Homogeneous modular robot maximum similar subgraph set construction method, device and equipment

Abstract

This application relates to the field of modular robot application technology, and in particular to a method, apparatus, and device for constructing a maximum similarity subgraph set for a homogeneous modular robot. The method includes acquiring the initial topology, target topology, and module unit data of the homogeneous modular robot; generating an initial reconstructed topology graph and a target reconstructed topology graph based on the initial topology, target topology, and module unit data; generating an initial chained subgraph set and a target chained subgraph set from the two; and finally constructing the maximum similarity subgraph set of the homogeneous modular robot based on the initial chained subgraph set and the target chained subgraph set. This solves the problem of related technologies struggling to efficiently identify the similarities and differences between the topologies of homogeneous modular robots.

Description

Technical Field

[0001] This application relates to the field of modular robot application technology, and in particular to a method, apparatus and equipment for constructing a maximum similarity sub-map set for a homogeneous modular robot. Background Technology

[0002] With the continuous improvement of industrial automation, robots are becoming increasingly popular in various application scenarios. However, traditional robots with single performance and fixed structure are difficult to adapt to the actual needs of diverse loads and complex and ever-changing tasks. Modular robots are composed of multiple identical modules (homogeneous) or different modules (heterogeneous). By adjusting the number of modules and their relative positions, new topological configurations can be reconstructed, thereby gaining new functions to cope with changing working environments and task requirements.

[0003] Compared to heterogeneous modular robots, homogeneous modular robots, due to the interchangeability between their modules, possess greater scalability, versatility, and ease of use, facilitating mass design, manufacturing, assembly, and maintenance, thus offering broader application prospects. However, in actual operation, modular robots often face challenges such as external interference and energy constraints, and their topology is dynamically variable. Before topology reconfiguration, it is necessary to first identify the similarities and differences between the two configurations, and guide the reconfiguration process with the goal of minimizing the differences. Current technologies struggle to efficiently identify the similarities and differences between the topologies of homogeneous modular robots, making it difficult to support efficient reconfiguration decisions. Summary of the Invention

[0004] This application provides a method, apparatus, and device for constructing a maximum similarity sub-graphet for homogeneous modular robots, in order to solve the problem that related technologies are unable to efficiently identify the similarity and differences between the topological structures of homogeneous modular robots.

[0005] The first aspect of this application provides a method for constructing a maximum similarity subgraph set for a homogeneous modular robot, comprising the following steps: obtaining an initial topology, a target topology, and module unit data of the homogeneous modular robot; generating an initial reconstructed topology graph of the homogeneous modular robot based on the initial topology and module unit data, and determining an initial chain-like subgraph set of the homogeneous modular robot based on the initial reconstructed topology graph; generating a target reconstructed topology graph of the homogeneous modular robot based on the target topology and module unit data, and determining a target chain-like subgraph set of the homogeneous modular robot based on the target reconstructed topology graph; and constructing a maximum similarity subgraph set of the homogeneous modular robot based on the initial chain-like subgraph set and the target chain-like subgraph set.

[0006] Optionally, generating an initial reconstructed topology graph of the homogeneous modular robot based on the initial topology and module unit data includes: obtaining a mathematical representation of the initial topology; generating a first multidimensional directed topology graph of the initial topology of the homogeneous modular robot based on the mathematical representation of the initial topology and module unit data; and generating an initial reconstructed topology graph based on the first multidimensional directed topology graph.

[0007] Optionally, generating an initial reconstructed topology graph based on the first multidimensional directed topology graph includes: identifying a first set of points, a first set of connection labels, and a first set of edges in the first multidimensional directed topology graph; exchanging information between the first set of points and the first set of connection labels to obtain an updated first set of points and an updated first set of connection labels; updating the first set of edges based on the updated first set of points; and generating an initial reconstructed topology graph based on the updated first set of points, the updated first set of connection labels, and the updated first set of edges.

[0008] Optionally, generating a target reconstruction topology graph of the homogeneous modular robot based on the target topology and module unit data includes: obtaining a mathematical representation of the target topology; generating a second multidimensional directed topology graph of the target topology of the homogeneous modular robot based on the mathematical representation of the target topology and module unit data; and generating a target reconstruction topology graph based on the second multidimensional directed topology graph.

[0009] Optionally, generating a target reconstructed topology graph based on the second multidimensional directed topology graph includes: identifying a second set of points, a second set of connection labels, and a second set of edges in the second multidimensional directed topology graph; exchanging information between the second set of points and the second set of connection labels to obtain an updated second set of points and an updated second set of connection labels; updating the second set of edges based on the updated second set of points; and generating the target reconstructed topology graph based on the updated second set of points, the updated second set of connection labels, and the updated second set of edges.

[0010] Optionally, constructing the maximum similarity subgraph set for the homogeneous modular machine based on the initial chained subgraph set and the target chained subgraph set includes: calculating a subgraph similarity matrix based on the initial chained subgraph set and the target chained subgraph set; determining similar subgraphs between the initial chained subgraph set and the target chained subgraph set based on the subgraph similarity matrix, and storing them in their respective similar chained subgraph sets; and constructing the maximum similarity subgraph set for the homogeneous modular machine based on the similar chained subgraph sets.

[0011] Optionally, determining similar subgraphs between the initial chained subgraph set and the target chained subgraph set based on the subgraph similarity matrix includes: identifying the maximum element and the row and column numbers of the maximum element in the subgraph similarity matrix; determining the first chained subgraph of the initial chained subgraph set and the second chained subgraph of the target chained subgraph set based on the row and column numbers of the maximum element; and determining the similar subgraphs between the first chained subgraph set and the second chained subgraph set based on the maximum element.

[0012] A second aspect of this application provides an apparatus for constructing a maximum similarity subgraph set for a homogeneous modular robot, comprising: an acquisition module for acquiring an initial topology, a target topology, and module unit data of the homogeneous modular robot; a determination module for generating an initial reconstructed topology map of the homogeneous modular robot based on the initial topology and module unit data, and determining an initial chain-like subgraph set of the homogeneous modular robot based on the initial reconstructed topology map; generating a target reconstructed topology map of the homogeneous modular robot based on the target topology and module unit data, and determining a target chain-like subgraph set of the homogeneous modular robot based on the target reconstructed topology map; and a construction module for constructing a maximum similarity subgraph set of the homogeneous modular robot based on the initial chain-like subgraph set and the target chain-like subgraph set.

[0013] A third aspect of this application provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor. The processor executes the program to implement the method for constructing the maximum similarity sub-map of a homogeneous modular robot according to the first aspect.

