RU2711951C2 - Modular system and method of exchanging information and/or energy between modular system modules - Google Patents

Abstract

FIELD: physics.SUBSTANCE: invention relates to a modular system which is used, for example, in toys, as well as for creation of complex robotic systems for industrial applications. Modular system for transmitting information and/or transmission of energy comprises at least two modules which can be combined with each other, wherein devices are provided to provide, if necessary, mutual connection of the first module with the second module, as a result of which information and/or power connection may be provided between them. Modular system comprises a control system which comprises a display unit indicating the selected interconnection of modules in at least one operating mode of the modular system. Control system comprises an input unit which is configured to provide the required connection selected in at least one operating mode of the modular system by selecting the displayed version of the mutual connection.EFFECT: technical result of invention is to provide cross-connection between modules without the need to physically change modules.12 cl, 10 dwg

Description

[001] The invention relates to a modular system in accordance with the restrictive part of paragraph 1 of the claims and a method for information and / or energy exchange between modules of a modular system in accordance with the restrictive part of paragraph 11 of the claims.

[002] Modular systems with combinable modules are used in many applications, such as toys, as well as for creating complex robotic systems for industrial applications. Modules, therefore, are elements of a modular system that provide one or more functions. Modules can be provided as energy modules to provide energy to a device that is formed using modules of a modular system, control modules to control functions, drive modules to provide at least one motion or manipulation function, and sensor modules to provide at least one parameter for further processing and, if necessary, management of specific functions. A module can also combine multiple functions, however, it is preferable to allocate one or a maximum of 2 functions per module.

[003] WO 2011/089 109 A1 and WO 2014/032807 A1 describe modular systems with different modules, and also describe in detail the interaction of the modules.

[004] To provide a specific information and / or energy exchange between the modules, they are mechanically connected to each other in a certain sequence, while the mechanical connection also provides data or energy transfer. When it is necessary to change the transmission of data or energy, it is necessary to change the mechanical connection of the modules with each other, which is inconvenient on the one hand and on the other hand takes a very long time.

[005] An object of the present invention is to overcome the disadvantages described above.

[006] The goal is achieved by means of the modular system according to claim 1, the method according to the invention for information and / or energy exchange between modules of the modular system according to claim 11 and a computer program product according to the invention according to claim 13. Advantageous embodiments are provided in the dependent claims and in the description.

[007] The inventors have found that the goal can be achieved in a surprisingly simple way if devices are provided that, if necessary, provide cross-linking between the modules without the need for physical modification of the modules. Thus, changing the position of the modules relative to each other or changing the mechanical connection of the modules is not required, but if necessary, the provided mechanical connection of the modules is maintained.

[008] “Combinable modules” are thus modules that are selected from a range of equipment of a modular system that is configured to form a toy, industrial robot, or the like. These modules can be connected to each other mechanically (for example, according to the instructions of document WO 2014/032807 A1), but they do not require connection. The modules can also be located in space independently of each other, where radio communication can be provided to exchange information or energy.

[009] "Modules" according to the present invention are, in particular, power modules, control modules, drive modules and sensor modules, and the modules can also combine several of these functions. Modules are “active” modules and differ from “passive” modules, such as simple structural modules, which do not have any other function besides transferring energy and / or information to or between active modules.

[0010] Thus, for information and / or energy exchange, not only two active modules can be interconnected, but three or more modules can be interconnected with each other. For example, a sensor module can be interconnected with a drive module, two drive modules can be interconnected with a drive module, a sensor module can be interconnected with two drive modules, a control module can be interconnected with a sensor module and / or drive module or drive the module can be interconnected with another drive module without completing this list.

[0011] The exchange of energy in the context of the present invention means the supply of energy to another module.

[0012] An “information exchange” according to the present invention is the transmission or transfer of data from a first module to a second module, the data being used to control the individual functions of the second module.

[0013] An “exchange” between two modules in the context of the present invention refers not only to bidirectional exchange, but also to unidirectional exchange, which thus alternatively transmits and receives or transmits and receives in only one direction. This exchange can be performed directly between the connected modules, but also indirectly with the help of additional elements connected between the modules.

[0014] “Interconnection” in the context of the present invention means providing a new connection or switching an existing connection that is active between the two modules, whereby energy or information can be exchanged through this connection.

[0015] A modular system according to the present invention with at least two combinable modules, characterized in that devices are provided that facilitate the optional interconnection of the first module with the second module, whereby an information and / or energy connection between the first and second module can be provided, as a result, the modules are made with the possibility of information or energy exchange, while the mutual connection does not include any physical changes to the modules.

[0016] In an advantageous embodiment, it is provided that the modular system comprises at least three modules that are combined with each other, wherein a first information and / or energy connection is provided between the two modules, the devices being configured to provide an additional connection as an alternative or in addition to the first information and / or energy connection. The devices are configured to provide a second information and / or energy connection between at least two modules without the need for physical modification of the modules or information and / or energy connection. Thus, existing compounds may be replaced by other compounds or additional compounds may be provided in addition to existing compounds. Then, additional connections can be provided between modules that have not yet been provided with interconnection, or they exist between at least one module that has so far been provided by interconnection and another module that has not yet been provided with interconnection, or which was provided by interconnecting with another module.

[0017] In an advantageous embodiment, it is provided that each module has indicator devices having at least two indication states, wherein the modular system is configured to operate in at least one operating mode of the modular system to indicate the interconnection of two modules by matching states indications of the corresponding indicator devices in the modules. Thus, it is very simple to check whether the required interconnection is established without the need to have certain programming skills or specific topographical knowledge about the exact design of the device created from the modules. Thus, the indicator devices are preferably made in the form of light sources, because then you can extremely quickly and reliably check whether the desired mutual connection is achieved. However, instead, or additionally, sounds, vibrations and the like can be used as indicator devices. When they are light sources, this is advantageous if the light sources have different color states and / or luminous forms, for example, numbers, letters, etc. Because different mutual connections quite simply can be distinguished from each other.

