WO2019120148A1 - Système de commande pour robot modulaire, système de robot modulaire, et procédé de commande pour robot modulaire - Google Patents

Système de commande pour robot modulaire, système de robot modulaire, et procédé de commande pour robot modulaire Download PDF

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Publication number
WO2019120148A1
WO2019120148A1 PCT/CN2018/121433 CN2018121433W WO2019120148A1 WO 2019120148 A1 WO2019120148 A1 WO 2019120148A1 CN 2018121433 W CN2018121433 W CN 2018121433W WO 2019120148 A1 WO2019120148 A1 WO 2019120148A1
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WIPO (PCT)
Prior art keywords
module
modular robot
unit
sub
information
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PCT/CN2018/121433
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English (en)
Chinese (zh)
Inventor
杨健勃
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北京可以科技有限公司
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Publication of WO2019120148A1 publication Critical patent/WO2019120148A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators

Definitions

  • the invention relates to the field of robots, in particular to a control system of a modular robot, a modular robot system and a method of controlling the modular robot.
  • Robots have been widely used in life and industry, such as teaching to develop students' thinking skills, such as welding, painting, assembly, and handling in automated production. Although robots have great flexibility and flexibility as an execution system, they can perform different tasks. However, existing robots are often targeted at specific purposes and occasions. There is only one main function and lack of functional scalability. Robots for each function require developers to set different programs, which seriously restricts the promotion and application of robots. Especially for reconfigurable robots, the configuration changes usually require different control programs, and this lack of functional scalability becomes more prominent. There is an urgent need to propose a corresponding solution.
  • the present invention provides a control system for a modular robot, a modular robot system, and a method for controlling the modular robot.
  • the solution to solve the technical problem of the present invention is to provide a control system of a modular robot for controlling a modular robot.
  • the modular robot is externally connected with at least one external unit, and the control system of the modular robot and the modular robot can be
  • the communication system of the modular robot includes: a configuration information database; configuration information for storing at least one modular robot; an action information database; and at least one action information for controlling movement of the modular robot; and an external unit a setting module; configured to set an execution action of the external unit and/or set a control condition corresponding to the external unit; and control the modular robot motion and/or the external unit to perform the action according to the action information and the setting of the external unit setting module .
  • control system of the modular robot further comprises: a logic setting module; configured to set a logical relationship between the action information and the execution action and/or the control condition; and an operation module;
  • the contents of the logic setting module are compiled to generate an executable program for controlling the operation of the modular robot.
  • the modular robot comprises at least one sub-unit module
  • the sub-unit module comprises a relatively rotatable sub-module
  • the two sub-modules rotate to drive the movement of the modular robot
  • the control system of the modular robot further comprises: a sub-unit a module setting module; configured to set rotation information corresponding to the rotation of the subunit module, wherein the rotation information comprises one or more of a rotation angle, a rotation direction, a rotation speed, and a rotation time; in the logic setting module, the setting A logical relationship between the rotation information and the execution action and/or the control condition is determined.
  • control system of the modular robot comprises: a display module, at least for displaying a three-dimensional simulation model corresponding to the sub-unit module of the modular robot and a number of the sub-unit module in the three-dimensional simulation model;
  • the sub-unit module setting module comprises: The subunit module number setting module of the subunit module number is set, and the subunit module number is in one-to-one correspondence with the rotation information.
  • the present invention also provides a modular robot system including a modular robot, and an external unit connected to the modular robot, and a control system of the modular robot as described above, and an executable program compiled by the running module It is eraseably written into the modular robot.
  • the external unit is a sensor and/or an actuator.
  • the modular robot includes a main control module for erasably writing the executable program and controlling the operation of the modular robot according to the program, and the external unit is connected to the main control module.
  • the invention also provides a method for controlling a modular robot, the modular robot is externally connected with at least one external unit, and the method for controlling the modular robot comprises the steps of: step T1: acquiring configuration information of the modular robot; step T2: acquiring at least An action information for controlling the modular robot motion; step T3: setting an execution action of the external unit and/or setting a control condition corresponding to the external unit; and step T4: invoking the action information, And an execution action of the external unit and/or setting a control condition corresponding to the external unit to graphically generate an executable program that controls the operation of the modular robot.
