CN103358305B - Closed-loop control available multifunctional in-water snake-shaped robot - Google Patents

Closed-loop control available multifunctional in-water snake-shaped robot Download PDF

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Publication number
CN103358305B
CN103358305B CN201310240421.7A CN201310240421A CN103358305B CN 103358305 B CN103358305 B CN 103358305B CN 201310240421 A CN201310240421 A CN 201310240421A CN 103358305 B CN103358305 B CN 103358305B
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China
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snake
joint
module
snakehead
loop control
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CN201310240421.7A
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CN103358305A (en
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金杰
王新怀
黄子明
孟韶南
黄原成
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Xidian Univ
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Xidian Univ
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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

Can snake-shaped robot in the multifunctional water of closed-loop control
Technical field
The invention belongs to robotics, specifically inside is equipped with multiple sensors and can be carried out a 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, engages in archaeological studies under water, the field such as the dam inspection of mariculture and river reservoir.
Background technology
Bad environments in water, the diving depth of people is limited, and manned underwater vehicle safety coefficient is low, so unmanned remotely controlled submersible vehicle has become the important tool in the fields such as oil pipeline inspection, reservoir blowdown inspection, archaeology, mariculture, military surveillance under water.But traditional unmanned remotely controlled submersible vehicle all has certain limitation, they are mostly torpedo-shaped profile and bulky, by turbine drives, this shape not only limit the ability that it enters pipeline work, and limit its driven nature, especially during the shallow stand of approach seashore, propeller can be rolled sediment or is wound around by sea grass, damage can be caused like this to propeller, propeller noise is larger simultaneously, disguised low, easily found by enemy and catch, in order to address this problem, Nanjing Aero-Space University have developed the Amphibious snake-like robot based on multiple degrees of freedom flexible moving cell, Chinese patent, open (bulletin) number: CN102837307A.
In water, snake-shaped robot has unique motion mode and bionic mechanical structure, it can be rubbed the power producing and advance by snake body and current, thus there is the feature that noise is low, as a kind of High redundancy robot, it has the free degree more than determining needed for robot locus and attitude, and its pliable and tough snake body can adapt to the underwater environment of various complexity more neatly.But snake-shaped robot majority is the frame for movement laying particular emphasis on joint module in current existing water, function is comparatively single, the charging problems of little consideration when underwater work, cause flying power low, stream time is limited, simultaneously owing to adopting the working method of opened loop control, therefore Real-time Collection and feedback can not be carried out to machine human body posture, machine human body posture is made to 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, propose a kind of can snake-shaped robot in the multifunctional water of closed-loop control, feed back the movable information of snake-shaped robot with Real-time Collection, adjust duty in time, improve flying power and monitoring effect.
For achieving the above object, the present invention includes:
Snakehead, ophiruid and snake body, snake body is alternately connected to form by multiple rigidity joint and multiple flexible joint; The two ends of snake body are connected to form snake body with snakehead and ophiruid respectively; Snakehead is built with wireless camera, and snake body, built with steering wheel, master controller, battery module and Temperature Humidity Sensor group, is characterized in that: be also equipped with in snake body:
Ten free degree sensors, for obtaining the acceleration of snake body, the angle of pitch and air pressure inside, with the athletic posture information of Real-time Collection snake body, monitor its airtight information;
16 road steering engine controllers, for sending control information to steering wheel;
The data recorded send to master controller to carry out data fusion by ten free degree sensors, after master controller judges data, control steering wheel, to adjust the athletic posture of snake body, thus achieve the closed-loop control to snake body by 16 road steering engine controllers.
Solar recharging module, for solar energy is converted to electric energy, is battery module charging;
Electric power detection module, for detecting the electricity of battery module in real time, when battery module voltage is lower than 10 volts, sends signal to master controller, controls snake body and emerges, and is battery module charging by solar recharging module.
As preferably, described snakehead, comprises wireless camera, snakehead shell, translucent cover and snakehead joint male; Translucent cover is fixed on snakehead case nose, and the rear end of snakehead shell is fixed on the outer survey of snakehead joint male, and wireless camera is fixed on the inner side of snakehead joint male.
As preferably, described ophiruid, comprises ophiruid shell, usb interface module and ophiruid joint male, and ophiruid case nose is fixed on outside the male of ophiruid joint, and usb interface module is fixed on inside the male of ophiruid joint.
