Modular electro-mechanical interface for robots, identification method, robot and storage medium

Abstract

The application discloses a robot modularized electromechanical interface, a recognition method, a robot and a storage medium. A magnetic attraction mode formed by connecting a magnet and a soft magnetic structure is used to connect and fix a functional module with the robot. A user can directly replace the functional module without specific operations such as electrical connection and mechanical connection. Meanwhile, based on the on-off state of a detection interface formed by the contact of a contact pin connector and a contact, and in combination with the on-off state of a non-latching type Hall switch, the robot body can recognize the module type at the functional module end, the user does not need to perform function switching, the technical problems that most module installation and replacement processes need process guidance, need special tools, and need to complete function switching through a key or an APP after replacement, which brings certain learning cost to the user, causes inconvenience in use, and results in low user experience are solved.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to a modular electromechanical interface for a robot, a recognition method, a robot, and a storage medium. Background Technology

[0002] For robotic systems, the ability to transform, upgrade, or expand functionality through different module combinations is a widespread need. For example, industrial robots require corresponding end effectors for different types of tasks such as welding, drilling, riveting, and material handling; yard robots also require different functional modules to perform various tasks such as weeding, snow removal, and cleaning.

[0003] For most applications, functional modules can generally be divided into two types:

[0004] The first type is the passive module, where there is no control relationship between the module and the robot body. For this type of module, the module's functional output is independent of the robot body, while the robot body needs to identify the module type and adjust its relevant functions (such as sound, graphical interface, and movement methods) for different module types.

[0005] Secondly, there are active modules. The module and the robot body can establish a control relationship through power supply and communication. The robot body can send control signals to the module, and the module can perform related tasks. The robot body can also detect the module type. When matching different types of modules, the relevant functions of the robot body (such as sound, graphical interface, movement mode, etc.) can also be adjusted.

[0006] For most industrial and commercial robots, due to their complex functions and high safety requirements, replacing functional modules is a relatively specialized task. Users need to complete the installation, removal, and function switching of modules under the guidance of specific software and hardware operating procedures.

[0007] However, for consumer users, the ease of installation and removal of robot function modules directly impacts the user experience. Currently, the installation and replacement of most modules require procedural guidance, specialized tools, and post-replacement function switching via buttons or an app, creating a learning curve for users and affecting ease of use. Summary of the Invention

[0008] This application provides a modular electromechanical interface for robots, an identification method, a robot, and a storage medium. It solves the technical problems that most current modules require process guidance, specialized tools, and post-replacement function switching via buttons or an app, which bring certain learning costs to users, resulting in inconvenience and a low user experience.

[0009] In view of this, the first aspect of this application provides a modular electromechanical interface for a robot, comprising:

[0010] The connection plug is located on the functional module and the connection socket is located on the robot body.

[0011] The connector includes a connecting magnet, a first foolproof feature, and several pin connectors.

[0012] The connection socket includes a soft magnetic structure that matches the connection magnet, a second foolproof feature that matches the first foolproof feature, and a plurality of contacts that match the pin connector.

[0013] The connection socket also includes a non-latch Hall switch disposed on the opposite side of the soft magnetic structure;

[0014] When the connector plug and the connector socket are connected according to the first and second anti-foolproof features, the connector magnet is magnetically connected to the soft magnetic structure. The magnetic field signal of the connector magnet is transmitted to the non-latch Hall switch through the soft magnetic structure, so that the non-latch Hall switch is turned on, and the pin connector is connected to the corresponding contact.

[0015] Optionally, the connecting magnet, the soft magnetic structure, and the non-latching Hall switch are arranged in one or more groups.

[0016] Optionally, when there are two or more sets of the connecting magnet, the soft magnetic structure, and the non-latch Hall switch, the non-latch Hall switch adopts a unipolar Hall form, and the magnetic pole directions of the two or more sets of adjacent connecting magnets are opposite to each other.

[0017] Optionally, the ejector pin connector and the corresponding contact point make contact to form at least one communication interface, at least one power supply interface and at least one detection interface, so that the robot body can communicate, supply power and detect with the functional module.

[0018] Optionally, a coil is disposed on the outside of the soft magnetic structure.

[0019] The second aspect of this application provides a robot functional module end identification method, applied to the electromechanical interface of the robot modularization described in any one of the first aspects of this application. When the connector plug and connector socket are connected according to a first and a second anti-mistake feature, the connector magnet and the soft magnetic structure are magnetically connected. The magnetic field signal of the connector magnet is transmitted to a non-latching Hall switch through the soft magnetic structure, causing the non-latching Hall switch to conduct, and the ejector pin connector makes corresponding contact with the contacts. The method includes:

[0020] The robot's controller acquires several sets of corresponding first conduction states or first cut-off states of the detection interfaces in the pin connectors and contacts.

