Modular robotic system

Abstract

The invention relates to a robot module (100, 101, 102, 103, 104, 105, 106) comprising: sensor means (129) and / or actuator means (131) and / or control interfaces (130) and / or power components (132) and / or wireless communication components (133), and a main board (115) comprising at least one connection interface (112) adapted to receive communication data and electrical power, and a memory (124) adapted to store the communication data and the electrical power, the main board (115) is adapted to control the actuator means (131) and / or to output control data via the control interface (130) and / or to process data from the sensor means (129) and / or from the control interface (130) on the basis of software and / or parameters stored in the memory (124), and wherein the at least one connection interface (112) is adapted to provide communication data and electrical power, and wherein the main board (115) is adapted to control the actuator means (131) and / or to output control data via the control interface (130) and / or to process data from the sensor means (129) and / or from the control interface (130), and / or providing power from the power component via the connection interface (112), and / or communicating via the wireless communication component, and receiving software data and / or parameters via the connection interface (112) and storing the software data and / or parameters in the memory (124).

Description

[0001] The present invention relates to a robot module and a robot system. The robot module allows a modular arrangement to configure the robot system.

[0002] Reproducibility is an important principle underpinning the scientific method. For roboticists, it is impossible to reproduce the results of other researchers due to a wide variety of hardware and compatibility issues. Reproducibility studies reproduce the same results obtained by experiments or observations or statistical analysis studies of data sets in a highly reliable manner. In this regard, modular components may be the best solution for researchers to reproduce scientific results with high confidence. The standardization of hardware components with high flexibility enables a new paradigm of unlimited design with freedom of imagination.

[0003] The modular robotics paradigm is a system in which modules can be separated and reconnected in various configurations to build new designs with new functionality. Therefore, for the same number of robotic modules, many robotic architectures can be envisioned. Based on the tasks to be achieved by the system, the user combines a given number of modules to build the desired complex system.

[0004] In a typical robotic system, such as a mobile platform or manipulator, one or more components are linked to a control system that follows the task specification and program, wherein the control system regulates the motion and actions. In conventional systems, the controller is a centralized device attached to the robotic system by a cross-cable connection. Therefore, a system built from such modules is only mechanically modular, and its reconfigurability is limited. Since the control system electronics are centralized, the modules cannot be called active individual units, since the modules lack independent control processors and associated software.

[0005] The robotic construction assembly can perform a variety of physical tasks in part by programming the construction elements and in part by building a system of interconnections of various types.There are several alternatives to creating a system through a series of module types.

[0006] The object of the invention is to provide a modular robot system which can be reconfigured in a simple manner. The solution to this object is provided by the features of the independent claim. The dependent claims contain advantageous embodiments of the invention.

[0007] The present invention provides a modular, scalable, programmable, networkable and reconfigurable mechatronic prototyping system.

[0008] One aspect of the present invention is a hardware part, which is a mechatronic component with different sensing and actuation functionalities that communicates by connection (e.g., USB connection). The mechatronic kit includes multiple actuators, sensors, power or processing modules, each including components for mechanical and electrical connection to each other. Preferably, each module is enabled with a communication chain hub (e.g., USB Gen 3.0 chain UB), where the module can be connected and automatically identified, and communicates, for example, by standard ROS / ROS2 (Robot Operating System) communication protocol. Each module can be reassembled and disassembled to present a large number of configurations. The power of each module is provided via connection (preferably via USB connection), which means that the module does not need additional power supply, and the module can be powered via a single power supply. Preferably, each module establishes a connection through a virtual Ethernet on USB and obtains a unique IP address. Further preferably, each module uses standard message transmission (e.g., ROS message) to send and receive data using standard socket-based communication.

[0009] Another aspect of the invention is a scalable real-time System on Module (SoM) for each module. The modules are preferably controlled by a near-zero-overhead real-time operating system (OS) kernel responsible for task scheduling, communication, asset execution, and user interface. In a preferred embodiment, each module is capable of running a hardware-software interface at a low-latency data rate (e.g., at 1kHz). Using a web-based graphical user interface (GUI), a user can load custom configurations and assets into each module for execution. Configurations allow parameters on each module to be changed (particularly in real time). An asset can be any separate application, such as an AI model or control software that can be loaded and executed simultaneously in each module.