  • the modular robot comprises at least one sub-unit module comprising a relatively rotatable sub-module, wherein the rotation between the two sub-modules drives the movement of the modular robot
  • the method of controlling the modular robot comprises an execution step Step before T4: Ta: setting rotation information executed by the subunit module; the rotation information includes one or more of a rotation angle, a rotation direction, a rotation speed, and a rotation time; and calling the action information in step S4
  • the rotation information, and the execution action of the external unit and/or the control condition corresponding to the external unit are graphically programmed to generate an executable program that controls the operation of the modular robot.
  • step Ta a step is included: Tx: generating a three-dimensional simulation model of the modular robot, the three-dimensional simulation model being the same as the modular robot corresponding to the configuration information acquired in step T1; Ty: three-dimensional simulation model
  • the subunit modules are numbered; in step Ta, different subunit modules are distinguished according to the number of the subunit modules to input the rotation information.
  • the configuration information of the modular robot is derived from a configuration information database, and the method for obtaining the configuration information includes the following steps: Step S1: constructing a modular robot; the modular robot includes a main unit module and at least a sub-unit module, the main control module and the sub-unit module are connected by a docking part, or both the wireless connection and the docking part are wired, and the different interface parts of the main unit module and the sub-unit module are provided with different interface identification information.
  • the sub-unit module directly connected to the main control module is a first-level sub-unit module
  • the sub-unit module connected to the first-level sub-unit module is a second-level sub-unit module
  • the sub-unit module connected with the M-level sub-unit module is (M +1) level subunit module, M is an integer greater than or equal to 1
  • step S2 the modular robot performs surface recognition to obtain configuration information
  • the specific surface identification includes: step S21: transmitting the first electrical signal to notify the subunit module to perform surface recognition
  • the second electrical signal is output; step S23: the first-level sub-unit module determines the interface identification information of the connected main control module according to the second electrical signal received by the first-level sub-unit module; the first-level sub-unit module obtains the interface according to the interface that receives the second electrical signal.
  • the interface identifier information of the docking part of the master module connected to the main control module; and the interface identifier information of the interface of the master module connected to the master module The information is sent to the main control module or sent to the program generation end.
  • the surface recognition process further comprises: S25: different docking parts of each M-level sub-unit module issue different second electrical signals to the (M+1)-level sub-unit module or each M-level sub-unit module connected thereto Or a different docking portion timing sends a second electrical signal to the (M+1)-level sub-unit module connected thereto; S26: (M+1)-level sub-unit module determines the connected M according to the second electrical signal it receives The interface identification information of the level master module; the (M+1) level subunit module obtains the interface identifier information of the docking part of the interface of the M-level master control module according to the interface that receives the second electrical signal; and step S27: The (M+1)-level sub-unit module sends the interface identification information of the M-level sub-unit module to which it is connected and the interface identification information of the interface of the M-level sub-unit module that is connected to the M-level sub-unit module to the main control module or to the Program generation side.
  • the timings of sending different interface sub-unit modules to the main control module are different, and different M-level sub-unit modules send different timings of electrical signals sent to the (M+1)-level sub-unit modules connected thereto,
  • the sub-unit module surface recognition is performed step by step, and the surface recognition of the (M+1)-th sub-unit module is performed after the surface recognition of the M-th sub-unit module is completed.
  • the configuration information of the modular robot is derived from a configuration information database
  • the method for obtaining the motion information includes the steps of: Q1: the modular robot is single-step operated to generate a new configuration; Q2: obtained by surface recognition Configuration information corresponding to the new configuration; Q3: the configuration information of the modular robot before being adjusted is calculated by the configuration information corresponding to the new configuration to obtain a motion frame; the motion frame is saved in the configuration information database to become The action information corresponding to the cell configuration, or repeating steps Q1-Q3 to obtain a plurality of motion frames, the plurality of motion frames being combined to form an action information is stored in the configuration information database.
  • the control system of the modular robot provides a database of action information, which is convenient for the user to perform functional modification or expansion.
  • the user can also compile and generate a program for controlling the rotation of the control subunit module in the control system, in particular, the programming uses a graphical programming interface, which is convenient for the user to operate, and avoids the trouble that the developer needs to participate in the modification of the program.
  • the opening of the compile rights will greatly improve the applicability of a single modular robot, bringing an updated user experience.