[0018] The term "at least one operating mode" in the context of the present invention means that the indication is displayed in at least a mutual connection selection mode. Indications may continue to be displayed, for example, in driving mode, but this is not necessary.

[0019] In an advantageous embodiment, it is provided that the modular system is adapted to assign different indication status to different groups of interconnected modules in at least one operating mode of the modular system to provide differentiation of the modules. This contributes to the simultaneous differentiation of different reciprocal compounds and, thus, to achieve the correct connection, as expected.

[0020] In an advantageous embodiment, it is provided that at least two modules comprise activation devices that are configured to provide interconnection between the two modules when their respective activation devices are operating. Then the interconnection can be carried out in a particularly simple and traceable manner. For example, it can be activation elements, such as switches or keys, or similar elements that are provided in each module. However, it can also be additionally or alternatively provided that the activation devices are located in the central control devices. The activation devices are advantageously adapted to provide interconnection when they are actuated, in particular actuated simultaneously.

[0021] In an advantageous embodiment, it is ensured that the modular system comprises a control device, wherein the control device comprises a display unit that indicates a selected interconnection at least in the operating mode of the modular system. This type of display can be provided, for example, by lines and / or identical color tones of images of modules displaying individual modules.

[0022] Alternatively or additionally, it is preferable if the control system comprises at least one control device that can be assigned to a particular module to control that particular module. Then the device control system is actually made of modules to be selectively adaptable. For example, the control device may be a horizontal or vertical slider that sets a predetermined speed forward and backward when moving in the forward or reverse direction, or which sets the angle of rotation when moving left or right. On the other hand, control devices made in the form of joysticks can be used, which can, for example, simultaneously set the speed and steering deviation. These control devices may be provided physically or non-physically, for example, as visible images on a touch panel.

[0023] Alternatively or additionally, a gyroscopic element can also be used for control, for example, tilting the control system back and forth causes it to move forward or backward, which is adapted as a function of rotation, and turning the control system to the right or left leads to the direction of movement to the right or left with the rotation angle, which is adapted as a function of rotation.

[0024] In an advantageous embodiment, it is provided that the display unit is adapted in at least one mode of operation of the modular system to display all modules that are combined with each other, in the form of images of modules. Then the control system can be configured extremely simply.

[0025] Thus, the control system is preferably adapted to display the connection parameters of the combined modules on the display unit, in particular in the form of lines of interconnections between the respective images of the modules, while the desired interconnections can be created in a particularly simple and quick manner. This can be represented, for example, in matrix form. However, other suitable graphic module image schemes may be used.

[0026] Alternatively or additionally, the control system is advantageously adapted to provide module images on a display unit with an indication state that corresponds to an indication state of a module represented by a module image. Then you can very easily and quickly track what mutual connection between these modules was really made, and if necessary they can be connected very quickly.

[0027] In an advantageous embodiment, it is provided that the control device comprises an indicator device in at least one operating mode of the modular system, wherein the indication state of the indicator device corresponds to the indication state of the module associated with the control device, wherein the display unit is advantageously adapted to the control unit to represent an indicator device. This provides an especially easy tracking of which module is actually controlled by the control device. In addition, this communication of the control device with a specific module can be easily changed.

[0028] In an advantageous embodiment, it is provided that the control system comprises an input unit, wherein the input unit is adapted in at least one mode of operation of the modular system to represent the desired interconnection, corrected by selecting the displayed interconnection option. Thus, the input unit is mainly made in the form of a display unit, made in the form of a touch screen. There are advantages when the display unit is configured to adjust the interconnect by pressing the interconnect line, for example, with a finger or mouse pointer.

[0029] In an advantageous embodiment, it is provided that all the combined modules are connected to a common data bus, with each module having a device address for identification purposes. Then the optional interconnection can be extremely simple to control. Thus, the data bus can be provided in the form of wired and / or wireless communications.

[0030] An independent claim claims a method according to the present invention for information and / or energy exchange between modules of a modular system and at least two modules that are combined with each other, characterized in that devices are provided that provide optional interconnection of the first module with the second module, so that between the first and second modules an information and / or energy connection is established, while the modules can carry out information and energy sky metabolism, and physical change of modules is not related to interconnection.

[0031] In an advantageous embodiment, it is provided that a modular system according to the invention is used.

[0032] The invention may be further implemented as a computer program product, accessible from a usable computer or computer readable medium, and which provides program code for use on or in combination with a computer or command execution system. Thus, the independent claim also claims computer program products for the present invention, which are stored on a computer-readable medium and which include computer-readable software devices that cause the computer to execute the method according to the present invention when implementing software devices on a computer.

[0033] For the purpose of this application, a usable computer or computer-readable medium may be all devices or devices that contain, store, communicate, distribute, or transmit a program for use by a command execution system or use in combination with a command execution system of a device or devices. Accordingly, mobile communication devices such as mobile phones, tablet computers and the like can also be used.

[0034] The carrier may be an electronic, magnetic, optical, electromagnetic, infrared or semiconductor system or device or device or propagation medium. Embodiments of a computer-readable medium include a semiconductor or solid-state storage device or magnetic tape, a removable computer disk, random access memory (RAM), read-only memory (ROM), a permanently mounted magnetic disk, and an optical disk. The present optical disc embodiments include a data write once compact disc (CD-ROM), a rewritable compact disc (CDR-R / W), and a DVD.

[0035] A data processing system that is configured to store and / or execute program code comprises at least one processor that is directly or indirectly coupled to at least one storage element via a system bus. The storage element may include a local storage device that becomes active during the current execution of the program code, a mass storage device and a buffer storage device that provides temporary storage of at least several program codes in order to reduce the number of code calls from the mass storage device at runtime.

[0036] I / O or I / O devices, which may include a keyboard, displays, pointing devices, etc., but without limitation, can be connected to the system either directly or via an I / O controller connected between them .