[0010] The robot module comprises a sensor device and / or an actuator device and / or a control interface and / or an electrical component and / or a wireless communication component. The sensor device and / or the actuator device and / or the control interface and / or the electrical component and / or the wireless communication component allow to carry out the specific task for which the module is designed. For example, the robot module may be a motor module for driving the robot or a part of the robot. In another example, the module may be a measuring unit for measuring parameters from the robot environment. Further exemplarily, the module may be a power module comprising an electrical component (e.g. a battery), and / or may be a communication device comprising a wireless communication component.

[0011] In addition, the robot module includes a mainboard, which includes at least one connection interface and a memory. The mainboard preferably establishes a system on module as described above. The mainboard is particularly suitable for controlling the actuator device and / or outputting control data via the control interface. Additionally or alternatively, the mainboard is particularly used to process data from the sensor device and / or the control interface. The control and / or output and / or processing are preferably based on software and / or parameters stored in the memory. In addition, the mainboard is preferably suitable for providing power via the connection interface using the power component. In another additional or alternative configuration, the mainboard is preferably suitable for communicating via a wireless communication component. Therefore, the robot module is particularly suitable for autonomously performing tasks without any further control logic to control the robot module. The robot module can be configured to perform different tasks by loading software and / or parameters into the memory. Therefore, the robot module can be used in a very flexible manner.

[0012] The connection interface is suitable for receiving and sending communication data. In addition, the power required by the robot module is provided via the connection interface. Therefore, at least one connection interface is suitable for receiving communication data and electric power, in particular from another connection interface of another mainboard of another robot module. In addition, at least one connection interface is suitable for providing communication data and electric power, in particular to another connection interface of another mainboard of another robot module. Therefore, the connection interface allows the coupling of several robot modules to establish a robot system. The power supply of the entire system can be connected to one of the modules, and the connection interface of the module supplies power to all connected modules. The same applies to communication data. The module may include several connection interfaces, at least one of which is an input part and at least one of which is an output part, or the connection interface can be used as both an input part and an output part. As described above, a preferred embodiment is to establish a virtual or actual Ethernet connection so that each mainboard of the connected module has a unique address to receive communication data.

[0013] The mainboard is also adapted to receive software data and / or parameters via the connection interface and store the software data and / or parameters in the memory. Each module is preferably configurable independently of any other module. Thus, a module can perform a task independently of any other module or control instance. A module can be provided with separate software and / or parameters to perform the required task. Thus, a robot system comprising several robot modules can be configured and reconfigured in a fast and simple manner.

[0014] In a preferred embodiment, the connection interface is adapted to be connected to a computer. The mainboard is preferably adapted to receive software and / or parameters from the computer to be stored in a memory. Thus, a computer for configuring the module can simply be connected to the connection interface. In case more than one robot module is connected to each other, the computer can be connected to one of the connected modules, since the connection interfaces of the modules are adapted to provide communication data to each other. Thus, a single connection of the computer to one of the modules allows configuration of all connected modules. This is preferably achieved via a virtual Ethernet connection as described above. Thus, setting up and configuring the robot system in a fast, simple and reliable manner is allowed. The computer can also be connected to receive data from the module. For example, the computer connection allows monitoring parameters of the module.

[0015] The robot module preferably comprises a housing for accommodating the main board and the sensor means and / or actuator means and / or control interface and / or power components and / or wireless communication components. Thus, the module is a single unit for implementing the corresponding tasks defined by the hardware configuration (i.e. the fact of which of the sensor means, actuator means and control interface is provided) and by the software and parameters stored in the memory. The common housing allows a compact design of the module. The common housing also allows a simple modular setup of the robot system.

[0016] Preferably, the mainboard is adapted to determine whether received communication data is addressed to itself. Thus, the mainboard is preferably adapted to recognize whether the communication data is addressed to the mainboard's own address or to a different address. In case the communication data is not addressed to the mainboard, the mainboard is adapted to send the received communication data to another mainboard connected to the mainboard via the connection interface. In this way, the module is able to relay messages, making communication between several connected boards simple and reliable.