  • the action information database can store officially defined or user-defined action information, which can facilitate information multiplexing or information sharing conveniently and quickly, greatly reducing the complexity and repeatability of program development.
  • a sub-unit module of a specific structure is adopted as a basic module of the modular robot, and the sub-unit module can realize a change of the configuration of the modular robot by rotational control. Breaking the shortcomings of traditional basic modules with single degree of freedom and inflexible control.
  • the subunit module can be controlled to rotate by an electric signal, or can be manually rotated by the user, so that the user can customize the motion information.
  • FIG. 1 is a perspective view showing the structure of a modular robot according to a first embodiment of the present invention.
  • FIG. 2 is a perspective view showing the structure of a subunit module of a modular robot according to a first embodiment of the present invention.
  • 3A and 3B are schematic views showing the three-dimensional structure of the control body at different angles in the first embodiment of the present invention.
  • Figure 4 is a flow chart showing the detailed steps of face recognition.
  • Fig. 5 is a block diagram showing the structure of a modular robot system according to a second embodiment of the present invention.
  • FIG. 6 is a detailed block diagram of a control system of a modular robot according to a second embodiment of the present invention.
  • Fig. 7 is a flow chart showing a control method of the modular robot of the third embodiment of the present invention.
  • a first embodiment of the present invention provides a programmable modular robot 1a including a main control module 50 and a cell configuration (not labeled) connected thereto, and the cell configuration includes a plurality of subunit modules 10,
  • the cell configuration of the two subunit modules 10 is taken as an example for description.
  • the number of subunit modules 10 is not limited.
  • the main control module 50 is provided with at least a pair of connecting portions 14, each of the sub-unit modules 10 is provided with at least two docking portions 14, and the main control module 50 and the sub-unit module 10 are connected by the docking portion 14.
  • the different connection between the main control module 50 and the subunit module 10, the subunit module 10 and the subunit module 10 can reconstruct the modular robot 1a of different configurations.
  • the subunit module 10 includes two relatively rotatable submodules 101 that are controlled by electrical signals, which are preferably also manually controllable.
  • the sub-modules 101 are hemispherical, and each of the sub-modules 101 is provided with at least a pair of connecting portions 14 , and the plurality of sub-unit modules 10 are connected by the butting portion 14 .
  • the number of docking portions 14 on each subunit module 10 is 2 or 3 or 4 or 5 or 6 or 7 or 8.
  • the different docking portions 14 of each subunit module 10 are provided with interface identification information so that The relative connection positions between the subunit modules 10 are determined. As shown in FIG.
  • the interface identification information of the eight docking portions 14 is 001, 002 together 008.
  • Different sub-unit modules 10 can be mechanically connected through the docking portion 14, and a wired electrical connection can also be realized.
  • the docking portion 14 mentioned in the present invention can realize the mechanical connection between the two modules, and can also realize the wired electrical connection between the two modules.
  • the face where the abutment 14 is located intersects the face of the rotation between the two sub-modules 101 to provide an effective variation dimension for the reconfigurability of the modular robot 1a.
  • the docking portions 14 located on different modules in the present invention are all the same.
  • the main control module 50 erases the program to control the operation of the modular robot 1a.
  • the relative rotation between the two sub-modules 101 of the plurality of sub-unit modules 10 is controlled according to a program to implement the preset movement of the modular robot 1a.
  • the program is from an electronic device end, and the electronic device end performs related setting for the modular robot 1a, compiles it, generates an executable program, and sends the executable program to the main control module 50.
  • the main control module 50 includes a main unit module 30 and a control main body 40.
  • the main unit module 30 is connected to the cell configuration, and the control main body 40 and the main unit module 30 are connected.
  • the main body 40 is controlled. It is sufficient to maintain a radio connection with the main unit module 30 without a mechanical connection.
  • the control body 40 writes the program erasibly, and the control body 40 controls the operation of the modular robot 1a through the main unit module 30 in accordance with the program.
  • the main unit module 30 is provided with at least two abutting portions 14, and the number of the abutting portions 14 on the main unit module 30 is 2 or 3 or 4 or 5 or 6 or 7 or 8, preferably, Different docking portions 14 of each subunit module 10 are provided with interface identification information. As shown in FIG. 1 , when the main unit module 30 is provided with eight docking portions 14 , the interface identification information of the eight docking portions 14 is 001, 002 ⁇ 008, respectively.