[0014] The fourth aspect of this application provides a computer-readable storage medium having a computer program or instructions stored thereon, which, when executed, implements the method for constructing a maximum similarity sub-map of a homogeneous modular robot according to the first aspect.

[0015] Therefore, this application has the following beneficial effects:

[0016] This application embodiment can obtain the initial topology, target topology, and module unit data of a homogeneous modular robot. Based on these data, it generates an initial reconstructed topology graph and a target reconstructed topology graph. Then, it generates an initial chain-like subgraph set and a target chain-like subgraph set from these two graphs. Finally, it constructs the maximum similarity subgraph set of the homogeneous modular robot based on the initial and target chain-like subgraph sets. This application embodiment, combined with the characteristics of homogeneous modular robots and based on the 3D model of the module units, can realize the construction of the maximum similarity subgraph set of homogeneous modular robots under any two topologies. It clarifies the maximum difference and maximum similarity between two topologies of a homogeneous modular robot, providing an analytical basis for the topology reconstruction of the modular robot and achieving autonomous acquisition of the maximum similarity subgraph set of two topologies of a homogeneous modular robot. Therefore, it solves the problem of related technologies struggling to efficiently identify the similarity and differences between the topologies of homogeneous modular robots.

[0017] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0018] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein: Figure 1 This is a flowchart illustrating a method for constructing a maximum similarity sub-graphet of a homogeneous modular robot according to an embodiment of this application. Figure 2 This is a flowchart illustrating a method for constructing a maximum similarity sub-graphet of a homogeneous modular robot according to an embodiment of this application; Figure 3 This is a schematic diagram of a three-dimensional model of a module unit according to an embodiment of this application; Figure 4 This is a schematic diagram of a first multidimensional directed topology graph of the initial topology of a homogeneous modular robot according to an embodiment of this application; Figure 5 This is a schematic diagram of a second multidimensional directed topology graph of a homogeneous modular robot target topology provided according to an embodiment of this application; Figure 6 This is a schematic diagram of the initial reconfiguration topology of a homogeneous modular robot according to an embodiment of this application; Figure 7 This is a schematic diagram of the target reconstructed topology of a homogeneous modular robot according to an embodiment of this application; Figure 8 This is a schematic diagram showing the distribution of the most similar subgraphs in the initial topology and the target topology according to an embodiment of this application; Figure 9 This is a schematic diagram showing the distribution of the most similar subgraphs in the target topology and the initial topology according to an embodiment of this application; Figure 10 This is a schematic diagram of a device for constructing a maximum similarity sub-graphet of a homogeneous modular robot according to an embodiment of this application; Figure 11 This is a schematic diagram of an electronic device provided according to an embodiment of this application. Detailed Implementation

[0019] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0020] The following describes a method, apparatus, and device for constructing a maximum similarity sub-graphet of a homogeneous modular robot, based on embodiments of the present application, with reference to the accompanying drawings. Addressing the problem mentioned in the background art of efficiently identifying the similarities and differences between the topological structures of homogeneous modular robots, this application provides a method for constructing a maximum similarity sub-graphet of a homogeneous modular robot. In this method, the initial topological structure, target topological structure, and module unit data of the homogeneous modular robot are obtained. An initial reconstructed topological graph and a target reconstructed topological graph are generated based on these data. An initial chain-like sub-graphet and a target chain-like sub-graphet are then generated from these two graphs. Finally, the maximum similarity sub-graphet of the homogeneous modular robot is constructed based on the initial chain-like sub-graphet and the target chain-like sub-graphet. This application, combined with the characteristics of homogeneous modular robots and based on the three-dimensional model of the module units, enables the construction of a maximum similarity sub-graphet of a homogeneous modular robot under any two topological structures. It clarifies the maximum difference and maximum similarity between two topological structures of the homogeneous modular robot, providing an analytical basis for the topological reconstruction of the modular robot and achieving autonomous acquisition of the maximum similarity sub-graphet of two topological structures of the homogeneous modular robot. This solves the problem that related technologies struggle to efficiently identify the similarities and differences between the topologies of homogeneous modular robots.

[0021] Specifically, Figure 1 This is a flowchart illustrating a method for constructing a maximum similarity sub-graphet of a homogeneous modular robot, as provided in an embodiment of this application.

[0022] like Figure 1 As shown, the method for constructing the maximum similarity sub-graphet of a homogeneous modular robot includes the following steps: In step S101, the initial topology, target topology, and module unit data of the homogeneous modular robot are obtained.

[0023] Among them, a homogeneous modular robot is a robot system composed of multiple modules with the same structure and function. The modules are interchangeable, easily expandable, and convenient for mass production and maintenance. The initial topology refers to the robot's current configuration before reconstruction, that is, the connection relationship and spatial arrangement between the modules, which is usually represented mathematically by vectors. The target topology refers to the ideal configuration that is desired to be achieved after reconstruction, which is also described by vectors to describe the connection method between its modules. Module unit data includes the module's three-dimensional geometric model, interface type (such as male / female interface), drive components (such as motor module), positioning device and other physical and functional information, which is the basis for constructing the topology map and evaluating the feasibility of reconstruction.

[0024] It is understood that the embodiments of this application first obtain the current configuration of the homogeneous modular robot, i.e. the initial topology; the new configuration to be achieved, i.e. the target topology; and the detailed three-dimensional models and interface information of the modules constituting the robot, i.e. the module unit data, so as to lay the foundation for subsequent analysis of the similarity and difference between the two and thus achieve efficient topology reconstruction.

[0025] In step S102, an initial reconstructed topology diagram of the homogeneous modular robot is generated based on the initial topology and module unit data, and an initial chain sub-graph set of the homogeneous modular robot is determined based on the initial reconstructed topology diagram.

[0026] The initial reconstructed topology graph is a labeled directed graph model that abstracts the physical connections based on the initial topology. It includes module units, module connection relationships, and the connection methods and relative orientations of specific interfaces, reflecting the mechanical and spatial constraints of the connections. The initial chain subgraph set is a set of all linear path subgraphs extracted from the initial reconstructed topology graph. Each chain is a branchless path that represents a continuous sequence of modules in the robot that may constitute limbs, arm segments, or functional units. It is used for subsequent similarity matching and reconstruction planning.

[0027] It should be noted that each chain subgraph in the initial chain subgraph set is a single-chain topology graph, whose structure is strictly limited to a linear connection sequence without loops or branches. That is, any module in the subgraph is connected to at most two adjacent modules (the first and last modules are connected to only one), and there are no loops or branches of any kind, thus ensuring that each chain represents a continuous, non-branching functional or motion unit.