[0017] The actuator device preferably comprises a motor. In this case, the module is a motor actuator module. Alternatively or additionally, the actuator device comprises a gripper actuator. In this case, the module is a gripper actuator module. Additionally or alternatively, the sensor device comprises a camera, preferably a monocular camera. In this case, the module is a camera module, preferably a monocular camera module. Additionally or alternatively, the sensor comprises an ultrasonic rangefinder. In this case, the module is an ultrasonic rangefinder module. Additionally or alternatively, the sensor comprises an inertial measurement unit. In this case, the module is an inertial measurement module. Thus, the module can be configured in several different ways. All these different modules can solve different tasks and can be connected to each other to simply set up a modular robot.

[0018] The mainboard preferably comprises at least two connection interfaces. This allows coupling several modules to each other in a serial connection. Preferably, the mainboard comprises at least three connection interfaces. This allows connecting several modules to each other in a more diverse manner. This allows a simple setup of a modular robot system.

[0019] The main board is preferably adapted to access a server. Further preferably, the main board is adapted to access a cloud-based web interface. The connection is in particular established via the Internet. Accessing the server or the cloud-based web interface allows assets to be loaded into the memory. The individual assets provide different functionalities to allow the main board to control the actuator means, and / or to output control data via the control interface, and / or to process data from the sensor means and / or from the control interface, and / or to provide power via the power means, and / or to communicate via the wireless communication means. By using a server or a cloud-based web interface, the configuration of the robot module is simplified.

[0020] The present invention also relates to a robot system comprising a plurality of robot modules as described above. The plurality of robot modules are connected to each other so that each robot module is connected to another robot module. The connection is established via a corresponding connection interface. Preferably, the connection is a wired connection. In addition, the plurality of robot modules are mechanically coupled via a link. In this way, the robot system is set up by logically and mechanically connecting a plurality of robot modules. Therefore, the robot system can be set up modularly and can be assembled, disassembled and reassembled in a simple and fast manner. A plurality of robot modules specifically refers to at least two robot modules.

[0021] At least one connection interface of at least one of the plurality of robot modules of the robot system is preferably connected to a power module. The power module is preferably a battery. The power module supplies electrical power to the connected modules, wherein the connection interface of the module is adapted to supply power to other connected modules. Thus, the power supply of the robot system can be provided in a simple manner. This further increases the modularity of the robot system. In a preferred embodiment, the power module is also a robot module as described above.

[0022] In another preferred embodiment, multiple robot modules each have the same mounting features. The mounting features are preferably threaded holes at the same location and / or with the same pattern. This allows for simple mechanical connection of the modules via the connector. The connector is provided with matching through holes so that the robot modules and the connector can be connected in a modular manner to simply assemble or disassemble the robot system.

[0023] The plurality of robot modules of the robot system are each preferably autonomous systems. Thus, the number of modules of the system can be changed without affecting other modules. In case the robot system should perform additional tasks, another module can simply be added. Thus, the modularity of the robot system is increased. The modules can be configured and reconfigured independently.

[0024] The present invention is applicable to all types of robotics, mechatronics, wearable technology and entertainment applications. The object of the proposed invention can be used in various applications such as:

[0025] ●Education: Common use cases for modular components are prototyping, STEM education, and research.

[0026] ●Consumer and home: monitoring, automation and smart home applications.

[0027] Health and Wellness: Wearable technology, healthcare, human motion tracking, exoskeletons and human assistive systems, sports and fitness devices, and monitoring systems.

[0028] ●Industrial: Automation, prototyping and monitoring applications.

