• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Method of determining the configuration of a modular robot. It is described in detail, and with the inclusion of an example of implementation of the corresponding invention, a method that allows to carry out the configuration of robots from their different components. To carry out said method, inertial data is used that are captured by, or are defined in, elements inserted in each of the different components that make up the robot. From these data it is possible to determine the location of each one of the components, as well as their different capacities, which allows the reconfiguration of a robot when a component of it is inserted or eliminated. The object of the invention also allows to generate a physical map of the robot from the location data of each of the components. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2661067A1
    申请号:ES201630834
    申请日:2016-06-20
    公开日:2018-03-27
    发明作者:Víctor MAYORAL VILCHES
    申请人:Erle Robotics S L；Erle Robotics SL；
    IPC主号:
    专利说明:

    METHOD OF DETERMINATION OF CONFIGURATION OF A MODULAR ROBOT
    OBJECT OF THE INVENTION
    The object of the invention falls within the technical field of robotics.
    More specifically, the object of the invention is oriented to activities such as the adaptation and self-configuration of components for use in different robots, the creation of physical models for a robot dynamically or the reconfiguration of components connected to a robot for the identification of the global position of the robot in question. BACKGROUND OF THE INVENTION
    At present, most of the components in robots fulfill a specific purpose and generally include sensing, or data collection, and electronics - essential for performing this purpose. In addition to the generic computing devices and communication elements, there are two large groups of components in a robot: those that allow to measure changes in the environment known as sensors and those that allow to generate a physical change in this, the actuators.
    In some cases, both sensors and actuators are provided with additional devices (usually sensors, computing and electronics) that allow them to provide extra information. These devices are commonly called smart sensors and actuators.


    A common example of an intelligent sensor is those inertial sensors that, in addition to several inertial measurement units, are composed of an integrated computing system (Inertial Measurement Unit, IMU) where they mix the information of all of them using different filtering techniques (commonly known as a fusion sensor) to obtain more precise and robust measurements.
    An example of an intelligent actuator is those actuators that integrate additional sensors and an integrated computing system to provide more precise responses and / or movements.
    The use of intelligent components in robots or the integration of data capture using sensors and additional electronics in existing components allows the creation of more efficient and precise robots. In this way, documents US6995536 and DE4225112 disclose the use of inertial sensors in different robots that allow the inference of the position of the different components within a robot (generally called "endeffectors").
    However, none of the devices offered today includes the adaptation and self-configuration of components for use in different robots or the creation of a global physical and dynamic model of the robot without prior knowledge of its structure. DESCRIPTION OF THE INVENTION
    The object of the invention allows a robot or robotic system to be configured automatically, that is to say automatically configured or reconfigured; in this way the existing problem of having to configure the robot or an automated system when it is replaced is overcome,


    delete, change or add a component to it.
    For this purpose, the object of the invention presents a technological solution that allows, among other things, to use the same components (actuators, sensors, etc.) in different robots by means of an intelligent system that determines the disposition of each component and how it should be used.
    The latter is achieved by providing the robot components with respective devices that can comprise or capture inertial data of each component such that once the component is inserted into the robot, the inertial data of said component - once captured by the device - they are used to provide inertial data to each robot component. In this way, there is a device that is part of a component of a robotic system; component that once integrated, allows a physical re-configuration of the robot and its components, for this purpose, the above mentioned inertial data captured by the device of each component is used.
    ݊ components in a robot, being the subset ݉ ݊ ൅ Given a set of
    components that have the capacity to provide inertial information in this way, a mechanism is proposed for the adaptation and self-configuration of each component for use in different robots and the creation of a global physical model for a robot dynamically, depending on the
    of components ݊ connected components. Given this certain number
    in the robot, each of them having the ability to report at least their inertial position; physical reconfiguration is carried out in a process in which each component reports its presence in an environment called a network
    components and in which they are ݊ of components comprising the robot components, to pass to ݊ arranged and interconnected all
    Notify your inertial position every moment.


