Modular robot construction method, modular robot assembly and sharing method, and interactive system for modular robot construction

Abstract

The present invention relates to the field of robotics, and in particular to a method for constructing modular robots, a method for assembling and sharing modular robots, and an interactive system. One interactive system includes a server and a download terminal that communicate with each other. The server is used to store information about the modular robots to be constructed, including the type of modules to be assembled, the assembly position, and the assembly method. The download terminal is used to communicate with the modular robots to be assembled, download the information about the modular robots to be constructed, parse and display the downloaded information about the modular robots to be constructed, associate the parsed information about the modular robots to be constructed with the modular robots to be constructed, and generate a construction reminder signal when a user constructs the modular robots to be constructed based on the displayed information about the modular robots to be constructed. The system and method provided by the present invention have the beneficial effect of maximizing resource sharing and providing users with a better user experience.

Description

Technical Field

[0001] The present invention relates to the field of robotics, and in particular to a method for constructing a modular robot, a method for assembling and sharing a modular robot, and an interactive system for constructing a modular robot. Background Art

[0002] With the rapid development of various technologies in today's society, people's lives are becoming increasingly technological and intelligent. Robots are now widely used in people's daily lives, for example, using robots to perform tasks and as tools to develop children's intelligence. Current robots are generally modular, and different modules can be assembled according to user needs to form a robot structure that meets the user's expectations. To guide users in modular assembly, manufacturers usually provide users with several assembly methods at the time of shipment for easy reference and use. However, if users want to obtain a configuration other than the one provided by the manufacturer, it is difficult to achieve a significant breakthrough in the assembled robot configuration due to factors such as each user's limited thinking and knowledge. This can even lead to assembly failure and inability to complete the task. Summary of the Invention

[0003] In response to the above problems, the present invention provides a method for constructing a modular robot, a method for assembling and sharing a modular robot, and an interactive system for constructing a modular robot.

[0004] The solution to the technical problem of the present invention is to provide the following technical solutions:

[0005] An interactive system for constructing a modular robot, wherein the modular robot includes a plurality of modules that can be assembled together, and the plurality of modules includes at least one module that can communicate with a terminal. The interactive system includes a server end and a download terminal that communicate with each other, the server end being used to store information about the modular robot to be constructed, wherein the information about the modular robot to be constructed includes at least configuration information of the modular robot, wherein the configuration information includes at least the type of module assembled by the robot, the assembly position, and the assembly method; the download terminal being used to communicate with the modular robot to be assembled, download the information about the modular robot to be constructed, parse and display the downloaded information about the modular robot to be constructed, associate the parsed information about the modular robot to be constructed with the modular robot to be constructed, and generate a construction reminder signal when a user constructs the modular robot to be constructed based on the displayed information about the modular robot to be constructed.

[0006] Preferably, the download terminal generates and displays the configuration of the virtual module robot based on the configuration information.

[0007] Preferably, the information of the module robot to be constructed further includes at least one of different types of driving information, execution instruction sequences, execution logic information generated based on the execution instruction sequences, multimedia information, and control interface information.

[0008] Preferably, the download terminal includes an acquisition module: used to communicate with the server side to download the information of the robot of the module to be built; a parsing module: parsing the acquired information of the robot of the module to be built and transmitting it to the robot of the module to be built; a display module: used to classify and display the parsed information of the robot of the module to be built; a control module: used to communicate with the parsing module to edit and / or transmit the parsed information of the robot of the module to be built to the robot of the module to be built, and there are multiple control modules, and the types of the multiple control modules are different. According to the type of the robot information of the module to be built, a control module is matched and associated with the parsing module.

[0009] Preferably, the server side includes a plurality of storage modules, each storage module being used to classify and store information of modular robots to be constructed with the same configuration information.

[0010] Preferably, the download terminal is also used to upload other robot information about the module robot to be constructed that is independently edited or created for downloading by other terminals.

[0011] In order to solve the above technical problems, the present invention also provides an interactive system for constructing modular robots, wherein the modular robot includes multiple modules that can be assembled together, and the multiple modules include at least one module that can communicate with a terminal. The interactive system includes a server end and an upload terminal that communicate with each other, and the upload terminal is used to establish communication with the initial module robot and obtain robot information about the initial module robot based on the communication, wherein the robot information includes at least configuration information, and the configuration information includes at least the type of module assembled by the robot, the assembly position and the assembly method; the robot information is uploaded to the server end as the information of the module robot to be constructed for other terminal users to download and a construction reminder signal is generated when the module robot to be constructed is constructed based on the information of the module robot to be constructed; the server end is used to receive the robot information and save it.

[0012] Preferably, the robot information also includes at least one of different types of driving information, execution instruction sequences, execution logic information generated based on the execution instruction sequences, multimedia information, and control interface information; the upload terminal includes: an identification module: used to identify the configuration information of the initial module robot; a setting module: used to set at least one of the driving information, execution instruction sequences, execution logic information generated based on the execution instruction sequences, multimedia information, and control interface information about the movement of the initial module robot; a conversion module: used to convert at least one of the configuration information, driving information, execution instruction sequences, execution logic information generated based on the execution instruction sequences, multimedia information, and control interface information into a file that can be parsed by a parsing module; an upload module: communicates with the conversion module and uploads the robot information obtained by the conversion module to the server as the robot information of the module to be constructed.

[0013] Preferably, the server side includes a determination module and multiple storage modules, and the determination module is used to communicate with the identification module to determine the configuration category of the initial module robot based on the configuration information, and classify and store robot information with the same configuration category into different storage modules.

[0014] Preferably, the uploading terminal is also used to download robot information uploaded by other terminal users and to generate an assembly reminder signal when constructing a modular robot to be constructed.

[0015] In order to solve the above technical problems, the present invention also provides an interactive system for constructing a modular robot, wherein the modular robot includes a plurality of modules that can be assembled together, and the plurality of modules include at least one module that can communicate with a terminal. The interactive system includes an upload terminal, a server end and a download terminal that communicate with each other, the upload terminal is used to establish communication with the initial module robot, obtain robot information about the initial module robot based on the communication, the robot information includes at least configuration information, and the configuration information includes at least the type of module assembled by the robot, the assembly position and the assembly method; upload the robot information to the server end as the module robot information to be constructed for other terminal users to download and display, and the module robot to be constructed based on the display The robot information generates a construction reminder signal when constructing the module robot to be constructed; is used to communicate with the module robot to be constructed, download the module robot information to be constructed, parse and display the downloaded module robot information to be constructed, associate the parsed module robot information to be constructed with the module robot to be constructed, and generate a construction reminder signal when the user constructs the module robot to be constructed based on the displayed module robot information to be constructed; the server side is used to store the module robot information to be constructed about the module robot to be constructed, the module robot information to be constructed at least includes the configuration information of the module robot, and the configuration information at least includes the type of module assembled by the robot, the assembly position and the assembly method.

[0016] In order to solve the above technical problems, the present invention also provides a method for constructing a modular robot, which is applied to a terminal, wherein the modular robot includes multiple modules that can be assembled together, and the multiple modules include at least one module that can communicate with the terminal: obtaining information of a modular robot to be constructed for splicing the modular robot from a server, the information of the modular robot to be constructed includes at least configuration information of the modular robot, and the configuration information includes at least the type of module assembled by the robot, the assembly position and assembly method; parsing the obtained information of the modular robot to be constructed to display the information of the modular robot to be constructed; and associating the information of the modular robot to be constructed with the modular robot, the information of the modular robot to be constructed associated with the modular robot is used to generate an assembly reminder signal when the user assembles the modular robot to be constructed based on the displayed information of the modular robot to be constructed.

[0017] Preferably, the information of the modular robot to be constructed also includes driving information for controlling the modular robot to perform movement, and the driving information includes at least one preset action frame information and at least one preset action control information generated by editing or calculating the at least one action frame information. Each action frame information and preset action control information are displayed in a classified manner.

[0018] Preferably, each action frame information and preset action control information are respectively provided with corresponding identification information, and the preset action control information is directly transmitted to the module robot according to the identification information to control the module robot to perform movement according to the preset action control information; or at least one action frame information selected and displayed according to the identification information is re-edited or calculated to obtain new preset action control information, and the new preset action control information is transmitted to the module robot and / or uploaded to the terminal platform.

