A modular robot toy and teaching aid control system based on digital twin

Abstract

The invention discloses a modular robot toy and teaching aid control system based on digital twins: comprising a hardware module and a software system, the hardware module comprising mechanical hardware and a control module; the mechanical hardware comprising a robot trunk, an A-type structural moving element, a BL-type structural moving element, a BR-type structural moving element, an N-type structural static element, an S-type attachment and an F-type attachment; the robot trunk is provided with a plurality of female end interfaces, a USB interface is provided on one side of the robot trunk, unlocking buttons are symmetrically provided on the upper and lower sides of the robot trunk close to the female end interface, the female end interface is provided with an interface lock, and a lithium battery and a main control module are provided inside the robot trunk; the A-type structural moving element is in a straight cylindrical shape, with a male end and a female end respectively provided at both ends, the outer structure of the female end is the same as the structure of the female end interface, and unlocking buttons are symmetrically provided on both sides close to the female end; the BL-type structural moving element is in a right-angle bent L-shape, with a male end and a female end respectively provided at both ends, and unlocking buttons are symmetrically provided on both sides close to the female end.

Description

Technical Field

[0001] The present invention relates to the technical field of modular robot toys and teaching aid control systems based on digital twins, and specifically refers to a modular robot toy and teaching aid control system based on digital twins. Background Art

[0002] At present, the domestic market lacks highly playable robot toys, and the robot toys on sale generally have the problem of children or teenagers lacking enthusiasm for continued use; in addition, robotics technology is a strategic priority for the country's future, and there is a general lack of robot programming talent internationally, while the domestic market lacks high-quality robot toys, robot knowledge learning and training aids; domestic high-tech companies generally lack rapid prototyping and verification tools for robot design and development. Summary of the invention

[0003] The technical problem to be solved by the present invention is to overcome the defects of the above-mentioned technology and provide a modular robot toy and teaching aid control system based on digital twin.

[0004] In order to solve the above technical problems, the technical solution provided by the present invention is a modular robot toy and teaching aid control system based on digital twins: comprising a hardware module and a software system, wherein the hardware module comprises mechanical hardware and a control module;

[0005] The mechanical hardware includes a robot trunk, an A-type structural moving element, a BL-type structural moving element, a BR-type structural moving element, an N-type structural static element, an S-type attachment, and an F-type attachment;

[0006] The robot trunk is provided with a plurality of female end interfaces, a USB interface is provided on one side of the robot trunk, unlocking buttons are symmetrically provided on the upper and lower sides of the robot trunk near the female end interface, the female end interface is provided with an interface lock, and a lithium battery and a main control module are provided inside the robot trunk;

[0007] The A-type structural element is in a straight cylindrical shape, with a male end and a female end respectively at both ends. The outer structure of the female end is the same as the female end interface structure, and unlocking buttons are symmetrically provided on both sides close to the female end.

[0008] The BL type structural element is in a right-angled L shape, with a male end and a female end at both ends, and unlocking buttons are symmetrically arranged on both sides close to the female end. The male end of the BL type structural element is located at the end of the short side of the L shape;

[0009] The BR-type structural movable element is in a right-angled L-shape, with a male end and a female end respectively provided at both ends, and unlocking buttons are symmetrically provided on both sides close to the female end, and the male end of the BR-type structural movable element is located at the end of the long side of the L-shape;

[0010] The N-type structure static element is in a straight cylindrical shape, with a male end and a female end at both ends, and unlocking buttons are symmetrically arranged on both sides close to the female end;

[0011] The S-shaped attachment is spherical, has a male end, is made of rubber or plastic, and directly contacts the ground or the environment as the end foot;

[0012] The F-type attachment is flat, has a male end, is made of rubber or plastic, and directly contacts the ground or the environment as the end foot;

[0013] The A-type structural moving element, BL-type structural moving element and BR-type structural moving element all have the male end as a fixed section, and the remaining sections where the female end is located can rotate relative to the male end; the N-type structural static element, S-type attachment and F-type attachment are all integral fixed sections;

[0014] The control module includes a robot trunk control module, a dynamic element control module, and a static element and accessory control module;

[0015] The robot trunk control module includes a main control module, a Bluetooth module, a lithium battery, and a near-field receiving module; the main control module is responsible for running the main control program, issuing control instructions to all components connected to the robot trunk through the Bluetooth module and receiving information feedback; the lithium battery is connected to each female end interface on the robot trunk and supplies power to all components connected to the robot trunk;

[0016] The dynamic element control module includes a near-field transmitting module, a main control module, a Bluetooth module, a motor control module, a motor, and a near-field receiving module; the near-field transmitting module is used to send identity information and existence information; the main control module is used to run the main control program of the dynamic element itself, and coordinate the operation of other modules; the Bluetooth module is used to communicate with the robot trunk, receive control instructions from the robot trunk and send information feedback; the motor control module is a bottom-level hardware module that drives and runs the basic control program of the motor; the motor is an execution component that drives the fixed section and the rotating section of the dynamic element to rotate relative to each other; the near-field receiving module is used to receive identity information and existence information sent by other components connected thereto;

[0017] The static element and accessory control module includes a near-field transmitting module, a communication control module, and a near-field receiving module; the near-field transmitting module is used to send identity information and existence information; the communication control module is used to coordinate the operation of the near-field transmitting module and the near-field receiving module and transmit information; the near-field receiving module is used to receive identity information and existence information sent by other components connected thereto;

[0018] The software system includes an embedded software system and an application software system. The embedded software system includes robot torso software, dynamic element software, and static element and accessory software; the application software system includes a mobile terminal APP, a development IDE, and a cloud data middle platform.