    The proposed invention will also work on robots containing reconfigurable components (which report or collect inertial data, captured at the moment when a component executes the reconfiguration routine, such as its inertial position) and non-reconfigurable. In this scenario, the invention will reconfigure only those components that report their inertial position.
    The physical reconfiguration of the robot is preferably coordinated using
    . So ݅ of a main component that we call a component will select from the rest of the components in the ݅ iterative, the component. Once ሻ ݊ ሾ ͳǡin the range ݆ components at least one component ݊ network runs (in case of having capabilities) ݆ selected, the component
    a reconfiguration routine, that is, performs certain movements that are preferably a series of predefined movements. During the execution of the reconfiguration routine, the inertial movements of the other components in the robot are collected ሺ ݊ െ ͳ ሻ. With the information collected you
    with respect to the rest of the ݆ calculates the relative position of the component
    ሺ ݊ െ ͳ ሻ components in the robot.
    Additionally, and once the reconfiguration process is finished, the robot can generate a physical map of the layout of each component, at least
    ; obtaining in this way a physical map of the robot ݊ of the component components. ݊ comprising the provision of at least each of the
    The physical reconfiguration process may be executed each time a new component is inserted or deleted and detected in the component network. Thus, using the inertial information available for each component in a robot, not only can the adaptation and self-configuration of each robotic component be carried out for use 5


    in different robots; but the creation of a global physical model for a robot can also be carried out dynamically, depending on the
    connected. ݊ ݉ ൅ components DESCRIPTION OF THE DRAWINGS
    To complement the description that is being made and in order to help a better understanding of the characteristics of the invention, according to a preferred example of practical implementation thereof, a set of drawings is attached as an integral part of said description. where, for illustrative and non-limiting purposes, the following has been represented:
    Figure 1.- Shows a view of a possible arrangement of a three component robot intended to execute the method of the invention with the corresponding addresses of each component respectively labeled.
    Figure 2.- Shows a diagram showing a step of the method of the invention corresponding to the physical reconfiguration process. PREFERRED EMBODIMENT OF THE INVENTION
    In a preferred embodiment of the object of the invention, a robot is reconfigured corresponding to a configuration such that it represents a manipulator like the one shown in Figure 1. In this non-limiting example, the robot components related to actuators are reconfigured. ; although it can be extrapolated to sensors. In this preferred embodiment of the object of the invention, use of commanded components has been made using a working environment for robots as it can


    being ROS, more specifically an operating system for robot components such as H-ROS that allows carrying out the method of the invention through its implementation in hardware components.
    In order to represent the position of each actuator component within a robot with respect to each component thereof, such as another or other actuators, a mathematical representation is called a reconfiguration matrix; which is nothing more than a representation of the relative movements of each actuator or component with respect to any other component or actuator within the robot.
    ݊
    This way you have to, given
    Reconfiguration es ݊ is an array of
    represents the movement of a component
    ݅
     components inside the robot, the matrix
    of the matrix ௝௜ ݁݊ ݔ
     where each member
    ݆
    when a main component
    is in reconfiguration mode by selecting from the rest of
    ݆݊ components in the network of
     components at least one component in the
    the realization of a ݆, carrying out said component ሻ ݊ ሾ ͳǡrange
    movement
    previously
    ௝௝ ݁ reconfiguration. Where
    defined corresponding to a routine of

     represent the movement of a component with
    Regarding himself.
    In a first possible embodiment of the object of the invention, referred to a simplistic scenario thereof, the relative movements are represented as follows:
    •  "1"; Represents that the engine is static (no relevant IMU changes detected)
    •  "0"; represents that the engine has measured a relevant change in any of the axes whether it is yaw, roll, pitch or roll; and therefore we can conclude that they are linked in some way.


    A manipulator with four joints has the following initial reconfiguration matrix:
    5 If you have a two-joint manipulator, the corresponding result would be that given by the reconfiguration matrix:
    ͳͲ
    ͳͳ
    From this matrix it is understood that given a first component (engine) performing
    10 movements, a second motor shows a relative movement with respect to the first (shown in the first row as ሾ ͳͲ ሿ). In other words, when the first engine was performing a predefined set of movements for reconfiguration, the robot detects relevant inertial changes in the second engine from a device adapted to capture
    15 inertial data of the component itself (in the second engine) which indicates a physical connection and a dependency between them. The inertial data is captured while the first component (engine) performs its reconfiguration routine.
    Thus, since each component comprises a device adapted to capture the inertial data of the component itself, by means of the method of the invention it can be determined how the different components are physically interconnected.
    25 Likewise, the MAC addresses of each component can be used
    to identify it and then calculate its relative positions, you have an 8