[0021] The controller of the robot body receives the second on state or the second off state of the non-latch Hall switch sent by the functional module.

[0022] The controller of the robot body identifies the module type of the functional module by combining the first on state or the first off state, the second on state or the second off state.

[0023] A third aspect of this application provides a robot, the robot including a controller and a memory:

[0024] The memory is used to store program code and transmit the program code to the controller;

[0025] The controller is used to execute the robot functional module end recognition method described in the second aspect above according to the instructions in the program code.

[0026] A fourth aspect of this application provides a computer-readable storage medium for storing program code for performing the method described in the second aspect above.

[0027] As can be seen from the above technical solutions, the embodiments of this application have the following advantages:

[0028] This application provides a modular electromechanical interface for robots, an identification method, a robot, and a storage medium. Functional modules are connected and fixed to the robot via a magnetic attraction method composed of a connecting magnet and a soft magnetic structure. Users can directly replace functional modules without needing to perform specific electrical or mechanical connection operations. Simultaneously, based on the conduction or cutoff state of the detection interface formed by the contact between the pin connector and the corresponding contact point, combined with the conduction or cutoff state of a non-latch Hall switch, the robot body can identify the module type of the functional module without requiring user function switching. This solves the technical problem that most current module installation and replacement processes require process guidance, specialized tools, and post-replacement function switching via buttons or an app, resulting in a learning cost, inconvenience, and a low user experience. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the connector structure in an embodiment of this application;

[0030] Figure 2 This is a schematic diagram of the connection socket in an embodiment of this application;

[0031] Figure 3 This is a flowchart of the robot functional module end recognition method in the embodiments of this application;

[0032] Figure 4 This is a schematic diagram of the robot in the embodiments of this application. Detailed Implementation

[0033] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0034] This application designs a modular electromechanical interface for robots, an identification method, a robot, and a storage medium. It solves the technical problems that most current modules require process guidance, specialized tools, and the need to switch functions via buttons or an app after replacement, which brings certain learning costs to users, resulting in inconvenience and a low user experience.

[0035] For easier understanding, please refer to Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of the connector structure in an embodiment of this application. Figure 2This is a schematic diagram of the connection socket in an embodiment of this application, as shown below. Figure 1 box Figure 2 As shown, specifically:

[0036] The connection plug is located on the functional module and the connection socket is located on the robot body.

[0037] The connector includes a connecting magnet (1-A, 1-B), a first foolproof feature (1-C), and several pin connectors (1-1, 1-2, 1-3…1-10);

[0038] The connector includes a soft magnetic structure (2-A, 2-B) that matches the connecting magnets (1-A, 1-B), a second foolproof feature (2-C) that matches the first foolproof feature (1-C), and several contacts (2-1, 2-2, 2-3…2-10) that match the pin connectors (1-1, 1-2, 1-3…1-10);

[0039] The connection socket also includes non-latching Hall switches (2-Ah, 2-Bh) located on the opposite side of the soft magnetic structure (2-A, 2-B);

[0040] When the connector plug and connector socket are connected according to the first and second anti-foolproof features, the connector magnet and the soft magnetic structure are magnetically connected. The magnetic field signal of the connector magnet is transmitted to the non-latch Hall switch through the soft magnetic structure, so that the non-latch Hall switch is turned on and the pin connector and the contact are connected.

[0041] Furthermore, the connecting magnets (1-A, 1-B), the soft magnetic structure (2-A, 2-B), and the non-latching Hall switches (2-Ah, 2-Bh) are arranged in one or more groups.

[0042] Furthermore, when there are two or more sets of connecting magnets (1-A, 1-B), soft magnetic structures (2-A, 2-B), and non-latching Hall switches (2-Ah, 2-Bh), the non-latching Hall switches (2-Ah, 2-Bh) adopt a unipolar Hall form, and the magnetic pole directions of the two or more sets of adjacent connecting magnets (1-A, 1-B) are opposite to each other.

[0043] Furthermore, the ejector pin connectors (1-1, 1-2, 1-3…1-10) and the contacts (2-1, 2-2, 2-3…2-10) respectively form at least one communication interface, at least one power supply interface and at least one detection interface, enabling the robot body to communicate, supply power and detect with the functional module.

