[go: up one dir, main page]

WO2017164829A1 - Modular reprogrammable robotics construction kit - Google Patents

Modular reprogrammable robotics construction kit Download PDF

Info

Publication number
WO2017164829A1
WO2017164829A1 PCT/TR2017/050102 TR2017050102W WO2017164829A1 WO 2017164829 A1 WO2017164829 A1 WO 2017164829A1 TR 2017050102 W TR2017050102 W TR 2017050102W WO 2017164829 A1 WO2017164829 A1 WO 2017164829A1
Authority
WO
WIPO (PCT)
Prior art keywords
block
blocks
reprogrammable
modular
construction kit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/TR2017/050102
Other languages
French (fr)
Inventor
Dogus CENDEK
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Gelecek Robotik Makine Ve Tip Teknolojileri Arastirma Gelistirme Ticaret Ltd Sirketi
Original Assignee
Gelecek Robotik Makine Ve Tip Teknolojileri Arastirma Gelistirme Ticaret Ltd Sirketi
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Gelecek Robotik Makine Ve Tip Teknolojileri Arastirma Gelistirme Ticaret Ltd Sirketi filed Critical Gelecek Robotik Makine Ve Tip Teknolojileri Arastirma Gelistirme Ticaret Ltd Sirketi
Publication of WO2017164829A1 publication Critical patent/WO2017164829A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B19/00—Teaching not covered by other main groups of this subclass
    • G09B19/0053—Computers, e.g. programming
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H33/00—Other toys
    • A63H33/04—Building blocks, strips, or similar building parts
    • A63H33/042—Mechanical, electrical, optical, pneumatic or hydraulic arrangements; Motors