[0029] Further details and advantages of the present invention are described in conjunction with the accompanying drawings. In the accompanying drawings,

[0030] Figure 1 is a schematic diagram of a robot system including several robot modules according to an embodiment of the present invention;

[0031] Figure 2 is a schematic diagram of a robot module according to an embodiment of the present invention;

[0032] Figure 3 is a schematic diagram of a robot module connected to a computer according to an embodiment of the present invention;

[0033] Figure 4 is a schematic diagram of robot modules mechanically attached to each other according to a first exemplary arrangement according to an embodiment of the present invention;

[0034] Figure 5 is a schematic diagram of robot modules mechanically attached to each other according to a second exemplary arrangement according to an embodiment of the present invention;

[0035] Figure 6 is a schematic diagram of robot modules mechanically attached to each other according to a third exemplary arrangement according to an embodiment of the present invention;

[0036] Figure 7 is a schematic diagram of robot modules mechanically attached to each other according to a fourth exemplary arrangement according to an embodiment of the present invention;

[0037] Figure 8 is a schematic exploded view of a module according to an embodiment of the present invention;

[0038] Fig. 9 is a schematic outline of the logic of a main board of a robot module according to an embodiment of the present invention; and

[0039] Fig.10 It is a schematic overview of the connection between several modules and a computer according to an embodiment of the present invention.

[0040] Figure 1 1 is a perspective view of a robot system 1 according to an embodiment of the present invention. The robot system 1 is assembled from several robot modules 100 and connectors 107, 108, 109 according to an embodiment of the present invention. In this example, a simple mobile robot platform constructed based on modular components (i.e., robot modules 100) is shown. The modular components used in this example are as follows:

[0041] • A motor actuator module 101 comprising a motor 101A. Each motor 101A may preferably be used as a servo motor or a continuous rotation motor. In servo mode, the actuator module 101 may rotate the motor 101A to a desired orientation. Each actuator module 101 has an internal processing unit that may execute one or more custom software assets.

[0042] A monocular camera module 102 including a camera 102B. The camera module 102 captures and provides color or grayscale images at a desired number of frames per second (fps). Each camera module 102 has an internal processing unit that can execute one or more custom software assets.

[0043] ● Inertial measurement modules 103 including an inertial measurement unit (IMU). The IMU preferably includes a triple redundant 3-axis accelerometer, a 3-axis gyroscope, and a 3-axis magnetometer. The IMU can provide acceleration, rotational velocity, magnetic field vector, and absolute orientation with respect to the plane of the earth. Each inertial measurement module 103 has an internal processing unit that can execute one or more custom software assets.

[0044] An ultrasonic rangefinder module 104 including an ultrasonic rangefinder 104A. The ultrasonic rangefinder 104A preferably includes a transmitter and receiver unit (not shown) and uses reflections of ultrasonic signals to provide distances to nearby objects. Each ultrasonic rangefinder module 104 has an internal processing unit that can execute one or more custom software assets.

[0045] • A gripper actuator module 106 including a gripper actuator 106A. Each gripper actuator module 106 has an internal processing unit that can execute one or more custom software assets.

[0046] All other robot modules 100 are powered by the power module 105. The power module 105 includes power components 132 (see Fig. 9 ), which is preferably a battery. Further preferably, the power module 105 has an internal processing unit that can execute one or more customized software assets.

[0047] The robot module 100 may also be a wireless communication module (not shown) that includes a wireless communication component 133 that allows wireless communication with another entity (see Fig. 9 ). As described above, the wireless communication component 133 can also be set in any robot module 100.

[0048] The robot modules 100 are mechanically coupled by using several links 107, 108, 109. Standard t-slot aluminum frame links 107 are used as a frame to connect different robot modules 100 to create different structures and platforms. Hinge bracket links 108 are used to connect between the motor actuator module 101 and any other robot module 100 or links 107, 108, 109 at a 90 degree offset angle. In addition, x-bolt links 109 are used. The x-bolt links 109 are unique brackets designed to connect any robot module 100, link 107, 108, 109 or bracket to any other module and link.

[0049] In this example, the robotic system 1 is a vehicle. The motor actuator module 101 is used to drive a mecanum omnidirectional wheel 110 .

[0050] The robot module 100 is connected to the robot module 100 by means of a cable 11 (see Figure 2 ) are connected to each other, wherein for the sake of clarity, Figure 1 The cables are not shown. Figure 2 and Figure 3 A connected robot module 100 is described.

