WO2019120151A1 - 一种模块化装置的构建提示方法及系统 - Google Patents

一种模块化装置的构建提示方法及系统 Download PDF

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Publication number
WO2019120151A1
WO2019120151A1 PCT/CN2018/121437 CN2018121437W WO2019120151A1 WO 2019120151 A1 WO2019120151 A1 WO 2019120151A1 CN 2018121437 W CN2018121437 W CN 2018121437W WO 2019120151 A1 WO2019120151 A1 WO 2019120151A1
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Prior art keywords
unit module
module
sub
modular device
docking
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PCT/CN2018/121437
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English (en)
French (fr)
Inventor
杨健勃
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北京可以科技有限公司
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Application filed by 北京可以科技有限公司 filed Critical 北京可以科技有限公司
Priority to EP18890212.6A priority Critical patent/EP3730255A4/en
Priority to JP2020533837A priority patent/JP6900090B2/ja
Publication of WO2019120151A1 publication Critical patent/WO2019120151A1/zh
Priority to US16/905,894 priority patent/US11565404B2/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41805—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by assembly
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/007—Means or methods for designing or fabricating manipulators
    • 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
    • B25J9/1617—Cellular, reconfigurable manipulator, e.g. cebot
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/31—From computer integrated manufacturing till monitoring
    • G05B2219/31027—Computer assisted manual assembly CAA, display operation, tool, result
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/31—From computer integrated manufacturing till monitoring
    • G05B2219/31046—Aid for assembly, show display on screen next workpiece, task, position to be assembled, executed
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the present invention relates to the field of robots, and in particular, to a method and system for constructing a modular device.
  • 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 used for specific purposes and occasions. There is only one main function, and the degrees of freedom and configuration are fixed. Change, lack of functional scalability and reconfigurability of configuration. In addition, the cost of developing a specific robot for each field and each application is very large, which seriously restricts the promotion and application of the robot. Therefore, reconfigurable robots emerged as the times require. Reconfigurable robots have multiple modules. Multiple modules can be used to create robots with different degrees of freedom and configuration through different splicing, which greatly enhances the flexibility and flexibility of robot construction. The user is provided with a reconfigurable space so that the user can change the degree of freedom and configuration of the robot as needed. Reconfigurable robots have become an important direction in current robot research and development.
  • the present invention provides a method and system for constructing a modular device.
  • the solution to solve the technical problem of the present invention is to provide a construction prompting method for a modular device, the modular device comprising at least two unit modules, each unit module including at least a pair of connecting portions, and the unit modules are connected by a docking portion
  • the construction prompting method of the modular device comprises the steps of: S1: acquiring configuration information of the target modular device, the target modular device comprising M unit modules connected by the docking portion; S2: acquiring configuration information of the currently constructed entity The constructed entity includes N unit modules connected by the docking portion, N is less than M; S3: calculating at least the (N+1) according to the configuration information of the target modular device and the configuration information of the currently constructed entity The location of the docking station that the unit module should access on the constructed entity; and S4: the prompting of at least the (N+1)th unit module obtained in step S3 should be prompted at the location of the docking station accessed on the constructed entity The information indicates at least the position of the docking station to which the (N+1)th unit module should be
  • the construction prompting method of the modular device further comprises the steps of: S5: connecting at least the (N+1)th unit module to the constructed entity according to the prompt information; repeating the steps S2-S5 to complete the several unit modules The connection is made to obtain the modular device.
  • the pointing function of the unit module is provided with an indication function, and in step S4, the position of the docking part that should be accessed on the constructed entity is obtained according to the calculation in step S3 to control the indication function to issue the indication information.
  • step S4 a step is included: the configuration of the constructed entity is displayed by three-dimensional simulation of a display screen, and in step S4, the prompt information is expressed by a three-dimensional simulation model, and the manner of expression includes by corresponding to the The portion of the three-dimensional simulation model of the docking position is displayed in a specific color; or at the portion of the three-dimensional simulation model corresponding to the position of the docking portion with the indicator symbol; or by dynamic stitching.
  • the configuration information of the target modular device in step S1 is derived from a database storing configuration information corresponding to a plurality of modular devices.
  • the step S2 and S3 further includes: step Sa: determining whether the constructed entity in S2 matches the target modular device; if the constructed entity matches the target modular device, performing step S3; otherwise, performing the step Sb: Prompt splicing error.
  • the configuration information includes one or more types of type information representing a unit module type, quantity information representing a number of unit modules, and interface identification information representing a unit module connection relationship, and in step Sb, when When constructing one or more kinds of information errors in the entity configuration information, different types of splicing errors are prompted according to different error information.
  • the at least two unit modules comprise a main unit module and at least one sub-unit module, and the main unit module and the sub-unit module are wiredly connected through the docking portion, or both the wireless connection and the docking portion are wired, the main unit module, the sub-unit
  • the different docking parts of the unit module are provided with different interface identification information
  • the sub-unit module directly connected with the main unit module is a first-level sub-unit module
  • the sub-unit module connected with the first-level sub-unit module is a second-level sub-unit module.
  • the subunit module connected to the M-level sub-unit module is a (M+1)-level sub-unit module, and M is an integer greater than or equal to 1.
  • step S2 the N sub-unit modules complete the configuration information of the constructed entity by surface recognition.
  • the obtaining, the surface recognition process includes: Step S21: sending the first electrical signal to notify the sub-unit module to perform surface recognition; Step S22: different docking parts of the main unit module issue different second electrical signals or different docking part timings of the main unit module Sending a second electrical signal; step S23: the primary subunit module determines the connected primary unit according to the second electrical signal it receives The interface identification information of the block; the first-level sub-unit module obtains the interface identification information of the interface of the interface that is itself docked with the main unit module according to the interface that receives the second electrical signal; and step S24: the first-level sub-unit module connects the same The interface identification information of the main unit module and the interface identification information of its own interface with the main unit module are sent to the main unit module or sent to an electronic device 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 primary unit module; the (M+1)-level sub-unit module obtains the interface identification information of the interface between itself and the M-level main unit 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 unit module or to an electronic device. Device side.
  • different sub-unit modules of the same level send interface identification information to the main unit module at different timings
  • 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 invention also provides a construction prompting system for a modular device, the construction prompting system of the modular device comprising: a modular device comprising at least two unit modules, each unit module comprising at least a pair of joints, at least one unit module Connected by a docking unit; a storage module; configuration information for storing the target modular device and the constructed entity; the target modular device includes M unit modules connected by the docking portion; a detecting module; for acquiring the currently constructed
  • the configuration information of the entity, the constructed entity includes N unit modules connected by the docking portion, N is smaller than M; the calculation module is configured to calculate according to the configuration information of the target modular device and the configuration information of the currently constructed entity Obtaining at least the (N+1)th unit module should be accessed on the constructed entity; and a prompting module; at least the (N+1)th unit module for calculating according to the calculation module should be constructed
  • the location of the docking part accessed by the entity sends a prompt message, at least prompting the location of the docking part that the (
  • the construction prompting system of the modular device further comprises: a matching module; configured to determine whether the constructed entity matches the target modular device; and an error indication module; configured to indicate a splicing error; if the matching module determines that the constructed entity and the target are constructed
  • the modular device matching calculation module calculates, according to the configuration information of the target modular device and the configuration information of the currently constructed entity, at least the position of the docking portion that the (N+1)th unit module should access on the constructed entity; When there is no match, the error indication module indicates a splicing error.
  • the at least two unit modules comprise a main unit module and at least one sub-unit module, and the main unit module and the sub-unit module are wiredly connected through the docking portion, or both the wireless connection and the docking portion are wired, the main unit module, the sub-unit
  • the different docking parts of the unit module are provided with different interface identification information, the sub-unit module directly connected with the main unit module is a first-level sub-unit module, and the sub-unit module connected with the first-level sub-unit module is a second-level sub-unit module.
  • the subunit module connected to the M-level sub-unit module is a (M+1)-level sub-unit module, M is an integer greater than or equal to 1, and the N sub-unit modules complete the acquisition of the configuration information of the constructed entity by surface recognition.