[0019] As an improvement, the number of female end interfaces of the robot trunk is seven.

[0020] As an improvement, the male end is provided with a hexagonal column, one cylindrical surface of the hexagonal column is provided with a locking groove, the outer end surface is provided with two power transmission jacks, the male end is plugged into and matched with the cascaded female end, and the unlocking button is used to unlock and pull out the cascaded male end.

[0021] As an improvement, the near-field receiving module is close to the female end, and the near-field transmitting module is close to the male end.

[0022] As an improvement, the robot trunk software includes a communication driver, a power management program, an operating system, a file management program, a topology calculation program, and a main control system; the communication driver is used to drive near-field communication between the robot trunk and other components, Bluetooth communication between the robot trunk and other components, and Bluetooth communication between the robot trunk and smart phones and tablets; the power management program is used to manage the power consumption of the robot trunk, monitor the battery power, control the power saving mode of the robot system, and control charging; the operating system is an on-board embedded operating system of the robot trunk; the file management program is used to manage program files, cache files or temporary files downloaded or saved in the robot trunk; the topology calculation program is used to calculate the overall topological connection configuration of the robot system based on the information fed back by the components connected to the robot trunk, and provide an implementation basis for the digital twin module in the APP or development IDE; the main control system is used to coordinate the operation of the above-mentioned program modules and function scheduling;

[0023] The dynamic element software includes a communication driver, a motor driver, a motor control program, a main control program and storage; the communication driver is used to drive the near-field communication between the dynamic element and other components, and the Bluetooth communication between the dynamic element and the robot trunk; the motor driver controls devices such as operational amplifiers, and drives the motors in the dynamic element; the motor control program runs the motor control algorithm to achieve precise control of the motor, including position control, speed control, and torque control; the main control program and storage are used to coordinate the operation of each program module, function scheduling, and store the topological connection information of other components connected to the dynamic element;

[0024] The static element and accessory software includes a communication driver program, a main control program and storage; the communication driver program is used to drive near-field communication between the static element or accessory and other components; the main control program and storage are used to schedule the operation of the communication driver program and to store topological connection information of other components connected to the static element or accessory.

[0025] As an improvement, the mobile terminal APP includes a communication driver, a community software module, an application store module, a cloud service interface API and a control program module group;

[0026] The communication driver is used to drive Bluetooth communication or Wifi communication between the mobile terminal APP and the robot torso, drive Wifi communication or wired Ethernet communication between the mobile terminal APP and the cloud data middle station, and Bluetooth, Wifi or wired Ethernet communication between the mobile terminal APP and the development IDE;

[0027] The community software module is used to realize the community functions of the mobile terminal APP, including user registration, login, publishing or sharing of one's own works and programs using the robot system, liking, collecting, forwarding to other media platforms, sending or replying to private messages, checking other users' personal spaces, following or unfollowing; in addition, it also provides a topic search function;

[0028] The application store module is used for users to purchase program applications written by others on the APP platform, or sell program applications written by themselves. The module functions include application recommendation, keyword search, application category, application introduction, and similar application recommendation;

[0029] The cloud service interface API enables the mobile terminal APP to communicate with the cloud data center, push user data and requests, download programs, community data, and application store data;

[0030] The control program module group includes a digital twin module, a real-time control module, an action sequence editing module, a graphical programming module, a game control editing module, a console module, a file management system, a program download module and a program compilation module;

[0031] The development IDE is an integrated development environment for developers, running on the PC side, including communication drivers, Windows or MAC operating system, digital twin module, SDK loading module, program development module, program compilation module, application packaging and publishing module, APP interface API, cloud service interface API;

[0032] The communication driver is used to drive the Wifi communication or wired Ethernet communication between the development IDE and the cloud data center, and the Bluetooth, Wifi or wired Ethernet communication between the development IDE and the mobile terminal APP;

[0033] The Windows or MAC operating system, depending on the user's PC device, the IDE can run on Windows or MAC operating system;

[0034] The digital twin module is used to receive the robot topology information sent by the robot trunk and display the current robot configuration and motion posture in real time on the PC side;

[0035] The SDK loading module allows users to download different SDK (Software Development Kit) versions from the official website, load the IDE, and develop robot control codes based on them;

[0036] The program development module is the core module of the IDE and the core interactive interface for users to write codes;

[0037] The program compiling module is used to compile the program written by the user into a lower computer code, and can be directly burned into the trunk of the robot system;