Definitions

  • the invention is characterized as a modular reprogrammable robotics construction kit that allows children to explore electronics, mechanics and software, and to explore and test fundamentals of science, technology, engineering and mathematics.
  • the invention teaches children aged 6-13 years the fundamentals of mechanics, electronics, software and programming, science and technology.
  • the present invention can be integrated into the curriculum of primary schools to teach the fundamentals of STEM education.
  • the patent application relates to a block system having a mobile modular structure.
  • the block system is a toy that facilitates the assembling of moving and interactive objects.
  • the invention relates to a modular reprogrammable robotics construction kit that allows children to explore electronics, mechanics and software, and to explore and test fundamentals of science, technology, engineering and mathematics.
  • the present invention allows children to learn, research and test the fundamentals of science, technology, engineering and mathematics.
  • the present invention contributes to the development of children's problem-solving abilities and to the innovative thinking.
  • Children's ability to create or play their own robot with the present invention improves their socialization and adaptability to teamwork.
  • the present invention has some technological innovations.
  • Each block has its own hermaphrodite contact surfaces. Thanks to these surfaces, users do not need any tools while creating their robots.
  • the specially developed hermaphrodite surfaces contain female and male connectors together and each axis is symmetrical. In this case, the blocks can be connected by any direction and rotation.
  • users have to connect cables and sockets for power and signal transmission. With this invention, users do not need to use any cable or socket.
  • Special contact surfaces allow automatically power and signal transmission.
  • the present invention is made up of parts called blocks, having different geometries and containing various electronic components therein and above. By combining these blocks in different amounts and configurations, hundreds of mechatronic designs can be obtained. These designs can be used with zero programming knowledge. Even someone who has never had programming experience can use our platform to program their own robots via drag- and-drop method.
  • the present invention is compatible with iOS and can be programmed through the Engineering IDE platform. Robots built with blocks can work autonomously and can be controlled via Bluetooth or USB cable by computers, tablets and mobile devices. Moreover, the present invention has a plug-and-play feature. Thus, users can play with blocks without programming them.
  • the feature of the modular reprogrammable robotic construction kit is that it can be used to control "Input Blocks” that detect objects, measure distance, measure light, detect motion, measure temperature etc., “Output Blocks” that process by processing the signals from the input blocks or programme, “Passive Blocks” that provide signal and power transmission, “BrainBlock” which includes at least one microcontroller and a communication controller and which enables the software to be uploaded, and "PowerBlock” having the energy storage component at least one of these blocks for the operation of the blocks.
  • a preferred embodiment of the invention is that the input blocks involve the "EyeBlock” which is the distance sensor, the "MicBlock” which is the voice sensor, the 'TempBlock” which is the temperature sensor, the “GestureBlock” which detects motions nearby the block, the "DetectBlock” which detects the distance of the block to any object in a short range, the "BalanceBlock” which is the inertial measurement sensor and the "PhotoBlock” which is the light amplitude sensor.
  • “MotionBlock” which is an actuator to rotate any accessories
  • the “RollBlock” which is an actuator with rollers
  • the “LevelBlock” which indicates the level of any value
  • the "BippBlock” which is a buzzer
  • the "LightBlock” which is a LED
  • the "ColorBlock” which is a RGB LED
  • the "GrippBlock” which is an actuator with a gripper.
  • “LinkBlock” which is an actuator to joint movement
  • “360Block” which is a actuator to turn the conjoint blocks.
  • Another preferred embodiment of the invention is that it includes at least one output block having a RC servo motor therein.
  • Another preferred embodiment of the invention is that it includes at least one output block having a DC motor with gearbox therein.
  • the block contains at least one output block capable of rotating the conjoint block 360 degrees.
  • Another preferred embodiment of the invention is that it comprises at least one block which changes the angle and the direction of the adjacent block with the RC servo motor.
  • the "Passive Blocks” contain the "CubeBlock” which has a cube shape, the "BallBlock” which is a ball caster, the "90Block” which has a quarter cylinder shape, “120Block” which has a triangular prism, the "SplittBlock” which is a splitter.
  • Another preferred embodiment of the invention is that it comprises at least one "PowerBlock" connected to the "BrainBlock” .
  • the embedded electronic device comprises user-reprogrammable software and at least one block is capable of self-programming.
  • At least one of the blocks comprises a sensor connected to the microcontroller in the block which detects the surrounding signals.
  • the blocks are in the form of a cube, a rectangular prism, a quarter cylinder and a triangular prism.
  • the embedded electronic system comprises a communication device.
  • the communication device is wirelessly.
  • Blocks comprising electronic components that provide signal and power to each other
  • hermaphrodite surfaces are mechanically locked when they are brought into contact with each other by flipping 22.5 degrees.
  • the blocks have electronic component like pogo connectors that provide signal and power transfer one to another.
  • Another preferred embodiment of the invention is mat the mechanical components are snap- fits which allow the main body and the surface body to be mounted together in a block.
  • Another preferred embodiment of the invention is that it has mechanical component, screws that join surfaces with printed circuit boards on the surfaces of the blocks.
  • Another preferred embodiment of the invention is that there are solder pads on their printed circuit boards that combines printed circuit boards each other and provides signal and power transfer.
  • Another preferred embodiment of the invention is that it comprises the process steps of;
  • the programming interface has a visual, drag-and-drop programming language.
  • Another preferred embodiment of the invention is that the C/C++ code corresponding to the generated drag and drop commands can be displayed and downloaded to a computer as a .txt file.
  • Another preferred embodiment of the invention is that the generated source codes are in an appropriate form for conversion by the online compiler and debugger in the browser.
  • Another preferred embodiment of the invention is that users can create their own personal pages in the programming interface, and the software they prepare can be saved in these pages.
  • Another preferred embodiment of the invention is that the previously saved codes in the programming interface are uploadable to the blocks.
  • Another preferred embodiment of the invention is that the previously saved codes in the programming interface are editable via the interface.
  • Figure 1 illustrates a design, a block created by the invention.
  • Figure 2 illustrates a visual representation of the robot formed by combining the blocks of the invention.
  • Figure 3 illustrates a visual representation of a robot generated by combining the blocks of the present invention that moves with four wheels and captures objects by their gripper.
  • Figure 4 illustrates a visual representation of the "PhoioBlock" that detects the light in the surrounding environment.
  • Figure 5 illustrates an exploded view of two parts of a block connected to each other by snap-fits on the surface.
  • Figure 6 illustrates an exploded view of the "BrainBlock”.
  • Figure 7 illustrates the exploded view of the "CubeBlock”.
  • Figure 8 illustrates a visual representation of a hermaphroditic surface with female and male pogo connectors on it and snap-fit on a surface.
  • Figure 9 illustrates a visual representation of female and male pogo connectors on a hermaphroditic surface.
  • Figure 10 illustrates the cross section exhibiting snap-fits and screws, and the pogo connectors between a printed circuit board and a block surface from the inside.
  • Figure 11 illustrates an exploded view of two parts of a block connected to each other by snap-fits on the surface.
  • Figure 12 illustrates the pogo connectors between the printed circuit board and the surface of a block, an exploded view of a surface showing snap-fits and screws.
  • Figure 13 illustrates the outside perspective view of the male pogo connector that contacts the adjacent block printed circuit board.
  • Figure 14 illustrates the inside perspective view of the female pogo connector that come in contact with the signal and power pins of the printed circuit board.
  • Figure 15 illustrates the outside perspective view of the female pogo connector that come in contact with the signal and power pins of the printed circuit board.
  • Figure 16 illustrates the inside perspective view of the male pogo connector that come in contact with the signal and power pins of the printed circuit board.
  • Figure 17 illustrates the positions of the pogo connectors and screws on the object that provide the connection of the printed circuit boards to the surfaces.
  • Figure 40 - illustrates the exploded view of the "BlueBlock”.
  • Figure 41 illustrates a diagram showing the transmission of data between the mobile program, the web programming application, the communication unit and the microcontroller in the "BrainBlock".
  • Figure 42 illustrates a diagram illustrating the programming process of the present invention in a programming platform via a drag-and-drop method.
  • Figure 43 illustrates the flow diagram of the steps from the combining of blocks until the operation of a robot.
  • Figure 44 illustrates the communication infrastructure between the input and output blocks, and the "BrainBlock".
  • the invention is characterized as a modular reprogrammable robotics construction kit that allows children to explore electronics, mechanics and software, and to explore and test fundamentals of science, technology, engineering and mathematics.
  • the invention teaches children aged 6-13 years the fundamentals of mechanics, electronics, software and programming, science and technology.
  • the present invention can be integrated into the curricula of primary schools to teach the fundamentals of STEM education.
  • the blocks in the modular reprogrammable robotics building kit are divided into 4 main categories. These include the "Input Blocks" that sense object, distance, light, sound, movement, temperature etc.