  • the main unit module 30 is connected to the sub unit module 10 through the docking portion 14.
  • the main unit module 30 has a power supply function that can supply power to the control body 40 and the sub unit module 10.
  • the main unit module 30 and the sub unit module 10 are wired and electrically connected through the docking portion 14, and are wirelessly connected through a wireless communication system, such as wireless communication using zigbee technology, Bluetooth, NFC, and the like. Wireless communication is preferably performed by the zigbee system.
  • the main unit module 30 is provided with a zigbee main module
  • the sub unit module 10 is provided with a zigbee submodule 101.
  • the subunit module 10 communicates with the electronic device terminal through the main unit module 30, which itself does not directly communicate with the electronic device end, thus reducing the hardware requirements of the cell configuration.
  • the control body 40 includes at least a pair of joints 14 that are coupled to the main unit module 30 by the docking portion 14.
  • At least one Bluetooth module (not shown) is disposed in the control body 40.
  • the first Bluetooth module can be configured.
  • the first Bluetooth module is configured to communicate with the electronic device, and receive the program from the electronic device.
  • the control body 40 is configured.
  • There is a second Bluetooth module and the control body 40 performs wireless communication with the main unit module 30 through the second Bluetooth module.
  • the second Bluetooth module can be omitted, and the control body 40 and the main unit module 30 are directly wired and electrically connected.
  • the control body 40 is provided with at least one plug-in interface 41, and an external unit (not shown) is plugged into the plug-in interface 41.
  • an external unit (not shown) is plugged into the plug-in interface 41.
  • the external unit When the external unit is in operation, its working information is returned to the control body 30, and the program is set to control the relative rotation between the two sub-modules 101 of the sub-unit module 10 according to the work information returned by the external unit.
  • the external unit returns the working information in real time, and the control body 40 controls the rotation of the sub unit module 10 according to the working information returned by the external unit in real time.
  • the external unit can be a sensor and/or an actuator.
  • the sensor can be an ultrasonic sensor, an infrared sensor, a temperature sensor, a brightness sensor, a color sensor, and the like.
  • the actuator can be a suction cup, an electromagnet, a mechanical claw or the like.
  • the program can be set to control the relative rotation between the two sub-modules 101 of the sub-unit module 10 based on the operational information returned by the sensor and/or the execution unit.
  • the ultrasonic sensor is connected to the plug-in interface 41 of the modular robot 1a. When the ultrasonic sensor senses an obstacle, the distance from the obstacle is detected and the working information (distance parameter) is returned. The program sets when the distance is less than a certain value.
  • the control body 40 controls the subunit module 10 to stop rotating by the main unit module 30, and the modular robot 1a stops moving to avoid contact with an obstacle.
  • the pneumatic suction cup when the pneumatic suction cup is connected to the modular robot 1a, the pneumatic suction cup is used to adsorb the articles, and the modular robot 1a moves to transport the articles at one place to another.
  • the pneumatic suction cup returns work information (execution state) to the control main body 40, and informs the control main body 40 whether the article is adsorbed.
  • the control main body 40 receives the work parameter representing that the article is adsorbed, the control main body 40 controls the subunit module through the main unit module 30.
  • the 10 motion causes the modular robot 1a to move along a preset path to deliver the item to the destination.
  • the main unit module 30 and the control body 40 are not designed separately, and the two are integrated on one module.
  • the main control module 50 is provided with both the docking portion 14 and the plug connector 41. In this way, the degree of integration of the modular robot 1a can be improved.
  • the subunit modules 10 each have a power storage function and a direct communication function with the electronic device end and/or the main control module 50. Therefore, the main control module 50 can be mechanically connected to the cell configuration or can be selected. No mechanical connection is set. At this time, the main control module 50 is the control main body 40.
  • the form of the modular robot 1a is not limited.
  • the unit module (including the main unit module 30 and the sub-unit module 10) may be of any configuration, and the docking portion 14 may only have a mechanical connection. Communication between the unit modules is also possible only by means of a wired electrical connection or a radio connection. All of the subunit modules 10 may be identical in configuration or at least partially different. The structural configurations of the main unit module 30 and the sub unit module 10 may be identical or at least partially different.