[0037] Network adapters can also be connected to the system to facilitate the connection of the data processing system with other data processing systems, or remote printers, or storage devices via private or public networks connected between them. Cable modems or Ethernet cards in this context are just a few options for implementing existing types of network adapters.

[0038] Furthermore, in an independent claim, a modular system according to the present invention or method according to the present invention for a type of information transfer or power transmission via sliding contacts is claimed, at least one ring sliding contact, which contacts across with at least one contact element, while the sliding contact contains at least 2 parts that are electrically isolated from each other in the direction on the circumference. Thus, the reverse movement of information or energy can be provided extremely simply without the need for reprogramming.

[0039] In an advantageous embodiment, it is provided that at least one current-conducting part is arranged in a circumferential direction between the 2 conductive parts of the sliding contact. Then a polarity reversal or short circuit can be prevented.

[0040] In an advantageous embodiment, it is provided that the current-carrying parts of the sliding contact are arranged so that contact with the corresponding contact elements, which are mainly made in the form of pin contacts, is possible only with the preliminary contact of the parts without current. This effectively prevents preferential contact surges.

[0041] In an advantageous embodiment, it is provided that the sliding contacts and the contacting elements are combined with the mechanical connecting elements of the modules.

[0042] In an advantageous embodiment, it is provided that the mechanical connecting elements provide for the connection and mutual engagement of the connecting elements, in particular, only with the relative orientation of the connected modules.

[0043] In an advantageous embodiment, it is provided that connection is possible only when the modules are oriented relative to each other, when the contacting elements come into tight contact with parts without current, and / or provide mutual engagement only when the modules are oriented relative to each other, in which the contacting elements come into tight contact with parts without current.

[0044] For this purpose, mechanically interlocking devices are preferably provided that prevent direct contact of the conductive part of the sliding contact with the corresponding contact elements without contacting the non-conductive parts.

[0045] The following describes the features and additional advantages of the present invention based on the preferred embodiments with reference to graphic materials on which:

[0046] in FIG. 1 shows various modules of a modular system according to the invention;

[0047] in FIG. 2a, b, c show the male and female connecting surfaces of the modules of the modular system according to the invention according to FIG. 1;

[0048] in FIG. 3 shows a first schematic embodiment of a device made of integrated modules of a modular system according to the invention;

[0049] in FIG. 4 shows a second schematic embodiment of a device assembled from integrated modules of a modular system according to the invention;

[0050] in FIG. 5 shows a third schematic embodiment of a device assembled from integrated modules of a modular system according to the invention;

[0051] in FIG. 6 shows a fourth embodiment of a device assembled from integrated modules of a modular system according to the invention;

[0052] in FIG. 7 shows a fifth embodiment of a device assembled from integrated modules of a modular system according to the invention;

[0053] in FIG. 8 shows a sixth embodiment of a device assembled from combined modules of a modular system according to the invention in interconnection mode;

[0054] in FIG. 9 shows a seventh embodiment of a device assembled from combined modules of a modular system according to the invention in a control mode; and

[0055] in FIG. 10 shows an eighth embodiment of a device assembled from integrated modules of a modular system in a control mode.

[0056] FIG. 1 shows an advantageous embodiment of a modular system 10 according to the invention, which advantageously comprises at least one module from the plurality of active modules 12, 14, 16, 18, 20, 22, 24 shown, in addition to a passive structural module that simply provides end-to-end signal flow .

[0057] Modules 12, 14, 16, 18, 20, 22, 24 comprise a control module 12 that includes a proprietary proper power source and mechanically connected modules, a connecting module 14 with two components 15a, 15b that can rotate relative to each other. A rotation module 16 with two components 17a, 17b that can rotate relative to each other by a motor that is not shown, a drive module 18 with an axis 19, which is driven by a motor (not shown), a gripping module 20 with 3 manipulators 21b, which are simultaneously can be rotated by a motor (not shown) relative to the base of the base element (21a), the light module 22 with the photosensitive element 23 and the infrared module 24 with the infrared sensor element 25.

[0058] The control module 12 comprises an operator control panel 26 with a 28 + key and a 30 - key for increasing or decreasing specific control commands, a receiver key 32, a luminous indicator 33 that can display various colors, a mini USB connection 34 for controlled programming and charging the energy source of the control unit 12 with an external computer or the like, and a combined play and pause key 35 for playing or pausing certain programmed functions.

[0059] Modules 12, 14, 16, 18, 20, 22, 24 contain different connecting surfaces 36, 38, with each module 12, 14, 16, 18, 20, 22, 24 containing at least one pin connecting surface 36 and at least one female connector surface 38, which allow the connection of the individual modules 12, 14, 16, 18, 20, 22, 24 with each other.

[0060] In addition, the modules 12, 14, 16, 18, 20, 22, 24 contain indicator lights 33, like the control module 12, which can respectively display different colors that can match each other, for example, white, yellow, red green and blue.

[0061] FIG. 2a and 2b, the pin connecting surface 36 with its supporting surface 37 and the female connecting surface 38 with its supporting surface 39 are associated with each other.

[0062] FIG. 2c shows a sectional view of two passive structural modules 11 that are connected and coupled to each other.

[0063] Obviously, the nest connecting surface 38 contains cruciform recesses 40, which correspond to 45º, 135º, 225º, 315º. Another embodiment of the invention is illustrated in more detail in FIG. 2-11. Identical or similar components include cross-shaped protrusions 42, which correspond to the pin connecting surface 36. In addition, the socket connecting surface 38 contains a substantially circular recess 44, which corresponds to the essentially circular protrusion 45 of the pin connecting surface 36, while the socket connecting surface contains undercuts 46 which are located diagonally opposite each other under the protrusions 47, in which the undercuts 46 correspond to the pins 48, which are located diagonally Whether opposite undercuts 46 and 49a comprise chamfers on the top and sides of the protrusions 50 which are arranged on the radially outer side. This bevel 49a corresponds to the bevel 49b on the protrusion 47 of the female connecting surface 38.

