CN101456341B - Multimode bionic amphibious robot - Google Patents
Multimode bionic amphibious robot Download PDFInfo
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- CN101456341B CN101456341B CN2007101793829A CN200710179382A CN101456341B CN 101456341 B CN101456341 B CN 101456341B CN 2007101793829 A CN2007101793829 A CN 2007101793829A CN 200710179382 A CN200710179382 A CN 200710179382A CN 101456341 B CN101456341 B CN 101456341B
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Abstract
The invention provides a multimodal amphibious bio-robot, which comprises a head, a replaceable wheel paddle/flipper mechanism, a propelling unit and a caudal peduncle compound drive mechanism. In water, the propelling unit and the caudal peduncle compound drive mechanism oscillate back and forth to propel by imitating a fish in the plane, and a rotating mechanism rotates the propelling unit and the caudal peduncle compound drive mechanism for 90 degrees, and switches the moving mode of propelling by imitating a fish into that of swimming by imitating a dolphin; and the flipper mechanism assists the tail propelling to accomplish actions of moving forward, moving backward, turning and pitching, and the paddle mechanism assists the robot turning. On land, the flipper mechanism rotates continuously to make the robot creep on the ground, imitates the movement of a wheel mechanism when rotating continuously, thereby the robot improves the speed of the movement, has obstacle-climbing capability, and a driven wheel reduces the resistance of the movement on the land. The robot can induce the own environment in real time by two liquid level sensors arranged at the head and the propelling unit respectively; and when the land and water environments are changed, according to the information of the liquid level sensors, a main control panel uses corresponding movement policies to accomplish the intelligent switching between the modes of moving on the land and in the water.
Description
Technical field
The present invention relates to the Robotics field, is a kind of multimode bionic amphibious robot.
Background technology
Amphibian is as the most original Lu Sheng vertebrate, experienced very long natural selection, be on the vertebrate evolutionary history by aquatic transitional type to Lu Sheng, existingly inherit the proterties of the aquatic life of adaptation of getting off from the fish ancestors, the new proterties that adapts to the land life is arranged again.On earth, except the South Pole and Greenland, all there is amphibian in other any area, therefore has very strong adaptive capacity to environment.
In recent years, the development of computer system has promoted the progress of Robotics, the kind of robot constantly increases, except being mainly used in manufacturing industrial robot, the robot in space flight (as the courage of the U.S. number and Opportunity Rover Marsokhod), navigation (as the deep ocean work robot), medical treatment and nursing (as operating robot), service (as the nurse of robot), military fields such as (as removal of mines robots) has also appearred being applied to.But most of robots are can only be under single environment movable, and for example the land mobile robot can not carry out underwater movement, and underwater robot possesses scarcely or do not have enough land locomitivities owing to do not have in the water propulsive mechanism or do not possess water-proof function.Be subjected to the inspiration of amphibian animal, people are to adapting to the changeable landform of land and coastal waters beach, the amphibious robot that can adapt to Complex Water Environment has again produced keen interest, and occurring in nature has animals such as good amphibious adaptive crab, tortoise, the frog, crocodile, penguin, newt provides biological prototype for amphibious robot design.At present, the research for amphibious robot both at home and abroad still is in the starting stage, compares with the robot of other type, and achievement in research is less relatively.
According to the motion mode difference, present amphibious robot roughly can be divided into two classes: leg formula amphibious robot and snakelike amphibious robot.
Leg formula amphibious robot:
The researcher of U.S. CWRU (CWRU) and research institute of USN (NPS) has proposed a kind of adaptive imitative cockroach amphibious robot design of full landform that has, be called " Whegs IV ", it adopts the three spoke wheel leg mechanisms of simplifying to realize the function of cockroach leg, each is taken turns leg mechanism and all adopts the compliant mechanism design, between adjacent two legs 60 ° phase difference is arranged, Whegs IV on land or the bottom can realize the triangle gait when normally advancing, the spoke of wheel leg mechanism adopts the design of conventional helical shape, promote Whegs IV during rotation and move under water, and realize that by the positive negative rotation in body joint robot rises and dive.
The J Ayers of Marine Science Center of U.S. Northeastern University has developed three generations's machine lobster (Lobster robot) in succession based on the nerve control achievement in research of lobster and cray, it adopts the leg of eight Three Degree Of Freedoms to advance, it is that the artificial-muscle of material is a driver that every leg adopts with the nitinol, and adopts and realize the various actions of machine lobster based on the controller of neuron circuit.
IS Robotics and Rockwell International have released the imitative crab robot of a kind of six legs in 1996, ALUV (Autonomous Legged Underwater Vehicle) by name, it adopts the design of two-part shank, two sections of every leg can independently be rotated, and the rotating shaft coplane has been realized " walking crosswise " identical gait with actual crab.
Domestic Harbin Engineering University Electrical and Mechanical Engineering College has been developed a kind of Amphibious bionic machine crab, can according to two four-footed gaits realize on the flat ground surface advancing, retreat, walk crosswise, about action such as turnings, machine crab integral body is put into the motion that the flexible leather sheath that customizes according to its profile can be implemented in water.
Nekton Research company and Vassar College have developed the amphibious robot device of a kind of Madeleine by name, and respectively there are two parallel fins the health both sides as drive unit, can creep in seabed and seabeach.
Shanghai Communications University's robot research the researcher design of the amphibious Mechanical tortoise of a kind of four-footed has been proposed, can in water, move about and land creeping.
Under the subsidy of U.S. national defense advanced research projects agency (DARPA), in the period of the mechanisms in 1999 to 2004 such as Canada McGill University, University of Michigan, University of California Berkeley, Carnegie Mellon University joint research and development a series of legged mobile robots, RHex by name.Wherein Shelly-RHex and Rugged-RHex have waterproof ability, can also can be described as amphibious robot in land and water surface activity.
On the basis of RHex series land robot, McGill University etc. have developed a kind of amphibious robot AQUA, and when moving about, AQUA utilizes flap control self speed and the attitude of 6 oars; When land-based activities, AQUA walks about oar as leg.
Snakelike amphibious robot:
Robot of Tokyo Institute of Technology laboratory development a kind of amphibious snake-shaped robot ACM-R5, can not only creep on land, can also in water, move about, it is made up of a series of joints, there are two frees degree in each joint, in order to make the joint waterproof, each joint is all covered by Flexible film, and the junction, joint seals with O type circle.
The A Crespi of engineering college of Swiss Confederation has developed snake-shaped robot AmphiBot, and there is a rotary freedom in each joint, can be in ground and water surface activity.