[0019] Preferably, the information of the module robot to be constructed further includes at least one preset execution instruction sequence and / or execution logic information generated based on the at least one preset execution instruction sequence, and each execution instruction sequence and execution logic information is displayed in a classified manner.

[0020] Preferably, each execution instruction sequence and execution logic information has different identification information, and the corresponding execution instruction sequence or execution logic information is selected and transmitted to the module robot according to the identification information; or at least one execution instruction sequence displayed is selected and re-edited according to the identification information to obtain new execution logic information, and the new execution logic information is transmitted to the module robot and / or uploaded to the terminal platform.

[0021] Preferably, the information of the module robot to be constructed also includes multimedia information, and the multimedia information is directly sent to the module robot to be constructed so that it runs the multimedia information; or the multimedia information is re-edited to obtain new multimedia information, and the new multimedia information is transmitted to the construction module robot and / or uploaded to the server.

[0022] Preferably, the information of the modular robot to be constructed also includes control interface information, and the control interface information includes the corresponding GUI interface change status information at different assembly progresses in the process of assembling multiple modules into a modular robot. The target robot structure is assembled based on the control interface information or the information of the modular robot to be constructed is transmitted to the modular robot.

[0023] Preferably, guidance information is generated based on the configuration information and the progress of assembling the module robot to be built, and the guidance information includes a virtual robot configuration generated based on the configuration information, text and / or voice prompt information guiding the robot assembly, or visual guidance information of the current module and the next module to be assembled under the module robot assembly progress.

[0024] Preferably, after the module robot to be constructed is constructed based on the displayed information of the module robot to be constructed, the constructed module robot is further re-edited to obtain a new module robot and / or the information about the new module robot is uploaded to the server.

[0025] In order to solve the above technical problems, the present invention also provides a modular robot assembly sharing method, which is applied to a terminal. The modular robot includes a plurality of modules that can be assembled together, and the plurality of modules includes at least one module that can communicate with the terminal. The modular robot assembly sharing method includes the following steps: establishing communication with an initial modular robot, the initial modular robot is obtained by the sharer based on the assembly of multiple modules; obtaining information about the initial modular robot based on the communication;

[0026] The configuration information includes at least the module type, assembly position and assembly method of the robot assembly; the module configuration information is uploaded to the server as the information of the robot module to be constructed for downloading by other terminal users, and the information of the robot module to be constructed is used to generate a construction reminder signal when the robot module to be constructed is constructed.

[0027] Preferably, driving information is set for the initial module robot to control the movement of the module robot, and the driving information includes multiple action frame information and preset action control information obtained by editing or calculating the multiple action frame information; the driving information and the configuration information are uploaded to the server side as the module robot information to be constructed according to different types.

[0028] Preferably, the initial module robot is further set with an execution instruction sequence, or based on the execution instruction sequence, execution logic information is generated, multimedia information is set, and at least one of the control interface information for the process of assembling the initial module robot is formed and uploaded to the server side according to different types; multiple action frame information is associated with preset action control information, and the set execution instruction sequence, the generated execution logic information, the set multimedia information, and the formed control interface information are saved as file types that can be parsed, displayed, and / or edited by the software. At least two of them are packaged and uploaded to the server side as the module robot information to be constructed.

[0029] Compared with the prior art, the modular robot construction method, modular robot assembly and sharing method, and interactive system for modular robot construction provided by the present invention have the following beneficial effects:

[0030] 1. The interactive system for constructing modular robots includes a server side and a download terminal that communicate with each other. The server side collects modular robots assembled by different sharers, sellers, R&D personnel, and modular robot enthusiasts. It also includes configuration information corresponding to the modular robot and / or information content such as driving the modular robot to move and execute different instructions, and collects a large number of rich intellectual achievements. Users who need to follow the assembly use their handheld download terminal products to obtain these modular robot information from the server side. The download terminal parses and displays this information, and transmits this information to the modular robot through the download terminal, so that users who follow the assembly can imitate the assembly of the modular robot to be built under these reminder signals, so that users are not limited to the several configurations provided by the seller when purchasing the goods, and can also maximize the degree of resource sharing, so that users have a better experience.

[0031] 2. Each action frame information and preset action control information are displayed in categories. Each action frame information and preset action control information are respectively provided with corresponding identification information, which makes it convenient for users to select the corresponding action frame information for operation, editing or modification, further reducing the difficulty of assembly for users who follow the assembly.

[0032] 3. It further includes at least one preset execution instruction sequence and / or execution logic information, multimedia information, etc. generated based on the at least one preset execution instruction sequence, which can well meet the needs of different assembly enthusiasts and build modular robot configurations with different functions. Different information is distinguished by different identifiers, which is convenient for users to further recreate or directly apply.

[0033] 4. Further includes interface control information, which further facilitates users to assemble the target robot structure based on the control interface information or transmit the information of the module robot to be built to the module robot, thereby reducing the error rate of operation.

[0034] 5. After the sharer creates a new modular robot, a virtual modular robot will be generated based on the configuration information and displayed on the sharing platform for users to browse, so that users can easily select the modular robot they are interested in and follow the assembly, thereby improving the user experience.

[0035] 6. Save the driving information, execution instruction sequence, or the execution logic information, multimedia information, and control interface information generated based on the execution instruction sequence to form the initial module robot assembly process as different types for uploading, so as to facilitate users who follow the assembly to download from the shared platform and then enter the corresponding editor after the download terminal parses it, thereby improving the accuracy of applying these module robot information to the assembled module robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 2 is a flow chart of a modular robot assembly and sharing method according to a first embodiment of the present invention.

[0037] Figure 2 It is a three-dimensional structural diagram of the local structure of the modular robot assembled in the present invention.

[0038] Figure 3 It is a schematic diagram of the three-dimensional structure of the neutron module unit of the present invention.

[0039] Figure 4 2 is a schematic diagram of the interface of the drive information editor in the modular robot assembly sharing method according to the first embodiment of the present invention.

[0040] Figure 5 2 is a schematic diagram of another interface setting progress of the driving information editor in the modular robot assembly sharing method according to the first embodiment of the present invention.

[0041] Figure 6 It is a schematic diagram of the display interface of the submenu corresponding to each action frame information of the driving information editor in the modular robot assembly sharing method of the first embodiment of the present invention.

[0042] Figure 7 It is a three-dimensional diagram of the modular robot assembled in the present invention including wheels.

[0043] Figure 8 It is a schematic diagram of the interface of the drive information editor in the modular robot assembly sharing method according to the first variant embodiment of the present invention.

[0044] Figure 9 2. It is a schematic diagram of the interface of the drive information editor in the modular robot assembly sharing method according to the second variant embodiment of the present invention.

[0045] Figure 10 2 is a schematic diagram of the interface of the drive information editor in the modular robot assembly sharing method according to the fourth variant embodiment of the present invention.

[0046] Figure 11 4 is a flow chart of an assembly method of a modular robot according to a second embodiment of the present invention.

[0047] Figure 12 It is a schematic diagram of a creation interface for creating a modular robot to be constructed in the modular robot assembly method according to the second embodiment of the present invention.

[0048] Figure 13 It is a schematic diagram of a creation interface in another state of creating a modular robot to be constructed in the modular robot assembly method according to the second embodiment of the present invention.

[0049] Figure 14This is another schematic diagram of the three-dimensional structure of the modular robot assembled in the present invention including wheels.

[0050] Figure 15 3 is a schematic diagram of a module of an interactive system for modular robot construction provided by the third embodiment of the present invention.

[0051] Figure 16 It is a schematic diagram of a module of a download terminal of a system for modular robot assembly provided by a third embodiment of the present invention.

[0052] Figure 17 4 is a schematic diagram of a module of an interactive system for modular robot construction provided by the fourth embodiment of the present invention.

[0053] Figure 18 1 is a schematic diagram of a module of an upload terminal in an interactive system for modular robot construction provided by a fourth embodiment of the present invention.

