MODULE SYSTEM AND METHOD FOR EXCHANGING INFORMATION AND/OR POWER BETWEEN MODULES OF A MODULE SYSTEM

Abstract

A module system and to a method for exchanging information and/or power between modules of a module system and to a corresponding computer program product. Thus a particularly simple and verifiable linking of individual modules of a modular system can be carried out, wherein the linking is possible at any time and in particular without structural changes to positions or mechanical couplings of the modules combined with one another.

Claims

1. A module system, comprising: at least two modules that are combinable with each other; a control arrangement which facilitates an interconnection of a first module of the at least two modules with a second module of the at least two modules so that an information or energy connection is provided between the first module and the second module so that the first module and the second module are enabled to exchange information or energy, wherein the module system is configured so that the interconnection does not cause any physical change of the first module or the second module, wherein the control arrangement includes a display unit which indicates a selected interconnection in at least one operating mode of the module system, wherein the control arrangement includes an input unit, and wherein the input unit is configured to render a desired interconnection selectable in the at least one operating mode of the module system by a selection of an interconnection option that is displayed on the display unit.

2. The module system according to claim 1, wherein the module system includes at least three modules that are combinable with each other, wherein a first information or energy connection is provided between at least two modules of the at least three modules, wherein the control arrangement is adapted to establish a second information or energy connection between at least two modules of the at least three modules alternatively or in addition to the first information or energy connection without any physical change of the at least three modules or of the information or energy connection.

3. The module system according to claim 1, wherein each module of the at least three modules includes display devices with at least two display conditions, wherein the module system is configured in at least one operating mode of the module system to display an interconnection of two modules by coinciding display statuses of the respective display devices at the two modules, wherein the display devices are configured as illuminants with different color conditions or light shapes.

4. The module system according to claim 3, wherein the module system is configured to associate respective different display statuses to different groups of interconnected modules of the at least three modules in an operating mode of the module system so that differentiation is provided.

5. The module system according to claim 1, wherein the at least two modules include activation devices that are adapted to establish a connection between the at least two modules when their respective activation devices are activated, and wherein the respective activation devices are adapted to establish an interconnection when they are actuated simultaneously.

6. The module system according to claim 1, wherein the control arrangement includes at least one control device which is configured to be associated with one module of the at least two modules in order to control the one module.

7. The module system according to claim 1, wherein the display unit is adapted at least in one operating mode of the module system to represent all combined modules as module representatives, wherein the control arrangement is adapted to display basic interconnection options of the combined modules through the display unit as interconnection lines between the respective module representatives, or wherein the control arrangement is adapted to provide the module representative on the display unit with a display status which corresponds to the display status of the module that is represented by the module representative.

8. The module system according to claim 6, wherein the at least one control device includes a display device in at least one operating mode of the module system, wherein a display status of the display device corresponds to a display status of the module associated with the control device, and wherein the display unit of the control arrangement is adapted to represent the display device.

9. The module system according to claim 1, wherein the input unit is configured as a touch screen, or wherein the input unit is configured to adjust the interconnection by tapping on an interconnection line by finger or by mouse.

10. The module system according to claim 1, wherein all combined modules are connected at a common data bus, and wherein each module includes a unit address to provide identification.

11. A method, comprising the step: providing information or energy exchange between modules of a module system with at least two modules that are combinable with each other, wherein a control arrangement is provided which facilitates an interconnection of a first module of the at least two modules with a second module of the at least two modules, so that an information or energy connection is establishable between the first module and the second module, so that the first module and the second module are enabled to exchange information or energy, wherein the interconnection does not cause any physical change of the first module or the second module, wherein the control arrangement includes a display unit which indicates a selected interconnection in at least one operating mode of the module system, wherein the control arrangement includes an input unit, and wherein the input unit is configured to render a desired interconnection selectable at least in one operating mode of the module system by a selection of a displayed interconnection option.