[0028] It is understood that the embodiments of this application generate an initial reconstructed topology graph and module unit data of the homogeneous modular robot based on the initial topology structure of the homogeneous modular robot. First, the initial reconstructed topology graph is constructed, which uses modules as nodes and connections as edges, and accurately describes the interface type and connection location through a set of connection labels. On this basis, all linearly connected module paths are identified and extracted from the initial reconstructed topology graph to form an initial chain subgraph set, which provides structured input for subsequent topology similarity analysis and reconstruction decision.

[0029] In this embodiment of the application, generating an initial reconstructed topology graph of a homogeneous modular robot based on an initial topology and module unit data includes: obtaining a mathematical representation of the initial topology; generating a first multidimensional directed topology graph of the initial topology of the homogeneous modular robot based on the mathematical representation of the initial topology and module unit data; and generating an initial reconstructed topology graph based on the first multidimensional directed topology graph.

[0030] The first multidimensional directed topological graph of the initial topological structure of the homogeneous modular robot is a graphical representation based on the mathematical representation of the initial topological structure and the data generated from the module units. In the first multidimensional directed topological graph, nodes represent modules, edges represent connections between modules, and the directionality and dimension of the connections (e.g., interface type, connection orientation, etc.) are taken into account to more accurately describe the actual connection situation between modules. Specifically, the first multidimensional directed topological graph... , For the first set, For the first set of connection tags, Let be the first edge set, where the first point set is... This represents the set of modular units in the initial topology of a homogeneous modular robot. This indicates the module unit number that connects the homogeneous modular robot to the base. This indicates the module unit number in the initial topology of a homogeneous modular robot. The first edge set represents the total number of modular units in the initial topology of a homogeneous modular robot, excluding those connected to the base; This indicates the connection relationship between two module units. This represents the modular unit in the initial topology of a homogeneous modular robot. and There is a connection between them. This represents the total number of modular unit connections in the initial topology of a homogeneous modular robot, excluding connections to the base; the first connection tag set. This indicates the specific connection state corresponding to each edge. ,in, , , , This represents the modular unit in the initial topology of a homogeneous modular robot. interface With module unit interface Interphase connection, their orientation relationship is as follows , This indicates the connection status between the root module unit and the base of a homogeneous modular robot. This indicates the total number of interfaces in the module unit. This indicates the total number of connection orientation relationships contained in the module unit interface. and All of these are determined by the mechanical structure of the interface in the module unit data.

[0031] It is understood that, based on the initial topology of the homogeneous modular robot and the detailed data of each module, the embodiments of this application first transform its physical connection mode into a mathematical representation of the initial topology; then, using the mathematical representation of the initial topology combined with the module unit data, a detailed first multidimensional directed topology graph containing directionality and multiple dimensions is created, which accurately reflects the connection relationships and characteristics between modules; finally, based on this, an initial reconstructed topology graph is generated, which not only depicts the connection methods between modules, but also describes various connection attributes.

[0032] In this embodiment of the application, generating an initial reconstructed topology graph based on a first multidimensional directed topology graph includes: identifying a first set of points, a first set of connection labels, and a first set of edges in the first multidimensional directed topology graph; exchanging information between the first set of points and the first set of connection labels to obtain an updated first set of points and an updated first set of connection labels; updating the first set of edges based on the updated first set of points; and generating an initial reconstructed topology graph based on the updated first set of points, the updated first set of connection labels, and the updated first set of edges.

[0033] Here, exchanging information between the first set of points and the first set of connection labels refers to mapping or injecting the connection attributes that were originally only attached to the edges into the relevant nodes. For example, if a module participates in the connection through an interface, the type and orientation information of that interface can be added to the attributes of the module's nodes, thereby enhancing the semantic expressiveness of the nodes; based on the first multidimensional directed topology graph... By passing the first point set and the first set of connection tags Information is exchanged, first side set With the first episode By making changes, a reconstructed topology diagram of the initial topology of the homogeneous modular robot can be obtained. The first episode after the update This represents the set of connection states in the initial topology of a homogeneous modular robot. This indicates the connection status between the root module unit of the homogeneous modular robot and the base; the updated first edge set. This indicates the connection relationship that exists between two connected states. Represents the connection state in the initial topology of a homogeneous modular robot. and There are connections between them; the updated first connection tag set This indicates the module unit number information corresponding to the connection status. This represents the modular unit in the initial topology of a homogeneous modular robot. With module unit There is a connection between them. .

[0034] It is understood that, in the process of generating the initial reconstructed topology graph in this embodiment of the application, the three core components are first extracted from the first multi-dimensional directed topology graph: the first set of points, the first set of edges, and the first set of connection labels. Then, by exchanging information between the first set of points and the first set of connection labels, that is, by inversely associating the interface type, orientation, and other attributes involved in the connection with the corresponding module nodes, a more semantically rich updated first set of points and first set of connection labels are obtained. The first set of edges is synchronized according to the updated first set of points to maintain topological consistency. Finally, based on these three sets of updated data, an initial reconstructed topology graph with complete structure and accurate semantics is constructed, laying the foundation for subsequent modular robot reconstruction analysis.

[0035] In step S103, a target reconstruction topology map of the homogeneous modular robot is generated based on the target topology and module unit data, and the target chain sub-map set of the homogeneous modular robot is determined based on the target reconstruction topology map.

[0036] The target reconstruction topology graph is an abstracted directed graph model with labels based on the initial topology, which includes module units, module connection relationships, and connection methods and relative orientations of specific interfaces, reflecting the mechanical and spatial constraints of the connections. The target chain subgraph set is a collection of all linear path subgraphs extracted from the target reconstruction topology graph. Each chain is a branchless path, representing a continuous sequence of modules in the robot that may constitute limbs, arm segments, or functional units, and is used for subsequent similarity matching and reconstruction planning.

[0037] It should be noted that each chain subgraph in the target chain subgraph set is a single-chain topology graph. Its structure is strictly limited to a linear connection sequence without loops or branches. That is, any module in the subgraph is connected to at most two adjacent modules (the first and last modules are connected to only one), and there are no loops or branches of any kind, thus ensuring that each chain represents a continuous and non-branching functional or motion unit.

[0038] It is understood that, based on the target topology structure and module unit data expected to be achieved by the homogeneous modular robot, the embodiments of this application first construct a target reconstruction topology graph that can accurately reflect the target connection relationship and interface semantics; then, identify and extract all linear module sequences that meet the conditions of no cycles and no bifurcation from the graph to form a target chain subgraph set, which provides a structured basis for subsequent similarity matching and reconstruction path planning with the initial chain subgraph set.

[0039] In this embodiment, generating a target reconstruction topology graph of a homogeneous modular robot based on the target topology and module unit data includes: obtaining a mathematical representation of the target topology; generating a second multidimensional directed topology graph of the target topology of the homogeneous modular robot based on the mathematical representation of the target topology and module unit data; and generating a target reconstruction topology graph based on the second multidimensional directed topology graph.