As can be seen, research about amphibious robot both at home and abroad focuses mostly in the pilot study of propulsive mechanism, though obtained certain progress, but compare with bionical object, actual performance is relatively poor relatively such as speed, mobility, landform adaptability etc., and amphibious mobility can not be protected simultaneously.In order to solve some problems that present amphibious robot exists, improve the mix of activities ability of amphibious robot, Institute of Automation Research of CAS is under the support of national high-tech research development plan, furtherd investigate the driving mechanism and corresponding control strategies and the method that are applicable in land and the water, having invented can be in water and the free movable amphibious robot in land.
Summary of the invention
The objective of the invention is, limited and can not be protected simultaneously in order to solve the existing amphibious mobility of amphibious robot, the problem that intelligent degree is not high advances based on imitative fish, be aided with the compound propulsive mechanism of wheel slurry/fin limb, a kind of multimode bionic amphibious robot is provided.
For achieving the above object, technical solution of the present invention is:
A kind of multimode bionic amphibious robot comprises head, sets of drive units, caudal peduncle composite driving mechanism; Wherein, ROBOT CONTROL, communication component are arranged in the head cavity, the two ends that head shell both sides level is stretched out the direct current generator output shaft, two ends is connected with wheel paddle mechanism or fin limb mechanism respectively, and the output shaft of the mechanism that turns is vertically stretched out in the head shell rear end; Sets of drive units is made up of a plurality of imitative fish propulsion units, the head shell rear end is connected with the terminal pad of the first imitative fish propulsion unit shell front end by the four paws output shaft of the mechanism that turns, all the other imitative fish propulsion unit shells order end to end link to each other by connecting rod, and last below, imitative fish propulsion unit shell bottom surface is provided with a pair of follower; The caudal peduncle composite driving mechanism is made up of caudal peduncle, tail fin, synchronous pulley mechanism, caudal peduncle is provided with tailstock, second output shaft that is dynamically connected with second steering wheel that the last free end of arc tailstock and last imitative fish propulsion unit outer casing top surface stretch out is affixed, and first output shaft that is dynamically connected with first steering wheel that stretch out following free end and last imitative fish propulsion unit shell bottom surface is dynamically connected; First output shaft that stretch out last imitative fish propulsion unit shell bottom surface is dynamically connected through synchronous pulley mechanism and tail fin;
On land, the wheel oar of multimode bionic amphibious robot or fin limb mechanism rotate continuously, and driven machine people advances, retreats; In water, multimode bionic amphibious robot relies on the reciprocally swinging promotion robot of imitative fish propulsion unit and caudal peduncle composite driving mechanism to advance, realize fish swimming imitating, the mechanism that turns is converted to imitative porpoise with fish swimming imitating, is implemented in the activity in the vertical plane; Robot can discern self land and water, place environment, automatic switchover motor pattern according to sensor information.
Sidewall constituted before and after described multimode bionic amphibious robot, its described head, head shell comprised up and down framework and end covers at two sides, inside is a cavity volume; Have the programming hole on the housing upper side wall, when robot was debugged, the jtag interface line stretched out from the programming hole, is connected with emulator, realized robot debugging and program download, after debugging is downloaded and finished, end cap was enclosed on the programming hole; Two L shaped direct current generator locating racks are axially fixed in bottom side in the housing, and an end of two direct current generators is separately fixed on the locating rack, and the end that its each motor shaft passes locating rack is equipped with location code-disc and bevel gear; The output shaft locating rack is fixed on bottom side in the housing, between two direct current generator locating racks, on its locating hole bearing is installed, two bevel gears are fixed on the direct current generator output shaft by pivot pin respectively in addition, be positioned at the bearing both sides are installed, two groups of bevel gears are meshing with each other respectively, the middle part of output shaft and bearing cooperate, two ends are respectively passed a mechanical seal external member and are stretched out outside the end cap, and two mechanical seal external members are fixed on two side ends by screw and cover, thereby, direct current arbor rotating band is rotated by moving two groups of bevel gears, drive the direct current generator output shaft again and rotate, motor output shaft driven wheel paddle mechanism or fin limb mechanism realize power output; The correlation infrared sensor is installed in bottom side in the housing, code-disc is followed the direct current generator output shaft when turning to the cell body position of sensor when the location, the correlation infrared sensor will move, Transistor-Transistor Logic level is sent to vertically is installed in the DC motor controller on the rear wall in the housing, realize the initial position fix when wheel paddle mechanism or fin limb mechanism power on; The installation of left and right sides direct current generator, control, output have symmetrical structure, the alignment of output about the output shaft locating rack has guaranteed;
Head steering wheel locating rack is fixed on bottom side in the housing, between two direct current generators, the boss of steering wheel one end is stuck in the location blind hole of locating rack, axially be provided with, the other end links to each other by an end of shaft joint and four paws output shaft, and the four paws output shaft passes the mechanical seal external member and stretches out the housing rear side, is connected with the terminal pad of the first imitative fish propulsion unit shell front end, steering wheel rotates in ± 90 °, realizes that robot turns; Liquid level sensor, pressure sensor, reflection infrared sensor and switch are fixed, are sealed on the housing by glue, the lighium polymer rechargeable battery is bonded at the direct current generator below, be positioned in the middle of direct current generator and the direct current generator locating rack, end cap is fixed on the housing both sides by glue and flange, the cabling of head and back all passes through cable hole, and cable hole is fixed by glue and sealed.
Described multimode bionic amphibious robot, its described a plurality of imitative fish propulsion units are three, wherein,
The structure of the first imitative fish propulsion unit, the second imitative fish propulsion unit is, sidewall constituted before and after housing comprised up and down framework and end covers at two sides, and the framework two side ends is affixed with flange port and end cap seal, and inside is a cavity volume; The boss of steering wheel is stuck in the blind hole of bottom side in the housing, the front side of steering wheel is fixed on the locating rack by locating hole, the bottom of locating rack is stuck on the square boss of housing bottom side, the steering wheel rotating shaft is connected with the four paws output shaft by shaft joint, the four paws output shaft passes that the mechanical seal external member is stretched out the housing upside and connecting rod is connected, and realizes power output; Two lighium polymer rechargeable batteries are fixed on front side in the housing with glue, and charging head, air-filled pore are positioned at forequarter, and charging head, air-filled pore are fixed on the housing by glue, and cabling is by cable hole, and cable hole is fixed by glue and sealed;
The shell structure of the housing of the 3rd imitative fish propulsion unit and the first imitative fish propulsion unit, the second imitative fish propulsion unit is close, its inner chamber has two steering wheels, two L shaped locating racks are fixed on upside in the housing, the boss of first and second steering wheel upside is stuck in the blind hole of locating rack, and the locating hole of front side is separately fixed on the locating rack; The gear in the first steering wheel downside rotating shaft and the gears engaged on the first output shaft top, the gear in the second steering wheel upside rotating shaft and the gears engaged of the second output shaft bottom, first and second output shaft is totally one axis, first output shaft upper end, the second output shaft lower end are fixed in the stacked up and down two bearings endoporus in the positioning frame hole, make the output moved in coaxial of two steering wheels; The housing below is stretched out in the first output shaft lower end, and the housing top is stretched out in second output shaft upper end, and the outer end of first and second output shaft is dynamically connected with the caudal peduncle composite driving mechanism respectively;
Housing bottom is fixed, is sealed in to liquid level sensor by glue; The housing upper side wall is fixed, is sealed in to charging head, air-filled pore by glue; Lithium polymer battery sticks with glue in housing front side wall inboard.