[0038] The application packaging and publishing module is an application publishing assistant, in which developers can publish their own applications to the cloud application store backend system according to the template;

[0039] The APP interface API is used to realize the communication between the IDE and the mobile terminal APP;

[0040] The cloud service interface API enables the IDE to communicate with the cloud data center, push application release data, and download SDK;

[0041] The cloud data middle platform is a user service backend built based on cloud services, including data gateway and data collection, data transmission and data security strategy, data storage and database, data ETL engine, cold zone storage, community backend system, application store backend system, course and teaching material system, data analysis and mining backend program, community recommendation system API, application store recommendation system API, payment system API and financial system interface API;

[0042] The data gateway and data collection are used to access data from each user's mobile terminal APP or development IDE to complete data collection;

[0043] The data transmission and data security strategy is used to encrypt data transmission between users and the cloud data center, ensure transmission security, and perform disaster recovery redundancy on the data of the data center;

[0044] The data storage and database mentioned above refer to the hot zone data storage of the data center, which stores frequently used data content in a specially designed database;

[0045] The data ETL engine performs ETL (extraction, transformation, loading) processing on the data collected by the data gateway to complete the pre-processing work before the data enters the database;

[0046] The cold storage refers to the cold storage of the data center, which mainly stores historical data for more than one year;

[0047] The community backend system supports the backend management system of the community function operation of the mobile terminal APP;

[0048] The application store backend system is a backend system that supports the operation of the application store function of the mobile terminal APP;

[0049] The course and teaching material system is uniformly stored in the instructions for use of the data center, as well as robot programming or knowledge learning courses / teaching materials, which can be called up, viewed, and studied in the mobile terminal APP;

[0050] The data analysis and mining backend program performs statistics, analysis, and data mining on user data, user usage habits, and user preferences to support functions such as topic recommendation and application recommendation;

[0051] The community recommendation system API is used for data analysis and mining of API interfaces generated by the backend to support community topic recommendations and generate topic search rankings;

[0052] The payment system API is used to support the payment of users for purchasing applications and the payment of developers;

[0053] The financial system interface API is an API interface used to connect the cloud data center to the financial software system.

[0054] The advantages of the present invention compared with the prior art are:

[0055] Modular freedom: With the trunk as the main body and a one-master-multiple-slave architecture, the dynamic module is the most basic degree of freedom, with a large creative space. As a toy or teaching aid, it has unprecedented flexibility in the movement space;

[0056] Digital twin: Using digital twin technology, software and hardware linkage, what you see is what you get on smartphones, computers, and PCs, integrating simulation movement and control operations, greatly reducing the complexity of the robot system as a toy, making it easy for children to get started, while also improving its display as a teaching aid;

[0057] High scalability: The morphological diversity of this robot system increases exponentially with the addition of modules, and it can be expanded with various sensors and execution accessories, which can achieve rich playability or functions;

[0058] Continuous upgrade: With the OTA (over-the-air upgrade) function, the hardware and software can continuously download new software and firmware for upgrades, and can continuously load new gameplay and functions;

[0059] Long-term fun and educational function: Taking into account the above beneficial effects, the life cycle of toys and teaching aids is extremely long. It is a toy and teaching aid that can be played from childhood to adulthood and learned from childhood to adulthood.

[0060] Assisting R&D: Not only can it be used as a toy or teaching aid, it also provides a platform and tools for rapid prototyping and verification for robot R&D and manufacturing companies, significantly improving development efficiency;

[0061] Interest-driven learning: Children or teenagers can use this robot system to experience great fun while also stimulating their desire to create. Combined with the supporting electronic courses and teaching materials, they can consciously drive themselves to learn robotics knowledge and programming skills.

[0062] Consumers are producers: users with development capabilities can upload their works to the app store for sale, creating benefits for the maker community; in addition, the community function provides a platform for full communication between ordinary users such as teenagers, parents, and teachers and developers, allowing the robot system to maintain long-term vitality and have high practical value and promotion value. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 This is a schematic diagram of the structure of a modular robot toy and teaching aid control system based on digital twins of the present invention. Figure 1 .

[0064] Figure 2 This is a schematic diagram of the structure of a modular robot toy and teaching aid control system based on digital twins of the present invention. Figure 2 .

[0065] Figure 3 It is a structural schematic diagram of a robot trunk of a modular robot toy and teaching aid control system based on digital twins of the present invention.

[0066] Figure 4 It is a structural schematic diagram of an A-type structural moving element of a modular robot toy and teaching aid control system based on digital twins of the present invention.

[0067] Figure 5 It is a structural schematic diagram of a BL-type structural moving element of a modular robot toy and teaching aid control system based on digital twins of the present invention.

[0068] Figure 6 It is a structural schematic diagram of a BR-type structural element of a modular robot toy and teaching aid control system based on digital twins of the present invention.

[0069] Figure 7 It is a structural schematic diagram of an N-type structure static element of a modular robot toy and teaching aid control system based on digital twins of the present invention.