[0040] Based on the mathematical representation of the target topology and the module unit data, a second directed topological graph of the target topology can be obtained. The second point set This represents the set of modular units in the topology of a homogeneous modular robot target. This indicates the module unit number that connects the homogeneous modular robot to the base. This indicates the module unit number in the homogeneous modular robot target topology. The second edge set represents the total number of modular units in the homogeneous modular robot target topology, excluding those connected to the base; This indicates the connection relationship between two module units. Represents the modular unit in the topology of a homogeneous modular robot target. and There is a connection between them. This represents the total number of modular unit connections within the homogeneous modular robot target topology, excluding connections to the base; the second connection tag set. This indicates the specific connection state corresponding to each edge. ,in, , , , Represents the modular unit in the topology of a homogeneous modular robot target. interface With module unit interface Interphase connection, their orientation relationship is as follows .

[0041] It is understood that, according to the embodiments of this application, a mathematical representation of the target topology structure is obtained based on the target topology structure of the homogeneous modular robot and its module unit data. This mathematical representation accurately describes the expected connection methods and configurations between modules. Then, this mathematical representation is used in conjunction with specific module unit data to generate a detailed multidimensional directed topology graph. This graph not only contains all the necessary connection information but also takes into account the various characteristics of the modules. Finally, based on the second multidimensional directed topology graph, a target reconstruction topology graph is further extracted, providing the robot with a clear blueprint to guide it in completing the physical reassembly according to the predetermined design.

[0042] In this embodiment of the application, generating a target reconstructed topology graph based on a second multidimensional directed topology graph includes: identifying a second set of points, a second set of connection labels, and a second set of edges in the second multidimensional directed topology graph; exchanging information between the second set of points and the second set of connection labels to obtain an updated second set of points and an updated second set of connection labels; updating the second set of edges based on the updated second set of points; and generating a target reconstructed topology graph based on the updated second set of points, the updated second set of connection labels, and the updated second set of edges.

[0043] The exchange of information between the second point set and the second connection label set refers to mapping or injecting the connection attributes that were originally only attached to the edges into the relevant nodes. For example, if a module participates in the connection through an interface, the type and orientation information of that interface can be added to the attributes of the module's nodes, thereby enhancing the semantic expressiveness of the nodes; the second multidimensional directed topology graph based on the target topology structure. The target reconstruction topology diagram of the homogeneous modular robot target topology structure can be obtained. The updated second set This represents the set of connection states in the topology of a homogeneous modular robot target. This indicates the connection status between the root module unit of the homogeneous modular robot and the base; the updated second sideset. This indicates the connection relationship that exists between two connected states. Represents the connection state in the topology of a homogeneous modular robot target. and There are connections between them; the updated second set of connection tags. This indicates the module unit number information corresponding to the connection status. Represents the modular unit in the topology of a homogeneous modular robot target. With module unit There is a connection between them. .

[0044] It is understood that, in the process of generating the target reconstruction topology graph in this embodiment, the core components, namely the second set of points, the second set of edges, and the second set of connection labels, are first extracted from the second multi-dimensional directed topology graph. Then, by exchanging information between the second set of points and the second set of connection labels, the interface types, orientations, and other attributes involved in the connections are synchronized to the relevant module nodes, thereby obtaining the semantically enhanced updated second set of points and the updated second set of connection labels. The second set of edges is then adjusted accordingly to maintain topological consistency. Finally, based on these three sets of updated data, a structurally complete and semantically accurate target reconstruction topology graph is constructed, providing a reliable basis for the subsequent extraction and reconstruction decisions of the target chain subgraph set.

[0045] In step S104, the maximum similarity subgraph set of the homogeneous modular machine is constructed based on the initial chain subgraph set and the target chain subgraph set.

[0046] Among them, the maximum similarity subgraph set refers to the pair of corresponding subgraphs that are most structurally similar and have the highest degree of reusability between the initial chain subgraph set and the target chain subgraph set, found by the matching algorithm. The corresponding subgraph pairs are highly consistent in terms of the number of modules, connection order, interface type or functional semantics, and can be retained without disassembly or with only minor adjustments, thereby reducing reconstruction actions.

[0047] It is understood that, by comparing the initial chain subgraph set and the target chain subgraph set of the homogeneous modular robot, this application identifies and extracts the chain subgraph pairs that are most similar in structure and semantics between the two, and constructs the maximum similarity subgraph set. This realizes the construction of the maximum similarity subgraph set of homogeneous modular robots under any two topologies, thereby providing a reconstruction target for the topology reconstruction of the modular robot.

[0048] In this embodiment of the application, constructing the maximum similarity subgraph set of a homogeneous modular machine based on the initial chained subgraph set and the target chained subgraph set includes: calculating a subgraph similarity matrix based on the initial chained subgraph set and the target chained subgraph set; determining similar subgraphs between the initial chained subgraph set and the target chained subgraph set based on the subgraph similarity matrix, and storing them respectively in the similar chained subgraph sets of the initial chained subgraph set and the target chained subgraph set; and constructing the maximum similarity subgraph set of the homogeneous modular machine based on the similar chained subgraph sets.

[0049] Among them, the initial chain sub-graphet of the homogeneous modular robot is

[0050] in, Represents the first term in the initial chain subgraph set. A chain subgraph, This represents the total number of linked subgraphs in the initial linked subgraph set; Homogeneous modular robot target chain sub-atlas

[0051] in, Represents the first sub-graph in the target chain sub-graph set. A chain subgraph, This represents the total number of chain subgraphs in the target chain subgraph set; The similarity evaluation metric for the reconstructed subgraphs of two chain subgraphs is:

[0052] in, This indicates the number of identical vertices in two linked subgraphs. This represents the number of points in each chain subgraph. This indicates the number of points in the overlapping part during the comparison of two chained subgraphs. This represents the evaluation index for the similarity between two chained subgraphs. This represents an evaluation index indicating the difficulty of reconstructing two chained subgraphs. The weights of the two evaluation metrics, namely the similarity between the two chain subgraphs and the difficulty of reconstruction, are indicated; identical points in the two chain subgraphs represent points that reflect the exact same connection state. The subgraph similarity matrix is ​​obtained by reconstructing subgraphs from two chained subgraphs using a similarity evaluation metric. Based on the subgraph similarity matrix, similar subgraphs between the initial chained subgraph set and the target chained subgraph set are determined and stored in their respective similar chained subgraph sets. The similar chained subgraph set corresponding to the initial chained subgraph set is as follows:

[0053] in, This represents the first similar chained subgraph in the set of similar chained subgraphs corresponding to the initial chained subgraph set. A chain subgraph, This represents the total number of chain subgraphs in the similar chain subgraph sets corresponding to the initial chain subgraph set; The similar chain sub-graphet corresponding to the target chain sub-graphet of homogeneous modular robots is:

[0054] in, This represents the first similar chain sub-graph in the target chain sub-graph set. A chain subgraph, This represents the total number of chain subgraphs in the similar chain subgraph sets corresponding to the target chain subgraph set. The maximum similarity subgraph set for a homogeneous modular machine is constructed based on the similar chain subgraph sets. This includes using a subgraph similarity matrix, selecting the two chain subgraphs with the highest current similarity, extracting the common parts (i.e., the similar parts) that are structurally identical between the two chain subgraphs, and adding these similar parts to their respective similar chain subgraph sets. Specifically, the similar parts from the initial chain are stored in the initial side's similar subgraph set, and the similar parts from the target chain are stored in the target side's similar subgraph set. The remaining parts after removing the matched similar parts from the two chain subgraphs replace the original complete chain subgraphs. This involves updating the corresponding chain subgraph in the initial chain subgraph set to its remaining parts, and similarly updating the corresponding chain subgraph in the target chain subgraph set to its remaining parts. This process is repeated until all chains in either the initial chain subgraph set or the target chain subgraph set have been processed.

[0055] Understandably, in this embodiment, the similarity between all chain pairs in the initial and target chain subgraph sets is first calculated. A subgraph similarity matrix is ​​obtained based on the similarity results. This matrix records the similarity score between each initial chain and each target chain. This matrix is ​​used to select the two chain subgraphs with the highest current similarity. For these two chain subgraphs, their similar parts are extracted and added to their respective similar chain subgraph sets. Specifically, the similar parts from the initial chain are stored in the initial side's similar subgraph set, and the similar parts from the target chain are stored in the target side's similar subgraph set. The remaining parts after removing the matched similar parts from the two chain subgraphs replace the original complete chain subgraphs. In other words, the initial chain subgraph is further... The new corresponding chain subgraph is its remaining part. Similarly, the corresponding chain subgraph in the target chain subgraph set is updated to its remaining part. This process is repeated until all chains in either the initial chain subgraph set or the target chain subgraph set have been processed. This means that all chains are either successfully matched and added to the similar subgraph set, or are marked as parts that need to be reconfigured or adjusted because no suitable match can be found. The final similar chain subgraph sets corresponding to the initial chain subgraph set and the similar chain subgraph sets corresponding to the target chain subgraph set are the maximum similar subgraph sets. The maximum similar subgraph set can help optimize the robot's topology reconstruction process, so that as many parts as possible can be directly retained or reused with only minor adjustments, thereby reducing the workload and resource consumption required for reconstruction.

[0056] In this embodiment of the application, determining similar subgraphs between an initial chained subgraph set and a target chained subgraph set based on the subgraph similarity matrix includes: identifying the maximum element and the row and column numbers of the maximum element in the subgraph similarity matrix; determining a first chained subgraph of the initial chained subgraph set and a second chained subgraph of the target chained subgraph set based on the row and column numbers of the maximum element; and determining similar subgraphs between the first chained subgraph set and the second chained subgraph set based on the maximum element.

[0057] In this context, the maximum element in the similarity matrix refers to the element with the largest value in the subgraph similarity matrix, representing the pair with the highest similarity among all current chain pairs; the row and column numbers of the maximum element are the positions of the maximum element in the matrix, with the row number pointing to a chain in the initial chain subgraph set and the column number pointing to a chain in the target chain subgraph set.

[0058] It is understood that, in this embodiment of the application, the element with the largest value in the subgraph similarity matrix and its row and column numbers are found. Based on the row number, the corresponding first chain subgraph is located from the initial chain subgraph set, and based on the column number, the corresponding second chain subgraph is located from the target chain subgraph set. Based on the high similarity information of this pair of chains, the common part with completely consistent structure between the two is extracted, which is the desired similar subgraph.

[0059] The method for constructing the maximum similarity sub-graphet of a homogeneous modular robot proposed in this application can obtain the initial topology, target topology, and module unit data of the homogeneous modular robot. Based on these data, an initial reconstructed topology and a target reconstructed topology are generated. Then, an initial chain-like sub-graphet and a target chain-like sub-graphet are generated from these two data. Finally, the maximum similarity sub-graphet of the homogeneous modular robot is constructed based on the initial chain-like sub-graphet and the target chain-like sub-graphet. This method, combined with the characteristics of homogeneous modular robots and based on the 3D model of the module unit, can construct the maximum similarity sub-graphet of a homogeneous modular robot under any two topologies. It clarifies the maximum difference and maximum similarity between two topologies of the homogeneous modular robot, providing an analytical basis for the topology reconstruction of the modular robot and enabling the autonomous acquisition of the maximum similarity sub-graphet of two topologies of the homogeneous modular robot.

[0060] The following specific example further describes the method for constructing the maximum similarity sub-graphet of a homogeneous modular robot.

[0061] This embodiment proposes a method for constructing a maximum similarity sub-graphet for homogeneous modular robots. Figure 2 This is a flowchart illustrating the method for constructing the maximum similarity sub-graphite of a homogeneous modular robot provided in this embodiment. Figure 2 As shown, the method includes the following steps: Step S1: Obtain the initial topological mathematical representation, the target topological mathematical representation, and the module unit data of the homogeneous modular robot.

[0062] Specifically, the 3D model of the module unit is as follows: Figure 3 As shown, 1 represents the connecting plane of the two hemispherical shells; 2 and 18 represent the two hemispherical shells; 3, 6, 11, and 15 represent the positioning devices on the male interface; 4 and 14 represent the torque output shaft of the motor module of the active interface; 5 and 12 represent the main body of the motor module on the active interface; 7, 10, 13, and 20 represent the mechanical structure components on the interface; 8, 9, 19, and 21 represent the positioning grooves on the female interface that match the positioning devices; 16 represents the main body of the motor module at the core of the module unit; and 17 represents the torque output shaft of the motor module at the core of the module unit. The initial topological structure of a homogeneous modular robot is mathematically represented as follows:

[0063] in, It is a numbering matrix. This indicates the unit number of each module in a homogeneous modular robot topology. This is the grounding relationship matrix. This indicates whether the modular units in a homogeneous modular robot topology are grounded as a base during use. Represents module unit Do not ground during use. Represents module unit When using The interface ground serves as the base. For the connection relationship matrix, Represents module unit With module unit The interface number that is connected, when hour, , Indicates the number of face interfaces in a single module unit; To connect the orientation relationship matrix, Represents module unit With module unit The connection orientation relationship, when hour, ; This indicates the number of modular units contained in a homogeneous modular robot topology.