12. The method according to claim 11, further comprising the step: using a module system, including at least two modules that are combinable with each other, a control arrangement which facilitates an interconnection of a first module of the at least two modules with a second module of the at least two modules so that an information or energy connection is provided between the first module and the second module so that the first module and the second module are enabled to exchange information or energy, wherein the module system is configured so that the interconnection does not cause any physical change of the first module or the second module, wherein the control arrangement includes a display unit which indicates a selected interconnection in at least one operating mode of the module system, wherein the control arrangement includes an input unit, and wherein the input unit is configured to render a desired interconnection selectable in the at least one operating mode of the module system by a selection of an interconnection option that is displayed on the display unit.

13. A computer program product that is stored on a computer readable medium, the computer program product comprising computer readable program devices which cause the computer to execute a method according to claim 11 when the computer readable program devices are executed on the computer.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Characterizing features and further advantages of the instant invention are subsequently described based on advantageous embodiments with reference to the drawing figures, wherein:

[0050] FIG. 1 illustrates different modules of the module system according to the invention;

[0051] FIGS. 2A, 2B, 2C illustrate paternal and maternal coupling surfaces of the modules of the module system according to the invention according to FIG. 1;

[0052] FIG. 3 illustrates a first schematic embodiment of a device configured from combined modules of the module system according to the invention;

[0053] FIG. 4 illustrates a second schematic embodiment of a device from assembled from combines modules of the module system according to the invention;

[0054] FIG. 5 illustrates a third schematic embodiment of a device assembled from combined modules of the module system according to the invention;

[0055] FIG. 6 illustrates a fourth embodiment of a device assembled from combined modules of the module system according to the invention;

[0056] FIG. 7 illustrates a first embodiment of a device assembled from combined modules of the module system according to the invention;

[0057] FIG. 8 illustrates a sixth embodiment of a device assembled from combined modules of the module system according to the invention in an interconnection mode;

[0058] FIG. 9 illustrates a seventh embodiment of a device assembled from combined modules of the module system according to the invention in a control mode' and.

[0059] FIG. 10 illustrates an eighth embodiment of a device assembled from combined modules of the module system in a control mode.

DETAILED DESCRIPTION OF THE INVENTION

[0060] FIG. 1 illustrates an advantageous embodiment of the module system 10 according to the invention which includes at least one advantageously plural of the illustrated various active modules 12, 14, 16, 18, 20, 22, 24 in addition to a passive structural module that merely provides pass through signal conduction.

[0061] The modules 12, 14, 16, 18, 20, 22, 24 include a control module 12 which includes a proprietary proper energy supply and the mechanically coupled modules, a joint module 14 with two components 15a, 15 b that are pivot able relative to each other. A rotation module 16 with two components 17a, 17b, that are rotate able relative to each other by a motor, not illustrated, a drive module 18 with an axle 19 that is driven by a motor (not illustrated), a gripper module 20 with 3 arms 21b that are simultaneously pivot able by a motor (not illustrated) relative toe base element (21a), a light module 22 with a light sensor element 23 and an IR module 24 with an IR sensor element 25.

[0062] The control module 12 includes an operator control panel 26 with a +-key 28 and a -key 30 for increasing or decreasing particular control commands, a receiver key 32, an illuminated display 33 which can represent various colors, a mini USB connection 34 for controlled programming and charging an energy supply of the control module 12 by an external computer or similar and a combined play back and pause key 35 for playing or pausing particular programmed functions.

[0063] The modules 12, 14 16, 18, 20,22, 24 include various coupling surfaces 36, 38, wherein each module 12, 14, 16, 18, 20,22, 24 includes at least one paternal coupling surface 36 and at least one maternal coupling surface 38 which facilitate a coupling individual modules module 12, 14, 16, 18, 20,22, 24 with one another.

[0064] Also the modules 12, 14, 16, 18, 20,22, 24 include light displays 33 like the control module 12 which can respectively represent different colors that can be coincide with each other, e.g. white, yellow, red, green and blue.