[0051] Figure 2 and Figure 3 Two and three robot modules 100 are shown respectively. Figure 2 Two inertial measurement modules 103 are shown in FIG. Figure 3 Two inertial measurement modules 103 and a monocular camera module 102 are shown. Figure 2 and Figure 3 The specific type of robot module 100 in FIG. 1 is not relevant, and a specific robot module 100 is shown merely as an example.

[0052] All robot modules 100 comprise at least one, preferably at least two, more preferably at least three connection interfaces 112. The connection interfaces 112 are provided for the interconnection of the robot modules 100 via cables 111. In case each robot module 100 has two connection interfaces 112, a "chain" of robot modules 100 can be created. In case each robot module 100 has three or more connection interfaces 112, a more flexible cable connection between the robot modules 100 can be established. Preferably, one of the communication interfaces 112 is used as data and energy input, while the other communication interfaces 112 are used as energy and data output.

[0053] The connection interface 112 is adapted to receive communication data and electric power. Furthermore, the connection interface 112 is adapted to provide communication data and electric power. The communication data and electric power are preferably received from another connection interface 112 of another robot module 100 and are preferably provided to another connection interface 112 of another robot module 100. This means that the electric power directly provided to one of the robot modules 100 by connecting the power module 105 is also provided to all other connected robot modules 100 via the connection interface 112. The same preferably applies to the communication data. Therefore, as Figure 3 As shown, a computer 113 for configuring all connected robot modules 100 may be connected to one of the robot modules 100. Thus, the robot system 1 can be assembled in a very simple manner.

[0054] The connection between the robot modules 100 is preferably a USB-3.0 based connection. Therefore, a USB-3.0 cable 111 is used to establish a power and data connection between two robot modules 100 or one robot module 100 and an external computer 113.

[0055] In order to mechanically connect the robot modules 100 via the links 107, 108, 109, all robot modules 100 include standardized threaded holes 114A arranged in a standardized pattern. Therefore, all different links 107, 108, 109 can be simply mounted to the robot modules 100, allowing fast and simple assembly of different robots. Therefore, the robot system 1 is a simple modular system.

[0056] Figures 4 to 7 1 is a schematic diagram of different exemplary configurations of the robot system 1. In particular, the hardware assembly of different robot modules 100 using the links 107, 108, 109 is shown. Figure 4In the embodiment, two robot modules 100 are connected via an x-bolt connector 109. Using the x-bolt connector 109, any two robot modules 100, any robot module 100 and a bracket, any robot module 100 and connectors 107, 108, 109, and any two brackets or connectors 107, 108, 109 can be mounted together.

[0057] The x-bolt connector 109 includes a first portion 109A and a second portion 109B, which can be individually connected to two robot modules 100 via threaded holes 114A and screws 114 of the robot modules 100. Then, the first portion 109A and the second portion 109B can be connected and fixed via the screws 114 to establish a mechanical connection between the two robot modules 100.

[0058] exist Figure 4 , two motor actuator modules 101 are exemplarily shown to be connected via an x-bolt connection 109. In particular, the motor 101A of one motor actuator module 101 is connected to the other motor actuator module 101 so that the other motor actuator module 101 can be rotated via the motor 101A. However, the x-bolt connection 109 can also be used to establish a Figure 1 Other connections shown.

[0059] Figure 5 Schematic diagram of assembling different robot modules 100 using hinged bracket connector 108. Using hinged bracket connector 108, any two robot modules 100, any robot module 100 and bracket, any robot module 100 and connector 107, 108, 109, and any two brackets or connectors 107, 108, 109 can be installed together.

[0060] exist Figure 5 , the hinge bracket link 108 is exemplarily shown to be connected to the motor 101A of the motor actuator module 101. The connection is established via the threaded hole 114A and the screw 114 of the motor actuator module 101. However, the hinge bracket link 108 can be used to establish Figure 1 Other connections shown.