[0070] Figure 8 It is a structural schematic diagram of an S-shaped attachment of a modular robot toy and teaching aid control system based on digital twins of the present invention.

[0071] Fig. 9 It is a structural schematic diagram of an F-type accessory of a modular robot toy and teaching aid control system based on digital twins of the present invention.

[0072] Fig.10 It is a system framework diagram of a modular robot toy and teaching aid control system based on digital twins of the present invention.

[0073] Fig.11 It is a module framework diagram of an F-type accessory of a modular robot toy and teaching aid control system based on digital twinning of the present invention.

[0074] Fig.12 It is a software framework diagram of an F-type accessory of a modular robot toy and teaching aid control system based on digital twins of the present invention.

[0075] As shown in the figure: 1. Robot torso, 2. A-type structural moving element, 3. BL-type structural moving element, 4. BR-type structural moving element, 5. N-type structural static element, 6. S-type accessories, 7. F-type accessories, 8. female end interface, 9. USB interface, 10. unlock button, 11. male end, 12. female end, 13. hexagonal column, 14. positioning groove, 15. power transmission jack. DETAILED DESCRIPTION

[0076] The following is a further detailed description of a modular robot toy and teaching aid control system based on digital twins of the present invention in conjunction with the accompanying drawings.

[0077] Combined with Figures 1 to 12 , a modular robot toy and teaching aid control system based on digital twin, including a hardware module and a software system, wherein the hardware module includes a mechanical hardware and a control module;

[0078] The mechanical hardware includes a robot trunk 1, an A-type structural dynamic element 2, a BL-type structural dynamic element 3, a BR-type structural dynamic element 4, an N-type structural static element 5, an S-type attachment 6, and an F-type attachment 7;

[0079] The robot trunk 1 is provided with a plurality of female end interfaces 8, a USB interface 9 is provided on one side of the robot trunk 1, unlocking buttons 10 are symmetrically provided on the upper and lower sides of the robot trunk 1 near the female end interfaces 8, the female end interfaces 8 are provided with an interface lock, and a lithium battery and a main control module are provided inside the robot trunk 1;

[0080] The A-type structural element 2 is in a straight cylindrical shape, with a male end 11 and a female end 12 at both ends, respectively. The outer structure of the female end 12 is the same as the structure of the female end interface 8, and unlocking buttons 10 are symmetrically provided on both sides close to the female end 12;

[0081] The BL type structural element 3 is in a right-angled L shape, with a male end 11 and a female end 12 at both ends, and unlocking buttons 10 are symmetrically arranged on both sides close to the female end 12. The male end 11 of the BL type structural element 3 is located at the end of the short side of the L shape;

[0082] The BR-type structural moving element 4 is in a right-angled L-shape, with a male end 11 and a female end 12 at both ends, and unlocking buttons 10 are symmetrically arranged on both sides close to the female end 12. The male end 11 of the BR-type structural moving element 4 is located at the end of the long side of the L-shape;

[0083] The N-type structure static element 5 is in a straight cylindrical shape, with a male end 11 and a female end 12 at both ends, and unlocking buttons 10 are symmetrically arranged on both sides close to the female end 12;

[0084] The S-shaped attachment 6 is spherical and has a male end 11 made of rubber or plastic, which directly contacts the ground or the environment as the end foot;

[0085] The F-type attachment 7 is flat and has a male end 11 made of rubber or plastic, which directly contacts the ground or the environment as the end foot;

[0086] The A-type structural moving element 2, the BL-type structural moving element 3 and the BR-type structural moving element 4 all have the male end 11 as a fixed section, and the remaining sections where the female end 12 is located can rotate relative to the male end 11; the N-type structural static element 5, the S-type attachment 6 and the F-type attachment 7 are all integral fixed sections;

[0087] The control module includes a robot trunk control module, a dynamic element control module, and a static element and accessory control module;

[0088] The robot trunk control module includes a main control module, a Bluetooth module, a lithium battery, and a near-field receiving module; the main control module is responsible for running the main control program, issuing control instructions to all components connected to the robot trunk through the Bluetooth module and receiving information feedback; the lithium battery is connected to each female end interface on the robot trunk and supplies power to all components connected to the robot trunk;

[0089] The dynamic element control module includes a near-field transmitting module, a main control module, a Bluetooth module, a motor control module, a motor, and a near-field receiving module; the near-field transmitting module is used to send identity information and existence information; the main control module is used to run the main control program of the dynamic element itself, and coordinate the operation of other modules; the Bluetooth module is used to communicate with the robot trunk, receive control instructions from the robot trunk and send information feedback; the motor control module is a bottom-level hardware module that drives and runs the basic control program of the motor; the motor is an execution component that drives the fixed section and the rotating section of the dynamic element to rotate relative to each other; the near-field receiving module is used to receive identity information and existence information sent by other components connected thereto;

[0090] The static element and accessory control module includes a near-field transmitting module, a communication control module, and a near-field receiving module; the near-field transmitting module is used to send identity information and existence information; the communication control module is used to coordinate the operation of the near-field transmitting module and the near-field receiving module and transmit information; the near-field receiving module is used to receive identity information and existence information sent by other components connected thereto;

[0091] The software system includes an embedded software system and an application software system. The embedded software system includes robot torso software, dynamic element software, and static element and accessory software; the application software system includes a mobile terminal APP, a development IDE, and a cloud data middle platform.