[0065] In FIGS. 2A and 2B the paternal coupling surface 36 with its base surface 37 and the maternal coupling surface 38 with its base surface 39 are compared with each other.

[0066] FIG. 2C illustrates a sectional view of 2 passive structural modules 11 that are coupled and interlocked with each other.

[0067] It is evident that the material coupling surface 38 has cruciform indentations 40 which correspond with 45, 135, 225, 315. Another embodiment of the invention is illustrated in more detail in FIGS. 2-11. Identical or similar components are provided with cruciform knobs 42 which correspond to the paternal coupling surface 36. Furthermore the maternal coupling surface 38 includes an essentially circular indentation 44 which corresponds to the essentially circular protrusion 45 of the paternal coupling surface 36, wherein the maternal coupling surface includes undercuts 46 which are arranged diagonally opposite to each other under protrusions 47 wherein the undercuts 46 correspond to prongs 48 that are arranged diagonally opposite to the undercuts 46 and include bevels 49a on their top sides and protrusions 50 that are arranged on an radial outside. This bevel 49a corresponds to a bevel 49b on the protrusion 47 of the maternal coupling surface 38.

[0068] The prongs 48 with their protrusions 50 can be interlocked by an exactly aligned plugging of the paternal coupling surface 36 into the maternal coupling surface 38, wherein the prongs 48 can recede radially inward due to a particular elasticity.

[0069] More precisely the portions 51 arranged between the protrusions 47 have a clear width in the circumferential direction which clear width has at least the same size as the expansion of the protrusions 50 of the prongs 48 wherein the paternal coupling surfaces 36 and the maternal coupling surfaces 38 are insurable into each other in a position where they are rotated relative to each other by 45, 135, 225, 315.

[0070] A rotation of the paternal coupling surface 36 and the maternal coupling surface 38 relative to each other clockwise or counterclockwise urges the protrusion 50 off the prong 48 to engage below the protrusion 47 at the recess 44, wherein the prong 48 is elastically bent radially invert. Thus the protrusion 47 as well as the protrusion 50 are configured rounded at their opposing surfaces. Furthermore, respective corner portions can be beveled slightly in order to facilitate interlocking.

[0071] When the paternal coupling surface 36 and the maternal coupling surface 38 have been rotated relative to each other precisely by 45 degrees thus they can have a position of 0 degrees, 90 degrees, 180 degrees or 270 degrees relative to each other, the cruciform knobs 42 can penetrate in respective cruciform recesses 40 so that the paternal coupling surface 36 can penetrate deep enough into the maternal coupling surface 38 until their respective base surfaces 37, 39. Then the prongs 48 can swing back elastically into their normal positions and their respective protrusions 50 of the prongs 48 directly contact the corresponding protrusions 47 at the recess 44 so that the paternal couplings surface 36 and the maternal coupling surface 38 are firmly interlocked into each other. Unlocking can only be performed by another rotation of the paternal coupling surface 36 and the maternal coupling surface 38 relative to each other by 45, 135, 225, 315.

[0072] Alternatively when things have to go quickly also a direct interlocking of the paternal coupling surface 36 and the maternal coupling surface 38 can be performed in a mutually aligned condition of 0, 9, 180, and 270. Since the protrusions 50 of the prongs 48 due to the bevels 49 under a pressure of the respective protrusions 47 at the recesses 44 cause a displacement of the prongs 48 radially inward until the base surfaces 37, 39 contact each other and the prongs can return back elastically into their normal positions where in turn the respective protrusions 50 of the prongs 48 directly contact the respective protrusions 47 at the recess 44 so that the paternal coupling surface 36 and the maternal coupling surface 38 are firmly interlocked with each other. When the pressure interlocking shall be prevented the bevels should not be provided.