[0064] The pins 48 can be engaged with their protrusions 50 by means of a precisely aligned insert of the pin connecting surface 36 into the socket connecting surface 38, while the pins 48 can extend radially inward due to a certain elasticity.

[0065] More specifically, the parts 51 located between the protrusions 47 have an overall width in the circumferential direction, the overall width has at least the same size as the extension of the protrusions 50 of the pins 48, with the pin connecting surfaces 36 and the socket connecting surfaces 38 are protected from each other in the position when they are rotated relative to each other by 45º, 135º, 225º, 315º.

[0066] The rotation of the pin connecting surface 36 and the female connecting surface 38 relative to each other clockwise or counterclockwise pushes the protrusion 50 from the pin 48 to engage under the protrusion 47 in the recess 44, where the pin 48 is elastically bent radially backward. Thus, the protrusion 47, as well as the protrusion 50 are rounded on their opposite surfaces. In addition, the respective angular parts may be slightly beveled to facilitate mutual engagement.

[0067] When the pin connecting surface 36 and the female connecting surface 38 are rotated exactly 45 degrees relative to each other, therefore, they can have a position of 0 degrees, 90 degrees, 180 degrees or 270 degrees relative to each other, the cross-shaped protrusions 42 can penetrate into the corresponding cross-shaped recesses 40, whereby the pin connecting surface 36 can penetrate deep enough into the socket connecting surface 38 to their respective abutment surfaces 37, 39. Then the pins 48 could they can elastically deviate back to their normal positions, and the corresponding protrusions 50 of the pins 48 are in direct contact with the corresponding protrusions 47 in the recess 44, as a result of which the pin connecting surface 36 and the socket connecting surface 38 are firmly interconnected with each other. Disengagement can only be performed by another rotation of the pin connecting surface 36 and the female connecting surface 38 relative to each other by 45º, 135º, 225º, 315º.

[0068] Alternatively, when everything needs to happen quickly, the direct interlocking of the pin connecting surface 36 and the female connecting surface 38 can also be performed in a mutually aligned state of 0º, 90º, 180º and 270º. Since the protrusions 50 of the pins 48 due to the bevels 49 under pressure of the corresponding protrusions 47 in the recesses 44 cause the pins 48 to shift radially inward until the supporting surfaces 37, 39 touch each other and the pins can elastically return back to their normal positions, where, in turn, the respective protrusions 50 of the pins 48 are in direct contact with the corresponding protrusions 47 in the recess 44, whereby the pin connecting surface 36 and the socket connecting surface 38 are firmly engaged with each other. If mutual adhesion under pressure is to be prevented, bevels must be provided.

[0069] Furthermore, it is obvious that the pin connecting surface 36 and the female connecting surface 38 continuously rotate relative to each other with abutment surfaces 37, 39 that apply pressure to each other without disconnecting, while the protrusions 42 function as a whole as an engaging support or release support.

[0070] Furthermore, from FIG. 2a, b, c, it can be seen that the pin connecting surface 36 and the socket connecting surface 38 not only determine the mechanical connection of the respective modules, but also provide energy and data transmission through the contact rings 52, 54, 56 in the socket connecting surface 38 and the corresponding contact pins 58 , 60, 62, 64 in all positions of mutual coupling.

[0071] More specifically, the inner circular contact ring 52 and the closest concentric and circular contact ring 54 together with the corresponding internal contact pin 58 and the adjacent contact pin 60 provide the first and second serial data conductor, which are provided in parallel in all corresponding contact rings 52, 54 and contact pins 58, 60 of the module 11, 12, 14, 16, 18, 20, 22, 24 and pass through all the modules. The corresponding contact pins 58, 60, 62, 64 are respectively spring-loaded, which ensures safe contact in the engaged state of the pin connecting surface 36 and the female connecting surface 38 in the respective contact rings.

[0072] The outer contact ring 56 is respectively made of four horizontally or vertically opposed contact points 66a, 66b, 68a, 68b, and parts 70 located between them, which are isolated from contact points 66a, 66b, 68a, 68b, but connected to each other friend. To the opposite contact points 66a, 66b, 68a, 68b, respectively, an opposite DC voltage is applied (for example, “+” poles 66a, 66b and “-:” poles 68a, 68b), and the opposite contact points 62, 64 are connected to them. In parts 70, respectively, there is no current. Thus, polarity reversal and short circuit are prevented. On the other hand, rotation of the pin connecting surface 36 with respect to the female connecting surface 38 can provide a change in polarity and, consequently, a change in the direction of rotation without special reprogramming.

[0073] The non-conductive parts 70, in turn, effectively prevent contact surges. Thus, this is achieved by arranging the coupling devices 40, 42, 47, 50 so that the contact pins 62, 64 can contact the contact ring 56 for the first time only when they get on the non-conductive parts 70, and the contacting of the contact points 66a, 66b, 68a 68b only occurs after preliminary contact of the non-conductive parts 70 and subsequent rotation to provide adhesion.

[0074] FIG. 3 schematically shows a first embodiment of a device 100 that is assembled from integrated modules 12, 14, 16, 18, 20, 22, 24 of a modular system 10 according to the invention. The modules 12, 14, 16, 18, 20, 24 are respectively mechanically connected to each other by their pin connecting surface 36 and the female connecting surface 38, while two serial data conductors 102, 104 are also provided in addition to passing through the energy source, The 2 serial data conductors form a continuous data bus 106 that passes through all modules 12, 14, 16, 20, 24.

[0075] The control unit 12 comprises a wireless local area network (WLAN) unit (not shown) that can communicate with a WLAN unit (not shown) of the control device 108, made in the form of a smartphone, which is capable of directly programming the control element 12 and additionally the bus 106 data via the control device 108. Instead of the smartphone 108 shown, any other suitable control device, such as a computer, tablet computer or the like, can also be used, while wired communication via USB 34 can also be used instead of radio 110.