[0061] Figure 6The assembly of a typical 3-DoF manipulator using the above-described robot module 100 and some of the links 107, 108, 109 is shown. The gripper actuator module 106 is connected to the motor actuator module 101 to allow the gripper actuator module 106 to rotate via the motor 101A of the motor actuator module 101. The motor actuator module 100 is connected to another motor actuator module 100 via a hinge bracket link 108 so that the assembly of the gripper actuator module 106 and the motor actuator module 101 can be pivoted by using another motor actuator module 101. Via an x-bolt link 109, a frame link 107 and an additional hinge bracket link 108, two other motor actuator modules 101 are coupled to increase the mobility of the robot system 1 to achieve the desired degrees of freedom.

[0062] Figure 7 1 shows the assembly of different example platforms using the above-described robot module 100 and some of the links 107, 108, 109. In the robot system 1, as Figure 5 The assembly shown is mounted via x-bolt connections 109 to a frame connection 107 to which further robotic modules 100 are also mounted. These further robotic modules 100 are two motor actuator modules 101 and two monocular camera modules 102 allowing sensing of the environment.

[0063] In all Figures 4 to 7 For the sake of clarity, the cable 111 for connecting the robot module 100 is not shown.

[0064] Figure 8 1 is a schematic exploded view of an exemplary configuration of a single robot module 100. Specifically, a monocular camera module 102 is shown. Each module 100 includes a housing 102A, 102C having a main box 102A and a cover 102C. In addition, a mainboard 115 is provided to establish a system on module (SoM).

[0065] The robot module 100 also has a sensor device 129 and / or an actuator device 131 and / or a control interface (which is preferably a general purpose input and output interface (GPIO)) 130, and / or a power component 132 and / or a wireless communication component 133. In this respect, the type of the robot module 100 is defined. In the example shown, a camera 102B is provided, so that the robot module 100 is a monocular camera module 102. Instead of the camera 102B, an inertial measurement unit can be provided, so that the robot module 100 is an inertial measurement module 103.

[0066] The main board 115 is the heart of each robot module 100 and is also referred to as the SoM board. Figure 8As shown, the main board 115 includes a connection interface 112. A schematic overview of the main board 115 is shown in FIG. Fig. 9 Shown in.

[0067] Fig. 9 is a schematic overview of a robot module 100, and in particular of a main board 115. Each main board 115 comprises a data processing unit (DPU) 121, a connection interface 112 (which is preferably a USB 3.0 controller and connector), a power control unit PCU 119 and a chain manager unit 120, as well as additional electronics. The DPU 121 is in particular based on an ARM Cortex processor system-in-package (SiP). Depending on the specific application of the robot module 100, the main board 115 may also be equipped with a plurality of sensor devices 129 and / or a general purpose input or output interface 130 and / or an actuator device 131. The main board 115 may alternatively include interfaces for controlling these devices.

[0068] Each mainboard 115 also has an internal processor 123 and memory 124 capable of handling all tasks of the robot module 100. By default, each robot module 100 preferably provides minimal functionality for a specific task for the robot module 100. The user can preferably change the main function of the robot module 100 based on running node scripts or assets.

[0069] The motherboard 115 preferably also includes a communication interface 122, which includes a driver interface layer for handling virtual Ethernet communications over USB. The Remote Network Driver Interface Specification (RNDIS) is a protocol used on top of USB, and it provides a virtual Ethernet link on a host device operating system (which is preferably employed in the motherboard 115). The central processor 123 preferably handles tasks and assets. The processor 123 preferably runs a real-time operating system and manages the memory 124, the communication interface 122, and the peripheral devices.

[0070] The main memory 124 of the motherboard 115 stores the core operating system, assets 127, parameters, and additional algorithms 125. The algorithms 125 in the memory may include processing structures and neural models. The neural models are trained in the host computer and stored in the memory 124 as final models. The processor 123 uses the saved model and executes the model using the assets 127. The memory stores data 126, which mainly includes parameters such as calibration parameters and system settings.

[0071] Assets 127 are separate programs that can run in the processor 123. Given the limitations of the memory 124, unlimited assets 127 can be loaded into the robot module 100. The processor 123 can run each asset in a dedicated process using the operating system scheduler. Users can upload their assets 127 into the system using a graphical web interface.

[0072] The processor 123 also includes a device communication manager (DCM) 128, which is a default core asset that runs in real time at the highest priority. This asset 127 manages drivers for peripheral devices connected to the processor 123. The DCM 128 manages all settings, sensor data readings, and the graphical user interface.