[0073] Furthermore it is evident that the paternal coupling surface 36 and the maternal coupling surface 38 are continuously rotatable relative to each other with the base surfaces 37, 39 imparting pressure upon each other without disengaging the coupling wherein the knobs 42 function overall as interlocking support or unlocking support.

[0074] It is furthermore evident from FIGS. 2A, 2B, 2C that the paternal coupling surface 36 and the maternal coupling surface 38 do not only cause a mechanical coupling of the respective modules but also facilitates energy and data transmission through the slip rings 52, 54, 56 in the maternal coupling surface 38 and the corresponding contact pins 58, 60, 62, 64 in all interlocking positions.

[0075] More precisely speaking the inner circular slip ring 52 and the most proximal concentric and annular slip ring 54 together with the corresponding inner contact pin 58 and the adjacent contact pin 60 facilitate a first and second serial data conductor which is provided in parallel in all corresponding slip rings 52, 54 and contact pins 58, 60 of a module 11, 12, 14, 16, 18, 20, 22, 24, and is run through all modules. The respective contact pins 58, 60, 62, 64 are respectively spring loaded so that safe contacting is assured in an interlocked condition of the paternal coupling surface 36 and the maternal coupling surface 38 at the respective slip rings.

[0076] The outer slip ring 56 is respectively made from four horizontally or vertically opposed contact points 66a, 66b, 68a, 68b and portions 70 arranged there between which are insulated from the contact points 66a, 66b, 68a, 68b but connected with each other. The opposite contact points 66a, 66b, 68a, 68b are respectively provided with opposite DC voltage (e.g. + poles 66a, 66b and : poles 68a, 68b) and the opposite contact points 62, 64 are associated therewith. The portions 70 are respectively without current. Thus polarity reversals and short circuits are prevented. On the other hand side rotating the paternal coupling surface 36 relative to the maternal coupling surface 38 can facilitate a polarity reversal and thus a direction reversal without particular reprogramming.

[0077] No current portions 70 in turn effectively prevent contacting voltage spikes. Thus it is achieved by arranging the interlocking devices 40, 42, 47, 50 that the contact pins 62, 64 can only contact the slip ring 56 for the first time when they impact the no current portions 70 and the contacting of the contact points 66a, 66b, 68a, 68b is only performed after prior contacting of the no current portions 70 and subsequent rotation to provide the interlocking.

[0078] FIG. 3 schematically illustrates a first embodiment of the device 100 that is assembled from combined modules 12, 14, 16, 18, 20, 22, 24 of the module system 10 according to the invention. The modules 12, 14, 16, 18, 20, 24 are respectively mechanically coupled with each other by their paternal coupling surface 36 and maternal coupling surface 38, wherein also two serial data conductors 102, 104 are provided in addition to pass through energy supply, wherein the 2 serial data conductors form a continuous data bus 106 that extends through all modules 12, 14 16, 20, 24.

[0079] The control module 12 includes a WLAN unit (not illustrated) which can communicate with a WLAN unit (not illustrated) of a control device 108 configured as a smart phone which is capable to provide direct programing of the control element 12 and additionally of the data bus 106 through the control device 108. Instead of the illustrated smart phone 108 also any other suitable control device can be used, like e.g. a computer a tablet or similar wherein line based communication through the USB interface 34 can also be used instead of the radio communication 110.

[0080] In order to arrange the desired interconnection between a first IR module 24, (S1) and a first actuator module 14 (A1), the interconnection 112 is selected at the control device 108 and communicated to the control module 12. The control module 12 then issues unit addresses, e.g. in a form of MAC addresses and programs the data bus 106 so that only the first actuator module 14 (A1) reacts with respect to its control to a sensor signal of the first IR module 24 (S1) the other modules however do not react upon this sensor signal.

[0081] FIG. 4 schematically illustrate a second embodiment of a device 120 configured from combined modules 14, 16, 24 of the module system 10 according to the invention.