    manipulator that has three joints as shown in figure 1, the invention detailed here generates the network of components from three engines identified by their respective addresses or MAC identifications in the network, thus making use of H-ROS as and As shown in Figure 1, there is a cognitive node ros_cognition_ciri_001c42c866ea and a communications master or master hros_communication_master_b827eba0371d both connected to the
    labeled as base_link in the diagram in the figure ݅ main component
    2. Next, a new motor is connected to the previous set, the dynamic process defined by D-URDF (Dynamic Unified Robot Description Format) allows a detection in the network of said new motor, which needs reconfiguration in order to determine its relative position as shown in figure 2. Said engine comprises inertial data thereof, inertial data that has been captured at the time when the reconfiguration routine is executed and which correspond, but are not limited, to an orientation. in the form of quaternions next to its covariance matrix and a linear and angular velocity in the form of vectors of three positions also next to its covariance matrices.
    In a second possible embodiment of the object of the invention, an initial link, generally known as the base link, is determined from among all the components of the robot. To do this, from the reconfiguration matrix, the values of each row of the matrix are added, so that the row that obtains a maximum value corresponds to a last element or component of the robot, the initial link. It can be the case in which there are several components linked to the base link, so, by adding the values of each row of the matrix, the maximum value obtained from the sum of the values of each row of The matrix corresponds to the last element or component of the robot, the initial link.


    In the method object of the invention, the inertial data of the
    components, preferably of each and every one of the ݊ minus one of the ݊
     components, are defined in Microelectromechanical Systems
    known for its acronym in English MEMS (MicroelectroMechanical Systems)
    5 which allow to carry said inertial data when they are incorporated into the robot component or to capture said data once they have been incorporated into the robot and the corresponding component begins its operation; In any of the cases, the aforementioned device has inertial data of the respective component. Given the nature of the inertial data, it can be used
    10 any device that allows to capture said inertial data or information that may derive in said inertial data.

    权利要求:
    Claims (4)
    [1]

    1. Configuration determination method of a modular robot, robot
    of components, where you have a ݊ ݉ ൅ comprising a number, the method being characterized by that ݅ main component
    understands:
    to. provide a subset of components of a device
    ݊
    adapted to capture inertial data of the respective component,
    ݅
    at least one component
    ݆
    b. select iteratively using the main component
    ሻ ݊ ሾ ͳǡin the range ݆
    ,
     a reconfiguration routine that c. start in the component
    It comprises a series of predefined movements,
    d. collect inertial data of the ሺ ݊ െ ͳ ሻ components during the execution of the reconfiguration routine of the previous step,
    ݆
    and. calculate a relative position of the component
    ݊ rest of the
    with respect to
    inertials collected from the ሺ ݊ െ components, and
    ݊ determine respective locations of each of the f.
    components in the robot from the inertial data of each
    selected iteratively. ݆ component
    [2]
    2. Method of determining the configuration of a modular robot, according to claim 1, characterized in that each component is identified in the network of components by its MAC identification.
    [3]
    3. Method of determining the configuration of a modular robot, according to claim 1, characterized in that the device that collects inertial data of the respective component is a MEMS type device.
    [4]
    Four. Method of determining the configuration of a modular robot, ration 11
    components in the robot, from the data
    ͳ ሻ

    according to claim 1 characterized in that the relative position of each component is calculated by a reconfiguration matrix that is a mathematical representation of relative movements of each component with respect to any other component within the robot.

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    同族专利:
    公开号 | 公开日
    WO2017220832A3|2018-02-22|
    WO2017220832A2|2017-12-28|
    ES2661067B1|2019-01-16|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US20030178964A1|2003-04-07|2003-09-25|The Boeing Company|Low cost robot manipulator|
    US20120150348A1|2010-12-13|2012-06-14|Samsung Electronics Co., Ltd.|Method for estimating connection orders of modules of modular robot|
    WO2013033354A2|2011-08-30|2013-03-07|5D Robotics, Inc|Universal payload abstraction|
    DE4225112C1|1992-07-30|1993-12-09|Bodenseewerk Geraetetech|Instrument position relative to processing object measuring apparatus - has measuring device for measuring position of instrument including inertia sensor unit|WO2021123057A1|2019-12-18|2021-06-24|Fondazione Istituto Italiano Di Tecnologia|A modular configurable robot, corresponding method and computer program product|
    法律状态:
    2016-10-24| PC2A| Transfer of patent|Owner name: ERLE ROBOTICS. S.L. Effective date: 20161018 |
    2019-01-16| FG2A| Definitive protection|Ref document number: 2661067 Country of ref document: ES Kind code of ref document: B1 Effective date: 20190116 |
    优先权:
    申请号 | 申请日 | 专利标题
    ES201630834A|ES2661067B1|2016-06-20|2016-06-20|METHOD OF DETERMINATION OF CONFIGURATION OF A MODULAR ROBOT|ES201630834A| ES2661067B1|2016-06-20|2016-06-20|METHOD OF DETERMINATION OF CONFIGURATION OF A MODULAR ROBOT|
    PCT/ES2017/070437| WO2017220832A2|2016-06-20|2017-06-15|Robot configuration method|
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