[0073] As described above, the robot module 100 can be configured in different ways to solve different tasks:

[0074] Based on the functionality of the robot module 100, different sensor devices 129 can be connected to the DPU 121 using dedicated interfaces and communication protocols (such as I2C, serial, CAN, USB, etc.).

[0075] A general purpose input and output (GPIO) interface 130 may be provided for non-standard device management. The DCM 128 will control the GPIO 130 based on the asset 127 being run.

[0076] • The main board 115 can be connected to up to four DC motor drives based on the functionality of the robot module 100. The DCM 128 will handle the low level control of the motor drives and assets 127 can be executed to apply different control models based on the application.

[0077] The mainboard 115 preferably provides a web-based GUI interface that can be used on the computer 113 to access each robot module 100. As described above, a virtual Ethernet is preferably established. Further preferably, the Internet protocol is used for communication so that each robot module 100 has a unique IP address. Therefore, the robot module can be accessed via the IP address.

[0078] Assets 117 can be managed via a cloud-based digital twin environment. When each robot module 100 obtains a unique IP address, the user can use a browser and visualize the GUI of the component by typing in the IP address of the robot module 100. The web-based GUI serves five main purposes:

[0079] · Visualize the real-time status of the robot module 100.

[0080] • Changing the configuration and settings of the robot module 100.

[0081] Enables recording and downloading of data recorded by the robot module 100.

[0082] Loading assets 127 into the robot module 100 and executing, changing or managing assets 127 inside the robot module 100 .

[0083] Add or modify real-time node scripts that can be executed on the robot module 100.

[0084] The idea of ​​a cloud-based web interface for managing assets is similar to an app store for smartphones, where users can download assets 127 (apps, themes, configurations, etc.) and install them on the robot module 127. Adding new assets can add more functionality to the robot module 100 or change the core functionality of the robot module 100. Users can share, sell or buy new assets 127 for different robot modules 100. Assets 127 can be divided into multiple parts: fusion software, filtering software, control software, AI-based algorithms, and perception software.

[0085] For example, take the inertial measurement module 103 as an example, and by default, the inertial measurement module 103 provides raw sensor data of acceleration and rotation speed. Now consider asset 127, which can use the raw IMU data of the inertial measurement module 103 to detect the number of steps of human walking / running activities. Loading this asset 127 into the inertial measurement module 103 causes the inertial measurement module 103 to execute the application inside the processor 123 of the module and provide the number of steps and raw sensor data.

[0086] The robot module 100 may include a wireless communication component 133 that allows the main board 115 to communicate with other entities in a wireless manner. In the case where the robot module 100 is a power module 105, a power component 132, such as a battery, is provided. The main board 115 is adapted to output power from the power component 132 via the connection interface 112 to supply power to other robot modules 100.

[0087] Fig.10 A chain of multiple modules 100 and connections to a host computer are shown. Each robot module 100 obtains a unique IP address and can communicate with other robot modules 100 and the host computer 113.

[0088] Reference numerals list

[0089] 1 Robotic system

[0090] 100 modules

[0091] 101 Motor Actuator Module

[0092] 101A Motor

[0093] 102 Monocular Camera Module

[0094] 102A, 102C housing

[0095] 102B Camera

[0096] 103 Inertial Measurement Module

[0097] 104 Ultrasonic rangefinder module

[0098] 104A Ultrasonic Rangefinder

[0099] 105 Power Module

[0100] 106 Gripper Actuator Module

[0101] 106A Gripper Actuator

[0102] 107 Frame connector

[0103] 108 hinge bracket connector

[0104] 109 x Bolt connector

[0105] 109A Part 1

[0106] 109B Part 2

[0107] 110 Mecanum Omnidirectional Wheel

[0108] 111 Cable

[0109] 112 Connection interface

[0110] 113 Computer

[0111] 114 Screws

[0112] 114A threaded hole

[0113] 115 Motherboard

[0114] 116 Graphical User Interface (GUI)

[0115] 117web interface

[0116] 119 Power Control Unit (PCU)