[0082] It is evident that each module 14, 16, 24 as well as the control device 108 includes WLAN units (not illustrated) which facilitate radial communications 122, 124, 126 between the control device 108 and the individual modules 14, 16, 24, but also of the modules 14, 16, 26 amongst each other 128, 130.

[0083] Through the programming through the control device 108 the modules 14, 16, 24 are instructed to establish a radial based data bus 132 amongst each other which is based on the radio communication 128, 130 between the modules 14, 16, 24 so that the actuator modules 14 (A1), 16(A2) are interconnected with the IR module 24 (S1) so that their control is based on parameters supplied by the IR module 24 (S1).

[0084] FIG. 5 schematically illustrates a third embodiment of a device 140 assembled from combined modules 14, 24 of the module system according to the invention.

[0085] It is evident that 2 device elements 142, 144 are provided, namely an IR module 24, (S1) that is connected with a first control device 108a (T1) and an actuator module 16 (A1) that is connected with a second control device 108b (T2). The respective connection 146, 148 is in turn WLAN based. Then an interconnection of the module 16, 24 can be performed directly amongst each other 150 or through 152 the respective control devices 108a, 108b in order to exchange data.

[0086] FIG. 6 schematically illustrates a fourth embodiment of a device 160 assembled from combined modules 12a, 12b, 14a, 14b of the module system according to the invention.

[0087] It is evident that the device 160 includes two device elements 162, 164 which respectively include a control module 12a, 12b and a link module 14a, 14b mechanically coupled therewith using the control device 108, the two device elements 162, 164 are coupled with one another with WLAN elements, not illustrated) of the control modules 12a, 12b so that they can exchange data. The interconnection 166 is displayed on the display element 168 of the control device 108 between the module representatives 170, 172 representing the device elements 162, 164.

[0088] During the interconnection 166 a programming was performed so that mechanically moving the link joint module 14a of a first device element 162 by a hand of a user (not illustrated) synchronously moves the link module 14b of the other device element 164 automatically.

[0089] It is appreciated that the control device in this embodiment but also in the other embodiments is typically only used for setting up the interconnection that the device subsequently independently performs the programmed steps using the interconnections without requiring separate commands through this type of external control device. These commands the required interconnections are then provided through the provided modules or a proprietary control module within the devices. However as described infra mere control commands can be transmitted through the control device in order to control driving and steering directly.

[0090] FIG. 7 schematically illustrates a fifth embodiment of a device 180 assembled from combined modules 14a, 14b of the module system 10 according to the invention. This is an alternative to the embodiment illustrated in FIG. 6 where no proprietary control modules 12a, 12b are being used. Instead the pivot joint modules 14a, 14b themselves already include all necessary units like energy supply, control unit and radio unit.

[0091] FIG. 8 schematically illustrates a sixth embodiment of a device 190 assembled from combined modules 12, 18a, 18b, 24a, 24b of the module system 10 according to the invention in connected mode.

[0092] It is evident that the device 190 also includes shaped or structural building blocks 194 in addition to two wheels 192 that are driven by the axles 19 of the drive modules 18a, 18b wherein the structural elements form a type of slide and the device 190 additionally includes adapter building blocks 196 by which the device 190 can be supplemented with components made from known other modular systems.

[0093] All modules 12, 18a, 18b, 24a, 24b in turn form a data bus (not illustrated) through the respective paternal coupling surfaces 36 and maternal coupling surface 36 that are coupled with each other.

[0094] In the display 168 of the control device 108 the modules 12, 18a, 18b 24a, 24b that are associated with the device 190 in the interconnection mode are displayed in a table, this means in a matrix by corresponding module representatives 198, 200, 202, 204. Since only one IR Module 24a, 24b shall be interconnected with the actuator modules 18a, 18b in this embodiment the table 207 includes drawn interconnection lines 208 representing the basic interconnection options. Keying one intersection point 210 of the interconnection lines 208 in turn has defined the interconnection of the IR module 24a with the actuator module 18a and on the other hand side the interconnection of the IR module 24b with the actuator module 18b which was transferred through the control device 108 to the control module 12 and was thus programmed into the device 190.

