CN103358305A - Closed-loop control available multifunctional in-water snake-shaped robot - Google Patents
Closed-loop control available multifunctional in-water snake-shaped robot Download PDFInfo
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- CN103358305A CN103358305A CN2013102404217A CN201310240421A CN103358305A CN 103358305 A CN103358305 A CN 103358305A CN 2013102404217 A CN2013102404217 A CN 2013102404217A CN 201310240421 A CN201310240421 A CN 201310240421A CN 103358305 A CN103358305 A CN 103358305A
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Abstract
The invention discloses a closed-loop control available multifunctional in-water snake-shaped robot which mainly solves the problem that a movement posture of the existing in-water snake-shaped robot cannot be adjusted. The multifunctional in-water snake-shaped robot comprises a snake head (1), a snake tail (2) and a snake body (5), wherein the snake body (5) is formed by alternately connecting a plurality of rigid joints (3) and a plurality of flexible joints (4); the two ends of the snake body (5) are connected with the snake head and the snake tail respectively to form a snake part; a camera (11) is mounted in the snake head (1); a steering engine (51), a master controller (52), a battery pack module (53), a ten-freedom-degree sensor (56), a steering engine controller (57), a solar power charging module (58) and an electric quantity detection module (59) are mounted in the snake body (5); the ten-freedom-degree sensor sends data measured in real time to the master controller for data fusion; and the master controller controls the steering engine through the steering engine controller, so as to adjust a movement posture of the snake part. The multifunctional in-water snake-shaped robot can be used for oil pipeline inspection, drilling platform underwater structure overhaul and military reconnaissance, and has the advantages that the multifunctional in-water snake-shaped can correct the movement posture of the snake part, can detect the air tightness of the snake part, and can be charged by solar power.
Description
Technical field
The invention belongs to the Robotics field, specifically a kind of inside is equipped with multiple sensors and can be carried out snake-shaped robot in the multifunctional water of closed-loop control, can be used for oil pipeline inspection, the maintenance of drilling platforms submerged structure, military surveillance, cable check, the fields such as dam inspection of archaeology, mariculture and river reservoir under water.
Background technology
Environment is abominable in the water, and people's diving depth is limited, and the manned underwater vehicle safety coefficient is low, so unmanned remotely controlled submersible vehicle has become oil pipeline inspection, reservoir blowdown inspection, the important tool in the fields such as archaeology, mariculture, military surveillance under water.But traditional unmanned remotely controlled submersible vehicle all has certain limitation, they mostly are torpedo-shaped profiles and bulky, use turbine drives, this shape has not only limited it and has entered the ability of pipeline work, and limited its driven nature, especially during the shallow stand of approach seashore, propeller can be rolled sediment or be twined by sea grass, like this can be to the propeller injury, and propeller noise is larger simultaneously, disguised low, found and catch by the enemy easily, in order to address this problem, Nanjing Aero-Space University has developed the Amphibious snake-like robot based on the multiple degrees of freedom flexible moving cell, Chinese patent, open (bulletin) number: CN102837307A.
Snake-shaped robot has unique motion mode and bionic mechanical structure in the water, it can produce the power that advances by snake body and current friction, thereby have low characteristics of noise, as a kind of highly redundant degree robot, it has more than definite robot locus and the required free degree of attitude, and its pliable and tough snake body can adapt to the underwater environment of various complexity more neatly.But the snake-shaped robot majority is the frame for movement that lays particular emphasis on joint module in the present existing water, function is comparatively single, seldom consider the charging problem when underwater work, cause flying power low, stream time is limited, simultaneously owing to adopt the working method of open loop control, so can not carry out Real-time Collection and feedback to the machine human body posture, make the machine human body posture can not get timely adjustment, make it when current change, direct of travel easily changes, and normally carrying out of impact monitoring causes poor effect.
Summary of the invention
The object of the invention is to the deficiency for above-mentioned prior art, but propose snake-shaped robot in a kind of multifunctional water of closed-loop control, with Real-time Collection and feed back the movable information of snake-shaped robot, in time adjust duty, improve flying power and monitoring effect.