[0064] The mathematical representation of the topological structure of a homogeneous modular robot target is as follows:

[0065] in, It is a numbering matrix. This indicates the unit number of each module in a homogeneous modular robot topology. This is the grounding relationship matrix. This indicates whether the modular units in a homogeneous modular robot topology are grounded as a base during use. Represents module unit Do not ground during use. Represents module unit When using The interface ground serves as the base. For the connection matrix, Represents module unit With module unit The interface number that is connected, when hour, , Indicates the number of face interfaces in a single module unit; To connect the orientation relationship matrix, Represents module unit With module unit The connection orientation relationship, when hour, ; This indicates the number of modular units contained in a homogeneous modular robot topology.

[0066] Step S2: Based on the mathematical representation of the initial topology of the homogeneous modular robot, the mathematical representation of the target topology, and the module unit data, obtain the initial reconstructed topology map and the target reconstructed topology map of the homogeneous modular robot.

[0067] Specifically, based on the mathematical representation of the initial topological structure of the homogeneous modular robot and the module unit data, the first multidimensional directed topological graph of the initial topological structure of the homogeneous modular robot can be obtained. , Figure 4 The first multidimensional directed topological graph of the initial topological structure of the homogeneous modular robot, where the first set of points... This represents the set of modular units in the initial topology of a homogeneous modular robot. This indicates the module unit number that connects the homogeneous modular robot to the base. This indicates the module unit number in the initial topology of a homogeneous modular robot. The first edge set represents the total number of modular units in the initial topology of a homogeneous modular robot, excluding those connected to the base; This indicates the connection relationship between two module units. This represents the modular unit in the initial topology of a homogeneous modular robot. and There is a connection between them. This represents the total number of modular unit connections in the initial topology of a homogeneous modular robot, excluding connections to the base; the first connection tag set. This indicates the specific connection state corresponding to each edge. ,in, , , , This represents the modular unit in the initial topology of a homogeneous modular robot. interface With module unit interface Interphase connection, their orientation relationship is as follows , This indicates the connection status between the root module unit and the base of a homogeneous modular robot. This indicates the total number of interfaces in the module unit. This indicates the total number of connection orientation relationships contained in the module unit interface. and All are determined by the mechanical structure of the interface in the 3D model of the module unit.

[0068] The first multidimensional directed topological graph based on the initial topological structure of the homogeneous modular robot By passing the first point set and the first set of connection tags Information is exchanged, first side set With the first episode By making changes, we can obtain the initial reconstructed topology diagram of the initial topology structure of the homogeneous modular robot. , Figure 6 For the initial reconstructed topology graph of the initial topology structure of the homogeneous modular robot, the updated first point set is given. This represents the set of connection states in the initial topology of a homogeneous modular robot. This indicates the connection status between the root module unit of the homogeneous modular robot and the base; the updated first edge set. This indicates the connection relationship that exists between two connected states. Represents the connection state in the initial topology of a homogeneous modular robot. and There are connections between them; the updated first connection tag set This indicates the module unit number information corresponding to the connection status. This represents the modular unit in the initial topology of a homogeneous modular robot. With module unit There is a connection between them. .

[0069] Based on the mathematical representation of the topological structure of the homogeneous modular robot target and the data of the module units, the second multidimensional directed topological graph of the topological structure of the homogeneous modular robot target can be obtained. , Figure 5 The second multidimensional directed topological graph of the homogeneous modular robot target topology, where the second set of points... This represents the set of modular units in the topology of a homogeneous modular robot target. This indicates the module unit number that connects the homogeneous modular robot to the base. This indicates the module unit number in the homogeneous modular robot target topology. The second edge set represents the total number of modular units in the homogeneous modular robot target topology, excluding those connected to the base; This indicates the connection relationship between two module units. Represents the modular unit in the topology of a homogeneous modular robot target. and There is a connection between them. This represents the total number of modular unit connections within the homogeneous modular robot target topology, excluding connections to the base; the second connection tag set. This indicates the specific connection state corresponding to each edge. ,in, , , , Represents the modular unit in the topology of a homogeneous modular robot target. interface With module unit interface Interphase connection, their orientation relationship is as follows .

[0070] The second multidimensional directed topological graph based on the homogeneous modular robot target topology structure The target reconstruction topology diagram of the homogeneous modular robot target topology structure can be obtained. , Figure 7 For a homogeneous modular robot target topology structure, reconstruct the topology graph of the target, where the updated second point set is... This represents the set of connection states in the topology of a homogeneous modular robot target. This indicates the connection status between the root module unit of the homogeneous modular robot and the base; the updated second sideset. This indicates the connection relationship that exists between two connected states. Represents the connection state in the topology of a homogeneous modular robot target. and There are connections between them; the updated second set of connection tags. This indicates the module unit number information corresponding to the connection status. Represents the modular unit in the topology of a homogeneous modular robot target. With module unit There is a connection between them. .

[0071] Step S3: Based on the initial reconstruction topology diagram and the target reconstruction topology diagram of the homogeneous modular robot, obtain the initial chain sub-graphet and the target chain sub-graphet of the homogeneous modular robot.

[0072] Specifically, each chain subgraph in the chain subgraph set is a single-chain topology graph that does not contain cycles or branches.

[0073] Step S4: Based on the initial chain subgraph set and the target chain subgraph set of the homogeneous modular robot, design a method for constructing the maximum similarity subgraph set of the homogeneous modular robot based on the similarity of the reconstructed subgraphs, and obtain the maximum similarity subgraph set of the initial topology and the target topology of the homogeneous modular robot.