  • the modular robot 1a of different configurations has configuration parameters representing its configuration characteristics, and the configuration parameters include positional information between the subunit modules 10, and preferably, the positional information between the subunit modules 10 is composed of the subunit modules 10 Face recognition is obtained.
  • the sub-unit module 10 that is directly connected to the main unit module 30 is a first-level sub-unit module 10, and the sub-unit module 10 that is connected to the first-level sub-unit module 10 is a second-level sub-unit module 10, and is connected to the M-level sub-unit module 10.
  • the sub-unit module 10 is an (M+1)-level sub-unit module 10, and M is an integer greater than or equal to 1. Referring to FIG. 4, the process of specific surface recognition includes:
  • Step S11 The main unit module 30 sends a first electrical signal to notify the subunit module 10 to perform surface recognition.
  • Step S12 different docking portions of the main unit module 30 issue different second electrical signals or different docking portions of the main unit module 30 to issue a second electrical signal;
  • Step S13 The first-level sub-unit module 10 determines the interface identification information of the connected main body module according to the second electrical signal received by the first-level sub-unit module 10; the first-level sub-unit module 10 obtains its own and the main body module according to the docking part that receives the second electrical signal. Interface identification information of the docking interface; and
  • Step S14 The first-level sub-unit module 10 transmits the interface identification information of the main module to which it is connected and the interface identification information of its own docking part that is docked with the main module to the main unit module 30.
  • the surface recognition process further includes:
  • Step S15 Different docking parts of each M-level sub-unit module 10 issue different second electrical signals to different docking parts of the (M+1)-level sub-unit module 10 or each M-level sub-unit module 10 connected thereto. Sending a second electrical signal to the (M+1)-level sub-unit module 10 connected thereto;
  • Step S16 The (M+1)-level sub-unit module 10 determines the interface identification information of the M-level main module to which it is connected according to the second electrical signal it receives; the (M+1)-level sub-unit module 10 receives the second The interface of the electrical signal obtains the interface identification information of the docking part of the interface with the M-level main body; and
  • Step S17 The (M+1)-level sub-unit module 10 sends the interface identification information of the M-level sub-unit module 10 to which it is connected and the interface identification information of the interface of the M-stage sub-unit module 10 that is connected to the M-level sub-unit module 10 to the main unit. Module 30.
  • the timings of the different same-level sub-unit modules 10 transmitting the interface identification information to the main unit module 30 are different, and the different M-level sub-unit modules 10 are sent to the electrical signals of the (M+1)-level sub-unit module 10 connected thereto.
  • the timing of the subunit module 10 is changed step by step, and the surface recognition of the (M+1)th subunit module 10 is performed after the surface recognition of the Mth subunit module 10 is completed.
  • the main unit module 30 stops transmitting the second electrical signal, and the main unit module 30 wirelessly signals the first-level sub-unit module 10 to send the second electrical signal to the secondary sub-unit module 10.
  • the main unit module 30 receives the information returned by the (M+1)-level sub-unit module 10
  • the M-level sub-unit module 10 stops transmitting the second electrical signal
  • the main unit module 30 wirelessly signals the (M+1) level.
  • the unit module 10 transmits a second electrical signal to the (M+2) stage subunit module 10.
  • the main unit module 30 serves only as a starting point for face recognition as a reference point to define the relative position of the subunit module 10 with respect to the main unit module 30.
  • the main unit module 30 and the sub unit module 10 may be identical in mechanical structure and/or circuit configuration.
  • the first signal can also be transmitted in a wired manner.
  • the first signal can be sent through an electronic device.
  • the subunit module 10 obtains the relevant interface identification information and directly transmits it to the electronic device end. That is, each module has a communication function with the electronic device end.
  • the first signal is preferably transmitted by the main unit module 30, as a variant, or may be sent by the electronic device.
  • the subunit module 10 obtains the relevant interface identification information and directly transmits it to the electronic device end. That is, each module has a communication function with the electronic device end.
  • the sub-unit module 10 and the sub-unit module 10 are connected to the interface of the main unit module 30 with the interface identification information of 001 and 002, and the sub-unit module 10 is connected to the sub-unit module 10 through the docking unit. And the sub-unit module 10 and the sub-unit module 10 of the second sub-unit module 10 are connected to the sub-unit unit 10 and the sub-unit unit 10 of the sixth unit as an example.