[0076] In order to arrange the desired interconnection between the first infrared (IR) module 24 (S1) and the first drive module 14 (A1), the interconnection 112 is selected on the control device 108 and transmitted to the control module 12. Then, the control unit 12 provides the addresses of the blocks, for example, in the form of MAC addresses, and programs the data bus 106, as a result of which only the first drive module 14 (A1) reacts with respect to the control to the sensor signal of the first infrared (IR) module 24 (S1), however, other modules do not respond to this sensor signal.

[0077] FIG. 4 schematically shows a second embodiment of a device 120 made of integrated modules 14, 16, 24 of a modular system 10 according to the invention.

[0078] It is obvious that each module 14, 16, 24, as well as the control device 108 comprise WLAN units (not shown) that facilitate radial communication 122, 124, 126 between the control device 108 and the individual modules 14, 16, 24, and also modules 14, 16, 26 between themselves 128, 130.

[0079] Using programming by the control device 108, the modules 14, 16, 24 receive a command to arrange a radial data bus 132 between themselves, which is based on a radio communication 128, 130 between the modules 14, 16, 24, whereby the drive modules 14 (A1), 16 (A2) are interconnected with the infrared (IR) module 24 (S1), whereby their control is based on the parameters supplied by the infrared (IR) module 24 (S1).

[0080] FIG. 5 schematically shows a third embodiment of a device 140 assembled from integrated modules 14, 24 of a modular system according to the invention.

[0081] Obviously, there are two device elements 142, 144, namely an infrared (IR) module 24 (S1) that is connected to the first control device 108a (T1), and a drive module 16 (A1) that is connected to the second device 108b (T2) control. The corresponding connection 146, 148, in turn, is based on a wireless local area network (WLAN). Then the interconnection of the module 16, 24 can be carried out directly through 150 or through 152 by means of the corresponding control devices 108a, 108b for data exchange.

[0082] FIG. 6 schematically shows a fourth embodiment of a device 160 assembled from combined modules 12a, 12b, 14a, 14b of a modular system according to the invention.

[0083] It is obvious that the device 160 comprises two device elements 162, 164, which respectively comprise a control module 12a, 12b and a connecting module 14a, 14b mechanically connected to it by the control device 108, the two device elements 162, 164 being connected to each other with another using WLAN elements (not shown) of the control modules 12a, 12b so that they can exchange data. The interconnection 166 is displayed on the display element 168 of the control device 108 between module images 170, 172 representing the device elements 162, 164.

[0084] During the interconnection 166, programming was performed, whereby the mechanical movement of the connection module 14a of the first device element 162 by the hand of a user (not shown) automatically synchronously moves the connection module 14b of the other device element 164.

[0085] It should be understood that the control device in this embodiment, but also in other embodiments, is typically only used to configure the interconnection, so that the device subsequently independently performs programmed steps using interconnections without requiring separate commands through the devices management of this type. These commands provide the necessary interconnections through the provided modules or their own control module in the devices. However, as described, some control commands may be transmitted through the control device to directly control the drive and steering mechanism.

[0086] FIG. 7 schematically shows a fifth embodiment of a device 180 assembled from the combined modules 14a, 14b of the modular system 10 according to the invention. This is an alternative to the embodiment shown in FIG. 6, where patented control modules 12a, 12b are not used. Instead, the swivel connection modules 14a, 14b already contain all the necessary blocks, such as a power source, a control unit and a radio unit.

[0087] FIG. 8 schematically shows a sixth embodiment of a device 190 assembled from the combined modules 12, 18a, 18b, 24a, 24b of the modular system 10 according to the invention in a connected form.

[0088] It is obvious that the device 190 also contains forming or forming blocks 194 in addition to two wheels 192, which are driven by the axes 19 of the drive modules 18a, 18b, while the structural elements form a type of slider, and the device 190 further comprises transitional structural blocks 196, through which the device 190 can be supplemented with components made from known other modular systems.

[0089] All modules 12, 18a, 18b, 24a, 24b, in turn, form a data bus (not shown) through the corresponding pin connecting surfaces 36 and the female connecting surface 38, which are connected to each other.

[0090] On the display 168 of the control device 108, the modules 12, 18a, 18b 24a, 24b, which are connected to the device 190 in the interconnect mode, are displayed in the table, that is, in the matrix, by the corresponding module images 198, 200, 202, 204. Since in this embodiment only one infrared (IR) module 24a, 24b needs to be connected to the drive modules 18a, 18b, table 207 contains drawn interconnect lines 208 showing the main interconnection options. Pressing one intersection point 210 of the interconnect lines 208, in turn, determines the interconnection of the infrared (IR) module 24a with the drive module 18a, and on the other hand, the interconnection of the infrared (IR) module 24b with the drive module 18b, which was transmitted via the control device 108 to the control unit 12 and is thus programmed in the device 190.

[0091] To facilitate pressing, the display unit 168 is made in the form of a touch screen. Alternatively, another choice may be made, for example, using a mouse element or the like.

[0092] Each interconnect step was confirmed by an acknowledgment command to complete the interconnect step. For example, it would also be possible to interconnect with the infrared (IR) module 24a both drive modules of both intersection points 210, 212 that were pressed, and only after that the interconnection was completed by a confirmation command.

[0093] The selected and programmed interconnections are shown, on the one hand, by solid lines 214 and 216, and, on the other hand, also by the identical colors of interconnected modules 18a, 18b, 24a, 24b, two different interconnections 214, 216 respectively also including different colors, for example red and green.

[0094] In order that the selected interconnections can also be detected directly in the device 190 and that the incorrect connections can be immediately corrected, the light sources 33 of the respective interconnected modules 18a, 18b, 24a, 24b are lit with the same color that is displayed for the corresponding interconnection connection 214, 216 and the corresponding image 198, 200, 202, 204, 206 of the module.