[0044] Furthermore, coils are provided on the outside of the soft magnetic structures (2-A, 2-B).

[0045] It should be noted that, as Figure 1 and Figure 2 The connecting magnets (1-A, 1-B), the first foolproof feature (1-C), and several pin connectors (1-1, 1-2, 1-3…1-10) of the connecting plug, the soft magnetic structure (2-A, 2-B), the second foolproof feature (2-C), the contacts (2-1, 2-2, 2-3…2-10), and the non-latching Hall switches (2-Ah, 2-Bh) of the corresponding connecting socket, their shapes, quantities, and positions based on the connecting plug body and the connecting socket body are all shown for the convenience of describing the embodiments of this application. In actual use, it is not limited to the specific forms in the embodiments of this application. Reasonable changes and adjustments to the shape, quantity, and position based on the connecting plug body of the related components can achieve the same effect.

[0046] In this embodiment, the soft magnetic structures (2-A, 2-B) are made of materials with low coercivity and high permeability, which can be rapidly magnetized when a magnet approaches and generate a strong attraction force between them, and rapidly demagnetized when the magnet moves away. The non-latch Hall switches (2-Ah, 2-Bh) have the characteristic of conducting when the magnetic field increases and turning off when the magnetic field decreases.

[0047] When the connector plug and connector socket are mated, the connecting magnets (1-A, 1-B) magnetize the soft magnetic structures (2-A, 2-B) respectively. The connector plug and connector socket are attracted together by the magnetic force between the connecting magnets (1-A, 1-B) and the soft magnetic structures (2-A, 2-B). The magnetic field signal of the connecting magnets (1-A, 1-B) is transmitted to the non-latching Hall switches (2-Ah, 2-Bh) through the soft magnetic structures (2-A, 2-B). At the same time, the pin connectors (1-1, 1-2, 1-3…1-10) on the connector plug side make contact with the contacts (2-1, 2-2, 2-3…2-10) on the connector socket side, and they conduct electricity to each other.

[0048] The first foolproof feature (1-C) and the second foolproof feature (2-C) can ensure the uniqueness of the mating direction of the connector plug and the connector socket, and realize the one-to-one correspondence between each set of connecting magnets (1-A, 1-B) and soft magnetic structures (2-A, 2-B), and each set of pin connectors (1-1, 1-2, 1-3…1-10) and contacts (2-1, 2-2, 2-3…2-10).

[0049] When the robot body and functional module are attached together by the connector plug and connector socket, the soft magnetic structure (2-A, 2-B) is magnetized, and the non-latching Hall switches (2-Ah, 2-Bh) enter the conducting state and output corresponding signals to the controller of the robot body.

[0050] Non-latching Hall switches (2-Ah, 2-Bh) can be in unipolar Hall form, and the magnetic pole directions of the connecting magnets (1-A, 1-B) can also correspond to different combinations. For example, using an S-pole unipolar non-latching Hall switch: when the S pole of the connecting magnet (1-A) faces the soft magnetic structure (2-A) and the N pole of the connecting magnet (1-B) faces the soft magnetic structure (2-B), the conduction state of the two non-latching Hall switches (2-Ah, 2-Bh) is 1 / 0. When the N pole of the connecting magnet (1-A) faces the soft magnetic structure (2-A) and the S pole of the connecting magnet (1-B) faces the soft magnetic structure (2-B), the conduction state is 0 / 1. When the S pole of the connecting magnet (1-A) faces the soft magnetic structure (2-A) and the S pole of the connecting magnet (1-B) faces the soft magnetic structure (2-B), the conduction state is 1 / 1. The above unipolar non-latching Hall switch can provide three Hall states for different magnetic pole arrangements. (In the 0 / 0 state, it is impossible to determine whether the connector is correctly engaged, therefore this method is generally not used for status feedback.)

[0051] The robot's controller is connected to the ejector pin connector (1-1, 1-2, 1-3...1-10) via contacts (2-1, 2-2, 2-3...2-10), and can detect the on or off status of three sets of detection interfaces: 2 / 7, 3 / 8, and 4 / 9; a total of 2^3 = 8 detection interface statuses can be detected.

[0052] Under the above circumstances, the functional module can feed back a total of 3*8=24 states to the robot body based on the different Hall magnetic pole arrangements and the different conduction and cutoff states of the detection interface, which means that 24 different module types can be marked.