For achieving the above object, the present invention includes:
Snakehead, ophiruid and snake body, the snake body is alternately connected to form by a plurality of rigidity joint and a plurality of flexible joint; The two ends of snake body are connected to form the snake body with snakehead and ophiruid respectively; Snakehead is in-built wireless camera, and steering wheel, master controller, battery module and Temperature Humidity Sensor group are housed in the snake body, it is characterized in that: also be equipped with in the snake body:
Ten free degree sensors for the acceleration, the angle of pitch and the air pressure inside that obtain the snake body, with the athletic posture information of Real-time Collection snake body, are monitored its airtight information;
Ten six road steering engine controllers are used for sending control information to steering wheel;
Ten free degree sensors send to master controller with the data that record and carry out data fusion, after master controller is judged data, by ten six road steering engine controllers control steering wheel, adjusting the athletic posture of snake body, thereby have realized the closed-loop control to the snake body.
The solar recharging module is used for solar energy is converted to electric energy, is the battery module charging;
The electric weight detection module is used for the in real time electric weight of detection battery module, and when battery module voltage was lower than 10 volts, to the master controller transmitted signal, control snake body emerged, and is the battery module charging by the solar recharging module.
As preferably, described snakehead comprises wireless camera, snakehead shell, translucent cover and snakehead joint male; Translucent cover is fixed on snakehead shell front end, and the rear end of snakehead shell is fixed on the outer survey of snakehead joint male, and wireless camera is fixed on the inboard of snakehead joint male.
As preferably, described ophiruid comprises ophiruid shell, usb interface module and ophiruid joint male, and ophiruid shell front end is fixed on the male outside, ophiruid joint, and it is inboard that usb interface module is fixed on ophiruid joint male.
As preferably, described each rigidity joint is made of housing, two joint females and two aluminium alloy stators, and two joint females are separately fixed at the two ends of housing, and it is inboard that aluminium alloy stator symmetry is fixed on the joint female.
As preferably, described each flexible joint is made of wired hose, quadrature steering wheel group and two joint males, and two joint males are separately fixed at the two ends of wired hose, and quadrature steering wheel group is positioned in the wired hose, and it is inboard to be fixed on the joint male.
As preferably, described each quadrature steering wheel group comprises two steering wheels, two steering wheel supports and two L-type supports; The front end of each steering wheel is fixed on the steering wheel support, and the rear end of each steering wheel is connected with a L-type support, and quadrature connects between two L-type supports, to realize the three-dimensional motion of snake body.
As preferably, described ten free degree sensors comprise:
Three-axis gyroscope, the angular speed when turning to for detection of the snake body;
Three axis accelerometer is for detection of acceleration magnitude and the direction of snake body;
Three axle magnetometers are for detection of the residing orientation of snake body;
Barometer is for detection of snake body air pressure inside.
As preferably, described master controller comprises:
Data reception module is used for receiving the data that ten free degree sensors, Temperature Humidity Sensor group and electric weight detection module detect;
Data fusion module, the data that are used for three-axis gyroscope, three axis accelerometer and three axle magnetometers that the data receiver module is received merge, and draw the velocity component of snake body course angle and three axles thereof;
The gas pressure analysis module is used for the barometrical data that the data receiver module receives are carried out computing, obtains the atmospheric pressure value of snake body inside, to detect snake body seal;
Data transmission blocks is used for wireless camera, ten six road steering engine controllers, Temperature Humidity Sensor group sending controling instruction.
As preferably, described solar recharging module comprises stepup transformer and six flexible solar panels, after six flexible solar panels series connection with the voltage that obtains after stepup transformer promotes, flow to battery module.
The present invention has following advantage:
1. the present invention is owing to adopt ten free degree sensors that are comprised of three-axis gyroscope, three axis accelerometer, three axle magnetometers and barometer, obtain acceleration, the angle of pitch and the air pressure inside of snake body, so athletic posture information that can Real-time Collection snake body and monitor its airtight information.
2. the present invention is owing to the master controller that adopts merges the data that ten free degree sensors record, and after data are judged, by ten six road steering engine controllers control steering wheel, can adjust in real time the athletic posture of snake body again, realize the closed-loop control to the snake body.
3. snake body of the present invention, because the electric weight detection module that adopts, can detect in real time the electric weight of battery module, when battery module voltage is lower than 10 volts, to the master controller transmitted signal, control snake body emerges, thereby is the battery module charging by the solar recharging module, guarantees enough cruising time.
The present invention is further described below in conjunction with drawings and Examples.