  • the identification process includes: the main unit module sends a first electrical signal to notify the sub-unit module to perform surface recognition; different docking parts of the main unit module issue different second electrical signals or different docking parts of the main unit module to issue a second electrical signal;
  • the sub-unit module determines the interface identification information of the connected main unit module according to the second electrical signal it receives;
  • the subunit module obtains interface identification information of the docking part of the main unit module that is connected to the main unit module according to the docking part that receives the second electrical signal; and the interface identification information of the main unit module to which the first level subunit module is connected and its own
  • the interface identification information of the docking part that is connected to the main unit module is sent to the main unit module, and the main unit module obtains configuration information of
  • the present invention also provides a construction prompting system for a modular device.
  • the construction prompting system of the modular device includes a modular device including at least two unit modules, each unit module including at least a pair of joints, and a plurality of unit modules pass between a docking station connection; a memory and one or more programs, wherein one or more of the programs are stored in the memory, the memory being in communication with a modular device, the program being configured to execute the following step instructions: S1: Acquire Configuration information of the target modular device, the target modular device includes M unit modules connected by the docking portion; S2: acquiring configuration information of the currently constructed entity, the constructed entity including the N connected through the docking portion Unit module, N is smaller than M; S3: calculating, according to the configuration information of the target modular device and the configuration information of the currently constructed entity, that at least the (N+1)th unit module should be connected to the constructed entity Position: and S4: obtaining, according to the calculation in step S3, at least the (N+1)th unit module should be connected to the
  • the method for constructing the modular device provided by the present invention can effectively prompt the installation position of the unit module, so that the assembly error rate of the user end when performing modular device reconstruction can be reduced, and the reconstruction work can be performed. Simple and easy to carry out.
  • the developer can easily open the modular device configuration data to the user through the database, and the user can perform simple and rapid reconstruction of the robot according to different scene requirements.
  • the position of each unit module can be accurately obtained by surface recognition, which is simple and fast, and has low hardware requirements.
  • the acquisition of the location guarantees that real-time correction of user operations is possible.
  • the corresponding splicing error prompt is provided, and the user can quickly and easily know the type of error, and then can quickly correct the process to speed up the reconstruction work.
  • the construction prompting system of the modular device provided by the present invention also has the above advantages.
  • FIG. 1A is a schematic perspective view of a modular device of the present invention.
  • 1B is a schematic perspective view showing the subunit module of the modular device of the present invention.
  • FIG. 2 is a flow chart of a method for constructing a prompting device of a modular device according to a first embodiment of the present invention.
  • 3A and 3B are schematic diagrams of the arrangement of the subunit module interfaces.
  • 4A and 4B are schematic diagrams in which the splicing lines are parallel and the splicing lines intersect when the subunit modules are spliced.
  • FIG. 5 is a flow chart showing the detailed steps of step S2 in Figure 2.
  • FIG. 6 is a block diagram showing the structure of a construction prompting system of a modular device according to a second embodiment of the present invention.
  • a first embodiment of the present invention provides a method for constructing a prompting of a modular device, which may be a method for constructing a modular robot.
  • the modular device 1a shown in FIG. 1A will be described as an example.
  • the modular device 1a includes at least two unit modules, and three unit modules are taken as an example for illustration.
  • Each of the unit modules includes at least a pair of joints 14, preferably including at least two abutting portions 14, which are connected by abutting portions 14, and different manners of connection can be used to reconstruct modular devices 1a of different configurations.
  • the number of the docking portions 14 on each unit module is 2 or 3 or 4 or 5 or 6 or 7 or 8.
  • the different docking portions 14 of each unit module are provided with interface identification information in order to determine the unit module.
  • the interface identification information of the eight docking portions 14 is 001, 002 together 008.
  • Different unit modules can be mechanically connected through the docking portion 14, and a wired electrical connection can also be realized.
  • the at least two unit modules include at least one main unit module 30 and at least one sub unit module 10, and the main unit module 30 and the sub unit module 10 are connected.
  • 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.
  • the zigbee system is provided with wireless communication
  • the main unit module 30 is provided with a zigbee main communication module
  • the sub-unit module 10 is provided with a zigbee sub-communication module 101.
  • the sub-unit module 10 is spherical, and includes two opposite hemispherical sub-modules 101.
  • the two sub-modules 101 can be relatively rotated, and the rotation is preferably controlled by an electrical signal.
  • the face where the abutting portion 14 is located intersects the surface of the rotation between the two sub-modules 101.
  • the two abutting portions 14 can be connected by mutual engagement or magnetic attraction or the like.
  • the form of the modular device 1a is not limited.
  • the unit module may be in any structural form such as a sphere, a wheel, an actuator or a sensor, and the like.
  • the abutting portion 14 may also have only a mechanical connection. Communication between the unit modules is also possible only by means of a wired electrical connection or a radio connection. All unit module structural forms may be identical or at least partially different.
  • the main unit module 30 preferably supplies power to the subunit module 10 and transmits signals.
  • the subunit module 10 itself does not have a power storage device and a function of communicating with other devices to reduce the cost of the modular device 1a.
  • a preferred embodiment of the modular device 1a shown in Figs. 1A and 1B is schematically illustrated as an example.
  • the construction prompting method of the modular device can greatly reduce the splicing error.
  • the method for constructing the modular device includes the following steps:
  • S1 acquiring configuration information of the target modular device, where the target modular device includes M unit modules connected through the docking portion;
  • S3 calculating, according to the configuration information of the target modular device 1a and the configuration information of the currently constructed entity, the location of the docking portion at least the (N+1)th unit module should be accessed on the constructed entity;
  • step S4 According to the calculation in step S3, at least the (N+1)th unit module should send a prompt message to the location of the docking station that is connected to the constructed entity, and at least prompt the docking of the (N+1)th unit module should be accessed. Location. and
  • the steps S2-S5 are repeated to complete the connection between the plurality of unit modules to obtain the modular device.
  • step S3 the position of the docking station where the plurality of unit modules should be accessed on the constructed entity is obtained.
  • the above configuration information refers to information for determining a configuration of the modular device, which includes at least interface identification information representing a connection relationship of the unit modules, which may further include type information representing the type of the unit module and/or quantity information representing the number of unit modules .
  • the pointing function of the unit module is provided with an indication function, and in step S4, the position of the docking part that should be accessed on the constructed entity is obtained according to the calculation in step S3 to control the indication function to issue the indication information.
  • the indicating function can be a lamp, a scalable mechanical structure lamp, preferably an LED lamp.
  • step S4 a step is included: the configuration of the constructed entity is displayed by three-dimensional simulation of a display screen, and in step S4, the prompt information is expressed by a three-dimensional simulation model, and the manner of expression includes by corresponding to the The portion of the three-dimensional simulation model of the docking position is displayed in a particular color (including an imaginary or physical display); or at the location of the three-dimensional simulation model corresponding to the location of the docking portion with an indicator; or by dynamic stitching.
  • the configuration information of the target modular device in step S1 is derived from a database storing configuration information corresponding to a number of modular devices.
  • the method further includes:
  • Step Sa determining that the constructed entity in S2 matches the target modular device; it can be understood that the case where the constructed entity matches the target modular device includes that the constructed entity is identical or substantially identical to the corresponding portion of the target modular device, the basic The same meaning is that the spliced modular device can obtain the configuration completely identical to the target modular device by means of automatic control.
  • the spliced modular device can obtain the configuration completely identical to the target modular device by means of automatic control.
  • there are 8 pairs of interfaces on the unit module and 8 pairs of interfaces are symmetrically distributed in two.
  • the interface identification information of the interface on one of the sub-unit modules is defined as 001, 003, 005, 007, and the four pairs of interfaces are arranged in the circumferential direction.
  • the unit module is spliced on the 003 interface of the other unit module, however, because the interface is
  • the 001 and 003 are symmetrically distributed, and the same configuration as the target modular device can be obtained by rotating the subunit module by 180°, and therefore, the constructed entity is considered to be substantially the same as the target modular device.
  • the automatic control means for example, controlling the corresponding sub-unit module to rotate the preset angle to obtain a configuration completely identical to the target modular device, is considered to be mismatched. If the constructed entity matches the target modular device, step S3 is performed; otherwise, step Sb is performed: prompting the splicing error.
  • a splicing error occurs, that is, the configuration information of the constructed entity does not match the configuration information of the target modular device, that is, one or more of the type information, the quantity information, and the interface identification information does not appear.