  • the modular reprogrammable robotics construction kit comprises input block, output block, "CubeBlock” (2), "PowerBlock” with at least one battery for the operation of the "BrainBlock”, control blocks that helps to the installation of the software with at least one microcontroller and communication unit.
  • Each input block contains a different type of sensor. The input blocks detect the incoming signals. An input block produces a value between 0-255 depending on the environmental effect.
  • a "TempBlock” (16) may give a value of "30” in a refrigerator while a value of "220" when placed next to a heater.
  • the "MicBlock” (14) may give a value of "50” when it is in a quiet room, but it may give a higher value of "185” when someone shouts near the block.
  • the “EyeBlock” (12) detects the distance of the block to an object and generates a value according to the magnitude of this distance.
  • Other input blocks are the “PhotoBlock” (13), the “GestureBlock” (19), the “DetectBlock (18) and the “BalanceBlock” (17) block. Output blocks act differently depending on the given value.
  • the "MotionBlock (8) can rotate the DC gear motor within at the given speed.
  • the other output blocks are the “RollBlock” (9), the “LevelBlock” (20), the “BippBlock” (22), the “ColorBlock” (21), the “LightBlock” (23), the “GrippBlock” (24), the “LinkBlock” (11) and the “360Block (25).
  • Each output block receives the input value from the input blocks or the value that the user enters to the programming interface.
  • Output blocks function according to these values. For example, the "MotionBlock” (8) may rotate faster according to the value of the "PhotoBlock” if the amount of the light is higher.
  • the "BippBlock” (22) does not produce any sound when the value of zero is given by the user.
  • the passive blocks provide for the design of different types of robots by changing the angle, direction and the geometry of the robot. These blocks do not contain any microcontroller or extra electronic components.
  • the "BallBlock” (29) allows the robot to stand in balance, serving as a third leg for a two-wheeled vehicle.
  • the other passive blocks are the "CubeBlock” (2), the 19()Block” (26), the "120Block” (27), and the "SplittBlock” (28).
  • the special blocks must be found in each robot to control, communicate and power.
  • the "BrainBlock” (1) allows the programming of blocks and transfers related commands to other blocks.
  • Robots can be programmed by the SmartBlock IDE with drag-and-drop method or iOS IDE via USB.
  • "PowerBlock” (10) include rechargeable batteries to provide power to the blocks. These batteries can be charged from the computer via USB cable thanks to the charger unit in the block.
  • the special blocks also contain the "BlueBlock (30). The "BlueBlock” (30) enables the robot to communicate wirelessly with a computer or a mobile phone.
  • Each input and output block contains a microcontroller, a CAN communication receiver and supporting electronic components.
  • the microcontrollers in the input and output blocks provide the functions of the blocks.
  • the "BrainBlock” (1) contains a main programming microcontroller, a CAN communication controller and supporting electronic components.
  • the microcontroller in the "BrainBlock” (1) ensures the programming of the blocks in the programming interface and transfer of this program to the blocks.
  • the program running in the "BrainBlock” (1) can be transferred via the electrical connection of female and male connectors on the circuit boards of adjacent blocks. In this way, a "CAN" communication network is established between input, output and special blocks.
  • Each block consists of one or more Printed Circuit Boards (PCBs) (5) containing microcontroller, CAN communication receiver and power and signal connectors on it.
  • PCBs Printed Circuit Boards
  • each block may contain extra mechanical and electronic components depending on its specific function.
  • the "MotionBlock” (8) includes four surface PCBs (5) and one functinal PCB.
  • the functional PCB includes an H-bridge driver and motor back-emf protection diode.
  • “MotionBlock” drives a DC motor.
  • the "BrainBlock” (1) consists of five PCBs and a programming PCB.
  • the programming PCB includes a USB-TTL converter for programming the blocks in the programming interface and a CAN communication controller for communication.
  • Embedded electronic components in the input blocks are on a functional PCB.
  • Output blocks consist of functional PCB and/or the surface PCBs (5).
  • the electronic components of the "BrainBlock” (1) are at the prograrnming PCB and the surface PCBs.
  • the "360Block” (25) includes two special functional PCBs as well as the surface PCBs (5).
  • the "PowerBlock” (10) and “CubeBlock” (2) do not contain extra electronics component on the surface PCBs.
  • the PCBs are mounted with the help of screw (7) and snap-fits which flex on the inside of a surface and is electrically connected to the outer surface of the adjacent block with pogo connectors. Also, screw (7) supports surface PCBs (5) for efficient connection between the outer surface of the adjacent blocks with pogo connectors.
  • Pogo connectors electrically connect the blocks.
  • Pogo connectors provide the electrical connection between the PCBs of adjacent blocks. These connectors allow the transmission of electrical signals at high accuracy.
  • Pogo connectors are in contact with PCB (5) in each block and transmit power and signals. Also the mechanical connection of the blocks is also supported by this connector. The small size of pogo connectors and the compressibility of the them provide less area coverage of the connectors; so the mechanical connection is more conveniently provided.
  • a block surface includes four female pogo connectors (3) and one male pogo connector (4).
  • the interior part of the female pogo connectors (3) contacts with the power and signal pins of the PCB.
  • the outer part of the female pogo connectors (3) contacts with the outer surface of the male pogo connectors (4) of the adjacent block. This contact provides power and signal transmission between adjacent blocks.
  • the interior part of the male pogo connectors (4) is in contact with the power and signal pins of the PCB.
  • hermaphrodite surface is that all connectors are identical, they are not separated as female or male connection surface. Adjacent blocks can be connected to one another by hermaphroditic surfaces at 22.5 degree angle and are locked together by rotate-lock method.
  • the female and male pogo pin connectors (3,4) which are connected to the the signal and power pins of the PCBs (5), signal and power transfer between the adjacent blocks.
  • Hermaphroditic surfaces containing five pogo connectors enable mechanical locking in any direction and rotation.
  • Figure 2 refers to a visual representation of a robot formed by splicing the blocks of the present invention. It shows a set of blocks of the present invention, hermaphroditic surfaces of blocks and pogo connectors on these surfaces. When the hermaphroditic surfaces are connected to each other without regard to any direction and rotation, mechanical locking of the blocks provides power and signal transmission between the blocks.
  • Figure 3 refers to a visual representation of a robot that moves with four wheels resulting from joining the blocks of the present invention and grips the objects with the "GrippBlock" (24).
  • the invention can be of any size, shape and geometry. Different types of blocks have different number of surfaces. These surfaces are ideally 50 mm.
  • the present invention contains blocks in the shape of a cube, a rectangular prism, a quarter cylinder and triangular prism. Users can create robots capable of sensing distance, light, sound and movement, or generating light and sound.
  • Figure 3 shows a a two-wheeled moving robot sensing and following the hand movement of the user.
  • Figure 6 refers to the exploded view of the main control block with the name "BrainBlock"
  • This block (1) contains a USB-to-TTL converter used to program the microcontroller on interior of the special surface of block.
  • This block (1) also comprises a programming PCB (5) and
  • This block (1) is used to program robots and provide communication between blocks.
  • Figure 7 refers to the exploded view of the passive cube block with the name "CubeBlock”.
  • the outer surfaces and the main surface are joined with the snap-fits (6).
  • the surface PCBs are mounted on the surface with screws (7). In addition, these PCBs are soldered together by power and signal pins.
  • the surface PCB is connected to the outer surface with screw and snap-fits.
  • Hermaphroditic surfaces are used to connect adjacent blocks together.
  • the power and signal transmission is provided by pogo connectors (3,4) above surfaces of the blocks.
  • This block does not contain any extra electronic components. It consists of six surface PCBs (5) and is used in applications where two blocks must be mechanically and electronically interconnected.
  • Figure 12 refers to the exploded view of the pogo connectors between the PCB and the surface of block; the snap-fits and the screw.
  • Hermaphroditic surfaces provide mechanical locking.
  • the surface part is mounted on the main body with snap-fits (6).
  • the screw (7) are inserted into the screw holes on the surface of block.
  • Male pogo connectors (4) are mounted on the surface PCB for power and signal transmission between adjacent blocks.
  • Female pogo connectors (3) are mounted on die surface PCB for power and signal transfer between adjacent blocks.
  • Figure 18 refers to an exploded view of the motion actuator block with the name
  • This block (8) contains a bracket mounted on its special surface, a mini DC metal gear motor. This block (8) also contains the H-bridge drive and motor back-emf protection diodes. This actuator is connected to the analog output of the microcontroller and controls the movement of an accessories.
  • Figure 19 refers to an exploded view of the motion actuator block with the name
  • This block (9) includes a bracket on its special surface, a mini DC metal gear motor and special gears for moving the cylindrical wheels. This block (9) is driven by a DC metal gear motor. This block (9) also contains the H-bridge drive and motor back-emf protection diodes. This actuator is connected to the analog output of the microcontroller and controls the movement of the two rubber coated cylindrical wheels.
  • FIG 20 refers to an exploded view of the power supply block with the name "PowerBlock” (10).
  • This block (10) contains two rechargeable batteries mounted on its special surface.
  • This block (10) also includes a USB charging module that allows the batteries to be charged from the computer via USB cable. This block (10) is used to provide energy to the blocks.
  • Figure 21 refers to an exploded view of the motion RC servo actuator block with the name
  • LinkBlock (11) contains a RC servo motor mounted on two special parts. This block (11) also contains the H-bridge driver and the motor back-emf protection diode. This block
  • (11) is connected to the analog output of the microcontroller and is used in applications where the direction and angle of the blocks are changed vertically.
  • Figure 22 refers to an exploded view of the distance sensor block with the name "EyeBlock"