Description of drawings
Fig. 1 is overall structure schematic diagram of the present invention;
Fig. 2 is snakehead external structure schematic diagram of the present invention;
Fig. 3 is Fig. 2 snakehead internal structure schematic diagram;
Fig. 4 is ophiruid external structure schematic diagram of the present invention;
Fig. 5 is ophiruid internal structure schematic diagram;
Fig. 6 is rigidity articulation structure schematic diagram of the present invention;
Fig. 7 is the joint female enlarged diagram among Fig. 6;
Fig. 8 is flexible joint external structure schematic diagram of the present invention;
Fig. 9 is flexible joint internal structure schematic diagram of the present invention;
Figure 10 is the joint male enlarged diagram among Fig. 8;
Figure 11 is the quadrature steering wheel group structural representation among Fig. 9;
Figure 12 is electric theory diagram of the present invention.
The specific embodiment
With reference to Fig. 1, the present invention includes snakehead 1, ophiruid 2, a plurality of rigidity joint 3 and a plurality of flexible joint 4, the rigidity joint of this example is made as seven but be not limited to seven, and flexible joint is made as six but be not limited to six.These rigidity joints 3 with are connected flexible joint 4 and alternately connect, form snake body 5; The two ends of snake body 5 link to each other with ophiruid 2 with snakehead 1 respectively, form snake body 6.Wherein the structure of each parts is as follows:
With reference to Fig. 2 and Fig. 3, described snakehead 1 comprises wireless camera 11, snakehead shell 12, translucent cover 13, snakehead joint male 14 and fixed support 15.Wherein the front end of snakehead joint male 14 is provided with snakehead joint male groove 141, translucent cover 13 is fixed on the front end of snakehead shell 12, and around translucent cover 13, carry out waterproof sealing with plastic-steel mud, the rear end of snakehead shell 12 is inserted in the snakehead joint male groove 141 in male 14 outsides, snakehead joint, and uses silica gel sealing after fastening.Wireless camera 11 is fixed on the fixed support 15, and fixed support 15 is fixed on the inboard of snakehead joint male 14.
Described snakehead joint male 14 adopts but is not limited to the ABS engineering plastics, processes through the 3D printer; Described snakehead shell 12 adopts but is not limited to plastics; Described translucent cover 13 adopts but is not limited to poly (methyl methacrylate) plate and processes.
With reference to Fig. 4 and Fig. 5, described ophiruid 2 comprises ophiruid shell 21, usb interface module 22 and ophiruid joint male 23.Wherein the front end of ophiruid joint male 23 outside is provided with ophiruid joint male groove 231, being inserted in this ophiruid joint male groove 231 of ophiruid shell 21, and at the fastening rear silica gel sealing of using; Usb interface module 22 is fastened on the inboard of ophiruid joint male 23.
Described ophiruid joint male 23 adopts but is not limited to the ABS engineering plastics, processes through the 3D printer; Described ophiruid shell 21 adopts but is not limited to plastics.
With reference to Fig. 6 and Fig. 7, described rigidity joint 3 comprises housing 31, two joint females 32 and two aluminium alloy stators 33.Wherein the outside of each joint female 32 is provided with joint female groove 321, and inner surface is provided with joint female screw hole 322; The two ends of housing 31 are inserted into respectively in the joint female groove 321 of two joint females 32, and at the fastening rear silica gel sealing of using; Two aluminium alloy stator 33 symmetries are placed on joint female 32 inboards, and fastening at joint female screw hole 322 places with screw, are used for placing circuit.
Described joint female 32 adopts but is not limited to the ABS engineering plastics, processes through the 3D printer; Described housing 31 adopts but is not limited to plastics.
With reference to Fig. 8, Fig. 9 and Figure 10, described flexible joint 4 comprises wired hose 41, quadrature steering wheel group 42 and two joint males 43.Wherein, the outside of each joint male 43 is provided with joint male groove 431, inner surface is provided with joint male screw hole 432, the two ends of wired hose 41 are inserted into respectively in the joint male groove 431 in two joint male 43 outsides, at joint male screw hole 432 place's fastened by screws, and use silica gel sealing; Quadrature steering wheel group 42 is positioned in the wired hose 41, and is fixed on joint male 43 inboards.
Described joint male 43 adopts but is not limited to the ABS engineering plastics, processes through the 3D printer.
With reference to Figure 11, described quadrature steering wheel group 42 comprises two steering wheels 51, two steering wheel supports 421 and two L-type supports 422.Wherein the rear end of each steering wheel 51 is provided with steering wheel 423, and front end is fastened on steering wheel support 421, and each steering wheel 423 is fixed on the L-type support 422, and quadrature connects between two L-type supports 422.
The joint female 32 in each 3 outside, rigidity joint is fixed on the joint male 43 in each flexible joint 4 outside, alternately connect, the rear end of snakehead joint male 23 is fixed on the inboard of the joint female 32 in first rigidity joint 3, the rear end of ophiruid joint male 23 is fixed on the inboard of the joint female 32 in last rigidity joint 3, forms snake body 6.