  • Matching different types of splicing errors are prompted according to different error information. For example, when the main unit module is spliced by the user at the position where the sub-unit module should be spliced, the sub-unit module and the main unit module belong to different modules, and the prompt type of the situation error.
  • the interface identification information is incorrect (the constructed entity is basically the same as the target modular device, the interface identification information is not prompted), there are at least two kinds of prompt errors: one is a position error, and the other is a parallel cross error.
  • FIG. 3A and FIG. 3B in the case where there are eight pairs of interfaces on the unit module, eight pairs of interfaces are symmetrically distributed, and the pair of interfaces on the first sub-unit module of the unit module are arranged in the circumferential direction.
  • the interface identification information is 001, 003, 005, 007, and the interface identification information of the interface arranged in the circumferential direction on the second sub-unit module is 002, 004, 006, 008.
  • Position errors include, but are not limited to, when two unit modules should be connected to another unit module on the 001, 002 pair interface (different hemisphere adjacent interfaces), but one of them is connected to the second subunit module (different hemisphere) or When connected to the 001 and 003 interfaces (the same hemisphere is opposite to the interface), it is impossible to match the constructed entity to the target modular device by controlling the rotation of the subunit module, which indicates that the position is incorrect.
  • the two subunit modules have a splicing line 102 at the junction. When the two unit modules are spliced on different pairs of interfaces, the splicing lines 102 of the two unit modules have parallel (as shown in FIG.
  • the angle of rotation between the two sub-unit modules of the sub-unit module is recorded to facilitate consideration of the angle when the modular device is subsequently controlled to rotate.
  • step S2 the N subunit modules complete the acquisition of the configuration information of the constructed entity by surface recognition.
  • the subunit module directly connected to the main unit module is a first level subunit module
  • the subunit module connected to the first level subunit module is a second subunit unit
  • the subunit module connected with the M level subunit module is (M +1) level subunit module
  • M is an integer greater than or equal to 1.
  • the surface recognition process of a specific constructed entity includes:
  • Step S21 The main unit module sends a first electrical signal to notify the subunit module to perform surface recognition.
  • Step S22 different docking portions of the main unit module issue different second electrical signals or different mating portions of the main unit module to issue different second electrical signals;
  • Step S23 The first-level sub-unit module determines the interface identification information of the connected main unit module according to the second electrical signal received by the first-level sub-unit module; the first-level sub-unit module obtains its own and the main unit module according to the docking part that receives the second electrical signal. Interface identification information of the docking interface; and
  • Step S24 The first-level sub-unit module sends the interface identification information of the main unit module to which it is connected and the interface identification information of the docking unit that is connected to the main unit module to the main unit module, and the main unit module obtains the main unit module and a The configuration information of the constructed entity formed by the level sub-unit module.
  • the surface recognition process further includes:
  • S25 different docking parts of each M-level sub-unit module issue different second electrical signals to the second (M+1)-level sub-unit module or the different docking parts of each M-level sub-unit module. Signal to the (M+1) level subunit module connected thereto;
  • the (M+1)-level sub-unit module determines interface identification information of the M-level main unit module to which it is connected according to the second electrical signal received by the (M+1)-level sub-unit module, and receives the second electrical signal according to the (M+1)-level sub-unit module.
  • the docking part obtains the interface identification information of the docking part of its own interface with the M-level main unit module;
  • Step S27 The (M+1)-level sub-unit module transmits 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 unit module.
  • the timings of the different same-level sub-unit modules for transmitting the interface identification information to the main unit module are different, and the timings of the electrical signals sent by the different M-level sub-unit modules to the (M+1)-level sub-unit modules connected thereto are different.
  • 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 main unit module stops transmitting the second electrical signal, and the main unit module wireless signal notifies the first-level sub-unit module to send the second electrical signal to the second-level sub-unit module.
  • the M-level sub-unit module stops transmitting the second electrical signal, and the main unit module wirelessly signals the (M+1)-level sub-unit module to transmit the first Two electrical signals to the (M+2) level subunit module.
  • the main unit module only serves as a starting point for face recognition as a reference point to define the relative position of the subunit module relative to the main unit module.
  • the main unit module and the sub unit module mechanical structure and/or circuit structure may be identical.
  • the first signal can also be transmitted in a wired manner.
  • the first signal can be sent through an electronic device.
  • the subunit module 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-units of the main unit module with the interface identification information of 001 and 002 are respectively connected with the sub-unit unit No. 1 and the sub-unit unit No. 2, and the sub-unit unit No. 1 is connected with the sub-unit unit No. 3 and the sub-unit No. 4 through the docking unit.
  • the module, the No. 2 subunit module is described by taking the subunit unit No. 5 subunit unit and the No. 6 subunit module as an example.
  • the main unit module sends a first electric signal notification to the subunit module by wirelessly broadcasting information.
  • the unit module performs surface recognition.
  • the different docking portions of the main unit module 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 No. 1 and the sub-unit unit No. 2 can know the interface identification information of the docking portion specifically connected to the main unit module by identifying different second electrical signals.
  • the second sub-unit module and the sub-unit unit No. 2 receive the second electrical signal, since the different docking parts of each unit module are provided with the interface identification information, the sub-unit unit No. 1 and the sub-unit unit No. 2 are available.
  • the No. 1 subunit module first returns the interface identification information of the main unit module to which the main unit module is connected and the interface identification information of its own docking part that is connected with the main unit module. After waiting for a while, the subunit module No. 2 returns to the main unit module.
  • the main unit module stops transmitting the electric signal, and notifies the sub-unit module No. 1 and the sub-unit unit No. 2 directly connected to the main unit module to transmit the second electric power in a time series.
  • the signal is sent to the sub-unit modules No. 3, 4, 5, and 6.
  • the sub-unit module No. 1 first sends the second electrical signal to the sub-unit modules No. 3 and No. 4. According to the foregoing principle, the sub-unit modules No. 3 and No. 4 return to the main unit module.
  • the sub-unit module No. 2 first sends a second electrical signal to the sub-unit modules 5 and 6. According to the foregoing principle, the sub-unit modules 5 and 6 return the relevant interface identification information to the main unit module. So far, the main unit module obtains relative position information between the unit modules of the constructed entity.
  • the main unit module numbers the subunit modules to generate an ID of each subunit module to facilitate communication.
  • the ID is conveniently used to return the relative angle between the two sub-unit modules of the sub-unit module, and the receiving signal controls the sub-unit module to perform the rotation of the set angle.
  • each unit module carries type information, and the unit type information of the same type is the same.
  • the main unit module type information is different from the subunit module type information, and the type information of different sub unit modules is the same.
  • the signal fed back by the unit module when power is accessed carries the type information.
  • the configuration information of the target modular device in step S1 is derived from a database storing configuration information corresponding to a plurality of modular devices.
  • the usage hinting method usage scenario of the modular device can be as follows: the electronic device end is provided with a database storing configuration information corresponding to a plurality of modular devices, and the electronic device end can communicate with the modular device.
  • the modular device communicates between the main unit module and the sub unit module.
  • step S1 the modular device is displayed in three dimensions, and the user assembles according to the modular device of three-dimensional display, for example, the user first assembles a sub-unit module to the main device.
  • the electronic device performs steps S2-S4, and the user installs the subunit module according to the prompt information, that is, step S5 is performed.
  • the database may also be arranged on the main unit module, and steps S1-S4 are all performed by the main unit module.
  • the method for constructing the modular device provided by the present invention can effectively prompt the installation position of the unit module, so that the assembly error rate of the user end when performing modular device reconstruction can be reduced, and the reconstruction work can be performed. Simple and easy to carry out.
  • the developer can easily open the modular device configuration data to the user through the database, and the user can perform simple and rapid reconstruction of the robot according to different scene requirements.
  • the position of each unit module can be accurately obtained by surface recognition, which is simple and fast, and has low hardware requirements.
  • the acquisition of the location guarantees that real-time correction of user operations is possible.
  • the corresponding splicing error prompt is provided, and the user can quickly and easily know the type of the error, and then can quickly correct the process to speed up the reconstruction work.
  • a second embodiment of the present invention provides a construction prompting system for a modular device 4a.