[0053] In addition, for active functional modules, the robot body can supply power and communicate with the module's connector plug via a connection socket. The robot body's controller supplies power to the functional module's controller (including the corresponding actuator) through contact (2-1) and ejector pin connector (1-1), and contact (2-6) and ejector pin connector (1-6), and communicates with the functional module's controller through contact (2-5) and ejector pin connector (1-5), and contact (2-10) and ejector pin connector (1-10). Upon receiving the corresponding instructions from the robot body's controller, the functional module's controller can execute the relevant tasks.

[0054] For passive functional modules, the robot body detects the specific state of the connection socket by different Hall magnetic pole arrangements and the different conduction and cutoff states of the detection interface, that is, it identifies the type of functional module. At this time, the robot body executes the corresponding function when it matches the relevant type of functional module.

[0055] It is understandable that, in addition to the solutions shown in the above embodiments, the number, position, and shape of the components can be adaptively adjusted. For example, when using 3 connecting magnets in conjunction with unipolar non-latching Hall effect sensors, the Hall effect recognition method can identify a total of 2^3 - 1 = 7 module types. Alternatively, when using 5 sets of detection interfaces, by judging the on / off state of each set of detection interfaces, a total of 2^5 = 32 states of the detection interfaces can be identified. Under the above combinations, a total of 224 module types can be identified. Generally, when the number of connecting magnets is m and the number of detection interfaces is n, the number of module types that this electromechanical interface can identify is (2^m - 1) * 2^n.

[0056] In addition, a coil can be provided on the outside of the soft magnetic structure (2-A, 2-B), and the coil and the soft magnetic structure (2-A, 2-B) are combined to form an electromagnet.

[0057] When the robot's main body connector is attached to the functional module's connector plug, the non-latching Hall switches (2-Ah, 2-Bh) on the main body can detect the polarity of the connecting magnets (1-A, 1-B) on the functional module. Taking the S pole of the connecting magnets (1-A, 1-B) on the functional module as facing outward as an example, the coil on the main body can control the polarity of the soft magnetic structure (2-A, 2-B) by controlling the direction of the current, thereby generating two connection states.

[0058] When the magnetic field directions of the soft magnetic structure (2-A, 2-B) and the connecting magnet (1-A, 1-B) are the same, the attraction between the connector and the plug is more stable, making it suitable for applications with significant vibration and impact. When the magnetic field directions of the soft magnetic structure (2-A, 2-B) and the connecting magnet (1-A, 1-B) are opposite, a repulsive force is generated between the connector and the plug, allowing the functional module to automatically detach from the robot body.

[0059] Please see Figure 3 , Figure 3 This is a flowchart of the robot functional module end recognition method in the embodiments of this application, such as... Figure 3 As shown, specifically:

[0060] S1. The robot's controller obtains the first conduction state or the first cut-off state of the detection interface in several sets of corresponding pin connectors and contacts.

[0061] S2. The robot's controller receives the second on state or the second off state of the non-latch Hall switch sent by the functional module.

[0062] S3. The robot's controller, in conjunction with the first on state or the first off state, the second on state or the second off state, identifies the module type of the functional module and determines the module type of the functional module.

[0063] This application also provides another robot, such as... Figure 4 As shown, for ease of explanation, only the parts related to the embodiments of this application are shown. For specific technical details not disclosed, please refer to the method section of the embodiments of this application. The terminal can be any terminal device, including pet robots, sweeping robots, mopping robots, etc. Taking a pet robot as an example:

[0064] Figure 4 This diagram illustrates a partial structure of a pet robot related to the terminal provided in an embodiment of this application. (Reference) Figure 4 The pet robot includes components such as: a radio frequency (RF) circuit 1010, a memory 1020, an input unit 1030, a display unit 1040, a sensor 1050, an audio circuit 1060, a wireless fidelity (WiFi) module 1070, a controller 1080, and a power supply 1090. Those skilled in the art will understand that... Figure 4 The pet robot structure shown does not constitute a limitation on the pet robot and may include more or fewer parts than shown, or combine certain parts, or have different arrangements of parts.

[0065] The following is combined Figure 4 A detailed introduction to each component of a pet robot:

[0066] The RF circuit 1010 can be used for receiving and transmitting signals during information transmission or calls. Specifically, it receives downlink information from the base station and processes it with the controller 1080; additionally, it transmits uplink data to the base station. Typically, the RF circuit 1010 includes, but is not limited to, an antenna, at least one amplifier, a transceiver, a coupler, a low-noise amplifier (LNA), a duplexer, etc. Furthermore, the RF circuit 1010 can also communicate wirelessly with networks and other devices. The aforementioned wireless communications may use any communication standard or protocol, including but not limited to Global System for Mobile Communications (GSM), General Packet Radio Service (GPRS), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), Long Term Evolution (LTE), email, and Short Messaging Service (SMS).