  • This block (12) contains an ultrasonic sensor such as an SDM-IO ultrasonic sensor mounted on its special surface. This block (12) senses a wide range of distances to any object in the block. This sensor is connected to the analog input of the microcontroller.
  • an ultrasonic sensor such as an SDM-IO ultrasonic sensor mounted on its special surface. This block (12) senses a wide range of distances to any object in the block. This sensor is connected to the analog input of the microcontroller.
  • Figure 23 refers to an exploded view of a light sensor block with the name "PhotoBlock” (13).
  • This block (13) contains an LDR sensor such as the GL5516 5mm LDR sensor mounted on its special surface.
  • This block (13) detects the light amplitude in the environment where the block is located. This sensor is connected to the analog input of the microcontroller.
  • Figure 24 refers to an exploded view of the sound sensor block with the name "MicBlock” (14).
  • This block (14) contains a microphone sensor such as the Max4446 sound detection sensor mounted on its special surface. This block (14) perceives the sound in the surrounding environment. This sensor is connected to the analog input of the microcontroller.
  • Figure 25 refers to the exploded view of the potentiometer block with the name "KnobBlock"(15).
  • This block (15) contains a rotary potentiometer mounted on its special surface. This sensor is connected to the analog input of the microcontroller.
  • Figure 26 refers to an exploded view of the temperature sensor block with the name
  • TemperaturBlock (16).
  • This block (16) contains a temperature sensor such as the DS18B20 temperature sensor mounted on its special surface. This block (16) senses the temperature in the surrounding environment. This sensor is connected to the analog input of the microcontroller.
  • Figure 27 refers to an exploded view of the inertial measurement sensor block with the name "BalanceBlock” (17).
  • This block (17) contains a 3 axis accelerometer, 3 axis gyroscope and 3 axis compass, such as the MPU9050 IMU sensor mounted on its special surface.
  • This block (17) detects the object's direction, rotation and acceleration, and the magnetic field surrounding the block (17). This sensor is connected to the analog input of the microcontroller.
  • Figure 28 refers to an exploded view of the obstacle avoidence sensor block, which is called the "DetectBlock” (18).
  • This block (18) contains an obstacle avoidence sensor such as the GP2dl20 Sharp sensor mounted on its special surface. This block (18) detects if there is any object near the block. This sensor is connected to the digital input of the microcontroller.
  • Figure 29 refers to an exploded view of the motion sensor block with the name "GestureBlock” (19).
  • This block (19) contains a motion sensor such as the HC-SR501 PIR sensor mounted on its special surface.
  • This block (19) perceives the movement of any object within a short interval. This sensor is connected to the digital input of the microcontroller.
  • Figure 30 refers to an exploded view of the level indicator block with the name "LevelBlock” (20).
  • This block (20) includes a level indicator such as an ten segment bargraph mounted on its special surface.
  • This level block (20) is connected to the digital output of the microcontroller.
  • Figure 31 refers to an exploded view of the colorful light emitting block with the name
  • This block (21) contains a 10 mm RGB led mounted on its special surface. This block (21) emits light in different combinations of red, green and blue. This block (21) is connected to the digital output of the microcontroller.
  • Figure 32 refers to an exploded view of the voice bleeping block with the name "BippBlock” (22).
  • This block (22) contains a buzzer mounted on its special surface. This block (22) produces the desired amount of sound. Buzz block (22) is connected to the digital output of the microcontroller.
  • Figure 33 refers to an exploded view of the light emitting block with the name "LightBlock” (23).
  • This block (23) contains a LED such as a 10mm yellow LED mounted on its special surface. This block (23) emits yellow light. This block (23) is connected to the digital output of the microcontroller.
  • Figure 34 refers to an exploded view of the motion RC servo actuator block with the name "GrippBlock” (24).
  • This block (24) contains a RC servo motor mounted on its special surface with a bracket.
  • This block (24) also includes the H-bridge driver and the motor back-emf protection diodes.
  • the gripper (24) is driven by the RC servo motor.
  • This block (24) is connected to the analog output of the microcontroller and controls the movement of a gripper.
  • Figure 35 refers to an exploded view of the motion RC servo actuator block with the name "360Block” (25).
  • This block (25) contains a RC servo motor mounted on its two special mechanical parts.
  • This block (25) also includes the H-bridge driver and the motor back-emf protection diodes.
  • This block (25) is connected to the analog output of the microcontroller and is used in applications where blocks are rotated 360 degrees continuously.
  • Figure 36 refers to the exploded view of the passive quarter cylinder block with the name "90Block” (26).
  • This block (26) does not contain any extra electronic components.
  • This block (26) consists of two surface PCBs (5). This block (26) is used in applications where two blocks need to be mechanically and electronically interconnected by changing the direction of the block by 90 degrees.
  • Figure 37 refers to the exploded view of the passive rectangular prism block with die name "120Block" (27).
  • This block (27) does not contain any extra electronic component. It (27) consists of three surface PCBs (5) and it (27) is used in applications where three blocks need to be mechanically and electronically interconnected by changing the direction of the blocks by 120 degrees.
  • Figure 38 refers to an exploded view of the passive splitter block with the name "SplittBlock” (28).
  • This block (28) does not contain any extra electronic components. It (28) consists of three surface PCBs (5), a dual connection surface and one wide connection surface and it (28) is used in applications where two adjacent blocks are mechanically and electronically connected to one block.
  • Figure 39 refers to the exploded view of the passive ball caster block with the name "BallBlock" (29).
  • This block (29) does not contain any electronic components. It (29) consists of a ball caster and is generally used to ensure that the designed robots are balanced.
  • Figure 40 refers to an exploded view of the bluetooth communication block with the name "BlueBlock” (30).
  • This block (30) contains the HM-10 CC2540 BLE mounted on its special surface. It (30) allows remotely control of a robot by means of a computer or a mobile telephone with the wireless technology of Bluetooth 4.0.
  • FIG 41 a diagram showing a data flow between a mobile program, an IDE, a communication unit, and a microcontroller in a "BrainBlock” is shown.
  • Users can program their own robots via programming interface "the SmartBlock IDE”.
  • the compiler found in the IDE converts the user-generated source code to the appropriate data format and optimizes it with the online compiler. This code is routed via the USB cable to the "BrainBlock” (1).
  • the "BrainBlock” (1) transmits the commands to the other blocks of the robot.
  • the robot with the appropriate program installed can be controlled via the mobile application when the "BlueBlock” (30) is added to the robot.
  • the wireless communication block that works via Bluetooth 4.0 technology is connected to the robot.
  • the bluetooth device of the mobile device and the bluetooth device of the robot communicate wirelessly from the serial port and the "BlueBlock” (30) transmits the information to the "BrainBlock” (1).
  • the "BrainBlock” (1) finally transmits to the other blocks.
  • the "BrainBlock” (1) can be programmed via “the SmartBlock IDE", "the SmartBlock IDE” comprises a visual, drag-and-drop programming language. This IDE supports Mozilla, Chrome, Explorer etc. and can be accessed via mobile devices. Users can view them IDE compliant C/C++ source codes after they prepare the code by the drag-drop method.
  • the programming platform has a toolbox containing different types of functions.
  • Control commands include the control and status of the programming.
  • “Operator Commands” include logic and comparison functions.
  • “Math Commands” include mathematical functions.
  • “Input Commands” include functions for input blocks.
  • “Output Commands” contain functions for output blocks.
  • "Variable Commands" are used to define variables.
  • Figure 42 is a diagram illustrating the programming process of the present invention in the programming platform by the drag-and-drop method. The data flow of the programming platform is shown below;
  • Robots can be programmed by drag-and-drop commands or by writing source codes.
  • the flow diagram of the steps is shown in Figure 43, starting from the assembly of the blocks, until a robot is operated.
  • An event chain is shown that allows a robot to be reprogrammed.
  • the event chain begins with the connection of the "BrainBlock" by the user to the computer via USB cable.
  • the computer notifies thai the robot is connected to the computer.
  • the user introduces the IDs of the blocks to the platform.
  • the user prepares a drag-and-drop commands in the programming platform.
  • the prepared drag-and-drop commands becomes the source code in the background. Once this source code is compiled and optimized online, the appropriate software is uploaded to the "BrainBlock” (1).
  • the web browser informs the "BrainBlock” (1) that the program is uploaded, and finally the "BrainBlock” (1) forwards the related commands to the other blocks.
  • each drag-and-drop command corresponds to the iOS IDE compliant C/C++ code in the background of the web browser.
  • the source code for that scenario is created in the background. This source code is then optimized with the online compiler on the programming platform, and is converted to an appropriate software which is compatible with the block's hardware.
  • Figure 44 shows the communication infrastructure between input and output blocks, and control blocks.
  • Each node in the CAN communication protocol has a different ID which means that each message sent to the block has a different ID.
  • the CAN receiver in each block filters out messages so that the block only receives messages of its own ID. Only the "BrainBlock” (1) can receive every message that is sent to the related input or output blocks.
  • the "BrainBlock” (1) sends the wake-up message to the related input blocks and the "BrainBlock” (1) takes the value of the related input block.
  • Output blocks always listen to the "BrainBlock" (1).
  • the C/C++ codes generated in the background can be downloaded as a ".txt" file.
  • users can create a personal page for themselves and save the projects they have created. They can open these projects on the platform at any time.
  • Projects that users have saved on their own personal page can be shared on the open source platform with the other users.