  • the construction prompting system of the modular device 4a includes a modular device 4a including at least two unit modules, each unit module including at least one Preferably, each unit module includes at least two docking portions, and at least two unit modules are connected by a docking portion; preferably, the modular device 4a disclosed in the first embodiment may be employed.
  • a storage module 41 configured to store configuration information of the target modular device 4a and the constructed entity; the target modular device 4a includes M unit modules connected by the docking portion; the detecting module 42; for acquiring the currently constructed entity Configuration information, the constructed entity includes N unit modules connected by a docking portion, N is smaller than M; a calculation module 45; configuration information for the modular device 4a according to the target and configuration information of the currently constructed entity Calculating a docking location where at least the N+1th unit module should be accessed on the constructed entity; a prompting module 46; and at least the N+1th unit module calculated according to the calculating module 45 should be on the constructed entity
  • the location of the docking part of the access sends a prompt message, at least prompting the location of the docking part that the N+1th unit module should access.
  • One or more of the storage module 41, the detection module 42, the calculation module 45, and the prompt module 46 may be disposed on the electronic device end or on one of the unit modules.
  • the prompting module 46 is an indicating function disposed at the docking portion.
  • the prompting module 46 is a display screen, and the constructed entity is displayed in a three-dimensional simulation on the display screen, and the portion of the three-dimensional simulation model corresponding to the position of the docking portion is displayed in a specific color; or At the location of the three-dimensional simulation model of the location of the docking portion; or by dynamic stitching demonstration.
  • the construction prompting system of the modular device 4a further includes a matching module 43 and an error indication module 44 for determining whether the constructed entity matches the target modular device 4a; the determination principle of whether the matching is the same is the same as the first embodiment, I will not repeat them here. If the matching module 43 determines that the constructed entity matches the target modular device 4a, the calculation module 45 calculates that the N+1th unit module should be constructed according to the configuration information of the target modular device 4a and the configuration information of the currently constructed entity. The location of the docking station accessed on the entity. Conversely, when there is no match, the error indication module 44 is used to indicate an error and indicates a different type of error as described in the first embodiment.
  • the prompt module 46 preferably a display screen.
  • a third embodiment of the present invention provides a construction prompting system for a modular device.
  • the construction prompting system of the modular device includes a modular device including at least two unit modules, each unit module including at least two docking portions, and a plurality of unit modules. Connected between the docking portion; a memory and one or more programs, wherein one or more of the programs are stored in the memory, the memory being in communication with the unit module, the program being configured to execute the following steps:
  • S1 acquiring configuration information of the target modular device, where the target modular device includes M unit modules connected through the docking portion;
  • S3 calculating, according to the configuration information of the target modular device and the configuration information of the currently constructed entity, the location of the docking portion at least the (N+1)th unit module should be accessed on the constructed entity;