Described multimode bionic amphibious robot, the locating rack in its described the 3rd imitative fish propulsion unit is a strip, and its outer end is fixed in housing rear side inwall, in the inner locating hole two bearings is installed, and two bearings is stacked up and down in the hole.
Described multimode bionic amphibious robot, the outer end of its described first and second output shaft is dynamically connected with the caudal peduncle composite driving mechanism respectively, wherein, the caudal peduncle of caudal peduncle composite driving mechanism comprises tailstock, tail folder, tail fin, synchronous pulley mechanism, synchronous pulley mechanism comprises two synchronous pulleys, is with synchronously, and band is around two synchronous pulley settings synchronously; Tailstock is by two affixed forming of reverse segmental support, preceding shelf upper end is fixed in second output shaft upper end, the lower end movable is socketed on first output shaft lower, outer perimeter circle, the outside, shelf lower end before the first output shaft lower end affixed one synchronous belt wheel, this synchronous pulley are positioned at, back shelf two ends and power transmission shaft are dynamically connected, another synchronous pulley is fixed in the power transmission shaft lower end, is positioned at the outside, shelf lower end, back, and the tail folder is positioned at inboard, shelf two ends, back, cover is fixed in power transmission shaft periphery circle, and the tail fin front end is fixed in tail folder trailing flank.
Described multimode bionic amphibious robot, its described mechanical seal external member is the dynamic seal of dynamic output, and this mechanical seal external member structure is as follows: in the flange cover two stepped holes are arranged, two bearings respectively with these two stepped hole interference fit, after bearing is installed, form a cavity in the middle of the flange cover, fill the sealing medium butter in the cavity, the four paws output shaft passes the flange cover by bearing, cavity, because the existence of butter, when the four paws output shaft rotates, cavity will keep sealing; Diameter is equal to or less than the O type snare of flange cover external diameter in flange cover outside, and when the mechanical seal external member is pressed together on the housing by screw, O type circle will deform, and keep the sealing of whole mechanical seal external member outside.
Described multimode bionic amphibious robot, its described terminal pad is fixed on by screw before the housing of the first imitative fish propulsion unit on the outside; The output shaft of connecting rod one end and last imitative fish propulsion unit is connected, and the housing of the other end and back one imitative fish propulsion unit is connected.
Described multimode bionic amphibious robot, its described shaft joint, its bottom is connected with the steering wheel output, four grooves of shaft joint respectively with the four paws output shaft on four pawls cooperate, realization power is exported.
Described multimode bionic amphibious robot, in its described head cavity ROBOT CONTROL, communication component are arranged, comprise on its electrical structure: master board, DC motor controller, communication module, reflection infrared sensor, correlation infrared sensor, liquid level sensor, pressure sensor;
Wherein, DC motor controller is connected by serial line interface with master board, receives the order of master board, realizes the direct current generator motion control;
Communication module returns self information by the order of wireless mode reception controller last time, and data are mutual by serial line interface and master board, and communication baud rate is adjustable;
The holding wire that is positioned at the reflection infrared sensor of head shell front portion and both sides links to each other with master board, and the obstacle information output Transistor-Transistor Logic level according to its front is sent to master board, and as decision-making foundation, the obstacle detection distance is adjustable;
The holding wire of correlation infrared sensor links to each other with DC motor controller, and the DC motor controller that is operated in the Homing pattern when powering on provides triggering signal;
The liquid level sensor that is positioned at head shell front end arc place links to each other with master board with the liquid level sensor that is positioned at last imitative fish propulsion unit lower housing portion, and the output Transistor-Transistor Logic level is for robot environment judgement of living in provides decision-making foundation.
Be positioned at the pressure sensor output analog signal of head shell bottom, link to each other with the AD modular converter of master board, the AD modular converter is sent to microprocessor by the SPI interface with transformation result.
Described multimode bionic amphibious robot, its described control, the course of work of communication component is: being creeped by pectoral fin mechanism or take turns paddle mechanism when robot drives when entering in the water, because the robot global design is a neutral buoyancy, robot floats on the surface, at this moment, the liquid level sensor output that is positioned at head becomes low level by high level, master board perception environmental change, the land motor pattern of pectoral fin/wheel paddle mechanism is switched to the motor pattern of striking, robot progresses in the water, and when afterbody entered in the water, photoelectric liquid level sensor output became low level by high level, master board makes imitative fish propulsion unit group and caudal peduncle action, realizes moving about fast of imitative fish; When terrestrial environment is got back to by water environment by robot, the output of head liquid level sensor becomes high level by low level, master board switches to the crawling exercises pattern with pectoral fin/wheel paddle mechanism by the motor pattern of striking, produce tractive force forward, after robot debarks fully, liquid level sensor becomes high level by low level, and master board will imitate the fish propulsion unit and the caudal peduncle composite driving mechanism returns to the centre position.
Multimode bionic amphibious robot of the present invention, can not only be in water move about with imitative fin section fish and two kinds of mode of imitative dolphin, can also be on land creeping or to improve wheeled motion, and identification environment of living in automatically itself, and, select corresponding sports mode according to transducing signal automatic decision.