Landscapes

  • Engineering & Computer Science (AREA)
  • Business, Economics & Management (AREA)
  • Computer Hardware Design (AREA)
  • Entrepreneurship & Innovation (AREA)
  • Physics & Mathematics (AREA)
  • Educational Administration (AREA)
  • Educational Technology (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Toys (AREA)
  • Electrically Operated Instructional Devices (AREA)
  • Stored Programmes (AREA)

Abstract

The invention is characterized as a modular reprogrammable robotics construction kit that allows children to explore electronics, mechanics and software, and to explore and test fundamentals of science, technology, engineering and mathematics. The invention teaches children aged 6-13 years the fundamentals of mechanics, electronics, software and programming, science and technology. The present invention can be integrated into the curriculum of primary schools to teach the fundamentals of STEM education.

Description

MODULAR REPROGRAMMABLE ROBOTICS CONSTRUCTION KIT
Field of the Invention The invention is characterized as a modular reprogrammable robotics construction kit that allows children to explore electronics, mechanics and software, and to explore and test fundamentals of science, technology, engineering and mathematics. The invention teaches children aged 6-13 years the fundamentals of mechanics, electronics, software and programming, science and technology. The present invention can be integrated into the curriculum of primary schools to teach the fundamentals of STEM education.
Background of the Invention
There are many toys to build and program a robot. Many children abandon the use of robots after their first experience due to the difficulty of programming, complex mechanical structures, connecting cables and using hand tools etc. Children between the ages of 6-13 can not program their own robots without any supervisor or a follow-up document, and they can not play in plug- and-play mode with these robots. This method makes little contribution to children's creativity and imagination. A few robotics construction kit hermaphrodite modular unit mechanisms are used. None of the robotic toys allow children to code their own robots without the need for any programming knowledge in the drag-and-drop method, and to teach the basics of programming in their own private interface.
There is a patent application numbered US 8851953 B2 regarding the subject. The patent application relates to a block system having a mobile modular structure. The block system is a toy that facilitates the assembling of moving and interactive objects.
There is a patent application number US 20120122059 Al regarding the subject. The patent application relates to a robot construction kit that serves as a platform for children's problem solving, science, technology, engineering, mathematics and innovative thinking.
There is a patent application numbered with publication number WO 2011011084 Al. The patent application relates to a robot construction kit which is related to science, technology, engineering and mathematics learning that uses modular components.
Brief Description and Objectives of the Invention The invention relates to a modular reprogrammable robotics construction kit that allows children to explore electronics, mechanics and software, and to explore and test fundamentals of science, technology, engineering and mathematics. The present invention allows children to learn, research and test the fundamentals of science, technology, engineering and mathematics. Thus, the present invention contributes to the development of children's problem-solving abilities and to the innovative thinking. Children's ability to create or play their own robot with the present invention improves their socialization and adaptability to teamwork. Compared to the existing robotics kits and scientific toys on the market, the present invention has some technological innovations. Each block has its own hermaphrodite contact surfaces. Thanks to these surfaces, users do not need any tools while creating their robots. The specially developed hermaphrodite surfaces contain female and male connectors together and each axis is symmetrical. In this case, the blocks can be connected by any direction and rotation. In existing robotics construction kits and scientific toys on the market, users have to connect cables and sockets for power and signal transmission. With this invention, users do not need to use any cable or socket. Special contact surfaces allow automatically power and signal transmission. The present invention is made up of parts called blocks, having different geometries and containing various electronic components therein and above. By combining these blocks in different amounts and configurations, hundreds of mechatronic designs can be obtained. These designs can be used with zero programming knowledge. Even someone who has never had programming experience can use our platform to program their own robots via drag- and-drop method. The present invention is compatible with Arduino and can be programmed through the Arduino IDE platform. Robots built with blocks can work autonomously and can be controlled via Bluetooth or USB cable by computers, tablets and mobile devices. Moreover, the present invention has a plug-and-play feature. Thus, users can play with blocks without programming them.
The feature of the modular reprogrammable robotic construction kit is that it can be used to control "Input Blocks" that detect objects, measure distance, measure light, detect motion, measure temperature etc., "Output Blocks" that process by processing the signals from the input blocks or programme, "Passive Blocks" that provide signal and power transmission, "BrainBlock" which includes at least one microcontroller and a communication controller and which enables the software to be uploaded, and "PowerBlock" having the energy storage component at least one of these blocks for the operation of the blocks.
A preferred embodiment of the invention is that the input blocks involve the "EyeBlock" which is the distance sensor, the "MicBlock" which is the voice sensor, the 'TempBlock" which is the temperature sensor, the "GestureBlock" which detects motions nearby the block, the "DetectBlock" which detects the distance of the block to any object in a short range, the "BalanceBlock" which is the inertial measurement sensor and the "PhotoBlock" which is the light amplitude sensor.
Another preferred embodiment of the invention is that the output blocks contain the
"MotionBlock" which is an actuator to rotate any accessories, the "RollBlock" which is an actuator with rollers, the "LevelBlock" which indicates the level of any value, the "BippBlock" which is a buzzer, the "LightBlock" which is a LED, the "ColorBlock" which is a RGB LED, the "GrippBlock" which is an actuator with a gripper. "LinkBlock" which is an actuator to joint movement, "360Block" which is a actuator to turn the conjoint blocks.
Another preferred embodiment of the invention is that it includes at least one output block having a RC servo motor therein.
Another preferred embodiment of the invention is that it includes at least one output block having a DC motor with gearbox therein.
Another preferred embodiment of the invention is that the block contains at least one output block capable of rotating the conjoint block 360 degrees.
Another preferred embodiment of the invention is that it comprises at least one block which changes the angle and the direction of the adjacent block with the RC servo motor.
Another preferred embodiment of the invention is that the "Passive Blocks" contain the "CubeBlock" which has a cube shape, the "BallBlock" which is a ball caster, the "90Block" which has a quarter cylinder shape, "120Block" which has a triangular prism, the "SplittBlock" which is a splitter.
Another preferred embodiment of the invention is that it has at least one "SplittBlock" that can combine two adjacent blocks with a single block and can transfer data and power.
Another preferred embodiment of the invention is that the "Special Blocks" contains the
"BrainBlock" which has a microcontroller, the "PowerBlock" which is an energy source, the "BlueBlock" which is a Bluetooth 4.0 .
Another preferred embodiment of the invention is that it comprises at least one "PowerBlock" connected to the "BrainBlock" .
Another preferred embodiment of the invention is that the embedded electronic device comprises user-reprogrammable software and at least one block is capable of self-programming.
Another preferred embodiment of the invention is that at least one of the blocks comprises a sensor connected to the microcontroller in the block which detects the surrounding signals.
Another preferred embodiment of the invention is that the blocks are in the form of a cube, a rectangular prism, a quarter cylinder and a triangular prism.
Another preferred embodiment of the invention is that the embedded electronic system comprises a communication device. Another preferred embodiment of the invention is that the communication device is wirelessly.
Another preferred embodiment of the invention is that:
• A mechanical connection surface that allows the blocks to conjoin each other
• Blocks comprising electronic components that provide signal and power to each other
• The main body of the blocks comprising mechanical components that allow the surface bodies to be mounted together
• The blocks comprising printed circuit boards and mechanical and electronic components that allow the printed circuit boards to be joined together
Another preferred embodiment of the invention is that it comprises hermaphroditic surfaces which allow the blocks to be joined together
Another preferred embodiment of the invention is that the hermaphrodite surfaces are mechanically locked when they are brought into contact with each other by flipping 22.5 degrees.
Another preferred embodiment of the invention is that the blocks have electronic component like pogo connectors that provide signal and power transfer one to another.
Another preferred embodiment of the invention is mat the mechanical components are snap- fits which allow the main body and the surface body to be mounted together in a block.
Another preferred embodiment of the invention is that it has mechanical component, screws that join surfaces with printed circuit boards on the surfaces of the blocks.
Another preferred embodiment of the invention is that there are solder pads on their printed circuit boards that combines printed circuit boards each other and provides signal and power transfer.
Another preferred embodiment of the invention is that it comprises the process steps of;
• conjoining the "BrainBlock" to the robot which comprises of blocks in order to transmit related command to all of the blocks
• Connecting the "BrainBlock" to a computer or mobile device via USB cable
• Notifying when "BrainBlock" are connected to a computer on the web browser
• Entrance of IDs of the blocks in the robots into the programming interface by the user.
• User's drop-and-drag commands from the programming interface to the page.
• Sending the source codes, which corresponding to the drag-and-drop commands to the "BrainBlock", is converted and optimized when the user clicks "Run"
• Web browse notification when the program is transmitted to the "BrainBlock".
Another preferred embodiment of the invention is that the programming interface has a visual, drag-and-drop programming language.
Another preferred embodiment of the invention is that the C/C++ code corresponding to the generated drag and drop commands can be displayed and downloaded to a computer as a .txt file.
Another preferred embodiment of the invention is that the generated source codes are in an appropriate form for conversion by the online compiler and debugger in the browser.
Another preferred embodiment of the invention is that users can create their own personal pages in the programming interface, and the software they prepare can be saved in these pages.
Another preferred embodiment of the invention is that the previously saved codes in the programming interface are uploadable to the blocks.
Another preferred embodiment of the invention is that the previously saved codes in the programming interface are editable via the interface.
Brief Description of the Drawings The figure prepared in order to explain device developed by this invention well at below.
Figure 1 illustrates a design, a block created by the invention. Figure 2 illustrates a visual representation of the robot formed by combining the blocks of the invention.
Figure 3 illustrates a visual representation of a robot generated by combining the blocks of the present invention that moves with four wheels and captures objects by their gripper.
Figure 4 illustrates a visual representation of the "PhoioBlock" that detects the light in the surrounding environment.
Figure 5 illustrates an exploded view of two parts of a block connected to each other by snap-fits on the surface.
Figure 6 illustrates an exploded view of the "BrainBlock".
Figure 7 illustrates the exploded view of the "CubeBlock".
Figure 8 illustrates a visual representation of a hermaphroditic surface with female and male pogo connectors on it and snap-fit on a surface.