  • step S4 According to the calculation in step S3, at least the (N+1)th unit module should send a prompt message to the location of the docking part accessed on the constructed entity, at least prompting the position of the docking part that the N+1th unit module should access. .
  • the program is not limited to performing the above steps, and it may be set to perform any of the steps described in the first embodiment, such as face recognition or the like.
  • the splicing positions of the sub-unit modules of the same level can be prompted at the same time or a part of them can be simultaneously prompted. Of course, one by one can also be selected.
  • the modular device described in the present invention may be a complete modular robot, such as a four-legged robot, or it may be part of a robot, such as one of the four-legged robots.

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Abstract

一种模块化装置的构建提示方法及系统，该模块化装置的构建提示方法包括步骤：S1：获取目标模块化装置的构型信息，所述目标模块化装置包括M个通过对接部连接的单元模块；S2：获取当前已构建实体的构型信息，所述已构建实体包括通过对接部连接的N个单元模块，N小于M；S3：根据目标模块化装置的构型信息及当前已构建实体的构型信息计算获得至少第(N+1)个单元模块应当在已构建实体上接入的对接部位置；及S4：根据步骤S3中计算获得至少第(N+1)个单元模块应当在已构建实体上接入的对接部位置发出提示信息，提示至少第(N+1)个单元模块应当接入的对接部位置。采用所提供的模块化装置的构建提示方法及系统可以降低模块化装置重构拼接错误。

Description

一种模块化装置的构建提示方法及系统 【技术领域】
本发明涉及机器人领域，尤其涉及一种模块化装置的构建提示方法及系统。
【背景技术】
机器人已广泛用于生活及工业领域，如教学中用于锻炼学生的开拓思维能力，如自动化生产中用于焊接、喷涂、装配、搬运等作业。尽管机器人作为执行系统具有很大的灵活性和弹性，其可完成不同的工作任务，但现有的机器人往往针对特定的使用目的和场合，只有一种主要功能，自由度和构型都固定不变，缺乏功能的扩展性和构型的重构性。此外，针对每一领域和每项应用都开发特定的机器人所花费的代价很大，严重制约机器人的推广应用。因此，可重构机器人应运而生，可重构机器人具有多个模块，多个模块通过不同的拼接可以制作出不同自由度及构型的机器人，其大大增强机器人构建时的灵活性和弹性，给使用者提供了可重构空间以便于使用者根据需求可改变机器人的自由度和构型。可重构的机器人成为了当前机器人研究和开发的一个重要方向。
然而，对于使用者来说，在重构特定的机器人时，往往容易会出现拼接错误，因此，重构工作变得复杂又耗时，急需提出相应的解决办法。
【发明内容】
为克服现有可重构机器人在重构过程中容易出现拼接错误的问题，本发明提供了一种模块化装置的构建提示方法及系统。
本发明解决技术问题的方案是提供一种模块化装置的构建提示方法，该模块化装置包括至少两个单元模块，每一单元模块包括至少一对接部，单元模块之间通过对接部连接，该模块化装置的构建提示方法包括步骤：S1：获取目标模块化装置的构型信息，所述目标模块化装置包括M个通过对接部连接的单元模块；S2：获取当前已构建实体的构型信息，所述已构建实体包括通过对接部连接的N个单元模块，N小于M；S3：根据目标模块化装置的构型信息及当前已构建实体的构型信息计算获得至少第(N+1)个单元模块应当在已构建实体上接入的对接部位置；及S4：根据步骤S3中计算获得的至少第(N+1)个单元模块应当在已构建实体上接入的对接部位置发出提示信息，至少提示第(N+1)个单元模块应当接入的对接部位置。
优选地，模块化装置的构建提示方法进一步包括步骤：S5：根据提示信息至少将第(N+1)个单元模块连接于所述已构建实体上；重复步骤S2-S5完成所述若干单元模块之间连接，获得所述模块化装置。
优选地，所述单元模块的对接部处设置有指示功能件，在步骤S4中，根据步骤S3中计算获得已构建实体上应当接入的对接部位置来控制指示功能件发出指示信息。
优选地，在步骤S4之前包括一步骤：已构建实体的构型被一显示屏三维仿真显示，在步骤S4中，所述提示信息通过三维仿真模型进行表达，表达的方式包括通过对应于所述对接部位置的三维仿真模型的部位以特定颜色显示；或用指示符号指向对应于所述对接部位置的三维仿真模型的部位处；或通过动态拼接演示。
优选地，步骤S1中的目标模块化装置的构型信息来源于存储有若干模块化装置所对应的构型信息的数据库。
优选地，所述步骤S2和S3之间还包括：步骤Sa：判断S2中已构建实体是否与目标模块化装置匹配；如果已构建实体与目标模块化装置匹配则执行步骤S3；否则，执行步骤Sb：提示拼接错误。
优选地，所述构型信息包括代表单元模块类型的类型信息，代表单元模块数量的数量信息，以及代表单元模块连接关系的接口标识信息中的一种或多种，在步骤Sb中，当已构建实体构型信息中一种或多种信息错误时，根据错误信息的不同提示不同类型的的拼接错误。
优选地，至少两个单元模块包括一个主单元模块和至少一个子单元模块，主单元模块和子单元模块之间通过对接部有线连接，或既无线连接又通过对接部有线连接，主单元模块、子单元模块之不同的对接部设置有不同的接口标识信息，界定与主单元模块直接连接的子单元模块为一级子单元模块，与一级子单元模块连接的子单元模块为二级子单元模块，与M级子单元模块连接的子单元模块为(M+1)级子单元模块，M为大于等于1的整数，步骤S2中，N个子单元模块通过面识别完成已构建实体的构型信息的获取，面识别过程包括：步骤S21：发送第一电信号通知子单元模块进行面识别；步骤S22：主单元模块不同的对接部发出不同的第二电信号或主单元模块不同的对接部分时序发出第二电信号；步骤S23：一级子单元模块根据其接收的第二电信号确定其连接的主单元模块的接口标识信息；一级子单元模块根据接收到第二电信号的对接部获得其自身与主单元模块对接的对接部之接口标识信息；及步骤S24：一级子单元模块将其所连接的主单元模块的接口标识信息及自身的与主单元模 块对接的对接部之接口标识信息发送给主单元模块或发送至一电子设备端。
优选地，面识别过程进一步包括：S25：每一M级子单元模块不同的对接部发出不同的第二电信号给与其连接的(M+1)级子单元模块或每一M级子单元模块或不同的对接部分时序发出第二电信号给与其连接的(M+1)级子单元模块；S26：(M+1)级子单元模块根据其接收的第二电信号确定其所连接的M级主单元模块的接口标识信息；(M+1)级子单元模块根据接收到第二电信号的对接部获得其自身与M级主单元模块对接的对接部之接口标识信息；及步骤S27：(M+1)级子单元模块将其所连接的M级子单元模块的接口标识信息及自身的与M级子单元模块对接的对接部之接口标识信息发送给主单元模块或发送至一电子设备端。
优选地，同一级不同的子单元模块发送接口标识信息给主单元模块的时序不同，不同的M级子单元模块发送给与其连接的(M+1)级子单元模块之电信号的时序不同，子单元模块面识别逐级进行，完成第M级子单元模块的面识别后再进行第(M+1)级子单元模块的面识别。
本发明还提供一种模块化装置的构建提示系统，模块化装置的构建提示系统包括：模块化装置，其包括至少二单元模块，每一单元模块包括至少一对接部，至少一单元模块之间通过对接部连接；存储模块；用于存储目标模块化装置以及已构建实体的构型信息；所述目标模块化装置包括M个通过对接部连接的单元模块；检测模块；用于获取当前已构建实体的构型信息，所述已构建实体包括通过对接部连接的N个单元模块，N小于M；计算模块；用于根据目标模块化装置的构型信息及当前已构建实体的构型信息计算获得至少第(N+1)个单元模块应当在已构建实体上接入的对接部位置；及提示模块；用于根据计算模块计算获得的至少第(N+1)个单元模块应当在已构建实体上接入的对接部位置发出提示信息，至少提示第(N+1)个单元模块应当接入的对接部位置。
优选地，模块化装置的构建提示系统进一步包括：匹配模块；用于判断已构建实体是否与目标模块化装置匹配；及错误指示模块；用于指示拼接错误；如果匹配模块判断已构建实体与目标模块化装置匹配则计算模块据目标模块化装置的构型信息及当前已构建实体的构型信息计算至少第(N+1)个单元模块应当在已构建实体上接入的对接部位置；反之，不匹配时，错误指示模块指示拼接错误。