As preferably, described each rigidity joint, be made up of housing, two joint females and two aluminium alloy stators, two joint females are separately fixed at the two ends of housing, and aluminium alloy stator symmetry is fixed on inside the female of joint.
As preferably, described each flexible joint, be made up of wired hose, orthogonal steering wheel group and two joint males, two joint males are separately fixed at the two ends of wired hose, and orthogonal steering wheel group is positioned in wired hose, and is fixed on inside the male of joint.
As preferably, described each orthogonal steering wheel group comprises two steering wheels, two steering wheel supports and two L-type support; The front end of each steering wheel is fixed on a steering wheel support, and the rear end of each steering wheel is connected with a L-type support, orthogonal connection between two L-type support, to realize the three-dimensional motion of snake body.
As preferably, ten described free degree sensors, comprising:
Three-axis gyroscope, for detecting angular speed when snake body turns to;
Three axis accelerometer, for detecting acceleration magnitude and the direction of snake body;
Three axle magnetometers, for detecting the orientation residing for snake body;
Barometer, for detecting snake body air pressure inside.
As preferably, described master controller, comprising:
Data reception module, for receiving the data that ten free degree sensors, Temperature Humidity Sensor group and electric power detection module detect;
Data fusion module, the data for the three-axis gyroscope, three axis accelerometer and the three axle magnetometers that receive data reception module merge, and draw the velocity component of snake body course angle and three axles thereof;
Gas pressure analysis module, carrying out computing for the barometrical data for receiving data reception module, obtaining the atmospheric pressure value of snake body inside, to detect snake body seal;
Data transmission blocks, for wireless camera, 16 road steering engine controllers, Temperature Humidity Sensor group sending controling instruction.
As preferably, described solar recharging module, comprises stepup transformer and six pieces of flexible solar panels, after six pieces of flexible solar panels series connection by 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 adopting ten free degree sensors be made up of three-axis gyroscope, three axis accelerometer, three axle magnetometers and barometer, obtain the acceleration of snake body, the angle of pitch and air pressure inside, thus can Real-time Collection snake body athletic posture information and monitor its airtight information.
2. the present invention due to adopt master controller the data that ten free degree sensors record are merged, and after data are judged, control steering wheel by 16 road steering engine controllers again, the athletic posture of snake body can be adjusted in real time, realize the closed-loop control to snake body.
3. snake body of the present invention, due to the electric power detection module adopted, the electricity of battery module can be detected in real time, when battery module voltage is lower than 10 volts, signal is sent to master controller, control snake body to emerge, thus be battery module charging by solar recharging module, ensure enough cruising time.
Below in conjunction with drawings and Examples, the present invention is further described.
Accompanying drawing explanation
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 in 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 in Fig. 8;
Figure 11 is the orthogonal steering wheel group structural representation in Fig. 9;
Figure 12 is electric theory diagram of the present invention.
Detailed description of the invention
With reference to Fig. 1, the present invention includes snakehead 1, ophiruid 2, multiple rigidity joint 3 and multiple flexible joint 4, the rigidity joint of this example is set to seven but is not limited to seven, and flexible joint is set to six but is not limited to six.These rigidity joints 3 are alternately connected with these flexible joints 4, composition snake body 5; The two ends of snake body 5 are connected with ophiruid 2 with snakehead 1 respectively, composition 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 outside snakehead joint male 14, and uses silica gel sealing after tightening.Wireless camera 11 is fixed on fixed support 15, and fixed support 15 is fixed on the inner side of snakehead joint male 14.
Described snakehead joint male 14 adopts but is not limited to ABS engineering plastics, processes through 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 outer side of ophiruid joint male 23 is provided with ophiruid joint male groove 231, being inserted in this ophiruid joint male groove 231 of ophiruid shell 21, and uses silica gel sealing after tightening; Usb interface module 22 is fastened on the inner side of ophiruid joint male 23.
Described ophiruid joint male 23 adopts but is not limited to ABS engineering plastics, processes through 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 in the joint female groove 321 of two joint females 32 respectively, and use silica gel sealing after tightening; Two aluminium alloy stator 33 symmetries are placed on inside joint female 32, and fastening at female screw hole 322 place, joint with screw, for placing circuit.