With reference to Figure 12, circuit of the present invention comprises wireless camera 11, ten free degree sensors 56, steering wheel 51, ten six road steering engine controllers 57, master controller 52, battery module 53, Temperature Humidity Sensor group 54, solar recharging module 58 and electric weight detection module 59.Wherein: master controller 52 comprises data reception module 521, data fusion module 522, gas pressure analysis module 523 and data transmission blocks 524; Solar recharging module 58 comprises stepup transformer 582 and flexible solar panel 581; Ten free degree sensors 56 comprise three-axis gyroscope 561, three axis accelerometer 562, three axle magnetometers 563 and barometer 564.
Data reception module 521 adopts the asynchronous serial communication mode, receives ten free degree sensors 56 and Temperature Humidity Sensor group 54, and the data that detect of electric weight detection module 59;
Data fusion module 522 merges for the data that data receiver module 521 received three-axis gyroscope 561, three axis accelerometer 562 and the three axle magnetometers 563 of ten free degree sensors 56;
Gas pressure analysis module 523 is carried out computing for the data of the barometer 564 that data receiver module 521 is received, and obtains the atmospheric pressure value of snake body 6 inside;
Data transmission blocks 524 adopts the asynchronous serial communication mode, to wireless camera 11, ten six road steering engine controllers, 57 sending controling instructions;
Ten six road steering engine controllers 57 are by sending pulse width modulated wave control steering wheel 51;
Flexible solar panel 581, the voltage with solar radiation produces after stepup transformer 582 promotes, enters into battery module 53, is battery module 53 chargings.
The present invention can realize that attitude is corrected, air-tightness detects and the basic function of solar recharging, and its operation principle is as follows:
One. attitude is corrected operation principle
Snake body 6 is when carrying out underwater operation, three-axis gyroscope 561, angular speed when three axis accelerometer 562 and 563 pairs of snake bodies 6 of three axle magnetometers turn to, snake body 6 acceleration magnitude and direction, snake body 6 residing azimuth informations are carried out Real-time Collection, and with the data that collect, export to data reception module 521, after data reception module 521 conditionings and conversion, input to data fusion module 522, after data fusion module 522 fusion and judging, by data transmission blocks 524, enter ten six road steering engine controllers 57, after 57 processing of ten six road steering engine controllers, enter steering wheel 51, adjusting the athletic posture of snake body 6, thereby realized the closed-loop control to snake body 6.
Two. air-tightness testing principle:
Before the lower water, to the pressurization of snake body 6 inner inflatable, and leave standstill a period of time, barometer 564 can carry out Real-time Collection to the atmospheric pressure value of snake body 6 inside, send to data reception module 521, after data reception module 521 conditioning and conversion, enter gas pressure analysis module 523, after data are processed and being judged through the gas pressure analysis module, whether the seal that draws snake body 6 is good, if air-tightness is good, illustrates that then snake body 6 can following water, otherwise can not descend water.
Three. the solar recharging operation principle:
Snake body 6 is in the process of carrying out underwater operation, after electric weight detection module 59 converts the information of voltage of battery module 53 to the AD signal, enter data reception module 521, after process master controller 52 judges whether battery voltage is lower than 10 volts, if be lower than 10 volts, then sending controling instruction is given ten six road steering engine controllers 57, after 57 processing of ten six road steering engine controllers, enter steering wheel 51, after snake body 6 was emerged, the voltage that flexible solar panel 581 produces solar radiation was after stepup transformer 582 promotes, enter into battery module 53, be battery module 53 chargings.
More than describing only is example of the present invention, does not consist of any limitation of the invention.Obviously for those skilled in the art; after having understood content of the present invention and principle; all may be in the situation that does not deviate from the principle of the invention, structure; carry out various corrections and change on form and the details, but these are based on the correction of inventive concept with change still within claim protection domain of the present invention.