[0054] Figure 19 It is a structural diagram of a computer system of a server provided by the present invention that is suitable for implementing an embodiment of the present invention. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and implementation examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0056] Please refer to Figure 1 A first embodiment of the present invention provides a modular robot assembly and sharing method, wherein the modular robot includes a plurality of modules that can be assembled together, and the plurality of modules includes at least one module that can communicate with a terminal. The modular robot assembly and sharing method includes the following steps:

[0057] S1. Establish communication between the module and the terminal, and assemble multiple modules to obtain an initial module robot;

[0058] S2. Identifying configuration information about the initial module robot based on the communication, the configuration information including at least the type of module assembled by the robot, assembly position, and assembly method;

[0059] S3. Upload the model configuration information to the server as information of the module robot to be constructed for downloading by other terminal users. The information of the module robot to be constructed is used to generate a construction reminder signal when the module robot to be constructed is constructed.

[0060] In some specific embodiments, the terminal includes a mobile terminal, which generally includes electronic devices such as mobile phones, computers, tablet computers and other electronic devices. It can also be understood that the user develops an APP software on the terminal as a control component associated with the module. In the following description, the settings of action settings, logic information settings and other control information of the assembled modular robot are all performed on the APP software, so the terminal is described using the APP software in the following description. The terminal here mainly acts as an upload terminal for uploading configuration information and related information about the movement of the modular robot.

[0061] The server side generally includes the cloud and the server, and is a comprehensive server side that takes into account both computing and data storage processing.

[0062] The sharing platform is an information sharing display area set on the terminal. It can be understood as a sharing display area set on the APP software. After entering the APP software, you can see the information displayed on the sharing platform.

[0063] In step S1, the module and the terminal can be connected via a wired connection or a wireless connection. For a wired connection, a corresponding external interface is provided on the module. Wireless connection methods include wireless communication using technologies such as Zigbee, Bluetooth, and NFC. In this embodiment, Zigbee technology is preferred.

[0064] Please further combine Figure 2 The module includes a main control module 30 and several sub-unit modules 10 connected thereto. The main control module 30 is provided with at least one docking portion 14, and each sub-unit module 10 is provided with at least one docking portion 14. The main control module 30 and the sub-unit modules 10 are connected through the docking portion 14 and communicate with the sub-unit modules. Different connection methods between the main control module 30 and the sub-unit modules 10, and between the sub-unit modules 10 and the sub-unit modules 10 can reconstruct the initial robot structure 1a of different configurations. Usually, as creators or some high-end players, they often create a newer modular robot based on these modules, and then as sharers, they upload the configuration information associated with the created modular robot, the information that controls its movement or execution of certain instructions, and the information associated with completing certain events to the server for reference and assembly by other users or players.

[0065] See also Figure 3The sub-unit module 10 includes two sub-modules 101 that can rotate relative to each other, and the rotation is controlled by an electrical signal. Preferably, it can also be manually controlled to rotate. Preferably, the sub-module 101 is hemispherical, and each sub-module 101 is provided with at least one docking portion 14, and the plurality of sub-unit modules 10 are connected via the docking portion 14. Preferably, the number of docking portions 14 on each sub-unit module 10 is 2 or 3 or 4 or 5 or 6 or 7 or 8. Preferably, the different docking portions 14 of each sub-unit module 10 are provided with corresponding interface identification information to facilitate determination of the relative connection position between the sub-unit modules 10, that is, determination of the assembly position information between the modules.

[0066] Therefore, the process of obtaining the assembly position information in the configuration information of the initial modular robot in step S2 is as follows: the main control module 30 identifies the interface identification information of the docking portions 14 between adjacent sub-unit modules step by step, following the sequential connection order of the sub-unit modules 10 toward the free end of the modular robot, to obtain the position information of the modular robot. Specifically, the terminal pair can communicate with the main control module 30 to obtain the configuration information.

[0067] Since different modules are provided with different interface identification information, the module type information can be obtained by identifying the interface identification information.

[0068] The assembly method may be video information of the assembly process shot by the user, GUI interface information, or text description information describing the assembly sequence and assembly method.

[0069] In step S3, the model configuration information is uploaded to the server as information about the modular robot to be constructed, which is then available for download by other terminal users. This information is used to generate a build reminder signal when the modular robot to be constructed is being constructed. Specifically, the terminal downloading the modular robot information can generate a virtual modular robot configuration associated with the initial modular robot through 3D simulation or modeling based on the obtained configuration information, and then display the configuration to allow the user to select whether to construct a modular robot with the same configuration as the virtual modular robot. The generation of the build reminder signal will be further described in the following sections.

[0070] Furthermore, in order to enable the initial module robot to move, it is necessary to further set driving information for the initial module robot to control the movement of the module robot. The driving information includes multiple action frame information and preset action control information obtained by editing or calculating the multiple action frame information.

[0071] To set the driving information, the app software integrates a driving information editor for operation. The driving information editor integrates visual editing buttons or menus on the display screen of the electronic device, and the user can set or edit the driving information by operating these buttons or menus.

[0072] A brief explanation of the button labels on the display screen: 21, Save button; 22, Delete button; 23, Add button; 24, Action frame label; 25, Another action frame label; The area between the two action frames 24 and 25 represents the running time of the action frames; 26, Run or Pause button; 27, Progress bar button; 28, Return button.

[0073] Please combine Figure 4 and Figure 5 , based on the fact that the module communicates with the terminal when constructing the initial module robot, when the sharer completes the assembly and obtains the initial module robot, its virtual module robot configuration will be displayed on the terminal screen, and it will automatically jump to the "Create the first action frame" control interface. After clicking to enter, as shown in the attached Figure 4 and attached Figure 5 The interface information shown. First, click the add button 23, and then complete the setting of an action frame by rotating any submodule 101, and an action frame mark 25 will be displayed on the screen at the same time. If you need to continue setting the next action frame, rotate a submodule 101 again, and click the add button 23 again after the rotation is completed, which means that the setting of two action frames is completed, forming an action frame mark 25, and so on. After completing the setting of all required action frames, click the run button 26, and the assembled module robot and the virtual module robot on the display screen can execute the movement one by one according to the series of action frames just set. The distance between two action frames represents the running time from the previous action frame to the next action frame. The user can adjust the length of the running time of the two by pulling one of the action frame marks.

[0074] Alternatively, after setting an action frame, the next action frame can be directly obtained by copying the action frame, and the speed relationship of the movement between the two action frames can also be adjusted by dragging the distance of two adjacent action frames, or by selecting one of the action frames for modification and editing, such as modifying its movement speed, deleting it, and other operations. And when all the action frames are set, the series of action frames form the preset action control information, and the save button 21 on the display screen is clicked to associate and save the preset action control information and the associated multiple action frames. For the convenience of identification and differentiation, the user will pop up an operation box for inputting a name before saving for the user to input a name as identification information, so that it can be quickly distinguished after being uploaded to the server for the user to download, so as to be better applied to the modular robot assembled subsequently.

[0075] When it is necessary to delete one of the set series of action frames, the action frame can be selected and then the delete button 22 can be clicked.

[0076] See also Figure 6 Different submenus 241 are integrated under each action frame identifier 24. These submenus 241 will be automatically displayed when clicking on the corresponding action frame identifier 24. By clicking on these submenus 241, corresponding setting operations can be completed, such as adjusting the rotation speed, rotation angle and other commands.

[0077] It should also be noted that after the user following the assembly downloads this action frame information or preset action control information, it can only be displayed and operated on the same type of drive information editor. Therefore, it is necessary to format and encode the action frame information and the corresponding preset action control information while saving, so that subsequent users can download it from the server and parse it into the corresponding drive information editor. At the same time, it is displayed on the display screen for users to select and operate, so as to apply it to the subsequent assembly of the modular robot. Therefore, it is explained that after saving, the configuration information and drive information are uploaded to the server according to different format types.

[0078] In a first variant embodiment, a modular robot 2a with wheels is provided. In addition to setting motion frames for the submodule 101 to enable both submodules to rotate, the operating and rotational speeds of the wheels 102 also need to be configured. This requires a separate drive information editor capable of configuring the rotation and speed of the wheels.