[0074] Specifically, the similarity evaluation metric for the reconstructed subgraphs of two chain subgraphs is as follows:

[0075] in, This indicates the number of identical vertices in two linked subgraphs. This represents the number of points in each chain subgraph. This indicates the number of points in the overlapping part during the comparison of two chained subgraphs. This represents the evaluation index for the similarity between two chained subgraphs. This represents an evaluation index indicating the difficulty of reconstructing two chained subgraphs. The weights of the two evaluation metrics, namely the similarity between the two chain subgraphs and the difficulty of reconstruction, are indicated; identical points in the two chain subgraphs represent points that reflect the exact same connection state. The initial chain sub-graphet of the homogeneous modular robot is

[0076] in, Represents the first term in the initial chain subgraph set. A chain subgraph, This represents the total number of linked subgraphs in the initial linked subgraph set; Homogeneous modular robot target chain sub-atlas

[0077] in, Represents the first sub-graph in the target chain sub-graph set. A chain subgraph, This represents the total number of chain subgraphs in the target chain subgraph set; The similar chain subgraphs corresponding to the initial chain subgraphs of the homogeneous modular robot are:

[0078] in, This represents the first similar chained subgraph in the set of similar chained subgraphs corresponding to the initial chained subgraph set. A chain subgraph, This represents the total number of chain subgraphs in the similar chain subgraph sets corresponding to the initial chain subgraph set; The similar chain sub-graphet corresponding to the target chain sub-graphet of homogeneous modular robots is:

[0079] in, This represents the first similar chain sub-graph in the target chain sub-graph set. A chain subgraph, This represents the total number of chain subgraphs in the similar chain subgraph sets corresponding to the target chain subgraph set; Based on the initial chain subgraph set of the homogeneous modular robot, the target chain subgraph set, and the similarity evaluation index of the reconstructed subgraphs of the two chain subgraphs, the similarity matrix of the reconstructed subgraphs is obtained using the similarity evaluation index of the reconstructed subgraphs of the two chain subgraphs. ; Based on the reconstructed subgraph similarity matrix, and according to the row number corresponding to the largest element in the matrix... Column Number This yields two chain subgraphs to be decomposed, which are the chain subgraphs in the initial chain subgraph set. and target chain subgraph set chain subgraph ; Based on the initial set of linked subgraphs and target chain subgraph set chain subgraph Based on the reconstructed subgraph similarity matrix Find the largest element in the set of linked subgraphs and obtain the linked subgraphs in the initial linked subgraph set. and target chain subgraph set chain subgraph Similar parts and ,Will Store in the similar chained subgraph set corresponding to the initial chained subgraph set. ,Will Store in the similar chained subgraph set corresponding to the target chained subgraph set. Set the initial chain subgraph into chain subgraphs. Replace with chain subgraph remove The remaining part will be the target chain subgraph set in the chain subgraph. Replace with chain subgraph remove The remaining part; Repeat the above process until one of the sets in the initial chained subgraph set or the target chained subgraph set is empty. At this point, the similar chained subgraph sets corresponding to the initial chained subgraph set are considered complete. Similar chain sub-graph sets corresponding to the target chain sub-graph set This is the set of the most similar subgraphs for the initial and target topologies of a homogeneous modular robot.

[0080] Specifically, Figure 8 This is a schematic diagram showing the distribution of the most similar subgraphs between the initial topology and the target topology of a homogeneous modular robot. Figure 9 This is a schematic diagram showing the distribution of the most similar subgraphs in the target topology of a homogeneous modular robot compared to the initial topology.

[0081] The results show that, apart from the maximum similarity sub-graph, the initial and target topologies of the homogeneous modular robot no longer contain the same connections. This proves the correctness and effectiveness of the maximum similarity sub-graph construction method for the homogeneous modular robot.

[0082] Next, referring to the accompanying drawings, a device for constructing a maximum similarity sub-map of a homogeneous modular robot according to an embodiment of this application is described.

[0083] Figure 10 This is a schematic diagram of a device for constructing a maximum similarity sub-map of a homogeneous modular robot according to an embodiment of this application.

[0084] like Figure 2 As shown, the device for constructing the maximum similarity sub-map set of a homogeneous modular robot includes: an acquisition module 201, a determination module 202, and a construction module 203.

[0085] The acquisition module 201 is used to acquire the initial topology, target topology, and module unit data of the homogeneous modular robot; the determination module 202 is used to generate an initial reconstructed topology map of the homogeneous modular robot based on the initial topology and module unit data, and determine the initial chain subgraph set of the homogeneous modular robot based on the initial reconstructed topology map; generate a target reconstructed topology map of the homogeneous modular robot based on the target topology and module unit data, and determine the target chain subgraph set of the homogeneous modular robot based on the target reconstructed topology map; the construction module 203 is used to construct the maximum similarity subgraph set of the homogeneous modular robot based on the initial chain subgraph set and the target chain subgraph set.

[0086] In this embodiment of the application, the determining module 202 is further configured to: obtain a mathematical representation of the initial topology; generate a first multidimensional directed topology graph of the initial topology of the homogeneous modular robot based on the mathematical representation of the initial topology and the module unit data; and generate an initial reconstructed topology graph based on the first multidimensional directed topology graph.

[0087] In this embodiment of the application, the determining module 202 is further configured to: identify a first set of points, a first set of connection labels, and a first set of edges in a first multidimensional directed topology graph; exchange information between the first set of points and the first set of connection labels to obtain an updated first set of points and an updated first set of connection labels; update the first set of edges based on the updated first set of points; and generate an initial reconstructed topology graph based on the updated first set of points, the updated first set of connection labels, and the updated first set of edges.

[0088] In this embodiment, the determining module 202 is further configured to: obtain a mathematical representation of the target topology; generate a second multidimensional directed topology graph of the target topology of the homogeneous modular robot based on the mathematical representation of the target topology and the module unit data; and generate a target reconstructed topology graph based on the second multidimensional directed topology graph.

[0089] In this embodiment of the application, the determining module 202 is further configured to: identify a second set of points, a second set of connection labels, and a second set of edges in the second multidimensional directed topology graph; exchange information between the second set of points and the second set of connection labels to obtain an updated second set of points and an updated second set of connection labels; update the second set of edges based on the updated second set of points; and generate a target reconstructed topology graph based on the updated second set of points, the updated second set of connection labels, and the updated second set of edges.

[0090] In this embodiment, the construction module 203 is further configured to: calculate a subgraph similarity matrix based on the initial chained subgraph set and the target chained subgraph set; determine similar subgraphs between the initial chained subgraph set and the target chained subgraph set based on the subgraph similarity matrix, and store them in their respective similar chained subgraph sets; and construct the maximum similar subgraph set of the homogeneous modular machine based on the similar chained subgraph sets.

[0091] In this embodiment of the application, the construction module 203 is further configured to: identify the maximum element and the row and column number of the maximum element in the subgraph similarity matrix; determine the first chain subgraph of the initial chain subgraph set and the second chain subgraph of the target chain subgraph set based on the row and column number of the maximum element; and determine the similar subgraphs of the first chain subgraph and the second chain subgraph based on the maximum element.