优选地，至少两个单元模块包括一个主单元模块和至少一个子单元模块，主单元模块和子单元模块之间通过对接部有线 连接，或既无线连接又通过对接部有线连接，主单元模块、子单元模块之不同的对接部设置有不同的接口标识信息，界定与主单元模块直接连接的子单元模块为一级子单元模块，与一级子单元模块连接的子单元模块为二级子单元模块，与M级子单元模块连接的子单元模块为(M+1)级子单元模块，M为大于等于1的整数，N个子单元模块通过面识别完成已构建实体的构型信息的获取，面识别过程包括：主单元模块发送第一电信号通知子单元模块进行面识别；主单元模块不同的对接部发出不同的第二电信号或主单元模块不同的对接部分时序发出第二电信号；一级子单元模块根据其接收的第二电信号确定其连接的主单元模块的接口标识信息；一级子单元模块根据接收到第二电信号的对接部获得其自身与主单元模块对接的对接部之接口标识信息；及一级子单元模块将其所连接的主单元模块的接口标识信息及自身的与主单元模块对接的对接部之接口标识信息发送给主单元模块，主单元模块获得主单元模块与一级子单元模块所构成的已构建实体之构型信息。
本发明还提供一种模块化装置的构建提示系统，模块化装置的构建提示系统包括模块化装置，其包括至少两个单元模块，每一单元模块包括至少一对接部，若干单元模块之间通过对接部连接；存储器以及一个或多个程序，其中一个或多个所述程序被存储在所述存储器中，存储器与模块化装置进行通信，所述程序用于以执行以下步骤指令：S1：获取目标模块化装置的构型信息，所述目标模块化装置包括M个通过对接部连接的单元模块；S2：获取当前已构建实体的构型信息，所述已构建实体包括通过对接部连接的N个单元模块，N小于M；S3：根据目标模块化装置的构型信息及当前已构建实体的构型信息计算获得至少第(N+1)个单元模块应当在已构建实体上接入的对接部位置；及S4：根据步骤S3中计算获得至少第(N+1)个单元模块应当在已构建实体上接入的对接部位置发出提示信息，至少提示第(N+1)个单元模块应当接入的对接部位置。
与现有技术相比，本发明提供的模块化装置的构建提示方法可以有效地提示单元模块的安装位置，如此可以降低用户端在进行模块化装置重构时的拼装错误率，使重构工作简单易于进行。
开发商可以方便地通过数据库将模块化装置构型数据开放给用户，用户可以根据不同场景需求对机器人进行简单快速的重构。
该方法中通过面识别可以精确获得每一个单元模块的位置，简单快速且硬件要求低。位置的获得保障了实时校正用户操作成为可能。用户操作错误时提供对应的拼接错误提示，用 户可以方便快捷的知悉错误类型，进而可以快速更正以加速重构工作的进程。
本发明所提供的模块化装置的构建提示系统也同样具有如上优点。
【附图说明】
图1A是本发明中模块化装置的立体结构示意图。
图1B是本发明中模块化装置之子单元模块的立体结构示意图。
图2是本发明第一实施例模块化装置的构建提示方法流程图。
图3A和3B是子单元模块接口排布示意图。
图4A和4B是子单元模块拼接时，拼接线平行和拼接线交叉的示意图。
图5是图2中步骤S2的详细步骤流程图。
图6是本发明第二实施例模块化装置的构建提示系统的模块结构示意图。
【具体实施方式】
为了使本发明的目的，技术方案及优点更加清楚明白，以下结合附图及实施实例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。
本发明第一实施例提供一种模块化装置的构建提示方法，具体可以是一种模块化机器人的构建提示方法。以图1A所示的模块化装置1a为例来进行说明。模块化装置1a包括至少两个单元模块，图示中以3个单元模块为例来进行说明。每一单元模块包括至少一对接部14，优选包括至少二对接部14，单元模块之间通过对接部14连接，不同的连接方式可重构出不同构型的模块化装置1a。优选地，每一单元模块上的对接部14数量为2或3或4或5或6或7或8，优选地，每一单元模块的不同对接部14设置有接口标识信息以便于确定单元模块之间的具体连接位置。如图示中单元模块设置有8个对接部14时，该8个对接部14的接口标识信息分别为001，002······008。不同单元模块通过对接部14可以实现机械连接，也可以实现有线电性连接。优选地，所述至少两个单元模块中包括至少一主单元模块30和至少一子单元模块10，主单元模块30和子单元模块10连接。优选主单元模块30和子单元模块10之间通过对接部14有线电连接，通过无线通信系统无线电连接，如利用zigbee技术，蓝牙，NFC等技术进行无线通信。优选通过zigbee系统进行无线 通信，对应地，主单元模块30中设置有zigbee主通讯模块，子单元模块10中设置有zigbee子通讯模块101。请参阅图1B，优选地，子单元模块10为球形，其包括相对的两个半球形的子模块101，两个子模块101之间可以相对转动，优选该转动是通过电信号来控制的。优选地，对接部14所在面与两个子模块101之间的转动所在面相交。两对接部14通过相互卡接或磁性吸附等可以实现连接。
可以理解，模块化装置1a形态不作限制，作为可替代的选择，单元模块可以是任意结构形态，如球体，轮子，执行部件或感测器等等。对接部14也可以仅具备机械连接作用。单元模块之间也可以仅通过有线电连接或无线电连接的方式进行通信。所有的单元模块结构形态可以完全一致或至少一部分不同。本实施例中优选主单元模块30为子单元模块10供电及传输信号，子单元模块10本身不带储电装置和与其他装置通信的功能以降低模块化装置1a成本。本发明中以图1A和1B中所示的模块化装置1a的优选实施例为例来示意说明。
当用户获得至少二单元模块需要将其拼接形成目标模块化装置时(即用户欲构建形成的模块化装置)，采用本发明所提供的模块化装置的构建提示方法，其可以大大降低拼接错误。
请参阅图2，模块化装置的构建提示方法包括步骤：
S1：获取目标模块化装置的构型信息，所述目标模块化装置包括M个通过对接部连接的单元模块；
S2：获取当前已构建实体的构型信息，所述已构建实体包括通过对接部连接的N个单元模块，N小于M；
S3：根据目标模块化装置1a的构型信息及当前已构建实体的构型信息计算获得至少第(N+1)个单元模块应当在已构建实体上接入的对接部位置；及
S4：根据步骤S3中计算获得至少第(N+1)个单元模块应当在已构建实体上接入的对接部位置发出提示信息，至少提示第(N+1)个单元模块应当接入的对接部位置。及
S5：根据提示信息将至少第(N+1)个单元模块连接于所述已构建实体上；
重复步骤S2-S5完成所述若干单元模块之间连接，获得所述模块化装置。
优选地，步骤S3中，计算获得多个单元模块应当在已构建实体上接入的对接部位置。
上述的构型信息指的确定模块化装置构型的信息，其至少包括代表单元模块连接关系的接口标识信息，其可进一步包括代表单元模块类型的类型信息和/或代表单元模块数量的数量信息。
优选地，单元模块的对接部处设置有指示功能件，在步骤S4中，根据步骤S3中计算获得已构建实体上应当接入的对接部位置来控制指示功能件发出指示信息。所述指示功能件可以是灯，可伸缩性机械结构灯，优选为LED灯。
优选地，在步骤S4之前包括一步骤：已构建实体的构型被一显示屏三维仿真显示，在步骤S4中，所述提示信息通过三维仿真模型进行表达，表达的方式包括通过对应于所述对接部位置的三维仿真模型的部位以特定颜色显示(包括虚体或实体显示)；或用指示符号指向对应于所述对接部位置的三维仿真模型的部位处；或通过动态拼接演示。
优选地步骤S1中的目标模块化装置的构型信息来源于存储有若干模块化装置所对应的构型信息的数据库。
优选地，为了防止用户在提示信息的指示下仍然拼接错误，故，需要设置一检查步骤，即步骤S2和S3之间还包括：
步骤Sa：判断S2中已构建实体与目标模块化装置匹配；可以理解，已构建实体与目标模块化装置匹配的情况包括已构建实体与目标模块化装置对应部分完全相同或者基本相同，所述基本相同的含义为拼接后的模块化装置可以通过自动控制的手段获得与目标模块化装置完全一致的构型，以单元模块上有8个对接口为例来说，8个对接口对称分布于两个子单元模块上，界定其中一个子单元模块上的对接口的接口标识信息为001，003，005，007，该4个对接口沿着周向依次排布。当目标模块化装置中一单元模块应该连接在另一单元模块的001接口，但用户在完成该部分的拼接时，把一单元模块拼接在了另一单元模块的003接口上，然而因为对接口001和003对称分布，可以通过子单元模块转动180°获得和目标模块化装置相同的构型，因此，认为已构建实体与目标模块化装置基本相同。反之，无法通过自动控制的手段，例如控制对应子单元模块转动预设角度获得与目标模块化装置完全一致的构型，则认为不匹配。如果已构建实体与目标模块化装置匹配则执行步骤S3；否则，执行步骤Sb：提示拼接错误。
优选地，当出现拼接错误时，即已构建实体的构型信息和目标模块化装置的构型信息不匹配，也就是类型信息、数量信息和接口标识信息中的一种或多种信息出现不匹配，根据错误信息的不同提示不同类型的的拼接错误，如应当拼接子单元模块的位置处被用户拼接了主单元模块时，子单元模块与主单元模块属于不同的模块，该种情况提示类型错误。如接口标识信息错误时(已构建实体与目标模块化装置基本相同时，不提示接口标识信息错误)，对应有至少两种提示错误：一种为位置错误，一种为平行交叉错误。请参阅图3A和3B，以单元模块上 有8个对接口为例来说，8个对接口对称分布，界定其中单元模块的第一子单元模块上沿着周向依次排布的对接口的接口标识信息为001，003，005，007，第二子单元模块上沿着周向依次排布的对接口的接口标识信息为002，004，006，008。位置错误包括但不限于如两个单元模块应当连接至另一单元模块的001，002对接口上时(不同半球相邻接口)，但其中一个连接至第二子单元模块(不同半球)上或连接在了001和003接口上时(同一半球相对接口)，该种情况均不可能通过控制子单元模块的转动使已构建实体与目标模块化装置匹配，该情况即提示位置错误。请参阅图4A和4B，两子单元模块连接处有一拼接线102，当两单元模块拼接在不同的对接口上时，两单元模块的拼接线102具有平行(如图4A)和交叉(如图4B)两种位置关系，平行和交叉的位置关系影响最终的构型，如拼接线应该平行的两单元模块拼成拼接线交叉的情况时，将导致模块化装置构型错误或丧失某些维度上的自由度，该种情况即提示为平行交叉错误。
