modules can simultaneously transmit the power and data flow.

The connectors consist of the in FIG. 4 illustrated male part with outwardly facing holding and contact pins and a female part with inwardly facing holding and contact openings. Inside the modules are printed circuit boards, which are connected to the male or female part of the Plug connection are electrically connected. This allows easy installation with a small number of components.

Another possibility is to distribute the plug-in connection to the module surfaces. The modules are held together by various metal pins, pins, magnets and transmit the flow of power and data.

One possible embodiment for a movement game consists of a microcontroller module and three different movement modules.

FIG. 5 shows different execution options for motion modules. Shown in Figure 5.1 a joint module, Figure 5.2 a rotary module, Figure 5.3 a translation module, Figure 5.4 a linear module and Figure 5.5 a rotation module.

The motion information for angular deflection and velocity is sent by a control module to the motion modules as soon as an energy module is plugged in. If you integrate a microcontroller in the motion modules, each motion module can be individually controlled.

The power module contains an accumulator. It provides the power supply and consists of a single module from a playful pedagogical point of view. It allows the game with the balance, because the energy module is the hardest component in the construction game. In addition to the heavy nickel-metal hydride batteries, the energy modules are advantageously equipped with lithium-ion batteries to reduce weight and increase battery capacity. In the example described, two 3.7 volt lithium-ion batteries are switched and double the capacity. A step-up change brings the 3.7 volts to 5 volts operating voltage and provides power to the microcontroller and motion modules. Using a USB charging and protection circuit, the power module is charged and short-circuited protected. In addition, the power module has an on / off switch to control the circuit.

A commercially available servo module serves as a drive source for the motion modules. The servo module is controlled by the microcontroller via pulse width modulation [PWM] and can be easily mounted as a compact drive unit.

A special version is a construction game with energy modules that draw power from sustainable sources. It allows children and adolescents to build small power plants that provide power for their lighting and moving objects. The set consists of energy producing and energy consuming modules. The generator and accumulator modules as well as solar, wind turbine, crank, rotary and cable modules are modules producing electricity. Whereas the power-consuming elements represent the motion and light modules. The geometric modules are based on basic pedagogical forms such as cubes, cuboids, cylinders and triangular prisms. The users learn in a playful way the connections of the energy production and the specific energy consumption of their moving and luminous models. The modular system makes the topic of regenerative energy conversion for children experienceable and intuitively tangible in their own creations.

FIG. 6 shows an example of the design and use of solar modules.

The modular system can be equipped with various interfaces.

FIG. 7 shows an embodiment in which special modules plugged into the motion modules and thereby the motion parameters are determined. Amplitude, velocity and delay potentiometers are integrated in the motion module, which are modified by the brain module or directly on the motion module. This allows the movement modules to be programmed.

The arrangement allows child-friendly manipulation of the movement parameters using simple building blocks. The amplitude stones 7.1, velocity stones 7.2 and the delay stones 7.3 can be plugged directly into the motion module. With different speed blocks 7.2, a faster or slower movement of the joint modules can be programmed. In the case of the amplitude stones 7.1, for example, a stone with four rows of nubs can cause a rotation of 45 ° and a stone with five nubs a rotation of 36 °. Each plug is equipped with a color sensor. A retarder 7.3 with a nub triggers a time interval of one millisecond in this example. The programming is completely pluggable.

Another embodiment is in FIG. 8 shown. Hereby, a basic movement of the model can be executed by moving the motion blocks and stored at the same time after the power module has been plugged in and the program button on the motion module has been pressed. The basic movements of the movement modules are generated with the hands. A maximum of two movement modules can be controlled by hand. The start and end angles, the speed and the delay, ie which module moves first, are read out using a rotary potentiometer and stored in an EPROM chip. The stored movements can then be executed directly.