Figure 9 illustrates a visual representation of female and male pogo connectors on a hermaphroditic surface.
Figure 10 illustrates the cross section exhibiting snap-fits and screws, and the pogo connectors between a printed circuit board and a block surface from the inside.
Figure 11 illustrates an exploded view of two parts of a block connected to each other by snap-fits on the surface.
Figure 12 illustrates the pogo connectors between the printed circuit board and the surface of a block, an exploded view of a surface showing snap-fits and screws.
Figure 13 illustrates the outside perspective view of the male pogo connector that contacts the adjacent block printed circuit board.
Figure 14 illustrates the inside perspective view of the female pogo connector that come in contact with the signal and power pins of the printed circuit board.
Figure 15 illustrates the outside perspective view of the female pogo connector that come in contact with the signal and power pins of the printed circuit board.
Figure 16 illustrates the inside perspective view of the male pogo connector that come in contact with the signal and power pins of the printed circuit board.
Figure 17 illustrates the positions of the pogo connectors and screws on the object that provide the connection of the printed circuit boards to the surfaces.
Figure imgf000005_0001
Figure 40 - illustrates the exploded view of the "BlueBlock".
Figure 41 illustrates a diagram showing the transmission of data between the mobile program, the web programming application, the communication unit and the microcontroller in the "BrainBlock".
Figure 42 illustrates a diagram illustrating the programming process of the present invention in a programming platform via a drag-and-drop method.
Figure 43 illustrates the flow diagram of the steps from the combining of blocks until the operation of a robot.
Figure 44 illustrates the communication infrastructure between the input and output blocks, and the "BrainBlock".
Figure imgf000006_0001
Detailed Description of the Invention
The invention is characterized as a modular reprogrammable robotics construction kit that allows children to explore electronics, mechanics and software, and to explore and test fundamentals of science, technology, engineering and mathematics. The invention teaches children aged 6-13 years the fundamentals of mechanics, electronics, software and programming, science and technology. The present invention can be integrated into the curricula of primary schools to teach the fundamentals of STEM education. The blocks in the modular reprogrammable robotics building kit are divided into 4 main categories. These include the "Input Blocks" that sense object, distance, light, sound, movement, temperature etc. , "Output Blocks" that operate by processing signals from the program or input blocks, "Passive Blocks" that pass data and power between blocks, and "Special Blocks" that have to be found in each robot to control, communicate and power. The modular reprogrammable robotics construction kit comprises input block, output block, "CubeBlock" (2), "PowerBlock" with at least one battery for the operation of the "BrainBlock", control blocks that helps to the installation of the software with at least one microcontroller and communication unit. Each input block contains a different type of sensor. The input blocks detect the incoming signals. An input block produces a value between 0-255 depending on the environmental effect. For example, a "TempBlock" (16) may give a value of "30" in a refrigerator while a value of "220" when placed next to a heater. Examining another example, the "MicBlock" (14) may give a value of "50" when it is in a quiet room, but it may give a higher value of "185" when someone shouts near the block. The "EyeBlock" (12) detects the distance of the block to an object and generates a value according to the magnitude of this distance. Other input blocks are the "PhotoBlock" (13), the "GestureBlock" (19), the "DetectBlock (18) and the "BalanceBlock" (17) block. Output blocks act differently depending on the given value. For example, the "MotionBlock (8) can rotate the DC gear motor within at the given speed. The other output blocks are the "RollBlock" (9), the "LevelBlock" (20), the "BippBlock" (22), the "ColorBlock" (21), the "LightBlock" (23), the "GrippBlock" (24), the "LinkBlock" (11) and the "360Block (25). Each output block receives the input value from the input blocks or the value that the user enters to the programming interface. Output blocks function according to these values. For example, the "MotionBlock" (8) may rotate faster according to the value of the "PhotoBlock" if the amount of the light is higher. Another example is that the "BippBlock" (22) does not produce any sound when the value of zero is given by the user. The passive blocks provide for the design of different types of robots by changing the angle, direction and the geometry of the robot. These blocks do not contain any microcontroller or extra electronic components. For example, the "BallBlock" (29) allows the robot to stand in balance, serving as a third leg for a two-wheeled vehicle. The other passive blocks are the "CubeBlock" (2), the 19()Block" (26), the "120Block" (27), and the "SplittBlock" (28). The special blocks must be found in each robot to control, communicate and power. The "BrainBlock" (1) allows the programming of blocks and transfers related commands to other blocks. Robots can be programmed by the SmartBlock IDE with drag-and-drop method or Arduino IDE via USB. "PowerBlock" (10) include rechargeable batteries to provide power to the blocks. These batteries can be charged from the computer via USB cable thanks to the charger unit in the block. The special blocks also contain the "BlueBlock (30). The "BlueBlock" (30) enables the robot to communicate wirelessly with a computer or a mobile phone.
Each input and output block contains a microcontroller, a CAN communication receiver and supporting electronic components. The microcontrollers in the input and output blocks provide the functions of the blocks. The "BrainBlock" (1) contains a main programming microcontroller, a CAN communication controller and supporting electronic components. The microcontroller in the "BrainBlock" (1) ensures the programming of the blocks in the programming interface and transfer of this program to the blocks. The program running in the "BrainBlock" (1) can be transferred via the electrical connection of female and male connectors on the circuit boards of adjacent blocks. In this way, a "CAN" communication network is established between input, output and special blocks.
Each block consists of one or more Printed Circuit Boards (PCBs) (5) containing microcontroller, CAN communication receiver and power and signal connectors on it. In addition, each block may contain extra mechanical and electronic components depending on its specific function. For example, the "MotionBlock" (8) includes four surface PCBs (5) and one functinal PCB.
The functional PCB includes an H-bridge driver and motor back-emf protection diode. The
"MotionBlock" drives a DC motor. Examining another block, the "BrainBlock" (1) consists of five PCBs and a programming PCB. The programming PCB includes a USB-TTL converter for programming the blocks in the programming interface and a CAN communication controller for communication.
Embedded electronic components in the input blocks are on a functional PCB. Output blocks consist of functional PCB and/or the surface PCBs (5). The electronic components of the "BrainBlock" (1) are at the prograrnming PCB and the surface PCBs. The "360Block" (25) includes two special functional PCBs as well as the surface PCBs (5). The "PowerBlock" (10) and "CubeBlock" (2) do not contain extra electronics component on the surface PCBs. The PCBs are mounted with the help of screw (7) and snap-fits which flex on the inside of a surface and is electrically connected to the outer surface of the adjacent block with pogo connectors. Also, screw (7) supports surface PCBs (5) for efficient connection between the outer surface of the adjacent blocks with pogo connectors.
Pogo connectors electrically connect the blocks. Pogo connectors provide the electrical connection between the PCBs of adjacent blocks. These connectors allow the transmission of electrical signals at high accuracy. Pogo connectors are in contact with PCB (5) in each block and transmit power and signals. Also the mechanical connection of the blocks is also supported by this connector. The small size of pogo connectors and the compressibility of the them provide less area coverage of the connectors; so the mechanical connection is more conveniently provided.
A block surface includes four female pogo connectors (3) and one male pogo connector (4). The interior part of the female pogo connectors (3) contacts with the power and signal pins of the PCB. The outer part of the female pogo connectors (3) contacts with the outer surface of the male pogo connectors (4) of the adjacent block. This contact provides power and signal transmission between adjacent blocks. The interior part of the male pogo connectors (4) is in contact with the power and signal pins of the PCB.
The meaning of hermaphrodite surface is that all connectors are identical, they are not separated as female or male connection surface. Adjacent blocks can be connected to one another by hermaphroditic surfaces at 22.5 degree angle and are locked together by rotate-lock method. The female and male pogo pin connectors (3,4), which are connected to the the signal and power pins of the PCBs (5), signal and power transfer between the adjacent blocks. Hermaphroditic surfaces containing five pogo connectors enable mechanical locking in any direction and rotation.
Figure 2 refers to a visual representation of a robot formed by splicing the blocks of the present invention. It shows a set of blocks of the present invention, hermaphroditic surfaces of blocks and pogo connectors on these surfaces. When the hermaphroditic surfaces are connected to each other without regard to any direction and rotation, mechanical locking of the blocks provides power and signal transmission between the blocks.
Figure 3 refers to a visual representation of a robot that moves with four wheels resulting from joining the blocks of the present invention and grips the objects with the "GrippBlock" (24). The invention can be of any size, shape and geometry. Different types of blocks have different number of surfaces. These surfaces are ideally 50 mm. The present invention contains blocks in the shape of a cube, a rectangular prism, a quarter cylinder and triangular prism. Users can create robots capable of sensing distance, light, sound and movement, or generating light and sound. For example, Figure 3 shows a a two-wheeled moving robot sensing and following the hand movement of the user.
Figure 6 refers to the exploded view of the main control block with the name "BrainBlock"
(1). This block (1) contains a USB-to-TTL converter used to program the microcontroller on interior of the special surface of block. This block (1) also comprises a programming PCB (5) and
CAN communication controller. This block (1) is used to program robots and provide communication between blocks.
Figure 7 refers to the exploded view of the passive cube block with the name "CubeBlock".
The outer surfaces and the main surface are joined with the snap-fits (6). The surface PCBs are mounted on the surface with screws (7). In addition, these PCBs are soldered together by power and signal pins. The surface PCB is connected to the outer surface with screw and snap-fits.
Hermaphroditic surfaces are used to connect adjacent blocks together. The power and signal transmission is provided by pogo connectors (3,4) above surfaces of the blocks. This block does not contain any extra electronic components. It consists of six surface PCBs (5) and is used in applications where two blocks must be mechanically and electronically interconnected.
Figure 12 refers to the exploded view of the pogo connectors between the PCB and the surface of block; the snap-fits and the screw. Hermaphroditic surfaces provide mechanical locking. The surface part is mounted on the main body with snap-fits (6). The screw (7) are inserted into the screw holes on the surface of block. Male pogo connectors (4) are mounted on the surface PCB for power and signal transmission between adjacent blocks. Female pogo connectors (3) are mounted on die surface PCB for power and signal transfer between adjacent blocks.
Figure 18 refers to an exploded view of the motion actuator block with the name
"MotionBlock" (8). This block (8) contains a bracket mounted on its special surface, a mini DC metal gear motor. This block (8) also contains the H-bridge drive and motor back-emf protection diodes. This actuator is connected to the analog output of the microcontroller and controls the movement of an accessories.
Figure 19 refers to an exploded view of the motion actuator block with the name
"RollBlock" (9). This block (9) includes a bracket on its special surface, a mini DC metal gear motor and special gears for moving the cylindrical wheels. This block (9) is driven by a DC metal gear motor. This block (9) also contains the H-bridge drive and motor back-emf protection diodes. This actuator is connected to the analog output of the microcontroller and controls the movement of the two rubber coated cylindrical wheels.