优选地，已构建实体与目标模块化装置对应部分基本相同时，子单元模块两子单元模块之间需要转动的角度被记录以便于后续控制模块化装置进行转动时，将该角度考虑进去。
请参阅图5，步骤S2中，N个子单元模块通过面识别完成已构建实体的构型信息的获取。界定与主单元模块直接连接的子单元模块为一级子单元模块，与一级子单元模块连接的子单元模块为二级子单元模块，与M级子单元模块连接的子单元模块为(M+1)级子单元模块，M为大于等于1的整数。具体已构建实体的面识别过程包括：
步骤S21：主单元模块发送第一电信号通知子单元模块进行面识别；
步骤S22：主单元模块不同的对接部发出不同的第二电信号或主单元模块不同的对接部分时序发出不同的第二电信号；
步骤S23：一级子单元模块根据其接收的第二电信号确定其连接的主单元模块的接口标识信息；一级子单元模块根据接收到第二电信号的对接部获得其自身与主单元模块对接的对接部之接口标识信息；及
步骤S24：一级子单元模块将其所连接的主单元模块的接口标识信息及自身的与主单元模块对接的对接部之接口标识信息发送给主单元模块，主单元模块获得主单元模块与一级子单元模块所构成的已构建实体之构型信息。
具体地，面识别过程进一步包括：
S25：每一M级子单元模块不同的对接部发出不同的第二电信号给与其连接的(M+1)级子单元模块或每一M级子单元模块不同的对接部分时序发出第二电信号给与其连接的(M+1)级 子单元模块；
S26：(M+1)级子单元模块根据其接收的第二电信号确定其所连接的M级主单元模块的接口标识信息；(M+1)级子单元模块根据接收到第二电信号的对接部获得其自身与M级主单元模块对接的对接部之接口标识信息；及
步骤S27：(M+1)级子单元模块将其所连接的M级子单元模块的接口标识信息及自身的与M级子单元模块对接的对接部之接口标识信息发送给主单元模块。
优选地，不同的同一级子单元模块发送接口标识信息给主单元模块的时序不同，不同的M级子单元模块发送给与其连接的(M+1)级子单元模块之电信号的时序不同，子单元模块面识别逐级进行，完成第M级子单元模块的面识别后再进行第(M+1)级子单元模块的面识别。
优选地，在步骤S24之后，主单元模块停止发送第二电信号，主单元模块无线信号通知一级子单元模块发送第二电信号至二级子单元模块。主单元模块在接收到(M+1)级子单元模块返回来的信息之后，M级子单元模块停止发送第二电信号，主单元模块无线信号通知(M+1)级子单元模块发送第二电信号至(M+2)级子单元模块。
可以理解，面识别过程中，主单元模块仅作为了面识别的起始点以作为参考点来界定子单元模块相对于主单元模块的相对位置。作为一种选择，主单元模块与子单元模块机械结构和/或电路结构可以完全一致。
作为一种变形，第一信号也可以通过有线的方式进行传输。第一信号可以是通过一电子设备端发出。子单元模块获得相关接口标识信息后直接传输至电子设备端。即各模块均具有与电子设备端的通信功能。
以主单元模块之接口标识信息为001和002的对接部分别连接有1号子单元模块和2号子单元模块，1号子单元模块通过对接部连接有3号子单元模块和4号子单元模块，2号子单元模块通过对接部连接有5号子单元模块和6号子单元模块为例来进行说明，优选主单元模块通过无线广播信息，即向子单元模块发出第一电信号通知子单元模块进行面识别。主单元模块不同的对接部发出不同的第二电信号，不同的第二电信号可以是不同大小的电压信号或电流信号，或不同频段的电信号。1号子单元模块和2号子单元模块通过识别不同的第二电信号可以得知其具体连接在主单元模块上的对接部之接口标识信息。1号子单元模块和2号子单元模块在接收到第二电信号时，由于每一单元模块的不同对接部设置有接口标识信息，因此，1号子单元模块和2号子单元模块可获得其自身与主单元模块对接的对接 部之接口标识信息。1号子单元模块先回复主单元模块告知其所连接的主单元模块的接口标识信息及自身的与主单元模块对接的对接部之接口标识信息。等待一段时间后，2号子单元模块再回复主单元模块。1号子单元模块和2号子单元模块面识别完成后，主单元模块停止发送电信号，并通知与主单元模块直接连接的1号子单元模块和2号子单元模块分时序发送第二电信号至3、4、5、6号子单元模块，1号子单元模块先发出第二电信号给3、4号子单元模块，按照前述原理，3、4号子单元模块向主单元模块返回相关接口标识信息。然后2号子单元模块先发出第二电信号给5、6号子单元模块，按照前述原理，5、6号子单元模块向主单元模块返回相关接口标识信息。至此，主单元模块获得该已构建实体之单元模块之间的相对位置信息。
优选的，主单元模块在接收子单元模块传输过来的相关接口标识信息后对该子单元模块进行编号以生成各子单元模块的ID以方便通讯。优选地，该ID方便用于返回子单元模块之两子单元模块之间的相对角度，以及接收信号控制子单元模块进行设定角度的转动。
优选地，每个单元模块均携带类型信息，同类型的单元模块类型信息相同，如主单元模块类型信息与子单元模块类型信息不同，不同的子单元模块的类型信息相同。单元模块在通电被访问时反馈的信号携带该类型信息。
优选地，步骤S1中的目标模块化装置的构型信息来源于存储有若干模块化装置所对应的构型信息的数据库。
可以理解，本发明所提供的模块化装置的构建提示方法使用场景可以如下：电子设备端设置有存储有若干模块化装置所对应的构型信息的数据库，电子设备端与模块化装置可以通讯，优选地，模块化装置通过主单元模块与子单元模块之间进行通讯。当用户在电子设备端的数据库中选中一个模块化装置，即步骤S1被执行，该模块化装置被三维显示，用户按照三维显示的模块化装置进行拼装，如用户首先将一个子单元模块拼装到主单元模块上，在子单元模块安装上去之前，电子设备端执行步骤S2-S4，用户根据提示信息将子单元模块安装上去，即执行步骤S5。
作为一种变形，所述数据库也可以设置在主单元模块上，步骤S1-S4均被主单元模块执行。
与现有技术相比，本发明提供的模块化装置的构建提示方法可以有效地提示单元模块的安装位置，如此可以降低用户端在进行模块化装置重构时的拼装错误率，使重构工作简单易于进行。
开发商可以方便地通过数据库将模块化装置构型数据开放 给用户，用户可以根据不同场景需求对机器人进行简单快速的重构。
该方法中通过面识别可以精确获得每一个单元模块的位置，简单快速且硬件要求低。位置的获得保障了实时校正用户操作成为可能。用户操作错误时提供对应的拼接错误提示，用户可以方便快捷的知悉错误类型，进而可以快速更正以加速重构工作的进程。
请参阅图6，本发明第二实施例一种模块化装置4a的构建提示系统，模块化装置4a的构建提示系统包括模块化装置4a，其包括至少二单元模块，每一单元模块包括至少一对接部，优选每一单元模块包括至少二对接部，至少二单元模块之间通过对接部连接；优选地，可以采用第一实施例中所揭示的模块化装置4a。存储模块41；用于存储目标模块化装置4a以及已构建实体的构型信息；所述目标模块化装置4a包括M个通过对接部连接的单元模块；检测模块42；用于获取当前已构建实体的构型信息，所述已构建实体包括通过对接部连接的N个单元模块，N小于M；计算模块45；用于根据目标模块化装置4a的构型信息及当前已构建实体的构型信息计算获得至少第N+1个单元模块应当在已构建实体上接入的对接部位置；提示模块46；用于根据计算模块45计算获得的至少第N+1个单元模块应当在已构建实体上接入的对接部位置发出提示信息，至少提示第N+1个单元模块应当接入的对接部位置。
存储模块41、检测模块42、计算模块45及提示模块46中的一个或多个可以设置在电子设备端或设置于其中一个单元模块上。
优选地，提示模块46为设置在对接部处的指示功能件。作为另一种选择，所述提示模块46为一显示屏，已构建实体在显示屏上三维仿真显示，对应于对接部位置的三维仿真模型的部位以特定颜色显示；或用指示符号指向对应于所述对接部位置的三维仿真模型的部位处；或通过动态拼接演示。
模块化装置4a的构建提示系统进一步包括匹配模块43和错误指示模块44，匹配模块43用于判断已构建实体是否与目标模块化装置4a匹配；其是否匹配的判定原则与第一实施例相同，此处不再赘述。如果匹配模块43判断已构建实体与目标模块化装置4a匹配则计算模块45据目标模块化装置4a的构型信息及当前已构建实体的构型信息计算第N+1个单元模块应当在已构建实体上接入的对接部位置。反之，不匹配时，错误指示模块44用于指示错误，并如第一实施例中所述指示出不同的类型错误。
可以理解，可以内置于提示模块46中，优选为一显示屏。
本发明第三实施例提供一种模块化装置的构建提示系统，模块化装置的构建提示系统包括模块化装置，其包括至少两个单元模块，每一单元模块包括至少二对接部，若干单元模块之间通过对接部连接；存储器以及一个或多个程序，其中一个或多个所述程序被存储在所述存储器中，存储器与单元模块进行通信，所述程序用于以执行以下步骤指令：
S1：获取目标模块化装置的构型信息，所述目标模块化装置包括M个通过对接部连接的单元模块；
S2：获取当前已构建实体的构型信息，所述已构建实体包括通过对接部连接的N个单元模块，N小于M；