The intuitively programmed motion parameters can be subsequently changed and adjusted to the motion model with the aid of integrated amplitude, velocity and delay potentiometers. The parameters can be set either via the Control Center on the brain module or via the Control Center on the motion module, which can be used for example. B. integrated buttons, sliders, rotary potentiometers, sensors or a touch screen display, can be easily changed. The program button of the motion module to be manipulated is pressed and the Control center regulated at the brain module or movement module. It is also possible to change several modules simultaneously in amplitude and speed.

In addition to the input field, the Control Center also contains a 7-segment, dot matrix, LED panel or touchscreen display, which additionally displays the parameters and can provide feedback on the manipulated data.

This in FIG. 9 illustrated brain module forms the thinking organ. It contains a microcontroller and can change, synchronize, display or rhythmically delay the motion parameters of all infected motion modules. The brain module synchronizes all infected motion modules with the motion parameters that were changed in a module. The brain module forms the communication unit, evaluates sensor data and controls all infected modules. It has an amplitude display 9.1, a program button 9.2, a control center button 9.3, a speedometer 9.4 and a delay display 9.5. Via USB ports 9.6, the motion parameters can be saved externally. Small sensor modules can be plugged into each motion module and change this separately.

LIST OF REFERENCE NUMBERS

1

Gesture Engine

2

control module

3

power module

4

connecting module

5

stop module

7.1

amplitude stone

7.2

delay Stein

7.3

speed stone

8.1

amplitude display

8.2

Program Button

8.3

Control Center Button

8.4

speedometer

8.5

lagging indicator

8.6

7-segment display

9.1

amplitude display

9.2

Program Button

9.3

Control Center Button

9.4

speedometer

9.5

lagging indicator

9.6

USB port

Claims (15)

1. A building block system with plug connectable modules, wherein electronic and mechanical components that are required for motion and control are arranged in the modules, characterized in that the building block system includes at least one independent energy module (3), at least one independent control module (2) with a micro controller, at least one independent movement module (1) with an integrated servo motor, and several independent connection modules (4), wherein the modules (1, 2, 3, 4) are random connectable through plug connectors which also facilitate current flow between adjacent modules, wherein the plug connector elements of the plug connectors are arranged in flat lateral surfaces of the modules.
2. The building block system according to claim 1, characterized in that data transmission is also provided through the plug connectors.
3. The building block system according to claim 1, characterized in that the building block system includes at least one stop module (5) which only facilitates current flow between adjacent modules without data transmission.
4. The building block system according to one of the preceding claims, characterized in that the plug connectors are twist plug connectors, and wherein the modules connected with one another interlock in 90° increments and are disengageable from one another in 45° increments between the 90° increments.
5. The building block system according to one of the preceding claims, characterized in that the modules (1, 2, 3, 4, 5) are configured with cube-, cylinder- or cuboid-shape.
6. The building block system according to one of the preceding claims, characterized in that the movement module (1) includes a servo motor, wherein two integrated motion components that are linked together deform the movement module when the servo motor is actuated.
7. The building block system according to one of the preceding claims, characterized in that the movement module (1) is cuboid-shaped, wherein the cuboid changes its longitudinal dimension or is shifted into a parallelepiped when moved.
8. The building block system according to one of the preceding claims, characterized in that the movement module (1) includes two rotatable cylindrical components.
9. The building block system according to one of the preceding claims, characterized in that building blocks are pluggable into the movement modules, wherein the building blocks define movement parameters.
10. The building block system according to claim 9, characterized in that the movement parameters are variable directly at the movement module.
11. The building block system according to claim 9 or claim 10, characterized in that the movement parameters are stored in the movement module.
12. The building block system according to one of claims 9 to 11, characterized in that the pluggable building blocks actuate potentiometers which are arranged in interiors of the movement modules and which control an amplitude and/or a velocity and/or a retardation of the movement performed by the movement module.
13. The building block system according to one of the preceding claims, characterized in that small passive modules are plugged into the modules.
14. The building block system according to one of the preceding claims, characterized in that at least on connection module (4) is provided which is configured passive.
15. The building block system according to one of the preceding claims, characterized in that at least two movement modules from the group link module, rotation module, translation module, and linear module are provided.

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