Figure 20 refers to an exploded view of the power supply block with the name "PowerBlock" (10). This block (10) contains two rechargeable batteries mounted on its special surface. This block (10) also includes a USB charging module that allows the batteries to be charged from the computer via USB cable. This block (10) is used to provide energy to the blocks.
Figure 21 refers to an exploded view of the motion RC servo actuator block with the name
"LinkBlock" (11). This block (11) contains a RC servo motor mounted on two special parts. This block (11) also contains the H-bridge driver and the motor back-emf protection diode. This block
(11) is connected to the analog output of the microcontroller and is used in applications where the direction and angle of the blocks are changed vertically.
Figure 22 refers to an exploded view of the distance sensor block with the name "EyeBlock"
(12) . This block (12) contains an ultrasonic sensor such as an SDM-IO ultrasonic sensor mounted on its special surface. This block (12) senses a wide range of distances to any object in the block. This sensor is connected to the analog input of the microcontroller.
Figure 23 refers to an exploded view of a light sensor block with the name "PhotoBlock" (13). This block (13) contains an LDR sensor such as the GL5516 5mm LDR sensor mounted on its special surface. This block (13) detects the light amplitude in the environment where the block is located. This sensor is connected to the analog input of the microcontroller.
Figure 24 refers to an exploded view of the sound sensor block with the name "MicBlock" (14). This block (14) contains a microphone sensor such as the Max4446 sound detection sensor mounted on its special surface. This block (14) perceives the sound in the surrounding environment. This sensor is connected to the analog input of the microcontroller.
Figure 25 refers to the exploded view of the potentiometer block with the name "KnobBlock"(15). This block (15) contains a rotary potentiometer mounted on its special surface. This sensor is connected to the analog input of the microcontroller.
Figure 26 refers to an exploded view of the temperature sensor block with the name
"TempBlock" (16). This block (16) contains a temperature sensor such as the DS18B20 temperature sensor mounted on its special surface. This block (16) senses the temperature in the surrounding environment. This sensor is connected to the analog input of the microcontroller.
Figure 27 refers to an exploded view of the inertial measurement sensor block with the name "BalanceBlock" (17). This block (17) contains a 3 axis accelerometer, 3 axis gyroscope and 3 axis compass, such as the MPU9050 IMU sensor mounted on its special surface. This block (17) detects the object's direction, rotation and acceleration, and the magnetic field surrounding the block (17). This sensor is connected to the analog input of the microcontroller.
Figure 28 refers to an exploded view of the obstacle avoidence sensor block, which is called the "DetectBlock" (18). This block (18) contains an obstacle avoidence sensor such as the GP2dl20 Sharp sensor mounted on its special surface. This block (18) detects if there is any object near the block. This sensor is connected to the digital input of the microcontroller.
Figure 29 refers to an exploded view of the motion sensor block with the name "GestureBlock" (19). This block (19) contains a motion sensor such as the HC-SR501 PIR sensor mounted on its special surface. This block (19) perceives the movement of any object within a short interval. This sensor is connected to the digital input of the microcontroller.
Figure 30 refers to an exploded view of the level indicator block with the name "LevelBlock" (20). This block (20) includes a level indicator such as an ten segment bargraph mounted on its special surface. This level block (20) is connected to the digital output of the microcontroller.
Figure 31 refers to an exploded view of the colorful light emitting block with the name
"ColorBlock" (21). This block (21) contains a 10 mm RGB led mounted on its special surface. This block (21) emits light in different combinations of red, green and blue. This block (21) is connected to the digital output of the microcontroller.
Figure 32 refers to an exploded view of the voice bleeping block with the name "BippBlock" (22). This block (22) contains a buzzer mounted on its special surface. This block (22) produces the desired amount of sound. Buzz block (22) is connected to the digital output of the microcontroller.
Figure 33 refers to an exploded view of the light emitting block with the name "LightBlock" (23). This block (23) contains a LED such as a 10mm yellow LED mounted on its special surface. This block (23) emits yellow light. This block (23) is connected to the digital output of the microcontroller.
Figure 34 refers to an exploded view of the motion RC servo actuator block with the name "GrippBlock" (24). This block (24) contains a RC servo motor mounted on its special surface with a bracket. This block (24) also includes the H-bridge driver and the motor back-emf protection diodes. The gripper (24) is driven by the RC servo motor. This block (24) is connected to the analog output of the microcontroller and controls the movement of a gripper.
Figure 35 refers to an exploded view of the motion RC servo actuator block with the name "360Block" (25). This block (25) contains a RC servo motor mounted on its two special mechanical parts. This block (25) also includes the H-bridge driver and the motor back-emf protection diodes. This block (25) is connected to the analog output of the microcontroller and is used in applications where blocks are rotated 360 degrees continuously.
Figure 36 refers to the exploded view of the passive quarter cylinder block with the name "90Block" (26). This block (26) does not contain any extra electronic components. This block (26) consists of two surface PCBs (5). This block (26) is used in applications where two blocks need to be mechanically and electronically interconnected by changing the direction of the block by 90 degrees.
Figure 37 refers to the exploded view of the passive rectangular prism block with die name "120Block" (27). This block (27) does not contain any extra electronic component. It (27) consists of three surface PCBs (5) and it (27) is used in applications where three blocks need to be mechanically and electronically interconnected by changing the direction of the blocks by 120 degrees.
Figure 38 refers to an exploded view of the passive splitter block with the name "SplittBlock" (28). This block (28) does not contain any extra electronic components. It (28) consists of three surface PCBs (5), a dual connection surface and one wide connection surface and it (28) is used in applications where two adjacent blocks are mechanically and electronically connected to one block. Figure 39 refers to the exploded view of the passive ball caster block with the name "BallBlock" (29). This block (29) does not contain any electronic components. It (29) consists of a ball caster and is generally used to ensure that the designed robots are balanced.
Figure 40 refers to an exploded view of the bluetooth communication block with the name "BlueBlock" (30). This block (30) contains the HM-10 CC2540 BLE mounted on its special surface. It (30) allows remotely control of a robot by means of a computer or a mobile telephone with the wireless technology of Bluetooth 4.0.
Referring to Figure 41, a diagram showing a data flow between a mobile program, an IDE, a communication unit, and a microcontroller in a "BrainBlock" is shown. Users can program their own robots via programming interface "the SmartBlock IDE". The compiler found in the IDE converts the user-generated source code to the appropriate data format and optimizes it with the online compiler. This code is routed via the USB cable to the "BrainBlock" (1). The "BrainBlock" (1) transmits the commands to the other blocks of the robot. The robot with the appropriate program installed can be controlled via the mobile application when the "BlueBlock" (30) is added to the robot.
Users can control (he robots with mobile devices after downloading the code. For this, the wireless communication block that works via Bluetooth 4.0 technology is connected to the robot. The bluetooth device of the mobile device and the bluetooth device of the robot communicate wirelessly from the serial port and the "BlueBlock" (30) transmits the information to the "BrainBlock" (1). The "BrainBlock" (1) finally transmits to the other blocks.
The "BrainBlock" (1) can be programmed via "the SmartBlock IDE", "the SmartBlock IDE" comprises a visual, drag-and-drop programming language. This IDE supports Mozilla, Chrome, Explorer etc. and can be accessed via mobile devices. Users can view Arduino IDE compliant C/C++ source codes after they prepare the code by the drag-drop method. The programming platform has a toolbox containing different types of functions. "Control Commands" include the control and status of the programming. "Operator Commands" include logic and comparison functions. "Math Commands" include mathematical functions. "Input Commands" include functions for input blocks. "Output Commands" contain functions for output blocks. "Variable Commands" are used to define variables.
In order to be able to program a robot from the programming platform, all the blocks in the robot must be introduced to the IDE by their IDs. Then input and output blocks can be programmed with IDs by using input and output commands.
Figure 42 is a diagram illustrating the programming process of the present invention in the programming platform by the drag-and-drop method. The data flow of the programming platform is shown below;
• The designed robot and "BrainBlock" (1) are connected to the computer or the mobile device via USB.
• The user introduces the IDs of the blocks to the platform.
• The user prepares a source code or a program for the blocks by using the drag-and- drop method.
• When the user clicks the "Run" button on the platform, the source code is compiled and optimized online.
• The hardware-compliant software is transferred to the "BrainBlock" (1) via USB cable. Finally, the "BrainBlock" (1) passes the related commands to the other blocks of the robot.
Users can program their robots by using the programming interface by connecting the "BrainBlock" (1) to the PC via a USB cable. In the programming interface, robots can be programmed by drag-and-drop commands or by writing source codes.
The flow diagram of the steps is shown in Figure 43, starting from the assembly of the blocks, until a robot is operated. An event chain is shown that allows a robot to be reprogrammed. The event chain begins with the connection of the "BrainBlock" by the user to the computer via USB cable. The computer notifies thai the robot is connected to the computer. The user introduces the IDs of the blocks to the platform. The user prepares a drag-and-drop commands in the programming platform. The prepared drag-and-drop commands becomes the source code in the background. Once this source code is compiled and optimized online, the appropriate software is uploaded to the "BrainBlock" (1). The web browser informs the "BrainBlock" (1) that the program is uploaded, and finally the "BrainBlock" (1) forwards the related commands to the other blocks.
When commands are dragged and dropped, each drag-and-drop command corresponds to the Arduino IDE compliant C/C++ code in the background of the web browser. When the user creates the drag-and-drop scenario, the source code for that scenario is created in the background. This source code is then optimized with the online compiler on the programming platform, and is converted to an appropriate software which is compatible with the block's hardware.
Figure 44 shows the communication infrastructure between input and output blocks, and control blocks. Each node in the CAN communication protocol has a different ID which means that each message sent to the block has a different ID. As a result of the data transfer between the blocks, the message received by the blocks reaches to all the blocks in a robot. The CAN receiver in each block filters out messages so that the block only receives messages of its own ID. Only the "BrainBlock" (1) can receive every message that is sent to the related input or output blocks. When the input block is used in the software, the "BrainBlock" (1) sends the wake-up message to the related input blocks and the "BrainBlock" (1) takes the value of the related input block. Output blocks always listen to the "BrainBlock" (1).
After creating a scenario with the drag-and-drop method in the IDE, the C/C++ codes generated in the background can be downloaded as a ".txt" file.
In the IDE, users can create a personal page for themselves and save the projects they have created. They can open these projects on the platform at any time.
Projects that users have saved on their own personal page can be shared on the open source platform with the other users.