Description of drawings
Fig. 1 overall construction drawing of the present invention;
Fig. 2 head construction of the present invention (one) schematic diagram;
Fig. 3 head construction of the present invention (two) schematic diagram, wherein, Fig. 3 B is a head internal structure schematic diagram, Fig. 3 A is a thin portion enlarged drawing;
The imitative fish propulsion unit structural representation of Fig. 4 modularized design of the present invention;
Fig. 5 the of the present invention the 3rd imitative fish propulsion unit and caudal peduncle composite driving mechanism schematic diagram, wherein, Fig. 5 A is the 3rd imitative fish propulsion unit and caudal peduncle composite driving mechanism constitutional diagram, Fig. 5 B is the thin portion enlarged drawing of Fig. 5 A;
Fig. 6 mechanical seal structure schematic diagram used in the present invention;
Fig. 7 interchangeable oar/fin limb structural scheme of mechanism of taking turns of the present invention, wherein, Fig. 7 A is wheel paddle mechanism A12 structure chart, Fig. 7 B is the fin limb A14 of a mechanism structure chart;
Fig. 8 connector schematic diagram of the present invention, wherein, Fig. 8 A is a terminal pad B4 structure chart, Fig. 8 B is a connecting rod B5 structure chart;
Fig. 9 system hardware block diagram of the present invention;
Figure 10 power management of the present invention, jtag interface and reset circuit schematic diagram;
Figure 11 AT91RM9200 of the present invention and peripheral circuit schematic diagram thereof;
Figure 12 memory expansion circuit theory diagrams of the present invention;
Figure 13 RS232 level conversion of the present invention, AD conversion, reference power circuit schematic diagram;
Figure 14 bus transceiver circuit theory diagrams of the present invention;
The specific embodiment
The concrete feature of multimode bionic amphibious robot of the present invention is as follows:
Head constitutes: in order to realize drag reduction and the needs of taking in numerous machineries, electrical equipment in the water, the arc design is taked in the front portion, and the flat shape of rule is adopted in the back.The main driver part of head has direct current generator and the steering wheel of turning.Two direct current generators vertically are installed on the fixed mount along the robot health respectively, the output of motor is after bevel gear changes 90 °, drive the rotation of head motor shaft, when fin limb mechanism is installed on the motor shaft, its continuous complete cycle rotation can drive robot and creep on the ground, its around a certain center reciprocally swinging can realize robot advancing in water, fall back, turning and pitching; The wheel paddle mechanism has adopted imitative wheeled four spokes design, and when it cooperated with motor shaft, its rotation can drive the robot fast moving; The steering wheel of turning is fixed on the bottom of a casing by locating rack, and its output shaft and parallel longitudinal directly drive the axle of turning and rotate.
Sets of drive units: each unit group all comprises steering wheel and rechargeable battery.Steering wheel is connected with housing by locating rack, and battery is by being adhesive on the housing.The output shaft of steering wheel links to each other with connecting rod, and the mechanism that drives the back rotates.First module links to each other by the turn output shaft of mechanism of axle sleeve and head.Preceding two unit groups respectively have a steering wheel, and there are two steering wheels last unit, and one of them drives tailstock and rotates through the casing top, and another is exported through bottom half, drive tail fin through synchronous pulley mechanism and rotate.
Mechanical seal: because robot will be at underwater exercise, so its water resistance is most important.The present invention has designed a kind of mechanical seal external member, and is applied to all dynamic seal (packing)s, because seal request and design needs is different, the parameter of each Seal Kit is slightly different, but principle is identical.The mechanical seal external member is made up of seal, output shaft, O type circle, bearing and sealing medium.Two bearings are installed on the output shaft, with two stepped hole interference fit at seal two ends, are filled the sealing medium butter in the middle of the seal respectively, like this, when output shaft rotates, owing to the existence of butter is arranged, the impossible seepage of water; O type circle is overlapped in the outside of seal, and by screw seal is connected with housing, and the O type circle after the crimp has been guaranteed the waterproof in the seal outside.Dynamic test shows for a long time under water, and the waterproof effect of mechanical seal external member is very excellent.
Electric formation: electric formation of the present invention mainly comprises master board, communication module, DC motor controller, steering wheel, pressure sensor, reflection infrared sensor, correlation infrared sensor, liquid level sensor, rechargeable battery.Communication module receives order by wireless mode and the communication of upper strata control platform, returns the robot body data; DC motor controller is realized Position pattern, Velocity pattern and the Homing pattern of motor; Steering wheel receives the pwm control signal of master control borad, turns to assigned address, and remains on this position, up to next order; The analog signal of pressure sensor output 0.5～4.5V is sent to master control borad after the process AD conversion, calculating pressure, and calculate the degree of depth of robot in water thus; Approaching/when leaving barrier, the reflection infrared sensor output level changes, and trigger to interrupt, and realizes the robot autonomous barrier of keeping away; When powering on, the correlation infrared sensor provides absolute location information for robot; Liquid level sensor can the different level signal of output in land and water, as the foundation of robot decision-making; The lithium polymer secondary battery that is positioned at head and each propulsion unit group provides energy for robot; Master control borad is a core with AT91RM9200, comprises power module, AD modular converter, RS232 module etc., realizes the integral body control of robot.
In water, underwater propulsion unit group according to the certain rule reciprocally swinging, realizes the maneuver activity of robot in horizontal plane in horizontal plane; The mechanism that turns can make ± 90 ° of entire machine people rotations except that head, and the horizontal plane motion of underwater propulsion unit group is converted to motion in the perpendicular, realizes that imitative dolphin moves about; On land, the continuous rotation of fin limb mechanism can make robot creep on ground; In order to improve the land movement velocity, the available paddle mechanism of taking turns replaces fin limb mechanism, and this imitative wheeled motion had both improved movement velocity, had ensured the obstacle climbing ability of robot again; Arc area and last propulsion unit at robot head have been installed liquid level sensor respectively, by the liquid level information content output of sensor, and the environment at induction robot place, in case environment changes, robot automatically switches to corresponding sports mode.
ROBOT CONTROL is based on master board and multisensor syste, master board is a core with ARM9 chip AT91RM9200, adopt embedded real-time operating system μ COS-II, realize the operation and the scheduling of multitasks such as multi-sensor data collection, communication, control algolithm calculating, steering wheel and DC MOTOR CONTROL, and make intelligent decision, finish the multi-modal motion control of amphibious robot.
As seen from Figure 1, multi-modal Amphibious bionic robot comprises head A, sets of drive units B and caudal peduncle composite driving mechanism C.Wherein, the two ends that head A housing 1 both sides level is stretched out direct current generator output shaft 19, two ends is connected with wheel paddle mechanism A12 or the fin limb A14 of mechanism (see figure 7) respectively, and the output shaft of the mechanism that turns is vertically stretched out in head A housing 1 rear end.Sets of drive units B is made up of the first imitative fish propulsion unit B1, the second imitative fish propulsion unit B2, the 3rd imitative fish propulsion unit B3, head A housing 1 rear end is connected with the terminal pad B4 (seeing Fig. 8 A) of the first imitative fish propulsion unit B1 shell front end by four paws output shaft 9 (see figure 2)s of the mechanism that turns, the first imitative fish propulsion unit B1 shell, the second imitative fish propulsion unit B2 shell, the 3rd imitative fish propulsion unit B3 shell order end to end link to each other by connecting rod B5.Below, the 3rd imitative fish propulsion unit B3 shell bottom surface is provided with a pair of follower B6.Caudal peduncle composite driving mechanism C is made up of caudal peduncle C1, tail fin 50, the C3 of synchronous pulley mechanism, caudal peduncle C1 is provided with tailstock 48, the second steering wheel rotating shaft that the last free end of arc tailstock 48 and the 3rd imitative fish propulsion unit B3 outer casing top surface stretch out is moving affixed, and the first steering wheel rotating shaft that stretch out following free end and the 3rd imitative fish propulsion unit B3 shell bottom surface is dynamically connected.The first steering wheel rotating shaft that stretch out the 3rd imitative fish propulsion unit B3 shell bottom surface is dynamically connected through C3 of synchronous pulley mechanism and tail fin 50.