[0092] The device for constructing the maximum similarity sub-graphet of a homogeneous modular robot according to the embodiments of this application acquires the initial topology, target topology, and module unit data of the homogeneous modular robot. Based on these data, it generates an initial reconstructed topology and a target reconstructed topology, and then uses these two data to generate an initial chain-like sub-graphet and a target chain-like sub-graphet. Finally, it constructs the maximum similarity sub-graphet of the homogeneous modular robot based on the initial chain-like sub-graphet and the target chain-like sub-graphet. This embodiment, combined with the characteristics of homogeneous modular robots and based on the three-dimensional model of the module unit, can construct the maximum similarity sub-graphet of a homogeneous modular robot under any two topologies. It clarifies the maximum difference and maximum similarity between two topologies of the homogeneous modular robot, providing an analytical basis for the topology reconstruction of the modular robot and enabling autonomous acquisition of the maximum similarity sub-graphet of two topologies of the homogeneous modular robot.

[0093] It should be noted that the foregoing explanation of the embodiment of the method for constructing the maximum similarity sub-map of a homogeneous modular robot also applies to the device for constructing the maximum similarity sub-map of a homogeneous modular robot in this embodiment, and will not be repeated here.

[0094] Figure 11 A schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device may include: The memory 301, the processor 302, and the computer program stored on the memory 301 and capable of running on the processor 302.

[0095] When the processor 302 executes the program, it implements the homogeneous modular robot maximum similarity sub-map construction device provided in the above embodiments.

[0096] Furthermore, electronic devices also include: Communication interface 303 is used for communication between memory 301 and processor 302.

[0097] The memory 301 is used to store computer programs that can run on the processor 302.

[0098] The memory 301 may include high-speed RAM (Random Access Memory) memory, and may also include non-volatile memory, such as at least one disk storage.

[0099] If the memory 301, processor 302, and communication interface 303 are implemented independently, then the communication interface 303, memory 301, and processor 302 can be interconnected via a bus to complete communication between them. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 11 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0100] Optionally, in a specific implementation, if the memory 301, processor 302, and communication interface 303 are integrated on a single chip, then the memory 301, processor 302, and communication interface 303 can communicate with each other through an internal interface.

[0101] Processor 302 may be a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of this application.

[0102] This application also provides a computer-readable storage medium storing a computer program or instructions thereon, which, when executed, implements the above-described method for constructing the maximum similarity sub-map of a homogeneous modular robot.

[0103] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0104] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0105] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0106] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any of the following techniques known in the art, or a combination thereof: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (FPGAs), field-programmable gate arrays (FPGAs), etc.

[0107] Those skilled in the art will understand that all or part of the steps of the methods implementing the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0108] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A method for constructing a maximum similarity sub-graphet for a homogeneous modular robot, characterized in that, Includes the following steps: Obtain the initial topology, target topology, and module unit data of a homogeneous modular robot; An initial reconstructed topology diagram of the homogeneous modular robot is generated based on the initial topology and the module unit data, and an initial chain subgraph set of the homogeneous modular robot is determined based on the initial reconstructed topology diagram. Generate a target reconstruction topology diagram of the homogeneous modular robot based on the target topology structure and the module unit data, and determine the target chain subgraph set of the homogeneous modular robot based on the target reconstruction topology diagram; The maximum similarity subgraph set of the homogeneous modular machine is constructed based on the initial chained subgraph set and the target chained subgraph set.

2. The method of claim 1, wherein, The step of generating the initial reconstructed topology map of the homogeneous modular robot based on the initial topology and the module unit data includes: Obtain the mathematical representation of the initial topology; Based on the mathematical representation of the initial topology and the module unit data, a first multidimensional directed topological graph of the initial topology of the homogeneous modular robot is generated. The initial reconstructed topology graph is generated based on the first multidimensional directed topology graph.

3. The method of claim 2, wherein, The step of generating the initial reconstructed topology graph based on the first multidimensional directed topology graph includes: Identify the first set of points, the first set of connection labels, and the first set of edges in the first multidimensional directed topological graph; Exchange the information between the first point set and the first connection label set to obtain the updated first point set and the updated first connection label set, and update the first edge set according to the updated first point set; The initial reconstructed topology graph is generated based on the updated first point set, the updated first connection label set, and the updated first edge set.

4. The method of claim 1, wherein, The step of generating the target reconstructed topology map of the homogeneous modular robot based on the target topology and the module unit data includes: Obtain the mathematical representation of the target topology; Based on the mathematical representation of the target topology and the module unit data, a second multidimensional directed topological graph of the target topology of the homogeneous modular robot is generated; The target reconstructed topology graph is generated based on the second multidimensional directed topology graph.

5. The method of claim 4, wherein, The step of generating the target reconstructed topology graph based on the second multidimensional directed topology graph includes: Identify the second set of points, the second set of connection labels, and the second set of edges in the second multidimensional directed topological graph; Exchange the information between the second point set and the second connection label set to obtain the updated second point set and the updated second connection label set, and update the second edge set according to the updated second point set; The target reconstructed topology graph is generated based on the updated second point set, the updated second connection label set, and the updated second edge set.

6. The method of claim 1, wherein, The step of constructing the maximum similarity subgraph set of the homogeneous modular machine based on the initial chained subgraph set and the target chained subgraph set includes: Calculate the subgraph similarity matrix based on the initial chained subgraph set and the target chained subgraph set; Based on the subgraph similarity matrix, similar subgraphs between the initial chain subgraph set and the target chain subgraph set are determined and stored in their respective similar chain subgraph sets. Construct the maximum similarity subgraph set of the homogeneous modular machine based on the similar chain subgraph set.

7. The method of claim 6, wherein, The step of determining similar subgraphs between the initial chained subgraph set and the target chained subgraph set based on the subgraph similarity matrix includes: Identify the maximum element and the row and column numbers of the maximum element in the subgraph similarity matrix; The first chain subgraph of the initial chain subgraph set and the second chain subgraph of the target chain subgraph set are determined based on the row and column numbers of the largest element. The similar subgraphs of the first and second chained subgraphs are determined based on the largest element.

8. A homogeneous modular robot maximal similar subgraph set construction apparatus, characterized by, include: The acquisition module is used to acquire the initial topology, target topology, and module unit data of the homogeneous modular robot. A determining module is configured to generate an initial reconstructed topology map of the homogeneous modular robot based on the initial topology and the module unit data, and determine an initial chain subgraph set of the homogeneous modular robot based on the initial reconstructed topology map; generate a target reconstructed topology map of the homogeneous modular robot based on the target topology and the module unit data, and determine a target chain subgraph set of the homogeneous modular robot based on the target reconstructed topology map; A construction module is used to construct the maximum similarity subgraph set of the homogeneous modular machine based on the initial chained subgraph set and the target chained subgraph set.

9. An electronic device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the method for constructing the maximum similarity sub-graphet of a homogeneous modular robot as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program or instructions stored thereon, characterized in that, When the computer program or instructions are executed, they implement the method for constructing the maximum similarity sub-graphet of a homogeneous modular robot as described in any one of claims 1-7.

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