  • the main unit module 30 broadcasts information by radio, that is, The subunit module 10 issues a first electrical signal to notify the subunit module 10 to perform face recognition.
  • the different docking portions of the main unit module 30 emit different second electrical signals, and the different second electrical signals may be voltage signals or current signals of different magnitudes or electrical signals of different frequency bands.
  • the sub-unit module 10 and the sub-unit module 10 of the second unit can know the interface identification information of the docking portion specifically connected to the main unit module 30 by identifying the different second electric signals.
  • the sub-unit modules 10 and 2 sub-units The module 10 can obtain interface identification information of its own docking portion that interfaces with the main unit module 30.
  • the No. 1 subunit module 10 first returns the interface identification information of the main unit module 30 to which the main unit module 30 is connected and the interface identification information of its own interface with the main unit module 30. After waiting for a period of time, the sub-unit module 10 returns to the main unit module 30.
  • the main unit module 30 stops transmitting the electrical signal and notifies the main unit.
  • the sub-unit module 10 and the sub-unit module 10 directly connected to the module 30 sequentially transmit the second electrical signal to the sub-unit module 10 of the 3, 4, 5, and 6 sub-units, and the sub-unit module 10 of the first unit 10 issues the second electric
  • the signal is sent to the sub-unit modules 10 and 4, and according to the foregoing principle, the sub-unit modules 10 and 4 return the relevant interface identification information to the main unit module 30.
  • the sub-unit module 10 first issues a second electrical signal to the sub-unit modules 10 and 5, and according to the foregoing principle, the sub-unit modules 5 and 6 return the relevant interface identification information to the main unit module 30. So far, the main unit module 30 obtains relative position information between the unit modules of the constructed model.
  • the configuration information further includes an initial relative angle between the two sub-modules 101.
  • the relative angle between the two sub-modules 101 is 0°
  • the electrical signal control sub-module 101 is In the relative rotation
  • the initial relative angles of the two are obtained first, so that the control signal corresponding to the rotation angle is controlled to control the rotation.
  • the main unit module 30 numbers the sub-unit modules 10 after receiving the relevant interface identification information transmitted by the sub-unit module 10 to generate an ID of each sub-unit module 10 to facilitate communication.
  • the ID is conveniently used to return to the initial relative angle between the two sub-modules of the sub-unit module 10, and the receive signal controls the sub-unit module 10 to perform a set angle of rotation.
  • the configuration information further includes quantity information representing the number of subunit modules 10 and/or type information representing the type of subunit modules 10.
  • each of the main unit module 30, the subunit module 10 and the main control module 50 carries type information, and the same type of module type information is the same, such as different main unit module 30 or sub unit module 10 or main control module 50 type.
  • the information is the same.
  • the main unit module 30, the sub unit module 10, and the main control module 50 can set their type information to be different or the same according to their functions or structures.
  • the signals fed back by the main unit module 30, the subunit module 10, and the main control module 50 when the power is turned on carry the type information.
  • a second embodiment of the present invention provides a modular robot system 60 including a modular robot 1a as described in the first embodiment (using the reference numerals in the first embodiment), and connected to the modular robot
  • the external unit 62 on 1a and the control system 61 of a modular robot for programming an executable program that can be erasably written into the modular robot 1a.
  • the modular robot 1a is wired or radio connected to the control system 61.
  • the control system 61 is disposed at the electronic device end as described in the first embodiment, such as a computer, a mobile phone, or the like.
  • the control system 61 is arranged on the main control module 50.
  • the control system 61 is a graphically programmable control system, and the open programming interface of the electronic device allows the user to easily modify the program for controlling the modular robot, thereby obtaining the modular robot 1a with better functional expansion.
  • Control system 61 includes:
  • configuration information database 610 configuration information for storing at least one modular robot 1a;
  • the action information database 611 is configured to store at least one action information for controlling the motion of the modular robot 1a; each action information may control the modular robot 1a to perform one or more frames of motion.
  • the action information in the action information database 611 is matched to the configuration information of the modular robot 1a in the configuration information database 610. That is, the motion information exists in correspondence with the configuration information of the modular robot 1a.
  • the external unit setting module 613 is configured to set the execution action of the external unit 62 and/or set the control condition corresponding to the external unit 62; if the suction cup is set to perform the suction action, such as setting the ultrasonic sensor to detect the obstacle When the distance is less than or equal to 10 cm, it becomes a condition for the modular robot to perform the stop motion.