As Fig. 2, shown in Figure 3, sidewall constituted before and after head A housing 1 comprised up and down framework and end covers at two sides 6, the framework two side ends is affixed with flange port and end cap 6 sealings, and inside is a cavity volume.Have programming hole 2 on housing 1 upper side wall, when robot was debugged, the jtag interface line stretched out from programming hole 2, be connected with emulator, realize robot debugging and program download, after debugging is downloaded and finished, the end cap 3 that outer felt is wound with polytetrafluoroethylraw raw material band is screwed on the programming hole 2, plays waterproof action; Two L shaped direct current generator locating racks 16 are axially fixed in bottom side in the housing 1, and an end of two direct current generators 15 is separately fixed on the locating rack 16, and the end that motor shaft passes locating rack 16 is equipped with location code-disc 17 and bevel gear 21; Output shaft locating rack 24 is fixed on bottom side in the housing 1, between two direct current generator locating racks 16, bearing 25 is installed on its locating hole, two bevel gears 22 are fixed on the direct current generator output shaft 19 by pivot pin 26 respectively in addition, be positioned at bearing 25 both sides are installed, two bevel gears 21 mesh with two bevel gears 22 respectively, the middle part of output shaft 19 and bearing 25 cooperate, two ends are respectively passed a mechanical seal external member 28 and are stretched out outside the end cap 6, two mechanical seal external members 28 are fixed on the both sides end cap 6 by screw, thereby, direct current arbor rotating band is rotated by moving two bevel gears 21, two bevel gears 22 are rotated simultaneously, drive direct current generator output shaft 19 again and rotate, and motor output shaft 19 driven wheel paddle mechanism A12 or the fin limb A14 of mechanism (see figure 7) realize power output; Correlation infrared sensor 18 is installed in bottom side in the housing 1, location code-disc 17 passes the cell body of sensor 18, on the code-disc 17 of location, have the wide straight trough in the 1mm left and right sides, code-disc 17 is followed the direct current generator output shaft when turning to the cell body position of sensor when the location, correlation infrared sensor 18 will move, Transistor-Transistor Logic level is sent to the DC motor controller 29 that vertically is installed on the housing 1 interior rear wall, realizes the initial position fix (see figure 7) when wheel paddle mechanism A12 or the fin limb A14 of mechanism power on; The installation of left and right sides direct current generator 15, control, output etc. have symmetrical structure, the alignment of output about output shaft locating rack 24 has guaranteed.Head A steering wheel locating rack 14 is fixed on bottom side in the housing 1, between two direct current generators 15, the boss of steering wheel one end is stuck in the location blind hole of locating rack 14, axially be provided with, the other end links to each other by an end of shaft joint 8 and four paws output shaft 9, and four paws output shaft 9 passes mechanical seal external member 10 and stretches out housing 1 rear side, is connected with the terminal pad B4 of the first imitative fish propulsion unit B1 shell front end, steering wheel rotates in ± 90 °, realizes that robot turns; Liquid level sensor 20, pressure sensor 13, reflection infrared sensor 23 and switch 7 are fixed, are sealed on the housing 1 by AB glue, lighium polymer rechargeable battery 27 is bonded at direct current generator 15 belows, be positioned in the middle of direct current generator 15 and the direct current generator locating rack 16, end cap 6 is fixed on housing 1 both sides by liquid sealant and flange, the cabling of head A and back all passes through cable hole 11, and cable hole 11 is fixed by super glue and AB glue and sealed.
As shown in Figure 7, wheel paddle mechanism A12 or the fin limb A14 of mechanism can be installed on direct current generator output shaft 19.Wheel paddle mechanism A12 comprises: blade 73, feet 72, installing hole 74, the termination of the blind hole of installing hole 74 and motor output shaft 19 is affixed.When wheel paddle mechanism A12 rotates on land, can drive robot and finish imitative wheeled motion, simultaneously because it is not complete wheeled construction, blade 73 outer ends are provided with feet 72, therefore has certain obstacle climbing ability, in water, the shape of wheel blade sheet 73 can produce the motive force of hanging down as for wheel oar plane when making its rotation, to assist robot to turn in water; The fin limb A14 of mechanism comprises pectoral fin 75 and installing hole 76, and the termination of the blind hole of installing hole 76 and motor output shaft 19 is affixed.When the fin limb A14 of mechanism rotated on land, robot realized crawling exercises, and has stronger obstacle climbing ability, and in water, it is that the reciprocal rotation at center can realize that robot advances, falls back and pitching with a certain position.Wheel paddle mechanism A12 and the fin limb A14 of mechanism are interchangeable, according to different working environments and demand, select different mechanisms.On ground, the follower B6 that is installed on below, imitative fish propulsion unit 3 bottom surfaces is converted to rolling friction with the sliding friction on robot and ground, and frictional force reduces greatly, thereby improves land operations speed.
As shown in Figure 4, be the first imitative fish propulsion unit B1 of sets of drive units B, the structural representation of the second imitative fish propulsion unit B2, sidewall constituted before and after the housing 30 of the first imitative fish propulsion unit B1, the second imitative fish propulsion unit B2 comprised up and down framework and end covers at two sides 39, the framework two side ends is affixed with flange port and end cap 39 sealings, and inside is a cavity volume.The boss of steering wheel 33 is stuck in the blind hole 32 of bottom side in the housing 30, the front side of steering wheel 33 is fixed on the locating rack 35 by locating hole, the bottom of locating rack 35 is stuck on the square boss 34 of housing 30 bottom sides, steering wheel 33 rotating shafts are connected with four paws output shaft 40 by shaft joint 42, four paws output shaft 40 passes that mechanical seal external member 41 is stretched out housing 30 upsides and connecting rod B5 (referring to Fig. 8 B) is connected, and realizes power output; 7.4V lighium polymer rechargeable battery 36 usefulness glue be fixed on front sides in the housing 30, charging head 37, air-filled pore 38 are positioned at forequarter, charging head 37, air-filled pore 38 are fixed on the housing 30 by AB glue, end cap 39 is fixed on the housing 30 by AB glue and ring flange, cabling all passes through cable hole 31, and cable hole 31 is fixed by super glue and AB glue and sealed.