[0092] The number of the female end interfaces 8 of the robot trunk 1 is seven.

[0093] The male end 11 is provided with a hexagonal column 13, one cylindrical surface of the hexagonal column 13 is provided with a locking groove 14, and the outer end surface is provided with two power transmission sockets 15. The male end 11 is plugged into and matched with the cascaded female end 12, and the unlocking button 10 is used to unlock and pull out the cascaded male end 11.

[0094] The near-field receiving module is close to the female end, and the near-field transmitting module is close to the male end.

[0095] The robot trunk software includes a communication driver, a power management program, an operating system, a file management program, a topology calculation program, and a main control system; the communication driver is used to drive the near-field communication between the robot trunk and other components, the Bluetooth communication between the robot trunk and other components, and the Bluetooth communication between the robot trunk and smart phones and tablets; the power management program is used to manage the power consumption of the robot trunk, monitor the battery power, control the power saving mode of the robot system, and control charging; the operating system is an on-board embedded operating system of the robot trunk; the file management program is used to manage program files, cache files or temporary files downloaded or saved in the robot trunk; the topology calculation program is used to calculate the overall topological connection configuration of the robot system based on the information fed back by the components connected to the robot trunk, and provide an implementation basis for the digital twin module in the APP or development IDE; the main control system is used to coordinate the operation of the above-mentioned program modules and function scheduling;

[0096] The dynamic element software includes a communication driver, a motor driver, a motor control program, a main control program and storage; the communication driver is used to drive the near-field communication between the dynamic element and other components, and the Bluetooth communication between the dynamic element and the robot trunk; the motor driver controls devices such as operational amplifiers, and drives the motors in the dynamic element; the motor control program runs the motor control algorithm to achieve precise control of the motor, including position control, speed control, and torque control; the main control program and storage are used to coordinate the operation of each program module, function scheduling, and store the topological connection information of other components connected to the dynamic element;

[0097] The static element and accessory software includes a communication driver program, a main control program and storage; the communication driver program is used to drive near-field communication between the static element or accessory and other components; the main control program and storage are used to schedule the operation of the communication driver program and to store topological connection information of other components connected to the static element or accessory.

[0098] The mobile terminal APP includes a communication driver, a community software module, an application store module, a cloud service interface API and a control program module group;

[0099] The communication driver is used to drive Bluetooth communication or Wifi communication between the mobile terminal APP and the robot torso, drive Wifi communication or wired Ethernet communication between the mobile terminal APP and the cloud data middle station, and Bluetooth, Wifi or wired Ethernet communication between the mobile terminal APP and the development IDE;

[0100] The community software module is used to realize the community functions of the mobile terminal APP, including user registration, login, publishing or sharing of one's own works and programs using the robot system, liking, collecting, forwarding to other media platforms, sending or replying to private messages, checking other users' personal spaces, following or unfollowing; in addition, it also provides a topic search function;

[0101] The application store module is used for users to purchase program applications written by others on the APP platform, or sell program applications written by themselves. The module functions include application recommendation, keyword search, application category, application introduction, and similar application recommendation;

[0102] The cloud service interface API enables the mobile terminal APP to communicate with the cloud data center, push user data and requests, download programs, community data, and application store data;

[0103] The control program module group includes a digital twin module, a real-time control module, an action sequence editing module, a graphical programming module, a game control editing module, a console module, a file management system, a program download module and a program compilation module;

[0104] The development IDE is an integrated development environment for developers, running on the PC side, including communication drivers, Windows or MAC operating system, digital twin module, SDK loading module, program development module, program compilation module, application packaging and publishing module, APP interface API, cloud service interface API;

[0105] The communication driver is used to drive the Wifi communication or wired Ethernet communication between the development IDE and the cloud data center, and the Bluetooth, Wifi or wired Ethernet communication between the development IDE and the mobile terminal APP;

[0106] The Windows or MAC operating system, depending on the user's PC device, the IDE can run on Windows or MAC operating system;

[0107] The digital twin module is used to receive the robot topology information sent by the robot trunk and display the current robot configuration and motion posture in real time on the PC side;

[0108] The SDK loading module allows users to download different SDK (Software Development Kit) versions from the official website, load the IDE, and develop robot control codes based on them;

[0109] The program development module is the core module of the IDE and the core interactive interface for users to write codes;

[0110] The program compiling module is used to compile the program written by the user into a lower computer code, and can be directly burned into the trunk of the robot system;

[0111] The application packaging and publishing module is an application publishing assistant, in which developers can publish their own applications to the cloud application store backend system according to the template;

[0112] The APP interface API is used to realize the communication between the IDE and the mobile terminal APP;