[0095] In order to facilitate keying the display unit 168 is configured as a touch screen. Alternatively also another selection can be performed for example by a mouse element or similar.

[0096] Each interconnection step was confirmed by a confirmation command to complete the interconnection step. For example one could also have interconnected with IR Module 24a with both actuator modules of both intersection points 210, 212 would have been keyed and the interconnection had only been completed thereafter with a confirmation command.

[0097] The selected and programmed interconnection are displayed on the one hand side by solid lines 214 and 216 and on the other hand side also by identical colors of the interconnected modules 18a, 18b, 24a, 24b, wherein the two different interconnections 214, 216 respectively also include different colors, e.g. red and green.

[0098] In order for the selected interconnections to be detect able also directly at the device 190 and for wrong interconnections to be correct able immediately the illuminants 33 of the respectively interconnected modules 18a, 18b, 24a, 24b are illuminated in the same color that is displayed for the respective interconnection 214, 216 and the corresponding module representative 198 200, 202, 204, 206.

[0099] The two wheels 192, are thus driven by respective drive modules 18a, 18b which allows direct steering. Thus also sensor parameters of the respectively interconnected IR modules 24a, 24b are considered which control the vehicle 190 so that for example balls are automatically captured and moved by the slide 194.

[0100] Using a sensor unit that includes a gyro unit an additional balancing of the entire device 190 is provides so that the vehicle 190 is always oriented vertically.

[0101] Instead of this matrix representation of the module representatives 198, 200, 202, 204, 206 and of the interconnection lines also other suitable forms of representation can be used.

[0102] FIG. 9 schematically illustrates a seventh embodiment of a device 220 assembled from combined modules 12, 14, 18, of the module system 10 in the control mode.

[0103] It is evident that the device 220 represents a remotely controllable car which includes a control module 12, a pivot link module 14, coupled therewith for steering and a drive module 18 coupled by the steering module 12 to the pivot link module 14 configured to drive two wheels 192 and a plurality of form or structural building blocks 222, 224, 226.

[0104] Contrary to the device 190 according to FIG. 8 the driving is provided synchronically by the drive module 18 onto both wheels 192 and the steering is provided separately by the pivot link module 14 at which two wheels 192 are supported independently from each other with a freewheeling function by the structural elements 222.

[0105] Thus, the interconnection mode is completed and the display unit 168 of the control arrangement 108 displays the control mode. Thus two control elements 228, 230 are provided which are configured as slide controllers with a center position.

[0106] The vertical control slide 228 controls the drive module 18, wherein an upward sliding controls a forward driving velocity and wherein a downward sliding controls a backward driving velocity. Alternatively the gyro function of the control arrangement 108 could be used by the key 232 in order to replace the actuation of the control slide 228 by pivoting the control arrangement 108 forward and backward.

[0107] The horizontal control slide 230 controls the pivot link module 14, wherein a sliding to the right controls the steering angle of a right turn and a sliding to the left controls the steering angle of a left turn. Alternatively the gyro function of the control arrangement 108 can be used by the key 234 in order to replace the actuation of the control slide 230 by a pivoting of the control arrangement 108 to the right side and to the left side.

[0108] In order to better track the association of the controllers 228, 230 with the respectively controlled modules 14, 18 each controller 228, 230 includes a display device configured as illuminates points 236, 238 which assume the same illuminescent color as the respective illuminance 33 of the controlled modules 14, 18.

[0109] This association can be automatically proposed to the user by the control arrangement 108. However a manual association can also be performed, in particular it is provided that the association can be adjusted later if necessary.

[0110] FIG. 10 schematically illustrates an eighth embodiment of a device 250 configured from combined modules 12, 14a, 14b, 16, 18, 20, 24 of the module system 10 in control mode.