As shown in Figure 5, be the 3rd imitative fish propulsion unit B3 of sets of drive units B and the structural representation of caudal peduncle composite driving mechanism C, wherein, Fig. 5 A is the constitutional diagram of the 3rd imitative fish propulsion unit B3 and caudal peduncle composite driving mechanism C; Fig. 5 B is the thin portion of a Fig. 5 A enlarged drawing.Housing 30 structures of the housing 43 of the 3rd imitative fish propulsion unit B3 and the first imitative fish propulsion unit B1, the second imitative fish propulsion unit B2 are close.L shaped locating rack 60 is fixed on upside in the housing 43, the boss of first steering wheel, 59 upsides is stuck in the blind hole of locating rack 60, the locating hole of front side is fixed on the locating rack 60, its downside rotating shaft connects gear 58, gear 58 and gear 55 engagements, speed reducing ratio is 1: 1, and gear 55 is fixed on output shaft 62 tops by jackscrew.
The fixed form of second steering wheel 63 and power delivery mode and first steering wheel 59 are identical in the housing 43, and different is that output shaft 46 is stretched out by housing 43 tops, and power is exported from housing 43 tops; Output shaft 46 and output shaft 62 totally one axis, output shaft 46 lower ends, output shaft 62 upper ends be fixed in locating rack the 47 hole in about in the stacked two bearings endoporus, make the output moved in coaxial of two steering wheels.
The caudal peduncle C1 of caudal peduncle composite driving mechanism C comprises tailstock 48, tail folder 49, tail fin 50, tailstock 48 is by two affixed forming of reverse segmental support, preceding shelf upper end is fixed in output shaft 46 upper ends, the lower end movable is socketed on output shaft 62 lower, outer perimeter circle, back shelf two ends and power transmission shaft 51 are dynamically connected, synchronous pulley 52 is fixed in power transmission shaft 51 lower ends, be positioned at the outside, shelf lower end, back, tail folder 49 is positioned at inboard, shelf two ends, back, cover is fixed in power transmission shaft 51 peripheries circle, and tail fin 50 front ends are fixed in tail and press from both sides 49 trailing flanks.
The rotation of first steering wheel 59 drives synchronous pulley 52, power transmission shaft 51 rotations through output shaft 62; Power transmission shaft 51 drives tail folder 49, tail fin 50 swings, and therefore the rotation of first steering wheel 59 is delivered to tail fin 50; Second steering wheel 63 drives tailstock 48 through output shaft 46 and rotates, the rotation hole of tailstock 48 bottoms and output shaft 62 cooperate, but it is not fixing, power transmission shaft 51 and tailstock 48 keep relatively rotating, therefore, output shaft 46 will drive whole caudal peduncle composite driving mechanism C and rotate, but keep tailstock 48 and tail fin 50 to relatively rotate, and realize the caudal peduncle function of imitative fish.
As shown in Figure 6, in the multimode bionic amphibious robot of the present invention the movable sealing of dynamic output adopt and to have the mechanical seal external member of same structure, this mechanical seal structure is as follows: in the flange cover 66 two stepped holes are arranged, two bearings 68 respectively with these two stepped hole interference fit, after bearing is installed, form a cavity 69 in the middle of the flange cover 66, fill the sealing medium butter in the cavity 69, power output shaft is (as four paws output shaft 9,40) by bearing 68, cavity 69 passes flange cover 66, because the existence of butter, when power output shaft rotates, cavity 69 will keep sealing; The O type circle 67 that diameter is equal to or less than flange cover external diameter is enclosed within flange cover outside, and when the mechanical seal external member is pressed together on the housing by screw, O type circle 67 will deform, and keep the sealing of whole mechanical seal external member outside.
In Fig. 8, the main attaching parts of multimode bionic amphibious robot comprise: terminal pad B4, connecting rod B5, and its connected mode is: terminal pad B4 is fixed on housing 30 front sides of the first imitative fish propulsion unit B1 by screw; The output shaft of connecting rod B5 one end and last imitative fish propulsion unit is connected, and the housing of the other end and back one imitative fish propulsion unit is connected.
Multimode bionic amphibious robot provided by the invention, the system hardware block diagram as shown in Figure 9.Head has comprised parts such as the main control of robot, communication, driving, has comprised battery and power unit in other imitative fish propulsion die.
Micro-control circuit, system control is realized by core circuit and other functional chip based on the AT91RM9200 of ARM9 as shown in figure 11, finishes the functions such as communication data transmitting-receiving, the generation of steering wheel control signal, sensor information processing, DC MOTOR CONTROL of multimode bionic amphibious robot.
5 tunnel parallel input/output interface PIOA17～PIOA21 of pwm signal output: AT91RM9200 are programmed to second peripheral functionality, it is the timer/counter function, the pwm signal of output cycle 20ms is connected to turn steering wheel and 4 steering wheels of driver element under water, drives steering wheel and rotates.
Battery output.The 14.8V voltage of the lithium polymer battery output of 4 series connection of head for direct current generator provides power, also provides 12V voltage by chip LM1084 modulation except directly receiving DC motor controller, and MAX3209E provides power supply for the RS232 electrical level transferring chip; 2 series connection output 7.4V provide power except directly giving the steering wheel of turning, and also provide the input power supply for master board.2 lighium polymer rechargeable batteries are respectively arranged in sets of drive units 1,2,3, and being respectively separately, the steering wheel of module provides power.The break-make of all battery outputs is by switch 7 controls that are positioned at head.
Power management.There is multiple voltage in robot: 14.8V, 7.4V, 12V, 5V, 3.3V, 1.8V.The exemplary voltages of every lighium polymer is 3.7V, and therefore preceding two voltages are respectively the exemplary voltages of 4,2 lithium polymer batteries, are directly provided by battery.As shown in figure 10,14.8V voltage is adjusted to 12V voltage behind LM1084, and 7.4V voltage is output 5V voltage after chip TPS76850 regulates, and exports 3.3V and 1.8V voltage again behind the 5V process chip TPS70251.12V voltage drives chip MAX3209E, and 5V provides input for liquid level sensor, infrared sensor, pressure sensor, communication module, AD converter, and 3.3V and 1.8V are AT91RM9200 and spread F LASH, SDRAM power supply.
Jtag interface.Jtag circuit is as shown in figure 10 realized being connected of upper strata simulation software, emulator and bottom application, finishes the download of program debugging, emulation.
Reset circuit.As shown in figure 10, reset circuit produces the reset signal of AT91RM9200 and FLASH chip, the transition state that covering system powers on, hand-reset is required.