[0079] See also Figure 7 and Figure 8 In order to distinguish it from the driving information editor of the first embodiment, the editor with speed editing function can be named as rotation motion editor. Its interface is roughly as follows: Figure 8 As shown in the following. Figure 8The editing process is briefly described as follows: Select one wheel 102 and then pull the speed adjustment button 461 on the screen to set its rotation speed and direction. This completes the steering speed setting for that wheel. At this point, the app automatically reads and records the steering speed and steering angle. Continue setting the steering speed for the next wheel 102 in the same manner. Once the steering speeds for all wheels 102 are set, click the Save button 41 in the upper right corner to complete the setting. To continue with the drive information settings, click the Run button 462. To exit the current editing process, click the Back button 48.

[0080] The rotational speed of the wheels 102 can also be set by clicking on the screen to select a wheel, then rotating the wheels of the physical modular robot. The rotational motion editor will then record the rotational speed. Once the setting is complete, click the Save button 41 in the upper right corner to save the information. The saved drive information is about the steering speed of the wheel. Because the type of saved information is different from the type of saved drive information in the first embodiment described above, users who subsequently assemble modular robots will also need to enter the corresponding rotational motion editor to facilitate operation of this type of drive information and apply it to the newly assembled modular robot.

[0081] In the second variant embodiment, please further combine Figure 9 If you need to set the wheel speed for a modular robot with wheels, such as forward, left, or right turns, you can also set up another drive information editor to configure these settings. For differentiation, it is named the Steering Wheel Editor. A graphical icon with a forward arrow 54, a left turn arrow 52, and a right turn arrow 53 will appear on the display screen. If the user needs to set the wheel speed, they first need to roughly adjust all wheels to a straight relationship relative to the body, click the forward arrow 54, and then push the physical modular robot to walk a distance on the road. The steering wheel editor will then obtain the wheel speed. The speed can be obtained by installing a speed sensor on each wheel, which can then obtain the actual speed of each wheel during travel. To set the left or right turn speed, click the left turn arrow 52 or right turn arrow 53 respectively. After the settings are complete, click the Save button 51 at the top. Click the Run button 56 on the right to control the modular robot's movement. Click the Exit button 58 in the upper left corner to exit the current mode.

[0082] The driving information saved at this time is about the steering speed or forward speed of the wheel, so its saving type is different from the saving type of the driving information of the first variant embodiment and the second variant embodiment mentioned above. As a user of the subsequent assembly module robot, you also need to enter the corresponding steering wheel editor to facilitate the operation of this type of driving information and apply it to the new module robot.

[0083] In a third variant embodiment, some specific drive information editors (not shown) can also be set based on the interpolation algorithm. The following briefly describes the setting process of this type of specific drive information editor: set the limit value under a motion state, and then the intermediate motion state can be obtained through the interpolation algorithm calculation. For example, if a motion distance is AB, set the starting state A to Va and the speed under the end state B to Vb, and then the speed between AB can be obtained by combining Va and Vb through the interpolation algorithm. This setting method can make the speed of the entire motion process of AB more uniform and also shorten the setting time. At this time, the corresponding action frame information under the set limit value state can be saved and uploaded to the server. After the user downloads it, only the same type of drive information editor can display the action frame information, so that the user can choose to transmit it to the newly constructed module robot, or edit or modify the downloaded action frame information on the same type of drive information editor to form new preset action control information and then transmit it to the newly constructed module robot or upload it to the server again.

[0084] It should be noted that the above-mentioned drive information editors are only some examples, and other types of drive information editors can also be developed according to different modular robot configurations.

[0085] In a fourth variant embodiment, an execution instruction sequence is further set for the modular robot that is set with action frame information or preset action control information, or execution logic information is generated based on the execution instruction sequence. In order to set these execution instruction sequences or execution logic information, it can be implemented through graphical programming software. Graphical programming software includes software such as the existing Python code programming platform. The graphical programming software is also integrated into the above-mentioned APP software, and the APP software then enters the corresponding graphical programming software.

[0086] See also Figure 10, some edited execution instruction sequences will appear on the display interface, presented in a graphical manner, as shown in the figure, each rectangular box represents an execution instruction sequence. In order to be able to identify these execution logic execution sequences, identification information will be set on each rectangular box. These identification information can simply indicate what the instruction task corresponding to the execution instruction sequence is. Part of these edited execution instruction sequences is selected to form execution logic information to define the tasks that the robot needs to perform in a certain state. As long as the robot moves according to these selected execution instruction sequences, it can complete the corresponding tasks. Usually, different types of execution instruction sequence libraries will be presented on the display interface, such as the action execution instruction sequence corresponding to submodule 101, including the movement mode of the action, such as steering angle, rotation speed, etc. Correspondingly, identification information such as left turn and right turn will appear on the rectangular box.

[0087] Optionally, in order to enrich the types of modular robots, modular robots are usually also equipped with external units (not shown). The external units are connected to the main control module 30 or the sub-unit module 10. When the external units are in operation, they return their operating information to the control body 40. The execution instruction sequence can be set to control the relative rotation between the two sub-modules 101 of the sub-unit module 10 according to the operating information returned by the external units, or to control the operation of the external units according to the operating information of the sub-unit module 10. Preferably, the external units return the operating information in real time, and the main control module 30 controls the rotation of the sub-unit module 10 according to the operating information returned by the external units in real time. Specifically, the external units can be sensors and / or actuators. The sensors can be ultrasonic sensors, infrared sensors, temperature sensors, brightness sensors, color sensors, etc. The actuators can be suction cups, electromagnets, mechanical claws, etc. The execution instruction sequence can be set to control the relative rotation between the two sub-modules 101 of the sub-unit module 10 according to the operating information returned by the sensors and / or actuators. For example, an ultrasonic sensor is connected to the modular robot's plug-in interface 41. When the ultrasonic sensor detects an obstacle, it detects the distance to the obstacle and returns working information (distance parameter). An execution instruction sets that when the distance is less than a certain value, the main control module 30 controls the sub-unit module 10 to stop rotating and the modular robot to stop moving to avoid contact with the obstacle. For another example, when the actuator is a suction cup, the pneumatic suction cup is used to suck up objects, and the modular robot moves to transport objects from one place to another over a certain distance. The pneumatic suction cup returns working information (execution status) to the control body 40, informing the control body 40 whether the object is sucked. When the control body 40 receives the working parameter indicating that the object is sucked, the main control module 30 controls the sub-unit module 10 to move, causing the modular robot to move along a preset path to deliver the object to the destination.

[0088] It should also be noted that, depending on the type of actuator or sensor, or the configuration of the modular robot, setting the execution instruction sequence can be performed after or before setting the drive information. For example, when the user touches the sensor, the corresponding component performs the corresponding action, such as the indicator light lighting up, or the component sending a voice message. This does not involve the mutual movement between modules at all, and it can be set before setting the drive information. If it is necessary to rotate a certain module first and then perform the corresponding action, then it is necessary to set the drive information first and then set the execution instruction sequence. The execution instruction sequence associated with the actuator, such as the mechanical claw grabbing the object to be transported. Usually, performing a task often requires a combination of different execution instruction sequences to complete. In this case, the user needs to select the execution instruction sequence in the corresponding execution instruction sequence library according to the logic and combine them to obtain a complete execution logic information.

[0089] It should be noted that whether the preset execution instruction sequence and / or the execution logic information generated based on the preset execution instruction sequence needs to be associated with the driving information needs to be determined according to the type of the actuator.

[0090] Once these execution instruction sequences and the corresponding execution logic are set, they are saved and uploaded to the server. Once downloaded by the end user, these execution instruction sequences and the corresponding execution logic are displayed in the corresponding graphical programming software. Users can select the execution instructions to edit or modify them. They can also simply click the corresponding run button to execute the configured execution logic for the newly assembled module robot.