[0095] Both wheels 192 are thus driven by respective drive modules 18a, 18b, which provide direct steering. Thus, the parameters of the sensors of the respectively interconnected infrared (IR) modules 24a, 24b, which control the vehicle 190, are also taken into account, as a result of which, for example, the balls are automatically captured and moved using the slider 194.

[0096] Using a sensor unit that contains a gyroscopic unit, additional balancing of the entire device 190 is provided so that the vehicle 190 is always oriented vertically.

[0097] Other suitable presentation forms may be used instead of the matrix representation of the images 198, 200, 202, 204, 206 of the modules and interconnection lines.

[0098] FIG. 9 schematically shows a seventh embodiment of a device 220 assembled from integrated modules 12, 14, 18, of a modular system 10 in a control mode.

[0099] Obviously, the device 220 is a remotely controlled vehicle that includes a control module 12, a rotary connecting module 14 connected to it for steering, and a drive module 18 connected via the steering module 12 to the rotary connecting module 14 made with the possibility of driving two wheels 192, and many forming or forming the structure of the blocks 222, 224, 226.

[00100] In contrast to the device 190 of FIG. 8, the drive is provided by the drive module 18 synchronously to both wheels 192, and the steering is separately provided by the rotary connecting module 14, on which the two wheels 192 are supported independently by the freewheel function by the structural members 222.

[00101] Thus, the interconnect mode ends, and the display unit 168 of the control system 108 displays the control mode. Thus, two control elements 228, 230 are provided, which are made in the form of slide control objects with a central position.

[00102] The vertical control slider 228 controls the drive module 18, with the upward slider controlling the forward speed and the downward slider controlling the backward speed. Alternatively, the gyro function of the control system 108 could be used via key 232 to replace the driving of the control slider 228 by turning the control system 108 back and forth.

[00103] A horizontal control slider 230 controls the rotary connector module 14, with a slider to the right controlling the angle of rotation to the right and a slider to the left controlling the angle of rotation to the left. Alternatively, the gyro function of the control system 108 can be used with the key 234 to replace the driving of the control slider 230 by turning the control system 108 to the right and left.

[00104] In order to better monitor the relationship of the control objects 228, 230 with the corresponding controlled modules 14, 18, each control object 228, 230 contains an indicator device made in the form of luminous dots 236, 238, which take the same glow color as the corresponding light sources 33 managed modules 14, 18.

[00105] This communication can be automatically offered to the user through the control system 108. However, manual communication can also be performed, in particular, provided that the communication can be adjusted later if necessary.

[00106] In FIG. 10 schematically shows an eighth embodiment of a device 250 made of integrated modules 12, 14a, 14b, 16, 18, 20, 24 of a modular system 10 in a control mode.

[00107] Apparently, device 250 is a type of crane. The crane comprises a gripping module 20, the manipulators 21b of which provide corresponding extension elements 252, which are in contact with each other in the initial position of the manipulators 21b at their front ends.

[00108] The gripping module 20 provides a first rotary connecting module 14a, and the first rotary connecting module 14a is connected to the second rotary connecting module 14b, which provides a greater degree of freedom of movement of the gripping module 20.

[00109] The second gripper module 14b is connected to an infrared (IR) module 24, which is connected to the control module 12, while the infrared (IR) module 24 is used as a passive structural unit.

[00110] Thus, the block constituting the structure is used only for end-to-end signal transmission, and its sensor function is not used in the device 250.

[00111] In addition, the infrared (IR) module 24 is connected vertically downward by a rotation module 16, which, in turn, is connected to the drive module 18. Also, this drive module 18 does not function in the context of the function of the device 250 and only applies to support the device 250 in combination with the forming and forming the blocks 254 and the wheels 192 located on it, as a result of which the device 250 is stable. Thus, the control module 12 with the mass of its battery is used as mass compensation for the side of the gripping module.

[00112] Instead of the control sliders in FIG. 9, graphic joysticks 256, 258 are used in the control system 108. Thus, the gripping module 20 and the second rotary connecting module 14b are connected to the left joystick 256, and the rotary connecting first module 14a and the rotation module 16 are connected to the right joystick.

[00113] More specifically, shifting the control button 260 of the left joystick 256 in a horizontal plane causes the manipulators 21b of the gripper module 20 to open and close in certain positions. The vertical shift of the left joystick control button 260 256 causes the second rotary connecting module 14b to rotate in the up and down directions. The shift of the control button 262 of the right joystick 258 in a horizontal plane rotates the rotation module 16 by a random angle of rotation with a rotation speed, which, accordingly, is determined by the degree of shift of the control button. And moving the control button 262 of the right joystick 258 vertically causes the first rotatable connecting module 14b to rotate in the up or down direction. Thus, the highlighted point 264, 266 of the left joystick 256 has a color that matches the color of the light source 33 of the gripper module 20 or the second rotary connecting module 14b, respectively, for identification. The highlighted point 268, 270 of the right joystick 258, respectively, has the same color as the light source 33 of the first rotary connecting module 14a and the rotation module 16 for identification.

[00114] The shift of the horizontal or vertical control buttons 260, 262 respectively provides for joint movement control of the two controlled modules 14a, 14b, 16, 20 simultaneously.

[00115] The infrared (IR) module 24 can also be used to control the drive module 18, so that both modules 18, 24 will not be used as structural modules without the function of passive signal transmission, but they will perform their own functions. For example, the movement of the device 250 may be provided as an additional function by the wheels 192, which are located on the drive module. Since the control system 108 contains an additional control element on top of the existing controls 256, 258, this can be confusing for the operator, the infrared (IR) module 24 can take over the control of the drive module 18. Then, the user can control the device 250 in a controlled manner by means of predefined movements hands over the infrared sensor element 25 of the module 24 sensors.