Bus driver.Peripheral hardware expansion for convenience provides the bus driver ability, has adopted 4 74ALVCH16245 chips to carry out the bus transmitting-receiving, as shown in figure 14.
FLASH, SDRAM expansion.In order to improve storage capacity and data reading speed, system has expanded the SDRAM of 8M32 position and the FLASH of 1M16 position by 2 MT48LC8M16A2 chips and 1 AM29LV160DB chip, as shown in figure 12.
RS232 interface, reference power supply and AD translation function circuit are as shown in figure 13.
The RS232 interface.AT91RM9200 has 4 road asynchronism transceivers, after the MAX3209E electrical level transferring chip, logic level signal is converted into the RS232 level, wherein 2 the tunnel are used for and the DC motor controller communication, realize Homing pattern, Velocity pattern and the Position pattern of direct current generator, other 1 the tunnel is used for and the communication module data interaction, receives the upper strata control order, and returns self information.
Reference power supply.The supply voltage of pressure sensor 40PC015G2A is 5V, in order to ensure the accuracy of pressure conversion, adopts REF195 to provide 5V reference voltage for pressure sensor.
The AD conversion.AD7928 is 8 tunnel 12 successive approximation AD converters, the 0.5V ~ 4.5V analog output voltage of pressure sensor is converted to data signal, by SPI interface and AT91RM9200 communication.
Claims (10)
1. a multimode bionic amphibious robot comprises head, sets of drive units, caudal peduncle composite driving mechanism; It is characterized in that, wherein, ROBOT CONTROL, communication component are arranged in the head cavity, the two ends that head shell both sides level is stretched out the direct current generator output shaft, two ends is connected with wheel paddle mechanism or fin limb mechanism respectively, and the output shaft of the mechanism that turns is vertically stretched out in the head shell rear end; Sets of drive units is made up of a plurality of imitative fish propulsion units, the head shell rear end is connected with the terminal pad of the first imitative fish propulsion unit shell front end by the four paws output shaft of the mechanism that turns, all the other imitative fish propulsion unit shells order end to end link to each other by connecting rod, and last below, imitative fish propulsion unit shell bottom surface is provided with a pair of follower; The caudal peduncle composite driving mechanism is made up of caudal peduncle, tail fin, synchronous pulley mechanism, caudal peduncle is provided with arc tailstock, second output shaft that is dynamically connected with second steering wheel that the last free end of tailstock and last imitative fish propulsion unit outer casing top surface stretch out is affixed, and first output shaft that is dynamically connected with first steering wheel that stretch out following free end and last imitative fish propulsion unit shell bottom surface is dynamically connected; First output shaft that stretch out last imitative fish propulsion unit shell bottom surface is dynamically connected through synchronous pulley mechanism and tail fin;
On land, the wheel oar of multimode bionic amphibious robot or fin limb mechanism rotate continuously, and driven machine people advances, retreats; In water, multimode bionic amphibious robot relies on the reciprocally swinging promotion robot of imitative fish propulsion unit and caudal peduncle composite driving mechanism to advance, realize fish swimming imitating, the mechanism that turns is converted to imitative porpoise with fish swimming imitating, is implemented in the activity in the vertical plane; Robot can discern self land and water, place environment, automatic switchover motor pattern according to sensor information.
2. multimode bionic amphibious robot according to claim 1 is characterized in that, sidewall constituted before and after described head, head shell comprised up and down framework and end covers at two sides, and inside is a cavity volume; Have the programming hole on the housing upper side wall, when robot was debugged, the jtag interface line stretched out from the programming hole, is connected with emulator, realized robot debugging and program download, after debugging is downloaded and finished, end cap was enclosed on the programming hole; Two L shaped direct current generator locating racks are axially fixed in bottom side in the housing, and an end of two direct current generators is separately fixed on the locating rack, and the end that its each motor shaft passes locating rack is equipped with location code-disc and bevel gear; The output shaft locating rack is fixed on bottom side in the housing, between two direct current generator locating racks, on its locating hole bearing is installed, two bevel gears are fixed on the direct current generator output shaft by pivot pin respectively in addition, be positioned at the bearing both sides are installed, two groups of bevel gears are meshing with each other respectively, the middle part of output shaft and bearing cooperate, two ends are respectively passed a mechanical seal external member and are stretched out outside the end cap, and two mechanical seal external members are fixed on two side ends by screw and cover, thereby, direct current arbor rotating band is rotated by moving two groups of bevel gears, drive the direct current generator output shaft again and rotate, motor output shaft driven wheel paddle mechanism or fin limb mechanism realize power output; The correlation infrared sensor is installed in bottom side in the housing, code-disc is followed the direct current generator output shaft when turning to the cell body position of sensor when the location, the correlation infrared sensor will move, Transistor-Transistor Logic level is sent to vertically is installed in the DC motor controller on the rear wall in the housing, realize the initial position fix when wheel paddle mechanism or fin limb mechanism power on; The installation of left and right sides direct current generator, control, output have symmetrical structure, the alignment of output about the output shaft locating rack has guaranteed;
Head steering wheel locating rack is fixed on bottom side in the housing, between two direct current generators, the boss of steering wheel one end is stuck in the location blind hole of locating rack, axially be provided with, the other end links to each other by an end of shaft joint and four paws output shaft, and the four paws output shaft passes the mechanical seal external member and stretches out the housing rear side, is connected with the terminal pad of the first imitative fish propulsion unit shell front end, steering wheel rotates in ± 90 °, realizes that robot turns; Liquid level sensor, pressure sensor, reflection infrared sensor and switch are fixed, are sealed on the housing by glue, the lighium polymer rechargeable battery is bonded at the direct current generator below, be positioned in the middle of direct current generator and the direct current generator locating rack, end cap is fixed on the housing both sides by glue and flange, the cabling of head and back all passes through cable hole, and cable hole is fixed by glue and sealed.