[0113] The cloud service interface API enables the IDE to communicate with the cloud data center, push application release data, and download SDK;

[0114] The cloud data middle platform is a user service backend built based on cloud services, including data gateway and data collection, data transmission and data security strategy, data storage and database, data ETL engine, cold zone storage, community backend system, application store backend system, course and teaching material system, data analysis and mining backend program, community recommendation system API, application store recommendation system API, payment system API and financial system interface API;

[0115] The data gateway and data collection are used to access data from each user's mobile terminal APP or development IDE to complete data collection;

[0116] The data transmission and data security strategy is used to encrypt data transmission between users and the cloud data center, ensure transmission security, and perform disaster recovery redundancy on the data of the data center;

[0117] The data storage and database mentioned above refer to the hot zone data storage of the data center, which stores frequently used data content in a specially designed database;

[0118] The data ETL engine performs ETL (extraction, transformation, loading) processing on the data collected by the data gateway to complete the pre-processing work before the data enters the database;

[0119] The cold storage refers to the cold storage of the data center, which mainly stores historical data for more than one year;

[0120] The community backend system supports the backend management system of the community function operation of the mobile terminal APP;

[0121] The application store backend system is a backend system that supports the operation of the application store function of the mobile terminal APP;

[0122] The course and teaching material system is uniformly stored in the instructions for use of the data center, as well as robot programming or knowledge learning courses / teaching materials, which can be called up, viewed, and studied in the mobile terminal APP;

[0123] The data analysis and mining backend program performs statistics, analysis, and data mining on user data, user usage habits, and user preferences to support functions such as topic recommendation and application recommendation;

[0124] The community recommendation system API is used for data analysis and mining of API interfaces generated by the backend to support community topic recommendations and generate topic search rankings;

[0125] The payment system API is used to support the payment of users for purchasing applications and the payment of developers;

[0126] The financial system interface API is an API interface used to connect the cloud data center to the financial software system.

[0127] When the present invention is implemented, the A-type structural moving element 2, the BL-type structural moving element 3 and the BR-type structural moving element 4 can be inserted into a robot moving arm in a specific number and staggered manner as needed, and then the male end 11 of the moving arm is inserted and connected with the female end interface 8 of the robot trunk 1, and the female end 12 of the moving arm is connected with the A-type structural moving element 2 or the N-type structural static element 5, and finally the S-type attachment 6 or the F-type attachment is connected at the end to complete the assembly. It can be operated and used or demonstrated through a mobile terminal APP.

[0128] This modular robot toy and teaching aid control system based on digital twin has the following advantages:

[0129] Modular freedom: With the trunk as the main body and a one-master-multiple-slave architecture, the dynamic module is the most basic degree of freedom, with a large creative space. As a toy or teaching aid, it has unprecedented flexibility in the movement space;

[0130] Digital twin: Using digital twin technology, software and hardware linkage, what you see is what you get on smartphones, computers, and PCs, integrating simulation movement and control operations, greatly reducing the complexity of the robot system as a toy, making it easy for children to get started, while also improving its display as a teaching aid;

[0131] High scalability: The morphological diversity of this robot system increases exponentially with the addition of modules, and it can be expanded with various sensors and execution accessories, which can achieve rich playability or functions;

[0132] Continuous upgrade: With the OTA (over-the-air upgrade) function, the hardware and software can continuously download new software and firmware for upgrades, and can continuously load new gameplay and functions;

[0133] Long-term fun and educational function: Taking into account the above beneficial effects, the life cycle of toys and teaching aids is extremely long. It is a toy and teaching aid that can be played from childhood to adulthood and learned from childhood to adulthood.

[0134] Assisting R&D: Not only can it be used as a toy or teaching aid, it also provides a platform and tools for rapid prototyping and verification for robot R&D and manufacturing companies, significantly improving development efficiency;

[0135] Interest-driven learning: Children or teenagers can use this robot system to experience great fun while also stimulating their desire to create. Combined with the supporting electronic courses and teaching materials, they can consciously drive themselves to learn robotics knowledge and programming skills.

[0136] Consumers are producers: users with development capabilities can upload their works to the app store for sale, creating benefits for the maker community; in addition, the community function provides a platform for full communication between ordinary users such as teenagers, parents, and teachers and developers, allowing the robot system to maintain long-term vitality and have high practical value and promotion value.

[0137] The present invention and its embodiments are described above, and such description is not restrictive. The drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. In short, if ordinary technicians in the field are inspired by it and do not deviate from the purpose of the invention, they can creatively design a structure and embodiment similar to the technical solution, which should fall within the protection scope of the present invention.