[0091] Please refer again Figure 10 In order to better distinguish the set execution instruction sequences, different execution libraries are set up to save different execution instruction sequences. These libraries include an action instruction library 62, a multimedia instruction library 63, and a sensor execution instruction library 64, etc., and each library corresponds to a plurality of sub-execution instruction sequences with different instruction information. For example, the action instruction library 62 includes the rotation angle instruction 621 and the rotation speed instruction of the submodule 101. The multimedia instruction library 63 includes a music instruction sequence 622, or a prompt sound instruction sequence, etc., and the sensor execution instruction library 64 includes an infrared sensor start instruction 631, etc. The user selects the contents in different libraries and combines them together to generate execution logic information. Click the run button 66 below to run.

[0092] After the user downloads the program, it will still be displayed in the editor in the form of these rectangular boxes. For easy display, text information is usually set on the surface of each rectangular box to briefly describe the function corresponding to the execution instruction sequence, so that the user can directly select the application.

[0093] In some other embodiments, the information of the modular robot to be constructed also includes multimedia information. Multimedia information includes expression materials, sound effect materials, introduction videos, introduction pictures and other information. In this case, the corresponding actuator can be a display screen, a player, etc. The initial robot structure obtained by the initial assembly can be further set with multimedia information to play under corresponding conditions, or the corresponding actuator can be controlled by setting some play keys to play multimedia information or display multimedia information. Optionally, the multimedia information can be associated with the above-mentioned preset execution instruction sequence and / or the execution logic information and drive information generated based on the preset execution instruction sequence, or can be set completely independently.

[0094] The setting method of multimedia information can also be implemented by referring to graphical programming software. Each sound effect is defined by setting a rectangular box, and each rectangular box is associated with a source program file corresponding to the sound effect.

[0095] Optionally, in order to better record the process of the sharer assembling the modular robot so that users who need to refer to or learn from it can understand it more clearly, the following steps are further included:

[0096] Based on the process of assembling the initial robot structure, the control interface information is formed and the control interface information is also uploaded to the terminal platform. It can be understood that since each subunit is connected to the electronic device for signal connection, when the user completes the assembly of a module unit, a new virtual robot configuration of the assembled module robot configuration will be formed on the electronic device side, and the GUI interface information at different assembly progresses during each assembly process will be uploaded to the terminal platform, so that users of the module robot to be constructed can further refer to the GUI interface information for assembly, reduce the probability of errors in the assembly process, and also increase the speed of assembly. The GUI interface information can be downloadable document information, and users can download and print the file information into paper form.

[0097] It should also be noted that the control interface information also includes the GUI interface information formed by the sharer in the process of setting drive information, executing instruction sequence, executing logic information, and multimedia information, and uploaded to the server.

[0098] See also Figure 11 A second embodiment of the present invention provides a method for constructing a modular robot, wherein the modular robot includes a plurality of modules that can be assembled together, wherein the plurality of modules includes at least one module that can communicate with a terminal, and the method includes the following steps:

[0099] T1. Obtaining information of a module robot to be constructed for assembling a module robot from a server, wherein the information of the module robot to be constructed includes at least configuration information of the module robot, and the configuration information includes at least the type of module to be assembled by the robot, the assembly position, and the assembly method;

[0100] T2. Parsing the acquired information of the robot module to be constructed to display the information of the robot module to be constructed; and

[0101] T3. Transmitting the information of the module robot to be built to the modular robot. The modular robot receives the information of the module robot to be built and uses it to generate an assembly reminder signal when the user assembles the module robot to be built based on the displayed information of the module robot to be built.

[0102] The terminal in this embodiment and the terminal mentioned in the first embodiment can be understood as electronic devices of the same type. The APP software integrated thereon also includes at least the same functional parts as the APP software in the first embodiment. It can be understood that the holder of the terminal in the first embodiment is the sharer, such as the developer, seller or creator of a new modular robot. In this embodiment, the terminal serves as a download terminal, and its holder can be understood as some users who need to assemble modules based on the modular robot shared by the sharer. For the convenience of description, these users will be referred to as sharees below.

[0103] In step T1 above, after the sharee takes out the modules to be assembled, communication between the main control module and the terminal must first be established. The modules involved in this embodiment include at least the main control module and some or all of the sub-unit modules of the first embodiment. The structural control method of the main control module and sub-unit modules is exactly the same as that of the first embodiment, so this embodiment will not elaborate on this part.

[0104] Parts such as wheels, sensors, and actuators can be selectively matched according to the configuration of the modular robot.

[0105] After establishing a connection between the main control module and the terminal, the user selects a modular robot to assemble based on the virtual modular robot configuration shared by the user on the sharing platform. Optionally, an identifier is provided on the side of the display area for the virtual modular robot configuration. After selection, the module types and number of modules included in the selected virtual modular robot are first matched with the module types and number of modules of the modular robot to be constructed, which has established communication with the terminal. If the match is successful, step T1 and subsequent steps are executed. If the match is unsuccessful, step T1 and subsequent steps are executed, or robot information associated with another virtual modular robot configuration is selected and transmitted to the modular robot to be constructed.

[0106] If the module types and module quantities of the module robot to be constructed that establishes communication with the terminal are all included in the selected virtual module robot configuration, it means that the matching is successful, otherwise it is considered that the matching is unsuccessful.

[0107] As an option, the matching step can be omitted, and the download command can be executed regardless of whether the module type and module quantity of the module robot to be built match the module type and module quantity in the module robot information to be downloaded.

[0108] See also Figure 12 After executing step T1, the interface information will jump after the sharer selects the virtual module robot configuration corresponding to area 71. If you need to start assembly, click Edit, and it will automatically jump to Figure 12 The interface presented.

[0109] See also Figure 13 In step T2, the obtained information of the robot module to be constructed is parsed to display the information of the robot module to be constructed. The specific display content is as follows: Figure 13 In this step, the source code information integrated with the module robot information to be constructed is parsed to display the module robot information to be constructed. The specific parsing process involves mathematical or program operations, which will not be elaborated in detail here.

[0110] In step T3, the module robot information is transmitted to the modular robot. The modular robot receives the module robot information and uses it to generate an assembly reminder signal when the user assembles the module robot based on the displayed module robot information. In this step, based on communication between the main control module and the terminal, the module robot information is transmitted from the main control module to each sub-unit module one by one, or from the main control module to a connected sub-unit module, which is then further transmitted from the sub-unit module to the next connected sub-unit module, and so on.

[0111] After obtaining the information of these module robots to be built, the following provides an introduction to the formation of a reminder signal:

[0112] The modular robot shared on the sharing platform includes M unit modules connected by docking parts;

[0113] Acquiring configuration information of a currently constructed entity, wherein the constructed entity includes N unit modules connected by a docking portion, where N is less than M;

[0114] Calculate the location of the docking portion where at least the (N+1)th unit module should be connected to the constructed entity based on the configuration information of the modular robot shared on the sharing platform and the configuration information of the currently constructed entity; and

[0115] A prompt is issued based on the calculated docking position where at least the (N+1)th unit module should be connected to the constructed entity, indicating at least the docking position where the (N+1)th unit module should be connected. Then, at least the (N+1)th unit module is connected to the constructed entity based on the prompt;

[0116] Repeat the above steps until the connections between the several unit modules are completed to obtain the modular robot to be constructed.

[0117] The reminder signal may also be a local virtual robot structure corresponding to the construction progress of the current building block compared to the overall modular robot model, displayed on the main control module or on the terminal, and a light on the corresponding docking part to be spliced illuminated, or other guidance information may be provided to indicate the location of the corresponding docking part. Alternatively, a text prompt message may be displayed on the terminal or on the main control module to remind the user of the type and location of the next module to be spliced. In this case, the light on the docking part is preferably on the physical module.

[0118] It can be understood that the text is formed and broadcast to the user.

[0119] It can also be understood that in order to prompt these reminder signals to the user, a display or player associated with the main control module can be set.