  • the motion of the modular robot 1a and/or the external unit 62 are controlled in accordance with the action information and the setting of the external unit setting module 613.
  • control system 61 of the modular robot further includes:
  • the logic setting module 614 is configured to set a logical relationship between the action information and the execution action and/or the control condition; for example, the external unit 62 includes an ultrasonic sensor and an actuator suction cup, and the action information database 611 The action information of the walking movement of the modular robot 1a and the motion information of the stop movement are called, and the external unit setting module 613 sets a condition that the ultrasonic sensor detects that the obstacle distance is 10 cm or less, and the suction cup performs the suction operation.
  • the logic setting module 614 is configured to set the relationship between the movement information of the walking movement and the movement information of stopping the movement and the condition set by the ultrasonic sensor and the performing action of the suction cup, such as setting the ultrasonic sensor to sense that the distance obstacle is less than 10 cm.
  • the modular robot 1a executes the motion information for stopping the movement and the suction cup performs the suction operation, and vice versa, executes the movement information of the movement. It is also possible to control the modular robot 1a to perform an action corresponding to the motion information based on the execution result of the actuator.
  • the running module 615 is configured to compile the content set by the logic setting module 614 to generate an executable program for controlling the operation of the modular robot 1a.
  • the wireless communication module 616 is configured to send the executable program to the modular robot 1a.
  • configuration information database 610 and the action information database 611 can be databases that are integrated together.
  • control system 61 further includes: a display module 617 for displaying at least a three-dimensional simulation model corresponding to the sub-unit module 10 of the modular robot 1a and a number of the sub-unit module in the three-dimensional simulation model.
  • display module 611 displays the cellular configuration, preferably displaying modular robot 1a. Further, the display module 611 is further configured to display the number of the sub-unit module 10. When the cell configuration includes five sub-unit modules 10, the display module 611 displays at least five three-dimensional simulation models composed of the sub-unit modules 10, and each three-dimensional simulation The subunit module 10 displays the numbers 1, 2, 3, 4, 5 in numbers so that the user can distinguish the subunit modules 10.
  • the control system 61 further includes: a subunit module setting module 612; configured to set rotation information corresponding to the rotation of the subunit module, wherein the rotation information includes one of a rotation angle, a rotation direction, a rotation speed, and a rotation time or A variety.
  • the subunit module setting module 612 includes a subunit module number setting module 6121, a subunit module rotation angle setting module 6122, and a subunit module rotation direction setting module 6122, wherein the subunit module number setting module 6121 is used for Setting the number of the subunit module; the subunit module rotation angle setting module 6122 is used to set the rotation angle of the subunit module 10; the subunit module 10 rotation direction setting module 6122 is used to set the rotation of the subunit module 10. direction.
  • the specific sub-unit module 10 is selected by the input number, and the rotation of the sub-unit module 10 is set by inputting the rotation angle and the rotation direction. It can be understood that the subunit module 10 that has not been set by the subunit module setting module defaults to no rotation between the submodules 101.
  • the modular robot motion and/or the external unit performs the action according to the motion information, the rotation information, and the setting of the external unit setting module. That is, in the logic setting module, a logical relationship between the rotation information and the execution action and/or the control condition can be set.
  • the generated action information may be stored in the action information database by the subunit module setting module 612.
  • the subunit module number setting module 6121 can be omitted, and the subunit modules 10 are distinguished by other colors such as whether they are selected by the user or the like.
  • the subunit module 10 rotation direction setting module 6122 is omitted. That is, the rotation information may include only the rotation angle.
  • a time module can be set in each module as needed to set the execution time of rotation, suction, and the like.
  • a third embodiment of the present invention provides a method for controlling a modular robot, including:
  • Step T1 acquiring configuration information of the modular robot
  • Step T2 acquiring at least one action information, where the action information is used to control the modular robot motion;
  • Step T3 setting an execution action of the external unit and/or setting a control condition corresponding to the external unit
  • Step T4 Calling the action information, and the execution action of the external unit and/or setting the control condition corresponding to the external unit to graphically generate an executable program for controlling the operation of the modular robot.