S3：根据目标模块化装置的构型信息及当前已构建实体的构型信息计算获得至少第(N+1)个单元模块应当在已构建实体上接入的对接部位置；及
S4：根据步骤S3中计算获得至少第(N+1)个单元模块应当在已构建实体上接入的对接部位置发出提示信息，至少提示第N+1个单元模块应当接入的对接部位置。
所述程序不限于执行以上步骤，其还可以设定为执行第一实施例中所述的任意步骤，如面识别等。
可以理解本发明中，同一级的子单元模块的拼接位置可以同时被提示或其中一部分被同时提示，当然，也可以选择逐一提示。
可以理解本发明中所述的模块化装置可以是完整的模块化机器人，如四足机器人，也可以是机器人其中的某部分，如四足机器人的其中一足。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的原则之内所作的任何修改，等同替换和改进等均应包含本发明的保护范围之内。

Claims (14)

  1. 一种模块化装置的构建提示方法，该模块化装置包括至少两个单元模块，每一单元模块包括至少一对接部，单元模块之间通过对接部连接，其特征在于：该模块化装置的构建提示方法包括步骤：
    S1：获取目标模块化装置的构型信息，所述目标模块化装置包括M个通过对接部连接的单元模块；
    S2：获取当前已构建实体的构型信息，所述已构建实体包括通过对接部连接的N个单元模块，N小于M；
    S3：根据目标模块化装置的构型信息及当前已构建实体的构型信息计算获得至少第(N+1)个单元模块应当在已构建实体上接入的对接部位置；及
    S4：根据步骤S3中计算获得的至少第(N+1)个单元模块应当在已构建实体上接入的对接部位置发出提示信息，至少提示第(N+1)个单元模块应当接入的对接部位置。
  2. 如权利要求1所述的模块化装置的构建提示方法，其特征在于：模块化装置的构建提示方法进一步包括步骤：
    S5：根据提示信息至少将第(N+1)个单元模块连接于所述已构建实体上；
    重复步骤S2-S5完成所述若干单元模块之间连接，获得所述模块化装置。
  3. 如权利要求1所述的模块化装置的构建提示方法，其特征在于：所述单元模块的对接部处设置有指示功能件，在步骤S4中，根据步骤S3中计算获得已构建实体上应当接入的对接部位置来控制指示功能件发出指示信息。
  4. 如权利要求1所述的模块化装置的构建提示方法，其特征在于：在步骤S4之前包括一步骤：已构建实体的构型被一显示屏三维仿真显示，在步骤S4中，所述提示信息通过三维仿真模型进行表达，表达的方式包括通过对应于所述对接部位置的三维仿真模型的部位以特定颜色显示；或用指示符号指向对应于所述对接部位置的三维仿真模型的部位处；或通过动态拼接演示。
  5. 如权利要求1所述的模块化装置的构建提示方法，其特征在于：步骤S1中的目标模块化装置的构型信息来源于存储有若干模块化装置所对应的构型信息的数据库。
  6. 如权利要求1所述的模块化装置的构建提示方法，其特征在于：所述步骤S2和S3之间还包括：
    步骤Sa：判断S2中已构建实体是否与目标模块化装置匹配；
    如果已构建实体与目标模块化装置匹配则执行步骤S3；否则， 执行步骤Sb：提示拼接错误。
  7. 如权利要求6所述的模块化装置的构建提示方法，其特征在于：所述构型信息包括代表单元模块类型的类型信息，代表单元模块数量的数量信息，以及代表单元模块连接关系的接口标识信息中的一种或多种，在步骤Sb中，当已构建实体构型信息中一种或多种信息错误时，根据错误信息的不同提示不同类型的的拼接错误。
  8. 如权利要求1所述的模块化装置的构建提示方法，其特征在于：至少两个单元模块包括一个主单元模块和至少一个子单元模块，主单元模块和子单元模块之间通过对接部有线连接，或既无线连接又通过对接部有线连接，主单元模块、子单元模块之不同的对接部设置有不同的接口标识信息，界定与主单元模块直接连接的子单元模块为一级子单元模块，与一级子单元模块连接的子单元模块为二级子单元模块，与M级子单元模块连接的子单元模块为(M+1)级子单元模块，M为大于等于1的整数，步骤S2中，N个子单元模块通过面识别完成已构建实体的构型信息的获取，面识别过程包括：
    步骤S21：发送第一电信号通知子单元模块进行面识别；
    步骤S22：主单元模块不同的对接部发出不同的第二电信号或主单元模块不同的对接部分时序发出第二电信号；
    步骤S23：一级子单元模块根据其接收的第二电信号确定其连接的主单元模块的接口标识信息；一级子单元模块根据接收到第二电信号的对接部获得其自身与主单元模块对接的对接部之接口标识信息；及
    步骤S24：一级子单元模块将其所连接的主单元模块的接口标识信息及自身的与主单元模块对接的对接部之接口标识信息发送给主单元模块或发送至一电子设备端。
  9. 如权利要求8述的模块化装置的构建提示方法，其特征在于：面识别过程进一步包括：
    S25：每一M级子单元模块不同的对接部发出不同的第二电信号给与其连接的(M+1)级子单元模块或每一M级子单元模块或不同的对接部分时序发出第二电信号给与其连接的(M+1)级子单元模块；
    S26：(M+1)级子单元模块根据其接收的第二电信号确定其所连接的M级主单元模块的接口标识信息；(M+1)级子单元模块根据接收到第二电信号的对接部获得其自身与M级主单元模块对接的对接部之接口标识信息；及
    步骤S27：(M+1)级子单元模块将其所连接的M级子单元模块 的接口标识信息及自身的与M级子单元模块对接的对接部之接口标识信息发送给主单元模块或发送至一电子设备端。
  10. 如权利要求9述的模块化装置的构建提示方法，其特征在于：同一级不同的子单元模块发送接口标识信息给主单元模块的时序不同，不同的M级子单元模块发送给与其连接的(M+1)级子单元模块之电信号的时序不同，子单元模块面识别逐级进行，完成第M级子单元模块的面识别后再进行第(M+1)级子单元模块的面识别。
  11. 一种模块化装置的构建提示系统，其特征在于：模块化装置的构建提示系统包括：
    模块化装置，其包括至少二单元模块，每一单元模块包括至少一对接部，至少一单元模块之间通过对接部连接；
    存储模块；用于存储目标模块化装置以及已构建实体的构型信息；所述目标模块化装置包括M个通过对接部连接的单元模块；
    检测模块；用于获取当前已构建实体的构型信息，所述已构建实体包括通过对接部连接的N个单元模块，N小于M；
    计算模块；用于根据目标模块化装置的构型信息及当前已构建实体的构型信息计算获得至少第(N+1)个单元模块应当在已构建实体上接入的对接部位置；及
    提示模块；用于根据计算模块计算获得的至少第(N+1)个单元模块应当在已构建实体上接入的对接部位置发出提示信息，至少提示第(N+1)个单元模块应当接入的对接部位置。
  12. 如权利要求11所述的模块化装置的构建提示系统，其特征在于：模块化装置的构建提示系统进一步包括：
    匹配模块；用于判断已构建实体是否与目标模块化装置匹配；及
    错误指示模块；用于指示拼接错误；
    如果匹配模块判断已构建实体与目标模块化装置匹配则计算模块据目标模块化装置的构型信息及当前已构建实体的构型信息计算至少第(N+1)个单元模块应当在已构建实体上接入的对接部位置；反之，不匹配时，错误指示模块指示拼接错误。
  13. 如权利要求11所述的模块化装置的构建提示系统，其特征在于：至少两个单元模块包括一个主单元模块和至少一个子单元模块，主单元模块和子单元模块之间通过对接部有线连接，或既无线连接又通过对接部有线连接，主单元模块、子单元模块之不同的对接部设置有不同的接口标识信息，界定与主单元模块直接连接的子单元模块为一级子单元模块，与一级子单元模块连接的子单元模块为二级子单元模块，与M级子单元模块连接的子单元 模块为(M+1)级子单元模块，M为大于等于1的整数，N个子单元模块通过面识别完成已构建实体的构型信息的获取，面识别过程包括：主单元模块发送第一电信号通知子单元模块进行面识别；主单元模块不同的对接部发出不同的第二电信号或主单元模块不同的对接部分时序发出第二电信号；一级子单元模块根据其接收的第二电信号确定其连接的主单元模块的接口标识信息；一级子单元模块根据接收到第二电信号的对接部获得其自身与主单元模块对接的对接部之接口标识信息；及一级子单元模块将其所连接的主单元模块的接口标识信息及自身的与主单元模块对接的对接部之接口标识信息发送给主单元模块，主单元模块获得主单元模块与一级子单元模块所构成的已构建实体之构型信息。
  14. 一种模块化装置的构建提示系统，其特征在于：模块化装置的构建提示系统包括
    模块化装置，其包括至少两个单元模块，每一单元模块包括至少一对接部，若干单元模块之间通过对接部连接；
    存储器以及一个或多个程序，其中一个或多个所述程序被存储在所述存储器中，存储器与模块化装置进行通信，所述程序用于以执行以下步骤指令：
    S1：获取目标模块化装置的构型信息，所述目标模块化装置包括M个通过对接部连接的单元模块；
    S2：获取当前已构建实体的构型信息，所述已构建实体包括通过对接部连接的N个单元模块，N小于M；
    S3：根据目标模块化装置的构型信息及当前已构建实体的构型信息计算获得至少第(N+1)个单元模块应当在已构建实体上接入的对接部位置；及
    S4：根据步骤S3中计算获得至少第(N+1)个单元模块应当在已构建实体上接入的对接部位置发出提示信息，至少提示第(N+1)个单元模块应当接入的对接部位置。
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