Claims

1. A modular reprogrammable robotics construction kit comprising; input blocks for detecting objects, measure distance, measure light, detect motion, measure temperature signals, output blocks acting by the processing of the signals coming from the programme or input blocks, passive blocks that pass data between blocks, special blocks that have to exist in each robot in order to control, communicate and power, a "PowerBlock" comprising at least one energy storage component for the operation of these blocks, "BrainBlock enabling the software to be uploaded containing at least one microcontroller and communication unit.
2. Apparatus as claimed in claim 1, a modular reprogrammable robotics construction kit comprising an input block containing the distance sensor "EyeBlock (12), the sound sensor "MicBlock" (14), the temperature sensor 'TempBlock" (16), lh.e obstacle avoidence sensor "DetectBlock" (18), which is a distance sensor that detects whether there is any object near the block (18), the "GestureBlock" (19) which senses any movement, the inertia measurement sensor "BalanceBlock" (17), and the light sensor "PhotoBlock" (13).
3. Apparatus as claimed in claim 1, a modular reprogrammable robotics construction kit comprising an output block containing the motion actuator block "MotionBlock" (8), the motion actuator block with roller "RollBlock" (9), the level indicator "LevelBlock" (20), the voice bleeping block "BippBlock" (22), the colorful light emitting block "ColorBlock" (21) , the light emitting block "LightBloek" (23), the motion RC servo actuator block with gripper "GrippBlock" (24), the motion RC servo actuator block "LihkBlock" (1 1) and the motion RC servo actuator block "360Block" (25).
4. Apparatus as claimed in claim 3, a modular reprogrammable robotics construction kit comprising at least one output block containing a RC servo motor.
5. Apparatus as claimed in claim 3, a modular reprogrammable robotics construction kit comprising at least one output block containing a DC gear motor.
6. Apparatus as claimed in claim 3, a modular reprogrammable robotics construction kit comprising at least one output block being able to rotate the adjacent block 360 degrees.
7. Apparatus as claimed in claim 3, a modular reprogrammable robotics construction kit comprising at least one block being able to change the adjacent block in terms of angle and direction with the RC servo motor therein.
8. Apparatus as claimed in claim 1, a modular reprogrammable robotics construction kit comprising a passive block containing the "BallBlock (29) being the passive ball caster, the "CubeBlock" (2) being the passive cube block, the "90Block (26) being the passive quarter cylinder block, die "120Block" (27) being the passive rectangular prism block and the "SplittBlock" (28) being the passive splitter block.
9. Apparatus as claimed in claim 8, a modular reprogrammable robotics construction kit comprising at least one "SplittBlock" (28) capable of providing data and joining two adjacent blocks with one block.
10. Apparatus as claimed in claim 1 , a modular reprogrammable robotics construction kit comprising special blocks containing the "BrainBlock" (1) being the main control block, the "PowerBlock" (10) being the energy source and the "BlueBlock" (30) being the wireless communication block.
11. Apparatus as claimed in claim 10, a modular reprogrammable robotics construction kit comprising at least one "PowerBlock (10) connected to the "BrainBlock" (1).
12. Apparatus as claimed in claim 1, a modular reprogrammable robotics construction kit comprising an embedded reprogrammable electronic device software and at least one block being able to program for its own behavior.
13. Apparatus as claimed in claim 1, a modular reprogrammable robotics construction kit comprising at least one block detecting surrounding signals containing a sensor connected to the microcontroller.
14. Apparatus as claimed in claim 1, a modular reprogrammable robotics construction kit comprising a cube, a rectangular prism, a triangular prism or a quarter cylinder shaped blocks.
15. Apparatus as claimed in claim 1, a modular reprogrammable robotics construction kit comprising an embedded electronic system containing a communication device.
16. Apparatus as claimed in claim 10, a modular reprogrammable robotics construction kit comprising a communication device being a Bluetooth 4.0 wireless communication device.
17. Apparatus as claimed in claim 1, a modular reprogrammable robotics construction kit comprising;
• a mechanical connection surface that allows the blocks to interlock each other
· electronic components that provide signal, and power transmission between the blocks
• mechanical components that allow the surface bodies to be mounted together with the main body of the blocks
• PCBs (5) interior of the surface of the blocks and the mechanic and electronic components conjoining these PCBs (5) each other and the surface of the blocks.
18. Apparatus as claimed in claim 17, a modular reprogrammable robotics construction kit comprising hermaphroditic surfaces that allow the blocks to be interlock together.
19. Apparatus as claimed in claim 18, a modular reprogrammable robotics construction kit comprising mechanically interlocked hermaphroditic surfaces when they twisted 22,5 degrees after touching each other.
20. Apparatus as claimed in claim 17, a modular reprogrammable robotics construction kit comprising blocks transferring signal and power to one another containing the electronic component pogo connectors.
21. Apparatus as claimed in claim 17, a modular reprogrammable robotics construction kit comprising the blocks comprising the mechanical component snap-fits (6) providing the main body and the surface body of a block to be assembled one to another.
22. Apparatus as claimed in claim 17, a modular reprogrammable robotics construction kit comprising the blocks comprising the mechanical component screws (7) connecting the surfaces with the PCBs (5) on its surface.
23. Apparatus as claimed in claim 17, a modular reprogrammable robotics construction kit comprising the blocks comprising solder pads providing signal and power transfer and connecting
PCBs (5) each others.
24. A modular reprogrammable robotics construction kit comprising the processing steps of;
• combining the "BrainBlock" (1) with the robot consisting of blocks to transmit the related commands to all blocks
• connecting the "BrainBlock" (1) to a computer or mobile device via USB cable
• web browser notification when "BrainBlock" (1) is connected to a computer
• the entrance of the IDs of the robots' blocks into the programming interface by the user
• user drag-and-drop commands in the IDE
• sending the source codes corresponding to the drag-and-drop commands after being converted and optimized according to the microcontroller of "BrainBlock" when the user clicks "Run" button.
• web browser notification when the program is uploaded to the "BrainBlock" (1).
25. Apparatus as claimed in claim 24, a modular reprogrammable robotics construction kit comprising the programming interface comprising a visual, drag-and-drop programming language.
26. Apparatus as claimed in claim 24, a modular reprogrammable robotics construction kit comprising the C/C++ code corresponding to the drag and drop commands created can be displayed and can be downloaded to the computer as a ".txt" file.
27. Apparatus as claimed in claim 24, a modular reprogrammable robotics construction kit comprising the generated source code being convertible into the appropriate software by the online compiler and debugger in the browser.
28. Apparatus as claimed in claim 24, a modular reprogrammable robotics construction kit comprising a programming interface to which the users can save the softwares they created to their personal pages that they prepared by using this interface.
29. Apparatus as claimed in claim 24, a modular reprogrammable robotics construction kit comprising the previously saved code in the programming interface being loadable to the robot.
30. Apparatus as claimed in claim 24, a modular reprogrammable robotics construction kit comprising the previously saved codes in the programming interface being editable via the interface.
PCT/TR2017/050102 2016-03-22 2017-03-20 Modular reprogrammable robotics construction kit Ceased WO2017164829A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
TR2016/03645 2016-03-22
TR2016/03645A TR201603645A2 (en) 2016-03-22 2016-03-22 MODULAR RE-PROGRAMMABLE ROBOTIC BUILDING KIT

Publications (1)

Publication Number Publication Date
WO2017164829A1 true WO2017164829A1 (en) 2017-09-28

Family

ID=59253987

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/TR2017/050102 Ceased WO2017164829A1 (en) 2016-03-22 2017-03-20 Modular reprogrammable robotics construction kit

Country Status (2)

Country Link
TR (1) TR201603645A2 (en)
WO (1) WO2017164829A1 (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109702725A (en) * 2019-01-29 2019-05-03 西安交通大学 A kind of deformable chain type robot of polygon moduleization
EP3726505A4 (en) * 2018-12-31 2021-04-07 Luxrobo Co., Ltd. Plug and play module assembly and plug and play system
CN116312147A (en) * 2023-05-11 2023-06-23 深圳市亚博智能科技有限公司 Programming teaching method and system based on teaching robot
US12121827B2 (en) 2019-01-31 2024-10-22 Lego A/S Toy construction system with interactive function construction elements

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1287869A2 (en) * 2001-08-24 2003-03-05 Xerox Corporation Robotic toy modular system
WO2011011084A1 (en) 2009-07-24 2011-01-27 Modular Robotics Llc Modular robotics
US20130109267A1 (en) * 2011-10-31 2013-05-02 Modular Robotics Incorporated Modular Kinematic Construction Kit
US8851953B2 (en) 2010-01-22 2014-10-07 Kinematics Gmbh Building block system with moveable modules

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1287869A2 (en) * 2001-08-24 2003-03-05 Xerox Corporation Robotic toy modular system
WO2011011084A1 (en) 2009-07-24 2011-01-27 Modular Robotics Llc Modular robotics
US20120122059A1 (en) 2009-07-24 2012-05-17 Modular Robotics Llc Modular Robotics
US8851953B2 (en) 2010-01-22 2014-10-07 Kinematics Gmbh Building block system with moveable modules
US20130109267A1 (en) * 2011-10-31 2013-05-02 Modular Robotics Incorporated Modular Kinematic Construction Kit

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
ANONYMOUS: "Pogo pin - Wikipedia, the free encyclopedia", 28 April 2012 (2012-04-28), XP055284974, Retrieved from the Internet <URL:https://en.wikipedia.org/w/index.php?title=Pogo_pin&oldid=489583608> [retrieved on 20160630] *

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3726505A4 (en) * 2018-12-31 2021-04-07 Luxrobo Co., Ltd. Plug and play module assembly and plug and play system
CN109702725A (en) * 2019-01-29 2019-05-03 西安交通大学 A kind of deformable chain type robot of polygon moduleization
US12121827B2 (en) 2019-01-31 2024-10-22 Lego A/S Toy construction system with interactive function construction elements
CN116312147A (en) * 2023-05-11 2023-06-23 深圳市亚博智能科技有限公司 Programming teaching method and system based on teaching robot
CN116312147B (en) * 2023-05-11 2023-07-21 深圳市亚博智能科技有限公司 Programming teaching method and system based on teaching robot

Also Published As

Publication number Publication date
TR201603645A2 (en) 2017-10-23

Similar Documents

Publication Publication Date Title
US20230211250A1 (en) Connecting structures in a modular construction kit
CN104039406B (en) Modular kinematic construction kit
Mondada et al. The e-puck, a robot designed for education in engineering
Zykov et al. Molecubes: An open-source modular robotics kit
Rubenstein et al. Kilobot: A low cost robot with scalable operations designed for collective behaviors
KR101564791B1 (en) A toy construction system
CN107185259A (en) Electronic module and modular electronic construction system for multi-orientation connection
WO2017164829A1 (en) Modular reprogrammable robotics construction kit
Crnokic et al. Different applications of mobile robots in education
Bhojak et al. Gesture controlled mobile robotic arm using accelerometer
CN207384845U (en) A kind of electronic module and modular electronic for multi-faceted connection builds system
Rahaman et al. Educational robot for learning programming through Blockly based mobile application
Nielsen et al. Modular robotics as a tool for education and entertainment
Moreno et al. Synergy LEGO Mindstorms–Arduino: Taking advantage of both platforms
Wong et al. CPSBot: A low-cost reconfigurable and 3D-printable robotics kit for education and research on cyber-physical systems
Dasgupta et al. Bluetooth Controlled Arduino Based Robotic Arm
Jeon et al. Implementation of a modular robotic construction kit that fully supports science, technology, engineering, art, and mathematics education
Prasad et al. Live telecasting robo using arduino Uno
Pacheco et al. Fable: A modular robot for students, makers and researchers
Nielsen et al. Contextualised design of African I-BLOCKS
Ďurina et al. Robotnačka–The drawing robot
Sirinterlikci Developing and Teaching Modular Robots
Eaton et al. The development and implementation of a cost-effective educational robotic arm using ros-moveit
Golestan et al. Introducing i-puck: An educational mobile robot
Kavitha et al. Robotic Cubes for the Intellectual Simulation of Kids

Legal Events

Date Code Title Description
NENP Non-entry into the national phase

Ref country code: DE

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17734154

Country of ref document: EP

Kind code of ref document: A1

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 03/01/2019)

122 Ep: pct application non-entry in european phase

Ref document number: 17734154

Country of ref document: EP

Kind code of ref document: A1