[0111] It is evident that the device 250 is a type of crane. The crane includes a gripper module 20 whose arms 21b are provided with respective extension elements 252 which contact each other in a starting position of the arms 21b at their front ends.

[0112] The gripper module 20 is provided with a first pivot link module 14a and the first pivot link module 14a is coupled with a second pivot link module 14b which provides large degrees of freedom of the movement of the gripper module 20.

[0113] The second gripper module 14b is coupled with an IR-module 24 which is coupled with a control module 12 wherein the IR-module 24 is used as a passive structure building block.

[0114] The structural building block is thus only used for signal pass-through conduction and its sensor function is not used in the device 250.

[0115] Furthermore the IR-module 24 is coupled vertically downward with a rotation module 16 which is in turn coupled with a drive module 18. Also this drive module 18 is without function in the context of the function of the device 250 and is only used for supporting the device 250 in combination with the shape and structural building blocks 254 and the wheels 192 arranged thereon so that the device 250 stands stable. Thus the control module 12 with its battery mass is used as a mass compensation for the gripper module side.

[0116] Instead of the control slides of FIG. 9 graphic joysticks 256, 258 are used in the control arrangement 108. Thus the gripper module 20 and the second pivot link module 14b are associated with the left joystick 256 and the first pivot link module 14a and the rotation module 16 are associated with the right joystick.

[0117] More precisely speaking a sliding of a control button 260 of the left joystick 256 in the horizontal plane causes an opening and closing of the arms 21b of the gripper module 20 in particular positions. A sliding of the control button 260 of the left joystick 256 in the vertical causes a pivoting of the second pivot link module 14b in upward direction and in downward direction. A sliding of the control button 262 of the right joystick 258 in the horizontal causes a rotation of the rotation module 16 by a random rotation angle with a rotation velocity that is respectively predetermined by a degree of sliding the control button. And moving the control button 262 of the right joystick 258 in the vertical causes a pivoting of the first pivot link module 14b in upward or in downward direction. Thus, the illuminated points 264, 266 of the left joystick 256 have a color that is respectively identical with a color of the illuminant 33 of the gripper module 20 or of the second pivot link module 14b for identification purposes. The illuminated points 268, 270 of the right joystick 258 respectively have an identical color with the illuminant 33 of the first pivot link module 14a and of the rotation module 16 for identification purposes.

[0118] Sliding the control buttons 260, 262 out of the horizontal or the vertical facilitates respectively controlling combined movements of the two respectively controlled modules 14a, 14b, 16, 20 simultaneously.

[0119] The IR module 24 could also be used for controlling the drive module 18 so that both modules 18, 24 would not be used as structural modules without function with a passive signal conduction, but they would perform proprietary functions. For example a movement of the device 250 can be provided as an additional function by wheels 192 that are arranged at the drive module. Since the control arrangement 108 includes an additional control element on top of the existing control elements 256, 258 this might be confusing for an operator, the IR-module 24 could take over the control of the drive module 18. Then the user can drive the device 250 in a controlled manner by predetermined hand movements over the IR sensor element 25 of the sensor module 24.

[0120] Furthermore structural modules 11 could be used instead of the passive modules 18, 24.

[0121] In the illustrated embodiments only the active modules of the module system 10 are illustrated. It is appreciated that additional active modules can be attached but also passive structural and shape modules can be added or supplemented from other module systems through adaptor elements.

[0122] As stated supra it is evident that the instant invention facilitates a particularly simple and traceable interconnection of individual modules of a module system, wherein the interconnection is possible any time and in particular without structural adjustments of the positions or mechanical coupling of the modules that are combined with each other.

[0123] Unless stated otherwise all features of the instant invention are freely combinable with each other. Also features described in the figure description can be freely combined with the other features unless stated differently. Thus features claimed for the device can also be used for features in method claims and method features can be used in device claims.