[0120] Please refer again Figure 13 and Figure 14Furthermore, the modular robot information to be constructed also includes driving information for controlling the modular robot to execute motion. The driving information includes at least one of preset at least one action frame information and preset action control information generated by editing or calculating the at least one action frame information. Each action frame information and preset action control information are displayed in a categorized manner. After the download is completed and parsed, it will automatically jump to the corresponding type of driving information editor. According to the type of driving information, the action frame information involved will be displayed on the display screen separately. This includes driving information parsed into the action library 72, execution instruction sequences and execution logic information parsed into the programming library 73, or multimedia information parsed into the multimedia information library 74. Each library stores a plurality of different sub-information. To illustrate these sub-information, the modular robot to be constructed is an example of a two-wheeled modular machine with sensors, including a main control module 60, a head 601 rotatably connected to the main control module 60, a sub-unit module 603 connected to the main control module 60, and two wheels 604 connected to the two interface parts of the sub-unit module 603. The head 601 is provided with a sensor, and the head 601 can shake its head or make a sound according to the set execution action or instruction. The wheel 604 can move forward, left, and right according to the set driving information. Each action frame information and preset action control information are respectively provided with corresponding identification information. Figure 12 In the figure, simple "front" button 721, "left" button 722, "right" button 723, and "shake head" button 724 are used as identification information of different action frame information. These driving information are all about the driving information of the action, because they are all stored in the action library. It can be further seen that after clicking the "left" button 721, the edit button 7221, drive button 7222, and recycle button 7223 will be displayed accordingly. If you want to transfer the action frame information related to forward movement directly to the assembled modular robot, click the drive button 7222. If you want to modify the name of the action frame, click the edit button 7221 to edit and modify it. If you want to delete the action frame information, click the recycle button 7223 accordingly.

[0121] If the user needs to reset some action frame information, click the create button 75 on the left, and the page will automatically jump to the page of the driver information editor corresponding to the module.

[0122] When the user uses these action frame information, the preset action control information is directly transmitted to the module robot to control the module robot to perform movements according to the preset action control information; or at least one action frame information displayed is re-edited or calculated according to the identification information to obtain new preset action control information, and the new preset action control information is transmitted to the module robot and / or uploaded to the terminal platform. The specific operations are as follows:

[0123] It should be noted that the drive information is defined as different categories based on the configuration information, and the drive information is parsed based on the categories to display different types of drive information. The different types of configuration information defined here can be distinguished from the drive information obtained by different types of drive information editors in the first embodiment. After parsing, the corresponding drive information editor of the same type will be entered.

[0124] In some other embodiments, the modular robot information to be constructed also includes at least one preset execution instruction sequence and / or execution logic information generated based on the at least one preset execution instruction sequence, and each execution instruction sequence and execution logic information are displayed in a categorized manner. It should be noted that after obtaining and parsing the execution instruction sequence and execution logic information, the corresponding application software program interface of the logic editor will be jumped to. The logic editor software is consistent with the graphical programming software in the first embodiment, and the user can operate on these parsed execution instruction sequences and execution logic information. If it is necessary to apply the execution instruction sequence and execution logic information to the newly constructed modular robot, the corresponding operation can be performed by clicking on the programming library 73.

[0125] Each execution instruction sequence and execution logic information has different identification information. According to the identification information, the corresponding execution instruction sequence or execution logic information is selected and transmitted to the module robot; or at least one execution instruction sequence displayed is selected and re-edited according to the identification information to obtain new execution logic information, and the new execution logic information is transmitted to the module robot and / or uploaded to the terminal platform. The specific identification information is also similar to the above-mentioned drive information identification. For example, the identification information is "lights on after lowering the head". These identification information can simply explain the content information of the execution instruction sequence, so that users can choose according to their needs. The operation of applying these execution instruction sequences and execution logic information to the assembled module robot is roughly similar to the operation process of the drive information, so they will not be introduced in detail here.

[0126] According to the different configuration modules included in the modular robot, optionally, the modular robot information to be constructed further includes multimedia information, and the multimedia information is directly sent to the target robot structure so that it runs the multimedia information;

[0127] Alternatively, the multimedia information is re-edited to obtain new multimedia information, and the new multimedia information is transmitted to the module robot and / or uploaded to the terminal platform.

[0128] The display mode of the multimedia information may also be consistent with the execution instruction sequence or the execution logic information, so that the user can add, edit or apply the multimedia information by selecting a graphic.

[0129] The modular robot information to be constructed also includes control interface information, which includes GUI state information corresponding to different assembly progress levels during the process of assembling multiple modules into a modular robot. The target robot structure is assembled based on this control interface information, or the modular robot information to be constructed is transmitted to the modular robot. The control interface information can be saved in image format.

[0130] Guidance information is generated based on the configuration information and the progress of the modular robot assembly. The guidance information includes a virtual robot configuration generated based on the configuration information, text and / or voice prompts guiding the robot assembly, or visual guidance information for the current module and the next module to be assembled according to the modular robot assembly progress. The generation of this guidance information is described in the first embodiment and will not be repeated here.

[0131] In order to further improve the user experience, after the sharer completes the assembly of the robot to be built according to the information shared by the sharer and sets the corresponding driving information or execution information, the sharer can further re-edit the assembled modular robot, such as making simple changes to the configuration information, changing the driving information, or modifying at least one of the execution logic information, multimedia information, etc.

[0132] The specific modification and editing process is roughly the same as the setting process of the first embodiment and will not be described in detail here.

[0133] See also Figure 15 and Figure 16 The third embodiment of the present invention provides an interactive system 150 for building a modular robot. The modular robot includes a plurality of modules that can be assembled together. The plurality of modules includes at least one module that can communicate with a terminal. The interactive system includes a server 151 and a download terminal 152 that communicate with each other.

[0134] The server 151 is configured to store information about the module robot to be constructed, wherein the information includes at least configuration information of the module robot, and the configuration information includes at least the type of module to be assembled by the robot, the assembly position, and the assembly method;

[0135] The download terminal 152 is used to communicate with the module robot to be assembled, download the information of the module robot to be built, parse and display the downloaded information of the module robot to be built, transmit the parsed information of the module robot to be built to the module robot to be built, and generate a construction reminder signal when the user constructs the module robot to be built based on the displayed information of the module robot to be built.

[0136] The download terminal 152 also generates and displays the virtual module robot configuration based on the configuration information.

[0137] The download terminal 152 includes an acquisition module 1521 , a parsing module 1522 , a display module 1523 , and a control module 1524 .

[0138] Acquisition module 1521: used to communicate with the server to download the information of the module robot to be constructed;

[0139] Parsing module 1522: Parsing the acquired information of the module robot to be constructed and transmitting it to the module robot to be constructed;

[0140] Display module 1523: used to display the parsed information of the module robot to be constructed;

[0141] The control module 1524 is used to communicate with the parsing module to edit and / or transmit the parsed information of the robot of the module to be constructed to the robot of the module to be constructed.

[0142] The module robot information to be constructed also includes action frame information and preset action control information associated with the action frame information, set execution instruction sequence, generated execution logic information, set multimedia information, and formed control interface information.

[0143] There are multiple control modules, and one control module is matched with the analysis module according to the type of the robot information to be constructed. The control module 1524 can correspond to the editor related to the action information or execution logic information provided in the first embodiment.

[0144] The server side 151 includes a determination module and multiple storage modules.

[0145] The determination module is used to communicate with the download terminal 152. The determination module obtains the module type and module quantity of the module robot to be constructed that communicates with the download terminal 152, and determines whether the module type and module quantity of the module robot to be assembled information to be downloaded are included. Based on the determination result, it is determined to download the module robot information to be assembled or other information about other module robots to be assembled uploaded by other terminal users.

[0146] Each storage module is used to categorize and store information about modular robots with the same configuration information. Specifically, information about modular robots with the same configuration is stored in the same storage module, making it easier for users to select and download them and for the server 151 to manage them in an orderly manner. It is also understood that each storage module may further include different sub-storage modules, each used to store configuration information, action frame information, preset action control information associated with the action frame information, set execution instruction sequences, generated execution logic information, set multimedia information, and generated control interface information for the same modular robot configuration.

[0147] As a variation, the determination module can be omitted, and the download command can be executed regardless of whether the module type and module quantity of the module robot to be built match the module type and module quantity in the module robot information to be downloaded.