[00116] In addition, structural modules 11 can be used instead of the passive modules 18, 24.

[00117] In the illustrated embodiments, only the active modules of the modular system 10 are shown. It should be understood that additional active modules can be connected, but passive structural and mold modules from other modular systems can also be added or supplemented through transition elements.

[00118] As indicated above, it is obvious that the present invention provides an extremely simple and traceable interconnection of individual modules of a modular system, while interconnection is possible at any time and, in particular, without structural adjustments or mechanical connection of modules that are combined with each other friend.

[00119] Unless otherwise indicated, all features of the present invention can be freely combined with each other. Also, the features described in the description of the figures can be freely combined with other features, unless otherwise indicated. Thus, features claimed for a device can also be used for features in applications for a method, and features of a method can be used in applications for a device.

POSITIONAL AND CONVENTIONS

[00120] 10 modular system

[00121] 11 structural module, passive

[00122] 12, 12a, 12b control module

[00123] 14, 14a, 14b rotary connection module

[00124] 15a, 15b rotatable elements of the rotary connecting module 14

[00125] 16 rotation module

[00126] 17a, 17b rotatable components of the rotation module 16

[00127] 18, 18a, 18b drive module

[00128] 19 axis of the drive module 18

[00129] 20 gripping module

[00130] 21a base element of the gripper module 20

[00131] 21b rotary manipulators of the gripper module 20

[00132] 22 light module

[00133] 23 photosensitive member of the light module 22

[00134] 24, 24a, 24b infrared (IR) module

[00135] 25 infrared (IR) sensor element of the module 24 sensors

[00136] 26 operator interface of the control module 12

[00137] 28 key "+" of the control module 12

[00138] 30 the "-" key of the control module 12

[00139] 32 receiver key of the control module 12

[00140] 33 illuminated module indicators, indicator devices

[00141] 34 mini USB connection

[00142] 35 combined play and pause key

[00143] 36 pin connecting surface

[00144] 37 the supporting surface of the pin connecting surface 36

[00145] 38 female connecting surface

[00146] 39 the supporting surface of the female connecting surface 38

[00147] 40 cruciform recesses of the female connecting surface 38

[00148] 42 the cross-shaped protrusions of the pin connecting surface 36

[00149] 44 circular recess of the female connecting surface 38

[00150] 45 round protrusion of the pin connecting surface 36

[00151] 46 undercuts of the recess 44

[00152] 47 protrusions above the undercuts 46

[00153] 48 pins of the pin connecting surface 36

[00154] 49a bevels of projections 50

[00155] 40b bevels of the protrusions 47

[00156] 50 protrusions of the pins 48

[00157] 51 parts between the protrusions 47

[00158] 52, 54, 56 slip rings in the female connection surface 38

[00159] 58, 60, 62, 64 corresponding contact pins in the pin connecting surface 36

[00160] 66a, 66b, 68a, 68b contact points of the outer contact ring 56

[00161] 70 non-conductive parts of the outer contact ring 56

[00162] 100 a first preferred embodiment of the device

[00163] 102, 104 serial data conductors

[00164] 106 data bus

[00165] 108, 108a, 108b control system, devices for optional interconnection

[00166] 110 radio communication

[00167] 112 interconnection

[00168] 120 a second advantageous embodiment of the device

[00169] 122, 124, 126, 128, 130 radio communications

[00170] 132 radio-based data bus

[00171] 140 third advantageous embodiment of the device

[00172] 142, 144 two elements of the device

[00173] 146, 148 WLAN based connection

[00174] 150,152 interconnection

[00175] 160 fourth advantageous embodiment of the device

[00176] 162, 164 elements of the device device 160

[00177] 166 mutual connection

[00178] 168 a display element of the control system 108

[00179] 170, 172 image of the module

[00180] 180 fifth advantageous embodiment of the device

[00181] 190 sixth advantageous embodiment of the device

[00182] 192 wheels

[00183] 194 forming or forming a block, slider

[00184] 196 transitional building block

[00185] 198, 200, 202, 204, 206 image of the module

[00186] 207 table

[00187] 208 basic options for mutual connections made in the form of lines of mutual connections

[00188] 210, 212 the point of intersection of the lines of mutual connections 208

[00189] 214, 216 solid lines to highlight the selected and programmed interconnection

[00190] 220 seventh preferred embodiment of the device

[00191] 222, 224, 226 forming or forming a block

[00192] 228, 230 controls for controlling sliders with a central position

[00193] 232,234 key for gyro function

[00194] 236, 238 luminous dot indicator device

[00195] 250 is an eighth preferred embodiment of a device

[00196] 252 elongated elements of the manipulators 21b of the gripping module 20

[00197] 254 forming and forming blocks

[00198] 256, 258 controls, graphic joysticks

[00199] 260, 262 joystick control buttons 256, 258

[00200] 264, 266 glowing points of the joystick 256, indicator device

[00201] 268, 270 luminous points of the joystick 258, display device.

Claims (12)