REFERENCE NUMERALS AND DESIGNATIONS

[0124] 10 module system [0125] 11 structural module, passive [0126] 12, 12a, 12b control module [0127] 14, 14a, 14b pivot joint module [0128] 15a, 15b pivotable elements of pivot joint module 14 [0129] 16 rotation module [0130] 17a, 17b rotatable components of rotation module 16 [0131] 18, 18a, 18b drive module [0132] 19 axis of drive module 18 [0133] 20 gripper module [0134] 21a base element of gripper module 20 [0135] 21b pivotable arms of gripper module 20 [0136] 22 light module [0137] 23 light sensor element of light module 22 [0138] 24, 24a, 24b IR module [0139] 25 IR sensor element of sensor module 24 [0140] 26 Operator interface of control module 12 [0141] 28 + key of control module 12 [0142] 30 key of control module 12 [0143] 32 receiver key of control module 12 [0144] 33 illuminated displays of modules, display devices [0145] 34 minUSB connection [0146] 35 combined playback- and pause key [0147] 36 paternal coupling surface [0148] 37 base surface of paternal coupling surface 36 [0149] 38 maternal coupling surface [0150] 39 base surface of maternal coupling surface 38 [0151] 40 cruciform indentation of maternal coupling surface 38 [0152] 42 cruciform knobs of paternal couping surface 36 [0153] 44 circular recess of maternal coupling surface 38 [0154] 45 circular protrusion of paternal coupling surface 36 [0155] 46 undercuts of recess 44 [0156] 47 protrusions above the undercuts 46 [0157] 48 prongs of paternal coupling surface 36 [0158] 49a bevels of protrusions 50 [0159] 40b bevels of protrusions 47 [0160] 50 protrusions of prongs 48 [0161] 51 portions between protrusions 47 [0162] 52, 54, 56 Slip rings in maternal coupling surface 38 [0163] 58, 60, 62, 64 corresponding contact pins in paternal coupling surface 36 [0164] 66a, 66b, 68a, 68b contact points of outer slip ring 56 [0165] 70 no current portions of outer slip ring 56 [0166] 100 first advantageous embodiment of device [0167] 102, 104 serial data conductors [0168] 106 data bus [0169] 108, 108a, 108b control arrangement, devices for optional interconnection [0170] 110 radio communication [0171] 112 interconnection [0172] 120 second advantageous embodiment of device [0173] 122, 124, 126, 128, 130 radio communication [0174] 132 radio based data bus [0175] 140 third advantageous embodiment of device [0176] 142, 144 two device elements [0177] 146, 148 WLN based connection [0178] 150,152 interconnection [0179] 160 fourth advantageous embodiment of device [0180] 162, 164 device elements of device 160 [0181] 166 interconnection [0182] 168 display element of control arrangement 108 [0183] 170, 172 module representative [0184] 180 fifth advantageous embodiment of device [0185] 190 sixth advantageous embodiment of device [0186] 192 wheel [0187] 194 form- or structural building block, slide [0188] 196 adapter building block [0189] 198, 200, 202, 204, 206 module representative [0190] 207 table [0191] 208 basic interconnection options configured as interconnection lines [0192] 210, 212 intersection point of interconnection lines [0193] 208 [0194] 214, 216 solid lines to emphasize the selected and programmed interconnection [0195] 220 seventh advantageous embodiment of device [0196] 222, 224, 226 form- or structural building block [0197] 228, 230 control elements, control slides with center position [0198] 232, 234 key for gyro function [0199] 236, 238 illuminated point, display device [0200] 250 eight advantageous embodiment of device [0201] 252 extension elements of arms 21b of gripper module 20 [0202] 254 form- and structural building blocks [0203] 256, 258 control elements, graphic joysticks [0204] 260, 262 control buttons of joysticks 256, 258 [0205] 264, 266 illuminated points of joystick 256, display device [0206] 268, 270 illuminated points joystick 258, display device