[0067] The memory 1020 can be used to store software programs and modules. The controller 1080 executes various functional applications and data processing of the pet robot by running the software programs and modules stored in the memory 1020. The memory 1020 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, at least one application program required for a function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created based on the use of the pet robot (such as audio data, phone book, etc.). In addition, the memory 1020 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0068] The input unit 1030 can be used to receive input digital or character information, and to generate key signal inputs related to user settings and function control of the pet robot. Specifically, the input unit 1030 may include a touch panel 1031 and other input devices 1032. The touch panel 1031, also known as a touch screen, can collect touch operations performed by the user on or near it (such as operations performed by the user using a finger, stylus, or any suitable object or accessory on or near the touch panel 1031), and drive the corresponding connection devices according to a pre-set program. Optionally, the touch panel 1031 may include two parts: a touch detection device and a touch controller. The touch detection device detects the user's touch position and the signal generated by the touch operation, and transmits the signal to the touch controller; the touch controller receives touch information from the touch detection device, converts it into touch point coordinates, and sends it to the controller 1080, and can also receive and execute commands sent by the controller 1080. In addition, the touch panel 1031 can be implemented using various types such as resistive, capacitive, infrared, and surface acoustic wave. In addition to the touch panel 1031, the input unit 1030 may also include other input devices 1032. Specifically, other input devices 1032 may include, but are not limited to, one or more of the following: physical keyboard, function keys (such as volume control buttons, power buttons, etc.), trackball, mouse, joystick, etc.

[0069] The display unit 1040 can be used to display information input by the user or information provided to the user, as well as various menus for the pet robot. The display unit 1040 may include a display panel 1041, which may optionally be configured as a Liquid Crystal Display (LCD), Organic Light-Emitting Diode (OLED), or similar display panel. Furthermore, a touch panel 1031 may cover the display panel 1041. When the touch panel 1031 detects a touch operation on or near it, it transmits the information to the controller 1080 to determine the type of touch event. Subsequently, the controller 1080 provides corresponding visual output on the display panel 1041 based on the type of touch event. Although in Figure 4 In this embodiment, the touch panel 1031 and the display panel 1041 are two separate components to realize the input and output functions of the pet robot. However, in some embodiments, the touch panel 1031 and the display panel 1041 can be integrated to realize the input and output functions of the pet robot.

[0070] The pet robot may also include at least one sensor 1050, such as a light sensor, a motion sensor, and other sensors. Specifically, the light sensor may include an ambient light sensor and a proximity sensor. The ambient light sensor can adjust the brightness of the display panel 1041 according to the ambient light level, and the proximity sensor can turn off the display panel 1041 and / or backlight when the pet robot moves to its ear. As a type of motion sensor, an accelerometer sensor can detect the magnitude of acceleration in various directions (generally three axes). When stationary, it can detect the magnitude and direction of gravity, and can be used for applications that identify the pet robot's posture (such as landscape / portrait switching, related games, magnetometer posture calibration), vibration recognition-related functions (such as pedometer, tapping), etc. Other sensors that the pet robot may be equipped with, such as gyroscopes, barometers, hygrometers, thermometers, and infrared sensors, will not be described in detail here.

[0071] Audio circuit 1060, speaker 1061, and microphone 1062 provide an audio interface between the user and the pet robot. Audio circuit 1060 converts received audio data into electrical signals and transmits them to speaker 1061, where speaker 1061 converts them into sound signals for output. On the other hand, microphone 1062 converts collected sound signals into electrical signals, which are received by audio circuit 1060, converted into audio data, processed by audio data output controller 1080, and then transmitted via RF circuit 1010 to, for example, another pet robot, or the audio data is output to memory 1020 for further processing.

[0072] WiFi is a short-range wireless transmission technology. The pet robot, through its WiFi module 1070, can help users send and receive emails, browse web pages, and access streaming media, providing users with wireless broadband internet access. Although Figure 4 The WiFi module 1070 is shown, but it is understood that it is not a necessary component of the pet robot and can be omitted as needed without changing the nature of the invention.

