# US 11,451,936 B2 · Method for forming group of Bluetooth devices > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,451,936 B2 - Document ID: US11451936B2 - Status: Granted - Kind: B2 - Application number: 17/276,044 - Filed: 2020-07-17 - Published: 2022-02-17 - Granted: 2022-09-20 - Earliest claimed: 2019-07-17 - Assignees: Robo Risen Co., Ltd. - Applicants: Robo Risen Co., Ltd. - Inventors: Sang Bin Yim - Web page: https://patentgrep.com/patent/US11451936B2 ## CPC - H04W 4/08: User group management - B25J 9/08: characterised by modular constructions - B25J 9/1617: {Cellular, reconfigurable manipulator, e.g. cebot} - H04W 4/80: Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication - G05B 2219/40302: Dynamically reconfigurable robot, adapt structure to tasks, cellular robot, cebot - G05B 2219/40304: Modular structure - H04W 84/20: Leader-follower arrangements - H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract A method for forming a group from a plurality of Bluetooth devices includes forming one subgroup with some of the plurality of Bluetooth devices; and, with respect to Bluetooth mediating devices that are at least some of the plurality of Bluetooth devices belonging to the subgroup, forming, by the Bluetooth mediating device, one lower subgroup having the subgroup as an upper subgroup thereof, together with the plurality of Bluetooth devices which do not yet belong to any subgroup. ## Claims ### Claim 1 A method for forming a group of a plurality of Bluetooth devices, comprising: forming one subgroup with some of the plurality of Bluetooth devices; and with respect to Bluetooth mediating devices that are at least some of the plurality of Bluetooth devices belonging to the subgroup, forming, by each Bluetooth mediating device, one lower subgroup having the subgroup as an upper subgroup thereof, together with the plurality of Bluetooth devices which do not yet belong to any subgroup, wherein forming one subgroup with some of the plurality of Bluetooth devices comprises: setting any one of the plurality of Bluetooth devices belonging to the subgroup as a Bluetooth central device of the subgroup; and connecting other Bluetooth devices, as Bluetooth peripheral devices of the subgroup, except the Bluetooth central device of the plurality of Bluetooth devices belonging to the subgroup, to the Bluetooth central device of the subgroup, and wherein forming, by each Bluetooth mediating device, one lower subgroup having the subgroup as the upper subgroup thereof, together with the plurality of Bluetooth devices which do not yet belong to any subgroup, comprises: setting the Bluetooth mediating devices as multi-role Bluetooth devices, the multi-role Bluetooth devices operating as the Bluetooth peripheral devices with respect to the Bluetooth central device belonging to upper subgroups thereof and as the Bluetooth central devices with respect to the Bluetooth devices belonging to lower subgroups thereof; and connecting the other Bluetooth devices, as the Bluetooth peripheral devices of the lower subgroups, except the Bluetooth mediating devices of the plurality of Bluetooth devices belonging to the lower subgroups, to the Bluetooth mediating devices as the Bluetooth central devices of the lower subgroups, wherein each Bluetooth device is a cube-type unit robot, the cube-type unit robot comprising: a cube shaped housing; a step motor located inside the housing; and a controller located inside the housing to control the step motor, wherein the housing has a mounting groove formed on one surface thereof to mount a rotary body rotating by a rotary shaft of the step motor thereon and connection grooves with the same shape as each other formed on the other surfaces thereof, so that through connectors mounted on the connection grooves, the cube-shaped unit robot is connectable to another cube-type unit robot. ### Claim 2 (depends on 1) The method according to claim 1, wherein setting any one of the plurality of Bluetooth devices belonging to the subgroup as the Bluetooth central device of the subgroup comprises: connecting an uppermost Bluetooth device that is any one of the plurality of Bluetooth devices belonging to the subgroup, as the Bluetooth peripheral device, to a given control device; and setting the uppermost Bluetooth device as the multi-role Bluetooth device. ### Claim 3 (depends on 1) The method according to claim 1, further comprising, with respect to end Bluetooth mediating devices that are at least some of the plurality of Bluetooth devices belonging to at least one end subgroup having no lower subgroup, forming, by each end Bluetooth mediating device, one lower subgroup having the subgroup to which the end Bluetooth mediating device belongs as an upper subgroup thereof, together with the plurality of Bluetooth devices which do not yet belong to any subgroup. ### Claim 4 (depends on 1) The method according to claim 1, further comprising: if the uppermost Bluetooth central device as the Bluetooth central device of the uppermost subgroup receives a given control command, after the group of the plurality of Bluetooth devices has been formed, transmitting the given control command to the Bluetooth peripheral devices belonging to the uppermost subgroup; and if each Bluetooth mediating device of the group of the plurality of Bluetooth devices receives the given control command from the Bluetooth central device of the subgroup thereof, transmitting the given control command to the Bluetooth peripheral devices connected thereto. ### Claim 5 A non-transitory computer-readable recording medium recording a computer program for performing a method for forming a group of a plurality of Bluetooth devices, comprising: forming one subgroup with some of the plurality of Bluetooth devices; and with respect to Bluetooth mediating devices that are at least some of the plurality of Bluetooth devices belonging to the subgroup, forming, by each Bluetooth mediating device, one lower subgroup having the subgroup as an upper subgroup thereof, together with the plurality of Bluetooth devices which do not yet belong to any subgroup, wherein forming one subgroup with some of the plurality of Bluetooth devices comprises: setting any one of the plurality of Bluetooth devices belonging to the subgroup as a Bluetooth central device of the subgroup; and connecting other Bluetooth devices, as Bluetooth peripheral devices of the subgroup, except the Bluetooth central device of the plurality of Bluetooth devices belonging to the subgroup, to the Bluetooth central device of the subgroup, and wherein forming, by each Bluetooth mediating device, one lower subgroup having the subgroup as the upper subgroup thereof, together with the plurality of Bluetooth devices which do not yet belong to any subgroup, comprises: setting the Bluetooth mediating devices as multi-role Bluetooth devices, the multi-role Bluetooth devices operating as the Bluetooth peripheral devices with respect to the Bluetooth central device belonging to upper subgroups thereof and as the Bluetooth central devices with respect to the Bluetooth devices belonging to lower subgroups thereof; and connecting the other Bluetooth devices, as the Bluetooth peripheral devices of the lower subgroups, except the Bluetooth mediating devices of the plurality of Bluetooth devices belonging to the lower subgroups, to the Bluetooth mediating devices as the Bluetooth central devices of the lower subgroups, wherein each Bluetooth device is a cube-type unit robot, the cube-type unit robot comprising: a cube shaped housing; a step motor located inside the housing; and a controller located inside the housing to control the step motor, wherein the housing has a mounting groove formed on one surface thereof to mount a rotary body rotating by a rotary shaft of the step motor thereon and connection grooves with the same shape as each other formed on the other surfaces thereof, so that through connectors mounted on the connection grooves, the cube-shaped unit robot is connectable to another cube-type unit robot.