Claims

1. A modular robot toy and teaching aid control system based on digital twin, characterized by: It includes a hardware module and a software system, wherein the hardware module includes a mechanical hardware and a control module; The mechanical hardware comprises a robot trunk (1), an A-type structural dynamic element (2), a BL-type structural dynamic element (3), a BR-type structural dynamic element (4), an N-type structural static element (5), an S-type attachment (6) and an F-type attachment (7); The robot trunk (1) is provided with a plurality of female end interfaces (8), a USB interface (9) is provided on one side of the robot trunk (1), unlocking buttons (10) are symmetrically provided on the upper and lower sides of the robot trunk (1) near the female end interface (8), the female end interface (8) is provided with an interface lock, and a lithium battery and a main control module are provided inside the robot trunk (1); The A-type structural moving element (2) is in a straight cylindrical shape, with a male end (11) and a female end (12) respectively provided at both ends, the outer structure of the female end (12) is the same as the structure of the female end interface (8), and unlocking buttons (10) are symmetrically provided on both sides close to the female end (12); The BL-type structural moving element (3) is in a right-angled L-shape, with a male end (11) and a female end (12) respectively provided at both ends, and unlocking buttons (10) are symmetrically provided on both sides close to the female end (12), and the male end (11) of the BL-type structural moving element (3) is located at the end of the short side of the L-shape; The BR-type structural moving element (4) is in a right-angled L-shape, with a male end (11) and a female end (12) respectively provided at both ends, and unlocking buttons (10) are symmetrically provided on both sides close to the female end (12), and the male end (11) of the BR-type structural moving element (4) is located at the end of the long side of the L-shape; The N-type structure static element (5) is in a straight cylindrical shape, with a male end (11) and a female end (12) respectively provided at both ends, and unlocking buttons (10) are symmetrically provided on both sides close to the female end (12); The S-shaped attachment (6) is spherical and has a male end (11) made of rubber or plastic material, which directly contacts the ground or the environment as the end foot; The F-type attachment (7) is flat and has a male end (11) made of rubber or plastic, which directly contacts the ground or the environment as the end foot; The A-type structural moving element (2), the BL-type structural moving element (3) and the BR-type structural moving element (4) all have the male end (11) as a fixed section, and the remaining sections where the female end (12) is located can rotate relative to the male end (11); the N-type structural static element (5), the S-type attachment (6) and the F-type attachment (7) are all integral fixed sections; The control module includes a robot trunk control module, a dynamic element control module, and a static element and accessory control module; The robot trunk control module includes a main control module, a Bluetooth module, a lithium battery, and a near-field receiving module; the main control module is responsible for running the main control program, issuing control instructions to all components connected to the robot trunk through the Bluetooth module and receiving information feedback; the lithium battery is connected to each female end interface on the robot trunk and supplies power to all components connected to the robot trunk; The dynamic element control module includes a near-field transmitting module, a main control module, a Bluetooth module, a motor control module, a motor, and a near-field receiving module; the near-field transmitting module is used to send identity information and existence information; the main control module is used to run the main control program of the dynamic element itself, and coordinate the operation of other modules; the Bluetooth module is used to communicate with the robot trunk, receive control instructions from the robot trunk and send information feedback; the motor control module is a bottom-level hardware module that drives and runs the basic control program of the motor; the motor is an execution component that drives the fixed section and the rotating section of the dynamic element to rotate relative to each other; the near-field receiving module is used to receive identity information and existence information sent by other components connected thereto; The static element and accessory control module includes a near-field transmitting module, a communication control module, and a near-field receiving module; the near-field transmitting module is used to send identity information and existence information; the communication control module is used to coordinate the operation of the near-field transmitting module and the near-field receiving module and transmit information; the near-field receiving module is used to receive identity information and existence information sent by other components connected thereto; The software system includes an embedded software system and an application software system. The embedded software system includes robot trunk software, dynamic element software, static element and accessory software; the application software system includes a mobile terminal APP, a development IDE and a cloud data middle platform; The robot trunk software includes a communication driver, a power management program, an operating system, a file management program, a topology calculation program, and a main control system; the communication driver is used to drive near-field communication between the robot trunk and other components, Bluetooth communication between the robot trunk and other components, and Bluetooth communication between the robot trunk and smart phones and tablets; the power management program is used to manage the power consumption of the robot trunk, monitor the battery power, control the power saving mode of the robot system, and control charging; the operating system is an on-board embedded operating system of the robot trunk; the file management program is used to manage program files, cache files or temporary files downloaded or saved in the robot trunk; the topology calculation program is used to calculate the overall topological connection configuration of the robot system based on the information fed back by each component connected to the robot trunk, and provide an implementation basis for the digital twin module in the APP or development IDE; the main control system is used to coordinate the operation and function scheduling of the communication driver, power management program, operating system, file management program, and topology calculation program; The dynamic element software includes a communication driver, a motor driver, a motor control program, a main control program and storage; the communication driver is used to drive the near-field communication between the dynamic element and other components, and the Bluetooth communication between the dynamic element and the robot trunk; the motor driver controls devices such as operational amplifiers, and drives the motors in the dynamic element; the motor control program runs the motor control algorithm to achieve precise control of the motor, including position control, speed control, and torque control; the main control program and storage are used to coordinate the operation of each program module, function scheduling, and store the topological connection information of other components connected to the dynamic element; The static element and accessory software includes a communication driver program, a main control program and storage; the communication driver program is used to drive near-field communication between the static element or accessory and other components; the main control program and storage are used to schedule the operation of the communication driver program and to store topological connection information of other components connected to the static element or accessory.