Described joint female 32, adopts but is not limited to ABS engineering plastics, processing through 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, orthogonal 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 in the joint male groove 431 outside two joint males 43 respectively, at male screw hole 432 place, joint fastened by screw, and with silica gel sealing; Orthogonal steering wheel group 42 is positioned in wired hose 41, and is fixed on inside joint male 43.
Described joint male 43 adopts but is not limited to ABS engineering plastics, processes through 3D printer.
With reference to Figure 11, described orthogonal steering wheel group 42, comprises two steering wheels, 51, two steering wheel supports 421 and two L-type support 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 in a L-type support 422, orthogonal connection between two L-type support 422.
Joint female 32 outside each rigidity joint 3 is fixed in the joint male 43 outside each flexible joint 4, alternately connect, the rear end of snakehead joint male 23 is fixed on the inner side of the joint female 32 in first rigidity joint 3, the rear end of ophiruid joint male 23 is fixed on the inner side 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 sensor 56, steering wheel 51,16 road steering engine controller 57, master controller 52, battery module 53, Temperature Humidity Sensor group 54, solar recharging module 58 and electric power 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 magnetometer 563 and barometer 564.
Data reception module 521, adopts asynchronous serial communication mode, receives ten free degree sensors 56 and Temperature Humidity Sensor group 54, and the data that electric power detection module 59 detects;
Data fusion module 522, merges for data data reception module 521 being received to three-axis gyroscope 561, three axis accelerometer 562 and three axle magnetometers 563 in ten free degree sensors 56;
Gas pressure analysis module 523, the data for the barometer 564 received data reception module 521 carry out computing, obtain the atmospheric pressure value of snake body 6 inside;
Data transmission blocks 524, adopts asynchronous serial communication mode, to wireless camera 11,16 road steering engine controller 57 sending controling instruction;
16 road steering engine controllers 57, control steering wheel 51 by sending pulse width modulated wave;
Battery module 53, accesses electric power detection module 59 by both positive and negative polarity, information of voltage is converted to AD signal and is transported to data reception module 521 by electric power detection module 59;
Flexible solar panel 581, irradiates the voltage produced by sunlight, after stepup transformer 582 promotes, enter into battery module 53, for battery module 53 charges.
The present invention can realize that attitude is corrected, the basic function of air-leakage test and solar recharging, and its operation principle is as follows:
One. attitude corrects operation principle
Snake body 6 is when carrying out underwater operation, three-axis gyroscope 561, angular speed when three axis accelerometer 562 and three axle magnetometers, 563 pairs of snake bodies 6 turn to, snake body 6 acceleration magnitude and direction, azimuth information residing for snake body 6 carries out Real-time Collection, and the data that will collect, export to data reception module 521, after data reception module 521 is nursed one's health and is changed, input to data fusion module 522, after data fusion module 522 merges and judges, by data transmission blocks 524, enter 16 road steering engine controllers 57, after 16 road steering engine controllers 57 process, enter steering wheel 51, to adjust the athletic posture of snake body 6, thus the closed-loop control achieved snake body 6.
Two. air-leakage test operation principle:
Before 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, be sent to data reception module 521, after data reception module 521 is nursed one's health and changed, enter gas pressure analysis module 523, after gas pressure analysis module to process data and judges, show that whether the seal of snake body 6 is good, if air-tightness is good, then illustrates that snake body 6 can following water, otherwise water can not be descended.
Three. solar recharging operation principle:
Snake body 6 is in the process of carrying out underwater operation, after electric power detection module 59 converts the information of voltage of battery module 53 to AD signal, enter data reception module 521, after master controller 52 judges that battery voltage is whether lower than 10 volts, if lower than 10 volts, then sending controling instruction gives 16 road steering engine controllers 57, after 16 road steering engine controllers 57 process, enter steering wheel 51, after snake body 6 is emerged, sunlight is irradiated the voltage produced by flexible solar panel 581, after stepup transformer 582 promotes, enter into battery module 53, for battery module 53 charges.
More than describing is only example of the present invention, does not form any limitation of the invention.Obviously for those skilled in the art; after having understood content of the present invention and principle; all may when not deviating from the principle of the invention, structure; carry out the various correction in form and details and change, but these corrections based on inventive concept and change are still within claims of the present invention.