[0073] The controller 1080 is the control center of the pet robot. It connects various parts of the pet robot via various interfaces and lines. By running or executing software programs and / or modules stored in the memory 1020, and by calling data stored in the memory 1020, it performs various functions and processes data, thereby providing overall monitoring of the pet robot. Optionally, the controller 1080 may include one or more processing units; preferably, the controller 1080 may integrate an application controller and a modem controller, wherein the application controller mainly handles the operating system, user interface, and applications, while the modem controller mainly handles wireless communication. It is understood that the modem controller may not be integrated into the controller 1080.

[0074] The pet robot also includes a power supply 1090 (such as a battery) that powers the various components. Preferably, the power supply can be logically connected to the controller 1080 through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system.

[0075] Although not shown, pet robots may also include cameras, Bluetooth modules, etc., which will not be elaborated here.

[0076] In this embodiment of the application, the controller 1080 included in the terminal also has the following functions:

[0077] Acquire the first conduction state or the first cutoff state of the detection interface in several sets of corresponding ejector pin connectors and contacts;

[0078] Receives the second on state or the second off state of the non-latchable Hall switch sent by the functional module;

[0079] By combining the first on state or the first off state, the second on state or the second off state, the module type of the functional module is identified and determined.

[0080] This application also provides a computer-readable storage medium for storing program code, which is used to execute any one of the implementation methods of the robot functional module end recognition method described in the foregoing embodiments.

[0081] This application provides a modular electromechanical interface for robots, an identification method, a robot, and a storage medium. Functional modules are connected and fixed to the robot via a magnetic attraction method composed of a connecting magnet and a soft magnetic structure. Users can directly replace functional modules without requiring specific electrical or mechanical connections. Simultaneously, based on the on / off state of the detection interface formed by the contact between the pin connector and the corresponding contact point, combined with the on / off state of a non-latch Hall switch, the robot body can identify the module type of the functional module without requiring user function switching. This solves the technical problem that most current module installation and replacement processes require process guidance, specialized tools, and post-replacement function switching via buttons or an app, resulting in a learning cost, inconvenience, and a low user experience.

[0082] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0083] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0084] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0085] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between apparatuses or units through some interfaces, and may be electrical, mechanical, or other forms.

[0086] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0087] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0088] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes: USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media capable of storing program code.

[0089] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A modular electromechanical interface for a robot, characterized in that, include: The connection plug is located on the functional module and the connection socket is located on the robot body. The connector includes a connecting magnet, a first foolproof feature, and several pin connectors. The connection socket includes a soft magnetic structure that matches the connection magnet, a second foolproof feature that matches the first foolproof feature, and a plurality of contacts that match the pin connector. The connection socket also includes a non-latch Hall switch disposed on the opposite side of the soft magnetic structure; The connecting magnet, the soft magnetic structure, and the non-latch Hall switch are arranged in one or more groups; when there are two or more groups of connecting magnet, soft magnetic structure, and non-latch Hall switch, the non-latch Hall switch adopts a unipolar Hall form, and the magnetic poles of the two or more adjacent connecting magnets are opposite in direction. The ejector pin connector and the corresponding contact point make contact to form at least one communication interface, at least one power supply interface and at least one detection interface, enabling the robot body to communicate, supply power and detect with the functional module end; A coil is provided on the outside of the soft magnetic structure. When the connector plug and the connector socket are connected according to the first and second anti-foolproof features, the connector magnet is magnetically connected to the soft magnetic structure. The magnetic field signal of the connector magnet is transmitted to the non-latch Hall switch through the soft magnetic structure, so that the non-latch Hall switch is turned on, and the pin connector is connected to the corresponding contact.

2. A method for identifying robot functional modules, characterized in that, The method applies to the modular electromechanical interface for robots as described in claim 1, wherein when the connector plug and connector socket are connected according to the first and second anti-mistake features, the connector magnet is magnetically connected to the soft magnetic structure, and the magnetic field signal of the connector magnet is transmitted to the non-latching Hall switch through the soft magnetic structure, causing the non-latching Hall switch to conduct, and the ejector pin connector makes corresponding contact with the contacts. The method includes: The robot's controller acquires several sets of corresponding first conduction states or first cut-off states of the detection interfaces in the pin connectors and contacts. The controller of the robot body receives the second on state or the second off state of the non-latch Hall switch sent by the functional module. The controller of the robot body identifies the module type of the functional module by combining the first on state or the first off state, the second on state or the second off state.

3. A robot, characterized in that, The robot includes a controller and a memory: The memory is used to store program code and transmit the program code to the controller; The controller is used to execute the robot functional module end recognition method according to the instructions in the program code as described in claim 2.

4. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store program code, which is used to execute the robot functional module end recognition method according to claim 2.

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