 1. A modular system (10) for transmitting information and / or transmitting energy, comprising at least two modules (12, 14, 16, 18, 20, 22, 24), which can be combined with each other, while devices are provided (108), which provide, if necessary, mutual connection (112, 150, 152, 166, 214, 216) of the first module from the modules (12, 14, 16, 18, 20, 22, 24) with the second module from the modules (12, 14, 16, 18, 20, 22, 24), as a result of which between the first module (12, 14, 16, 18, 20, 22, 24) and the second module (12, 14, 16, 18, 20, 22, 24 ) an information and / or energy connection may be provided so that the mod whether (12, 14, 16, 18, 20, 22, 24) could carry out information or energy exchange, while the modular system is designed so that the interconnection (112, 150, 152, 166, 214, 216) does not cause any physical modifying the modules (12, 14, 16, 18, 20, 22, 24), characterized in that the modular system (10) contains a control system (108), while the control system (108) contains a display unit (168) that indicates the selected mutual connection (112, 150, 152, 166, 214, 216) in at least one operating mode of the modular system (10), while the control system (108) contains a block (168) input, and while the input block (168) is configured to present the desired connection (112, 150, 152, 166, 214, 216), selected in at least one mode of operation of the modular system by selecting the displayed option (208) for mutual connection. 2. The modular system (10) according to claim 1, characterized in that the modular system (10) contains at least three modules (12, 14, 16, 18, 20, 22, 24), which can be combined with each other at the same time, at least between the two modules (12, 14, 16, 18, 20, 22, 24) a first information and / or energy connection is provided, while devices (108) for optional mutual connection (112, 150, 152, 166, 214, 216) are adapted to establish a second information and / or energy connection between at least two modules (12, 14, 16, 18, 20, 22, 24) as a alternatively or in addition to the first information and / or energy connection without any physical change of modules (12, 14, 16, 18, 20, 22, 24) or information and / or energy connection caused by them. 3. The modular system (10) according to claim 1 or 2, characterized in that each module (12, 14, 16, 18, 20, 22, 24) contains indicator devices (33) with at least two indication states, with this modular system (10) in at least one operating mode of the modular system (10) is configured to display the mutual connection (112, 150, 152, 166, 214, 216) of two modules (12, 14, 16, 18, 20, 22, 24) when the indication state of the corresponding indicator devices (33) in the modules (12, 14, 16, 18, 20, 22, 24) coincides, and the indicator devices are preferably made in the form of a source light (33), which, in particular, have different color states and / or forms of light. 4. The modular system (10) according to claim 3, characterized in that the modular system (10) is designed in such a way as to associate the corresponding indication state with different groups of mutually connected modules (12, 14, 16, 18, 20, 22, 24 ) in the operating mode of the modular system (10) in order to ensure differentiation. 5. The modular system (10) according to any one of the preceding paragraphs, characterized in that at least two modules (12, 14, 16, 18, 20, 22, 24) contain activation devices (210, 212) that are adapted to establish the connection (112, 150, 152, 166, 214, 216) between the two modules (12, 14, 16, 18, 20, 22, 24) when the corresponding activation devices (210, 212) are activated, while the devices (210, 212 ) activation is mainly adapted to establish a connection (112, 150, 152, 166, 214, 216) when they are activated, in particular when activated simultaneously. 6. A modular system (10) according to any one of the preceding paragraphs, characterized in that the control system comprises at least one control device (228, 230, 256, 258), which can be associated with a specific module (12, 14, 16, 18, 20, 22, 24) to control a specific module. 7. The modular system (10) according to any one of the preceding paragraphs, characterized in that the display unit (168) is adapted in at least one operating mode of the modular system (10) to represent all the combined modules (12, 14, 16, 18, 20 , 22, 24) in the form of images of modules (170, 172, 198, 200, 202, 204, 206), while the control system (108) is preferably adapted to display the main parameters of the interconnection (207, 208) of the combined modules (12, 14, 16, 18, 20, 22, 24) by means of a display unit (168), in particular in the form of lines (208) of interconnections between the respective images of modules (170, 172, 198, 200, 202, 204, 206), and / or the control system (108) is preferably adapted to provide images of modules (170, 172, 198, 200, 202, 204, 206) on the display unit (168) with the display state that corresponds to the display state of the module (12, 14, 16, 18, 20, 22, 24), which is represented by the image of the module (170, 172, 198, 200, 202, 204, 206) . 8. The modular system (10) according to any one of the preceding paragraphs, characterized in that the control device (228, 230, 256, 258) comprises an indicator device (236, 238, 264, 266, 268, 270) in at least one mode the operation of the modular system (10), while the indication state of the indicator device corresponds to the indication state of the module (12, 14, 16, 18, 20, 22, 24) associated with the control device (228, 230, 256, 258), and the unit ( 168) the display unit (108) control is preferably adapted to display an indicator device (236, 238, 264, 266, 268, 270). 9. The modular system (10) according to any one of the preceding paragraphs, characterized in that the input unit (168) is made in the form of a touch screen (168), and / or the input unit (168) is configured to adjust the mutual connection (112, 150, 152, 166, 214, 216) by clicking on the interconnection line (208) with a finger or the mouse pointer. 10. The modular system (10) according to any one of the preceding paragraphs, characterized in that all the combined modules (12, 14, 16, 18, 20, 22, 24) are connected to a common data bus (106), with each module (12 , 14, 16, 18, 20, 22, 24) contains the address of the block for identification. 11. A method that enables information and / or energy exchange between modules (12, 14, 16, 18, 20, 22, 24) of a modular system (10) with at least two modules (12, 14, 16, 18, 20 , 22, 24), which can be combined with each other, while devices (108) are provided that provide, if necessary, mutual connection (112, 150, 152, 166, 214, 216) of the first module from the modules (12, 14, 16, 18, 20, 22, 24) with a second module from the modules (12, 14, 16, 18, 20, 22, 24), as a result of which between the first module and the second module (12, 14, 16, 18, 20, 22, 24) can be installed information th and / or energy connection, so that the modules (12, 14, 16, 18, 20, 22, 24) can carry out information or energy exchange, while the mutual connection (112, 150, 152, 166, 214, 216) does not cause no physical change of modules (12, 14, 16, 18, 20, 22, 24), characterized in that the modular system (10) contains a control system (108), while the control system (108) contains a display unit (168), which indicates the selected mutual connection (112, 150, 152, 166, 214, 216) in at least one operating mode of the modular system (10), while the content management system (108) an input unit (168), and wherein the input unit (168) is configured to present the desired connection (112, 150, 152, 166, 214, 216), selected in at least one operating mode of the modular system by selecting the displayed option (208 ) interconnection. 12. The method according to p. 11, characterized in that the modular system (10) according to any one of paragraphs. 1-10.

Images