[0148] See also Figure 17 and Figure 18 The fourth embodiment of the present invention provides another interactive system 90 for constructing a modular robot. The modular robot includes multiple modules that can be assembled together. The multiple modules include at least one module that can communicate with a terminal. The interactive system includes a server side and an upload terminal that communicate with each other. The interactive system 90 for constructing a modular robot includes a server side 91 and an upload terminal 92 that communicate with each other.

[0149] The upload terminal 92 is used to establish communication with the initial module robot and obtain robot information about the initial module robot based on the communication, wherein the robot information includes at least configuration information, and the configuration information includes at least the type of module assembled by the robot, the assembly position, and the assembly method; upload the robot information to the server as information of the robot to be constructed for other terminal users to download, and generate a construction reminder signal when constructing the robot to be constructed based on the information of the robot to be constructed;

[0150] The server 91 is used to receive and save the robot information. The upload terminal 92 includes an identification module 921 , a setting module 922 , a conversion module 923 and an upload module 924 .

[0151] Identification module 921: used to identify the configuration information of the initial robot structure, the configuration information at least including the module type, assembly position and assembly method of the robot assembly;

[0152] Setting module 922: used to set at least one of the following: driving information, execution instruction sequence, execution logic information generated based on the execution instruction sequence, multimedia information, and control interface information for the initial robot structure to execute motion;

[0153] Converting module 923: converts at least one of the driving information, the execution instruction sequence, the execution logic information generated based on the execution instruction sequence, the multimedia information, and the control interface information into a file that can be parsed by the parsing module;

[0154] The uploading module 924 communicates with the conversion module 923 and uploads the information converted by the conversion module 923 to the server 91 .

[0155] The setting module 922 may correspond to an editor related to the action information or execution logic information provided in the first embodiment.

[0156] The server side 91 includes a determination module and multiple storage modules.

[0157] The determination module is used to communicate with the recognition module 921 to determine the configuration category of the initial module robot based on the configuration information, and classify and store the information of robots with the same configuration category in a storage module. It is also understandable that each storage module can further include different sub-storage modules, each of which is used to store the configuration information, action frame information, and driving information such as preset action control information associated with the action frame information, the set execution instruction sequence, the generated execution logic information, the set multimedia information, and the generated control interface information of the same module robot configuration.

[0158] The upload terminal 92 is also used to download robot information uploaded by other terminal users and to generate an assembly reminder signal when constructing a modular robot to be constructed.

[0159] A fifth embodiment of the present invention provides another interactive system for building a modular robot. The modular robot includes a plurality of modules that can be assembled together, and the plurality of modules includes at least one module that can communicate with a terminal. The interactive system includes an upload terminal, a server terminal, and a download terminal that communicate with each other.

[0160] an uploading terminal, configured to establish communication with the initial module robot and obtain robot information about the initial module robot based on the communication, wherein the robot information includes at least configuration information, and the configuration information includes at least the type of module assembled by the robot, the assembly position, and the assembly method; upload the robot information to the server as information of the robot to be constructed, for download and display by other terminal users, and generate a construction reminder signal when constructing the module robot to be constructed based on the displayed information of the robot to be constructed;

[0161] used to communicate with the module robot to be built, download information of the module robot to be built, parse and display the downloaded information of the module robot to be built, associate the parsed information of the module robot to be built with the module robot to be built, and generate a construction reminder signal when the user builds the module robot to be built based on the displayed information of the module robot to be built;

[0162] The server side is used to store information about the module robot to be constructed, wherein the information about the module robot to be constructed includes at least configuration information of the module robot, and the configuration information includes at least the type of module assembled by the robot, the assembly position and the assembly method.

[0163] The upload terminal has the same function as the upload terminal 92 provided in the above embodiment, and will not be described in detail here. The download terminal has the same function as the download terminal 152 provided in the above embodiment, and will not be described in detail here.

[0164] The sixth embodiment of the present invention provides an electronic device, which includes a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute the assembly method of the modular robot in the second embodiment or the method of guiding the modular robot to assemble provided in the first embodiment through the computer program.

[0165] Reference below Figure 19 , which shows a structural diagram of a computer system 800 suitable for implementing a terminal device / server embodiment of the present application. Figure 19 The terminal device / server shown is merely an example and should not limit the functions and scope of use of the embodiments of the present application.

[0166] like Figure 19 As shown, the computer system 800 includes a central processing unit (CPU) 801, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 802 or a program loaded from a storage unit 808 into a random access memory (RAM) 803. Various programs and data required for the operation of the system 800 are also stored in the RAM 803. The CPU 801, ROM 802, and RAM 803 are connected to each other via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0167] The following components are connected to the I / O interface 805: an input section 806 including a keyboard, a mouse, and the like; an output section 807 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and a speaker; a storage section 808 including devices such as a hard disk; and a communication section 809 including a network interface card such as a LAN card or a modem. The communication section 809 performs communication processing via a network such as the Internet. A drive 810 is also connected to the I / O interface 805 as needed. Removable media 811, such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, is installed in the drive 810 as needed, so that computer programs read from the removable media can be installed in the storage section 808 as needed.

[0168] According to the embodiment disclosed in the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiment disclosed in the present invention includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 809, and / or installed from the removable medium 811. When the computer program is executed by the central processing unit (CPU) 801, the above-mentioned functions defined in the method of the present application are executed. It should be noted that the computer-readable medium described in the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to, an electrical connection having one or more conductors, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), optical fibers, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0169] Computer program code for performing the operations of the present application may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages such as Java, Smalltalk, C++, and conventional procedural programming languages such as the "Like" language or similar programming languages. The program code may be executed entirely on the management computer, partially on the management computer, as a stand-alone software package, partially on the management computer and partially on a remote computer, or entirely on the remote computer or server. In cases involving a remote computer, the remote computer may be connected to the management computer through any type of network, including a local area network (LAN) or wide area network (WAN) domain, or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0170] The flow charts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, program segment or a part of code, and the module, program segment or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0171] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An interactive system for modular robot construction, characterized by: The modular robot includes multiple modules that can be assembled together, and the multiple modules include at least one module that can communicate with the download terminal. The interactive system includes a server side and a download terminal that communicate with each other. The server side is used to store information about the module robot to be constructed, the module robot to be constructed information including at least configuration information of the module robot, the configuration information including at least the type of module assembled by the robot, the assembly position and the assembly method; the module robot to be constructed information also includes at least one of different types of driving information, execution instruction sequences, execution logic information generated based on the execution instruction sequences, multimedia information, and control interface information; wherein, the module robot to be constructed information is obtained after the upload terminal establishes communication with the initial module robot, based on the communication, and the robot information about the initial module robot is uploaded to the server side as the module robot to be constructed information for download and display by other download terminal users; A download terminal is used to communicate with the module robot to be built, download information of the module robot to be built, parse and display the downloaded information of the module robot to be built, associate the parsed information of the module robot to be built with the module robot to be built, and generate a construction reminder signal when the user builds the module robot to be built based on the displayed information of the module robot to be built.

2. The interactive system for modular robot construction according to claim 1, characterized in that: The download terminal generates and displays the configuration of the modular robot based on the configuration information.

3. The interactive system for modular robot construction according to claim 1, characterized in that: The download terminal includes: Acquisition module: used to communicate with the server to download the robot information of the module to be constructed; Parsing module: parsing the obtained robot information of the module to be constructed; Display module: used for displaying the parsed information of the module robot to be constructed by categories; Control module: used to communicate with the analysis module to edit and / or transmit the analyzed information of the robot module to be built to the robot module to be built. There are multiple control modules, and the types of the multiple control modules are different. According to the type of the robot module information to be built, a control module is matched and associated with the analysis module.

4. The interactive system for modular robot construction according to claim 3, wherein: The server side includes a plurality of storage modules, each storage module being used to classify and store information of modular robots to be constructed with the same configuration information.

5. The interactive system for modular robot construction according to any one of claims 1 to 4, characterized in that: The download terminal is also used to upload other robot information about the module robot to be constructed that is independently edited or created for downloading by other download terminal users.