[0117] 120 Chain Manager Unit

[0118] 121Data Processing Unit (DPU)

[0119] 122 Communication Interface

[0120] 123 Processor

[0121] 124 Memory

[0122] 125 Algorithms

[0123] 126 Data

[0124] 127 Assets

[0125] 128 Device Communication Manager (DCM)

[0126] 129 sensor device

[0127] 130 control interface / general purpose input and output interface (GPIO)

[0128] 131 Actuator motor

[0129] 132 Power components

[0130] 133 Wireless communication components

Claims

1. A robot module (100, 101, 102, 103, 104, 105, 106), comprising: a sensor device (129) and / or an actuator device (131) and / or a control interface (130) and / or an electrical component (132) and / or a wireless communication component (133), and A main board (115), comprising: at least one connection interface (112), and Memory (124), wherein at least one connection interface (112) is adapted to receive communication data and electrical power, and at least one connection interface (112) is adapted to provide communication data and electrical power, Wherein, the main board (115) is suitable for: Based on the software and / or parameters stored in the memory (124), the actuator device (131) is controlled via the control interface (130) and / or control data is output, and / or data from the sensor device (129) and / or from the control interface (130) is processed, and / or power is supplied from the power component via the connection interface (112), and / or communication is performed via the wireless communication component, and Software data and / or parameters are received via the connection interface (112) and stored in the memory (124).

2. The robot module (100, 101, 102, 103, 104, 105, 106) according to claim 1, characterized in that: The control interface (112) is adapted to be connected to a computer, and the motherboard (115) is adapted to receive software and / or parameters from the computer to be stored in the memory (124).

3. The robot module (100, 101, 102, 103, 104, 105, 106) according to any of the preceding claims, characterized in that The housing (102A, 102C) is used to accommodate the main board (115) and the sensor device (129) and / or the actuator device (131) and / or the control interface (130).

4. The robot module (100, 101, 102, 103, 104, 105, 106) according to any of the preceding claims, characterized in that The main board (115) is adapted to determine whether received communication data is addressed to itself and when not to send the received communication data to another main board (115) connected to the main board (115) via the connection interface (112).

5. The robot module (100, 101, 102, 103, 104, 105, 106) according to any one of the preceding claims, characterized in that The actuator device (131) comprises a motor and / or a gripper actuator (106a), and / or the sensor device comprises a camera (102a) and / or an ultrasonic rangefinder (104a) and / or an inertial measurement unit, wherein the camera (102a) is preferably a monocular camera.

6. The robot module (100, 101, 102, 103, 104, 105, 106) according to any of the preceding claims, characterized in that The mainboard (115) comprises at least two connection interfaces (112), preferably at least three connection interfaces (113).

7. The robot module (100, 101, 102, 103, 104, 105, 106) according to any of the preceding claims, characterized in that The mainboard (115) is adapted to access a server to load assets (127) into the memory (124), the server preferably being a cloud-based web interface, wherein each asset (127) provides different functionality to allow the mainboard (115) to control the actuator device (131) and / or output control data via the control interface (130), and / or process data from the sensor device (129) and / or from the control interface (130).

8. A robot system (1) comprising a plurality of robot modules (100, 101, 102, 103, 104, 105, 106) according to any one of the preceding claims, wherein: Each of the plurality of robot modules (100, 101, 102, 103, 104, 105, 106) is connected to another robot module among the plurality of robot modules (100, 101, 102, 103, 104, 105, 106) via a corresponding connection interface (112), and the connection is preferably a wired connection, and the plurality of robot modules (100, 101, 102, 103, 104, 105, 106) are mechanically coupled via connecting members (107, 108, 109).

9. The robot system (1) according to claim 8, characterized in that At least one connection interface (112) of at least one of the plurality of robot modules (100, 101, 102, 103, 104, 105, 106) is connected to a power module (105), and the power module (105) is preferably a battery.

10. The robot system (1) according to claim 8 or 9, characterized in that: The plurality of robot modules (100, 101, 102, 103, 104, 105, 106) each have the same mounting features, which are preferably threaded holes (114a) at the same position and / or having the same pattern.

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