  • Step T5 Send the executable program to the modular robot. Specifically, it is sent to the control body, the control body is erasably written into the program, and then the modular robot is controlled according to the program.
  • the method of controlling the modular robot includes performing a step prior to step T4:
  • the rotation information includes one or more of a rotation angle, a rotation direction, a rotation speed, and a rotation time; in the step T4, the motion information, the rotation information, and the external connection are invoked.
  • Graphically programming generates an executable program that controls the operation of the modular robot.
  • the method of controlling the modular robot comprises performing a step prior to step Ta:
  • Tx generating a three-dimensional simulation model of the modular robot, the three-dimensional simulation model being the same as the modular robot corresponding to the configuration information acquired in step T1;
  • Ty The subunit modules in the 3D simulation model are numbered;
  • step Ta different subunit modules are distinguished according to the number of the subunit modules to input the rotation information.
  • the setting of each subunit module includes the input of the number input and its rotation information.
  • the rotation information input for the number is the rotation information of the subunit module corresponding to the number.
  • the configuration information of the modular robot is derived from a configuration information database, and the configuration information is obtained by surface recognition by a modular robot, and the method for specific surface recognition is consistent with the method disclosed in the first embodiment, where No longer.
  • the action information source is in an action information database
  • the method for obtaining action information in step T2 comprises the steps of:
  • the modular robot is operated by a single frame to generate a new configuration; it is preferred that the external force acts on the modular robot to generate a new configuration.
  • the motion frame is stored in the action information database to be action information corresponding to the cell configuration, or steps Q1-Q3 are repeated to obtain a plurality of motion frames, and the plurality of motion frames are combined to form an action information and stored in the action information database. in.
  • the modular robot employed in the method is the modular robot disclosed in the first embodiment, and the method can also be implemented by using the control system disclosed in the second embodiment.
  • the executable program is generated on an electronic device side
  • the modular robot is a four-legged robot, which includes a body formed by the main control module and a four-legged formed by the sub-unit module, and the first control module is connected to the first plug connector.
  • An ultrasonic sensor is connected.
  • the method for controlling the modular robot is: acquiring the configuration information of the modular robot, acquiring the motion information 1 for controlling the handshake motion of the quadruped robot, controlling the motion information 2 of the quadruped robot to be stationary, and setting the condition for executing the motion information 1 as
  • the ultrasonic sensor detects that the distance between the object (person) and the distance is less than or equal to 10 cm, and sets the condition for executing the motion information 2 that the distance at which the ultrasonic wave does not detect the obstacle is greater than 10 cm; and the rotation information is set to the subunit module to control the execution of the quadruped robot.
  • a low-head action is set to execute after the action information 2 is executed.
  • the program is sent to the control body, the control body runs the program, the ultrasonic detector senses the distance from the person in real time, and when the distance between the quadruped robot and the person is detected to be less than or equal to 10 cm, the quadruped robot executes
  • the action information 1 performs a handshake, otherwise the action information 2 is executed and the bow action is performed after the execution is completed.
  • the logic condition for controlling the execution behavior of the modular robot may be a sensor.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un système et un procédé de commande pour un robot modulaire, destinés à être utilisés pour commander un robot modulaire (1a). Le robot modulaire est couplé extérieurement à au moins une unité externe (62). Un système de commande (61) pour le robot modulaire peut communiquer avec le robot modulaire. Le système de commande pour le robot modulaire comprend : une base de données d'informations de configuration (610) servant à stocker au moins un élément d'informations de configuration du robot modulaire ; une base de données d'informations d'action (611) servant à stocker au moins un élément d'informations d'action pour commander le mouvement du robot modulaire ; et un module de paramétrage d'unité externe (613) servant à paramétrer une action d'exécution de l'unité externe et/ou à paramétrer une condition de commande correspondant à l'unité externe. Le mouvement du robot modulaire et/ou l'action d'exécution de l'unité externe sont commandés en fonction des informations d'action et du paramétrage du module de paramétrage d'unité externe. Le système et le procédé de commande améliorent l'extension de fonction du robot modulaire, facilitent les opérations de l'utilisateur, et réduisent la complexité et la répétabilité du développement de programme.
PCT/CN2018/121433 2017-12-19 2018-12-17 Système de commande pour robot modulaire, système de robot modulaire, et procédé de commande pour robot modulaire WO2019120148A1 (fr)

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