6. An interactive system for modular robot construction, characterized by: The modular robot includes multiple modules that can be assembled together, and the multiple modules include at least one module that can communicate with the upload terminal. The interactive system includes a server side and an upload terminal that communicate with each other. An upload terminal is configured to establish communication with an initial module robot and obtain robot information about the initial module robot based on the communication, wherein the robot information includes at least configuration information, and the configuration information includes at least the type of module assembled by the robot, the assembly position, and the assembly method; upload the robot information to a server as information of a robot to be constructed for download and display by other download terminal users, and generate a construction reminder signal when constructing the robot to be constructed based on the displayed information of the robot to be constructed; the robot information also includes at least one of different types of drive information, execution instruction sequences, execution logic information generated based on the execution instruction sequences, multimedia information, and control interface information; The server side is used to receive the robot information and save it; wherein, the robot information is used to communicate between the download terminal and the module robot to be built, download the module robot information to be built, parse and display the downloaded module robot information to be built, and associate the parsed module robot information to be built with the module robot to be built.

7. The interactive system for modular robot construction according to claim 6, characterized in that ； The upload terminal includes: Identification module: used to identify the configuration information of the initial module robot; A setting module: used to set at least one of the following: driving information, execution instruction sequence, execution logic information generated based on the execution instruction sequence, multimedia information, and control interface information regarding the movement of the initial module robot; A conversion module: configured to convert at least one of the configuration information, drive information, execution instruction sequence, execution logic information generated based on the execution instruction sequence, multimedia information, and control interface information into a file that can be parsed by a parsing module; Uploading module: communicates with the conversion module and uploads the robot information converted by the conversion module to the server as the robot information of the module to be constructed.

8. The interactive system for modular robot construction according to claim 7, characterized in that: The server side includes a determination module and multiple storage modules. The determination module is used to communicate with the recognition module to determine the configuration category of the initial module robot based on the configuration information, and classify and store robot information with the same configuration category into the same storage module.

9. The interactive system for modular robot construction according to claim 7, wherein: The upload terminal is also used to download robot information uploaded by other upload terminal users and to generate an assembly reminder signal when constructing a module robot to be constructed.

10. An interactive system for modular robot construction, characterized by: The modular robot includes multiple modules that can be assembled together, and the multiple modules include at least one module that can communicate with the upload terminal and the download terminal. The interactive system includes an upload terminal, a server and a download terminal that communicate with each other. an uploading terminal, configured to establish communication with the initial module robot and obtain robot information about the initial module robot based on the communication, wherein the robot information includes at least configuration information, and the configuration information includes at least the type of module assembled by the robot, the assembly position, and the assembly method; upload the robot information to the server as information of the robot to be constructed, for download and display by other downloading terminal users, and generate a construction reminder signal when constructing the module robot to be constructed based on the displayed information of the robot to be constructed; a download terminal, configured to communicate with the module robot to be built, download information of the module robot to be built, parse and display the downloaded information of the module robot to be built, associate the parsed information of the module robot to be built with the module robot to be built, and generate a build reminder signal when a user builds the module robot to be built based on the displayed information of the module robot to be built; The server side is used to store information about the module robot to be constructed, wherein the information about the module robot to be constructed includes at least configuration information of the module robot, and the configuration information includes at least the type of module assembled by the robot, the assembly position and the assembly method; wherein the information about the module robot to be constructed is obtained through the uploading terminal; and the robot information is used for parsing and displaying by the downloading terminal.

11. A method for constructing a modular robot, applied to a download terminal, characterized in that: The modular robot includes a plurality of modules that can be assembled together, and the plurality of modules includes at least one module that can communicate with a download terminal: Obtaining from the server side information of a module robot to be constructed for constructing a module robot, the module robot information to be constructed at least includes configuration information of the module robot, and the configuration information at least includes the type of module assembled by the robot, the assembly position, and the assembly method; the module robot information to be constructed also includes at least one of different types of drive information, execution instruction sequences, execution logic information generated based on the execution instruction sequences, multimedia information, and control interface information; the module robot information to be constructed is obtained after the upload terminal establishes communication with the initial module robot, based on the communication, and the robot information about the initial module robot is uploaded to the server side as the module robot information to be constructed for download and display by other download terminal users; Parsing the acquired information of the robot module to be constructed to display the information of the robot module to be constructed; and The module robot information to be built is associated with the module robot, and the module robot information to be built associated with the module robot is used to generate an assembly reminder signal when the user assembles the module robot to be built based on the displayed module robot information to be built.

12. The method for constructing a modular robot according to claim 11, wherein: The information of the modular robot to be constructed also includes driving information for controlling the modular robot to perform movements. The driving information includes at least one preset action frame information and at least one preset action control information generated by editing or calculating the at least one action frame information. Each action frame information and preset action control information are displayed in categories.

13. The method for constructing a modular robot according to claim 12, wherein: Each action frame information and preset action control information is respectively provided with corresponding identification information. Directly transmitting the preset action control information to the module robot according to the identification information to control the module robot to perform movement according to the preset action control information; Alternatively, at least one action frame information displayed is selected based on the identification information and re-edited or calculated to obtain new preset action control information, and the new preset action control information is transmitted to the module robot and / or uploaded to the server.

14. The method for constructing a modular robot according to claim 11, wherein: The information of the module robot to be constructed also includes at least one preset execution instruction sequence and / or execution logic information generated based on at least one preset execution instruction sequence, and each execution instruction sequence and execution logic information is displayed in a classified manner.

15. The method for constructing a modular robot according to claim 14, wherein: Each execution instruction sequence and execution logic information has different identification information; Selecting a corresponding execution instruction sequence or execution logic information according to the identification information and transmitting it to the module robot; Alternatively, at least one execution instruction sequence displayed is selected based on the identification information and re-edited to obtain new execution logic information, and the new execution logic information is transmitted to the module robot and / or uploaded to the server.

16. The method for constructing a modular robot according to claim 15, wherein: The information of the module robot to be constructed also includes multimedia information, and the multimedia information is directly sent to the module robot to be constructed so that it runs the multimedia information; Alternatively, the multimedia information is re-edited to obtain new multimedia information, and the new multimedia information is transmitted to the building block robot and / or uploaded to the server.

17. The method for constructing a modular robot according to any one of claims 11 to 16, wherein: The information of the modular robot to be constructed also includes control interface information, which includes GUI interface change status information corresponding to different assembly progress in the process of assembling multiple modules into a modular robot. The target robot structure is assembled based on the control interface information or the information of the modular robot to be constructed is transmitted to the modular robot.

18. The method for constructing a modular robot according to claim 11, wherein: Guidance information is generated based on the configuration information and the progress of assembling the modular robot to be built. The guidance information includes a virtual robot configuration generated based on the configuration information, text and / or voice prompt information guiding the robot assembly, or visual guidance information of the current module and the next module to be assembled under the modular robot assembly progress.

19. The method for constructing a modular robot according to claim 11, wherein: After the module robot to be constructed is constructed based on the displayed information of the module robot to be constructed, the constructed module robot is further re-edited to obtain a new module robot, and the information about the new module robot is uploaded to the server.

20. A modular robot assembly sharing method, applied to an upload terminal, characterized in that The modular robot includes a plurality of modules that can be assembled together, wherein the plurality of modules includes at least one module that can communicate with an upload terminal. The method for assembling the modular robot includes the following steps: Establish communication between the module and the upload terminal, and assemble multiple modules to obtain the initial module robot; Identifying configuration information about the initial module robot based on the communication, the configuration information including at least a type of module assembled by the robot, an assembly position, and an assembly method; The configuration information is uploaded to the server as information of the module robot to be constructed for downloading and displaying by other download terminal users, and the displayed information of the module robot to be constructed is used to generate a construction reminder signal when the module robot to be constructed is constructed; The information of the module robot to be constructed also includes at least one of different types of driving information, execution instruction sequences, execution logic information generated based on the execution instruction sequences, multimedia information, and control interface information.

21. The modular robot assembly and sharing method according to claim 20, wherein: Setting driving information for the initial module robot to control the movement of the module robot, the driving information including a plurality of motion frame information and preset motion control information obtained by editing or calculating the plurality of motion frame information; The driving information and the configuration information are uploaded to the server side according to different types as information of the module robot to be constructed.

Images