2. A modular robot toy and teaching aid control system based on digital twin according to claim 1, characterized in that: The number of female end interfaces (8) of the robot trunk (1) is seven.

3. A modular robot toy and teaching aid control system based on digital twin according to claim 1, characterized in that: The male end (11) is provided with a hexagonal column (13), one column surface of the hexagonal column (13) is provided with a locking groove (14), and the outer end surface is provided with two power transmission sockets (15). The male end (11) is plugged and matched with the cascaded female end (12), and the unlocking button (10) is used to unlock and pull out the cascaded male end (11).

4. A modular robot toy and teaching aid control system based on digital twin according to claim 1, characterized in that: The near-field receiving module is close to the female end, and the near-field transmitting module is close to the male end.

5. The modular robot toy and teaching aid control system based on digital twin according to claim 1, characterized in that: The mobile terminal APP includes a communication driver, a community software module, an application store module, a cloud service interface API and a control program module group; The communication driver is used to drive Bluetooth communication or Wifi communication between the mobile terminal APP and the robot torso, drive Wifi communication or wired Ethernet communication between the mobile terminal APP and the cloud data middle station, and Bluetooth, Wifi or wired Ethernet communication between the mobile terminal APP and the development IDE; The community software module is used to realize the community functions of the mobile terminal APP, including user registration, login, publishing or sharing of one's own works and programs using the robot system, liking, collecting, forwarding to other media platforms, sending or replying to private messages, checking other users' personal spaces, following or unfollowing; in addition, it also provides a topic search function; The application store module is used for users to purchase program applications written by others or sell program applications written by themselves on the mobile terminal APP. The module functions include application recommendation, keyword search, application category, application introduction, and similar application recommendation; The cloud service interface API enables the mobile terminal APP to communicate with the cloud data center, push user data and requests, download programs, community data, and application store data; The control program module group includes a digital twin module, a real-time control module, an action sequence editing module, a graphical programming module, a game control editing module, a console module, a file management system, a program download module and a program compilation module; The development IDE is an integrated development environment for developers, running on the PC side, including communication drivers, Windows or MAC operating system, digital twin module, SDK loading module, program development module, program compilation module, application packaging and publishing module, APP interface API, cloud service interface API; The communication driver is used to drive the Wifi communication or wired Ethernet communication between the development IDE and the cloud data center, and the Bluetooth, Wifi or wired Ethernet communication between the development IDE and the mobile terminal APP; The Windows or MAC operating system, depending on the user's PC device, the IDE can run on Windows or MAC operating system; The digital twin module is used to receive the robot topology information sent by the robot trunk and display the current robot configuration and motion posture in real time on the PC side; The SDK loading module allows users to download different SDK (Software Development Kit) versions from the official website, load the IDE, and develop robot control codes based on them; The program development module is the core module of the IDE and the core interactive interface for users to write codes; The program compiling module is used to compile the program written by the user into a lower computer code, and can be directly burned into the trunk of the robot system; The application packaging and publishing module is an application publishing assistant, in which developers can publish their own applications to the cloud application store backend system according to the template; The APP interface API is used to realize the communication between the IDE and the mobile terminal APP; The cloud service interface API enables the IDE to communicate with the cloud data center, push application release data, and download SDK; The cloud data middle platform is a user service backend built based on cloud services, including data gateway and data collection, data transmission and data security strategy, data storage and database, data ETL engine, cold zone storage, community backend system, application store backend system, course and teaching material system, data analysis and mining backend program, community recommendation system API, application store recommendation system API, payment system API and financial system interface API; The data gateway and data collection are used to access data from each user's mobile terminal APP or development IDE to complete data collection; The data transmission and data security strategy is used to encrypt data transmission between users and the cloud data center, ensure transmission security, and perform disaster recovery redundancy on the data of the data center; The data storage and database mentioned above refer to the hot zone data storage of the data center, which stores frequently used data content in a specially designed database; The data ETL engine performs ETL (extraction, transformation, loading) processing on the data collected by the data gateway to complete the pre-processing work before the data enters the database; The cold storage refers to the cold storage of the data center, which mainly stores historical data for more than one year; The community backend system supports the backend management system of the community function operation of the mobile terminal APP; The application store backend system is a backend system that supports the operation of the application store function of the mobile terminal APP; The course and teaching material system is uniformly stored in the instructions for use of the data center, as well as robot programming or knowledge learning courses / teaching materials, which can be called up, viewed, and studied in the mobile terminal APP; The data analysis and mining backend program performs statistics, analysis, and data mining on user data, user usage habits, and user preferences to support functions such as topic recommendation and application recommendation; The community recommendation system API is used for data analysis and mining of API interfaces generated by the backend to support community topic recommendations and generate topic search rankings; The payment system API is used to support the payment of users for purchasing applications and the payment of developers; The financial system interface API is an API interface used to connect the cloud data center to the financial software system.

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