Claims (9)
1. but snake-shaped robot in the multifunctional water of a closed-loop control comprises snakehead (1), ophiruid (2) and snake body (5), and snake body (5) is alternately connected to form by a plurality of rigidity joint (3) and a plurality of flexible joint (4); The two ends of snake body (5) are connected to form the snake body with snakehead (1) and ophiruid (2) respectively; Snakehead (1) is in-built wireless camera (11), and steering wheel (51), master controller (52), battery module (53) and Temperature Humidity Sensor group (54) are housed in the snake body (5), and it is characterized in that: the snake body also is equipped with in (5):
Ten free degree sensors (56) for the acceleration, the angle of pitch and the air pressure inside that obtain the snake body, with the athletic posture information of Real-time Collection snake body, are monitored its airtight information;
Ten six road steering engine controllers (57) are used for sending control information to steering wheel (51);
Ten free degree sensors (56) send to master controller (52) with the data that record and carry out data fusion, after master controller (52) is judged data, by ten six road steering engine controllers (57) control steering wheel (51), adjusting the athletic posture of snake body, thereby realized the closed-loop control to the snake body.
Solar recharging module (58) is used for solar energy is converted to electric energy, is battery module (53) charging;
Electric weight detection module (59), be used for detecting in real time the electric weight of battery module (53), when battery module (53) voltage is lower than 10 volts, to master controller (52) transmitted signal, control snake body emerges, and is battery module (53) charging by solar recharging module (58).
2. but according to snake-shaped robot in the multifunctional water of closed-loop control claimed in claim 1, it is characterized in that described snakehead (1), comprise wireless camera (11), snakehead shell (12), translucent cover (13) and snakehead joint male (14); Translucent cover (13) is fixed on snakehead shell (12) front end, and the rear end of snakehead shell (12) is fixed on the outside of snakehead joint male (14), and wireless camera (11) is fixed on the inboard of snakehead joint male (14).
3. but according to snake-shaped robot in the multifunctional water of closed-loop control claimed in claim 1, it is characterized in that described ophiruid (2), comprise ophiruid shell (21), usb interface module (22) and ophiruid joint male (23), ophiruid shell (21) front end is fixed on ophiruid joint male (23) outside, and usb interface module (22) is fixed on ophiruid joint male (23) inboard.
4. but according to snake-shaped robot in the multifunctional water of closed-loop control claimed in claim 1, it is characterized in that each rigidity joint (3), consisted of by housing (31), two joint females (32) and two aluminium alloy stators (33), two joint females (32) are separately fixed at the two ends of housing (31), and aluminium alloy stator (33) symmetry is fixed on joint female (32) inboard.
5. but according to snake-shaped robot in the multifunctional water of closed-loop control claimed in claim 1, it is characterized in that described each flexible joint (4), consisted of by wired hose (41), quadrature steering wheel group (42) and two joint males (43), two joint males (43) are separately fixed at the two ends of wired hose (41), quadrature steering wheel group (42) is positioned in the wired hose (41), and is fixed on joint male (43) inboard.
6. but according to snake-shaped robot in the multifunctional water of closed-loop control claimed in claim 5, it is characterized in that described each quadrature steering wheel group (42) comprises two steering wheels (51), two steering wheel supports (421) and two L-type supports (422); The front end of each steering wheel (51) is fixed on the steering wheel support (421), and the rear end of each steering wheel (51) is connected with a L-type support (422), and quadrature connects between two L-type supports (422), to realize the three-dimensional motion of snake body.
7. but according to snake-shaped robot in the multifunctional water of closed-loop control claimed in claim 1, it is characterized in that described ten free degree sensors (56), comprising:
Three-axis gyroscope (561), the angular speed when turning to for detection of the snake body;
Three axis accelerometer (562) is for detection of acceleration magnitude and the direction of snake body;
Three axle magnetometers (563) are for detection of the residing orientation of snake body;
Barometer (564) is for detection of snake body air pressure inside.
8. but according to snake-shaped robot in the multifunctional water of closed-loop control claimed in claim 5, it is characterized in that described master controller (52), comprising:
Data reception module (521) is used for receiving the data that ten free degree sensors (56), Temperature Humidity Sensor group (54) and electric weight detection module (59) detect;
Data fusion module (522), the data that are used for three-axis gyroscope (561), three axis accelerometer (562) and three axle magnetometers (563) that data receiver module (521) is received merge, and draw the velocity component of snake body course angle and three axles thereof;
Gas pressure analysis module (523) is carried out computing for the data of the barometer (564) that data receiver module (521) is received, and obtains the atmospheric pressure value of snake body inside, to detect snake body seal;
Data transmission blocks (524) is used for wireless camera (11), ten six road steering engine controller (57) sending controling instructions.
9. but according to snake-shaped robot in the multifunctional water of closed-loop control claimed in claim 1, it is characterized in that described solar recharging module (58), comprise stepup transformer (582) and six flexible solar panels (581), after six flexible solar panels (581) series connection with the voltage that obtains after stepup transformer (582) promotes, flow to battery module (53).
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