Claims (9)

1. one kind can snake-shaped robot in the multifunctional water of closed-loop control, comprise snakehead (1), ophiruid (2) and snake body (5), snake body (5) is alternately connected to form by multiple rigidity joints (3) and multiple flexible joint (4); The two ends of snake body (5) are connected to form snake body with snakehead (1) and ophiruid (2) respectively; Snakehead (1) is built with wireless camera (11), snake body (5), built with steering wheel (51), master controller (52), battery module (53) and Temperature Humidity Sensor group (54), is characterized in that: snake body is also equipped with in (5):
Ten free degree sensors (56), for obtaining the acceleration of snake body, the angle of pitch and air pressure inside, with the athletic posture information of Real-time Collection snake body, monitor its airtight information;
16 road steering engine controllers (57), for sending control information to steering wheel (51);
The data recorded send to master controller (52) to carry out data fusion by ten free degree sensors (56), after master controller (52) judges data, steering wheel (51) is controlled by 16 road steering engine controllers (57), to adjust the athletic posture of snake body, thus achieve the closed-loop control to snake body;
Solar recharging module (58), for solar energy is converted to electric energy, is battery module (53) charging;
Electric power detection module (59), for detecting the electricity of battery module (53) in real time, when battery module (53) voltage is lower than 10 volts, signal is sent to master controller (52), controlling snake body to emerge, is battery module (53) charging by solar recharging module (58).
2. according to according to claim 1 can snake-shaped robot in the multifunctional water of closed-loop control, 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, the rear end of snakehead shell (12) is fixed on the outside in snakehead joint male (14), and wireless camera (11) is fixed on the inner side in snakehead joint male (14).
3. according to according to claim 1 can snake-shaped robot in the multifunctional water of closed-loop control, 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 outside, ophiruid joint male (23), and usb interface module (22) is fixed on inner side, ophiruid joint male (23).
4. according to according to claim 1 can snake-shaped robot in the multifunctional water of closed-loop control, it is characterized in that each rigidity joint (3), be made up of 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) inner side.
5. according to according to claim 1 can snake-shaped robot in the multifunctional water of closed-loop control, it is characterized in that described each flexible joint (4), be made up of wired hose (41), orthogonal steering wheel group (42) and two joint males (43), two joint males (43) are separately fixed at the two ends of wired hose (41), orthogonal steering wheel group (42) is positioned in wired hose (41), and is fixed on joint male (43) inner side.
6. according to according to claim 5 can snake-shaped robot in the multifunctional water of closed-loop control, it is characterized in that described each orthogonal steering wheel group (42) comprises two steering wheels (51), two steering wheel supports (421) and two L-type support (422); The front end of each steering wheel (51) is fixed on a steering wheel support (421), the rear end of each steering wheel (51) is connected with a L-type support (422), orthogonal connection between two L-type support (422), to realize the three-dimensional motion of snake body.
7. according to according to claim 1 can snake-shaped robot in the multifunctional water of closed-loop control, it is characterized in that ten described free degree sensors (56), comprising:
Three-axis gyroscope (561), for detecting angular speed when snake body turns to;
Three axis accelerometer (562), for detecting acceleration magnitude and the direction of snake body;
Three axle magnetometers (563), for detecting the orientation residing for snake body;
Barometer (564), for detecting snake body air pressure inside.
8. according to according to claim 5 can snake-shaped robot in the multifunctional water of closed-loop control, it is characterized in that described master controller (52), comprising:
Data reception module (521), for receiving the data that ten free degree sensors (56), Temperature Humidity Sensor group (54) and electric power detection module (59) detect;
Data fusion module (522), data for the three-axis gyroscope (561), three axis accelerometer (562) and the three axle magnetometers (563) that receive data reception module (521) merge, and draw the velocity component of snake body course angle and three axles thereof;
Gas pressure analysis module (523), the data for the barometer (564) received data reception module (521) carry out computing, obtain the atmospheric pressure value of snake body inside, to detect snake body seal;
Data transmission blocks (524), for wireless camera (11), 16 road steering engine controller (57) sending controling instructions.
9. according to according to claim 1 can snake-shaped robot in the multifunctional water of closed-loop control, it is characterized in that described solar recharging module (58), comprise stepup transformer (582) and six pieces of flexible solar panels (581), after the series connection of six pieces of flexible solar panels (581) by the voltage that obtains after stepup transformer (582) promotes, flow to battery module (53).
CN201310240421.7A 2013-06-17 2013-06-17 Closed-loop control available multifunctional in-water snake-shaped robot Expired - Fee Related CN103358305B (en)

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