3. multimode bionic amphibious robot according to claim 1 is characterized in that, described a plurality of imitative fish propulsion units are three, wherein,
The structure of the first imitative fish propulsion unit, the second imitative fish propulsion unit is, sidewall constituted before and after housing comprised up and down framework and end covers at two sides, and the framework two side ends is affixed with flange port and end cap seal, and inside is a cavity volume; The boss of steering wheel is stuck in the blind hole of bottom side in the housing, the front side of steering wheel is fixed on the locating rack by locating hole, the bottom of locating rack is stuck on the square boss of housing bottom side, the steering wheel rotating shaft is connected with the four paws output shaft by shaft joint, the four paws output shaft passes that the mechanical seal external member is stretched out the housing upside and connecting rod is connected, and realizes power output; Two lighium polymer rechargeable batteries are fixed on front side in the housing with glue, and charging head, air-filled pore are positioned at forequarter, and charging head, air-filled pore are fixed on the housing by glue, and cabling is by cable hole, and cable hole is fixed by glue and sealed;
The shell structure of the housing of the 3rd imitative fish propulsion unit and the first imitative fish propulsion unit, the second imitative fish propulsion unit is close, its inner chamber has two steering wheels, two L shaped locating racks are fixed on upside in the housing, the boss of first and second steering wheel upside is stuck in the blind hole of locating rack, and the locating hole of front side is separately fixed on the locating rack; The gear in the first steering wheel downside rotating shaft and the gears engaged on the first output shaft top, the gear in the second steering wheel upside rotating shaft and the gears engaged of the second output shaft bottom, first and second output shaft is totally one axis, first output shaft upper end, the second output shaft lower end are fixed in the stacked up and down two bearings endoporus in the positioning frame hole, make the output moved in coaxial of two steering wheels; The housing below is stretched out in the first output shaft lower end, and the housing top is stretched out in second output shaft upper end, and the outer end of first and second output shaft is dynamically connected with the caudal peduncle composite driving mechanism respectively;
Housing bottom is fixed, is sealed in to liquid level sensor by glue; The housing upper side wall is fixed, is sealed in to charging head, air-filled pore by glue; Lithium polymer battery sticks with glue in housing front side wall inboard.
4. multimode bionic amphibious robot according to claim 3, it is characterized in that the locating rack in the described the 3rd imitative fish propulsion unit is a strip, its outer end is fixed in housing rear side inwall, in the inner locating hole two bearings is installed, two bearings is stacked up and down in the hole.
5. multimode bionic amphibious robot according to claim 3, it is characterized in that, the outer end of described first and second output shaft is dynamically connected with the caudal peduncle composite driving mechanism respectively, wherein, the caudal peduncle of caudal peduncle composite driving mechanism comprises tailstock, tail folder, tail fin, synchronous pulley mechanism, synchronous pulley mechanism comprises two synchronous pulleys, is with synchronously, and band is around two synchronous pulley settings synchronously; Tailstock is by two affixed forming of reverse segmental support, preceding shelf upper end is fixed in second output shaft upper end, the lower end movable is socketed on first output shaft lower, outer perimeter circle, the outside, shelf lower end before the first output shaft lower end affixed one synchronous belt wheel, this synchronous pulley are positioned at, back shelf two ends and power transmission shaft are dynamically connected, another synchronous pulley is fixed in the power transmission shaft lower end, is positioned at the outside, shelf lower end, back, and the tail folder is positioned at inboard, shelf two ends, back, cover is fixed in power transmission shaft periphery circle, and the tail fin front end is fixed in tail folder trailing flank.
6. according to claim 2 or 3 described multimode bionic amphibious robots, it is characterized in that, described mechanical seal external member, dynamic seal by dynamic output, this mechanical seal external member structure is as follows: in the flange cover two stepped holes are arranged, two bearings respectively with these two stepped hole interference fit, after bearing is installed, form a cavity in the middle of the flange cover, fill the sealing medium butter in the cavity, the four paws output shaft passes the flange cover by bearing, cavity, because the existence of butter, when the four paws output shaft rotates, cavity will keep sealing; Diameter is equal to or less than the O type snare of flange cover external diameter in flange cover outside, and when the mechanical seal external member is pressed together on the housing by screw, O type circle will deform, and keep the sealing of whole mechanical seal external member outside.
7. multimode bionic amphibious robot according to claim 1 is characterized in that, described terminal pad is fixed on by screw before the housing of the first imitative fish propulsion unit on the outside; The output shaft of connecting rod one end and last imitative fish propulsion unit is connected, and the housing of the other end and back one imitative fish propulsion unit is connected.
8. according to claim 2 or 3 described multimode bionic amphibious robots, it is characterized in that, described shaft joint, its bottom is connected with the steering wheel output, four grooves of shaft joint respectively with the four paws output shaft on four pawls cooperate, realization power is exported.
9. multimode bionic amphibious robot according to claim 1, it is characterized in that, ROBOT CONTROL, communication component are arranged in the described head cavity, comprise on its electrical structure: master board, DC motor controller, communication module, reflection infrared sensor, correlation infrared sensor, liquid level sensor, pressure sensor;
Wherein, DC motor controller is connected by serial line interface with master board, receives the order of master board, realizes the direct current generator motion control;
Communication module returns self information by the order of wireless mode reception controller last time, and data are mutual by serial line interface and master board, and communication baud rate is adjustable;
The holding wire that is positioned at the reflection infrared sensor of head shell front portion and both sides links to each other with master board, and the obstacle information output Transistor-Transistor Logic level according to its front is sent to master board, and as decision-making foundation, the obstacle detection distance is adjustable;
The holding wire of correlation infrared sensor links to each other with DC motor controller, and the DC motor controller that is operated in the Homing pattern when powering on provides triggering signal;
The liquid level sensor that is positioned at head shell front end arc place links to each other with master board with the liquid level sensor that is positioned at last imitative fish propulsion unit lower housing portion, and the output Transistor-Transistor Logic level is for robot environment judgement of living in provides decision-making foundation;
Be positioned at the pressure sensor output analog signal of head shell bottom, link to each other with the AD modular converter of master board, the AD modular converter is sent to microprocessor by the SPI interface with transformation result.
10. multimode bionic amphibious robot according to claim 9, it is characterized in that, described control, the course of work of communication component is: being creeped by pectoral fin mechanism or take turns paddle mechanism when robot drives when entering in the water, because the robot global design is a neutral buoyancy, robot floats on the surface, at this moment, the liquid level sensor output that is positioned at head becomes low level by high level, master board perception environmental change, the land motor pattern of pectoral fin/wheel paddle mechanism is switched to the motor pattern of striking, robot progresses in the water, when afterbody enters in the water, photoelectric liquid level sensor output becomes low level by high level, and master board makes imitative fish propulsion unit group and caudal peduncle action, realizes moving about fast of imitative fish; When terrestrial environment is got back to by water environment by robot, the output of head liquid level sensor becomes high level by low level, master board switches to the crawling exercises pattern with pectoral fin/wheel paddle mechanism by the motor pattern of striking, produce tractive force forward, after robot debarks fully, liquid level sensor becomes high level by low level, and master board will imitate the fish propulsion unit and the caudal peduncle composite driving mechanism returns to the centre position.
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|---|---|---|---|---|
| CN101890888B (en) * | 2010-07-12 | 2011-09-14 | 华中科技大学 | Amphibious bionic turtle robot |
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