CN105045261B - The steering control system of miniature untethered travel robot - Google Patents
The steering control system of miniature untethered travel robot Download PDFInfo
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- CN105045261B CN105045261B CN201510345830.2A CN201510345830A CN105045261B CN 105045261 B CN105045261 B CN 105045261B CN 201510345830 A CN201510345830 A CN 201510345830A CN 105045261 B CN105045261 B CN 105045261B
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- radio frequency
- frequency transceiver
- fuselage
- robot
- lateral fin
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Abstract
The invention discloses a kind of steering control systems of miniature untethered travel robot, include the lateral fin being hinged positioned at robot fuselage both sides and with fuselage, the piezoelectric ceramics stacking for driving lateral fin, the micro pressure sensor on lateral fin, micro photo electric encoder, the singlechip controller positioned at fuselage interior and internal radio frequency transceiver positioned at lateral fin Yu fuselage hinged place, is also independently from external radio frequency transceiver, microcontroller main controller and the course writer of external fuselage；Singlechip controller, internal radio frequency transceiver, driving power, piezoelectric ceramics stack conducting wire successively and connect, singlechip controller is also connect with micro pressure sensor, photoelectric encoder conducting wire respectively, and external radio frequency transceiver, microcontroller main controller are connected with course writer successively conducting wire；External radio frequency transceiver is connected with internal radio frequency transceiver by wireless signal.The present invention can be such that the steering of travel robot is flexibly controlled, and the whole control performance of robot is stablized, and has practicability.
Description
【Technical field】
The present invention relates to the technical fields of microrobot, more particularly to a kind of course changing control of untethered travel robot
System.
【Background technology】
Mini travel robot is a current worldwide research hotspot, and each research institution organizes from multiple and different
Driving principle angle studied, have prodigious development.Japan Nagoya Scientific Research in University personnel devise one kind can be in blood
The robot to move about in pipe carries out ultra-magnetic telescopic hyperbolic piece using ultra-magnetic telescopic hyperbolic piece as the tail fin of robot
The transformation of magnetic field energy can control robot and move about in a liquid, and this travel robot does not have cable, belongs to nothing
Cable controls.But this is a kind of robot architecture having a single function, and there are no perfect steering, and practical value is not high, still
It needs to carry out exploitation design to the control system including turning to and adjusting.
【Invention content】
The purpose of the present invention is exactly to solve the existing untethered travel robot using ultra-magnetic telescopic hyperbolic piece as tail fin
The low problem of commutation control performance proposes a kind of steering control system of miniature untethered travel robot, can make travelling machine
The steering of people is flexibly controlled, and the whole control performance of robot is stablized, and has practicability.
To achieve the above object, the present invention proposes a kind of steering control system of miniature untethered travel robot, including
Positioned at robot fuselage both sides and the piezoelectric ceramics of the lateral fin hinged with fuselage, driving lateral fin stacks, is on lateral fin miniature
Pressure sensor, the micro photo electric encoder positioned at lateral fin Yu fuselage hinged place, the singlechip controller positioned at fuselage interior and
Internal radio frequency transceiver is also independently from external radio frequency transceiver, microcontroller main controller and the course writer of external fuselage；
The singlechip controller, internal radio frequency transceiver, driving power, piezoelectric ceramics stack conducting wire successively and connect, the microcontroller
Controller is also connect with micro pressure sensor, photoelectric encoder conducting wire respectively, the external radio frequency transceiver, microcontroller master control
Device is connected with course writer successively conducting wire；The external radio frequency transceiver and the internal radio frequency transceiver pass through wireless signal
Connection.
Preferably, the pressure sensor can be foil gauge, the strain gauge adhesion passes through on the surface of the lateral fin
Lateral fin is detected by the impact bending degree of liquid, the relative velocity between liquid and robot can be calculated.
When microrobot is moved about in some specific pipelines (such as human vas), complicated pipeline structure can make
The guiding operating difficulties of robot, but these pipelines have metastable planform, it is possible to entering for the first time
Pipeline in robot movement locus into line trace, facilitate subsequent operation；The visibilities such as blood are lower in human body
Liquid, it is not high to robot progress track record feasibility by photographic device, it is to solve this problem, of the present invention
Technical solution is that the track record of robot is carried out by the course writer being connected with microcontroller main controller, particular by list
Piece machine main controller collects lateral fin pose signal, that is, photoelectric encoder signal of fuselage both sides and fuselage speed of related movement signal is
Micro pressure sensor signal imported into course writer and is calculated, and can learn movement rail of the robot in pipeline
Mark.
Beneficial effects of the present invention：By the way that lateral fin is arranged in the fuselage both sides of mini travel robot, setting passes the present invention
Sensor carries out signal acquisition and conversion, and carries out signal transmission by being located at the RF transceiver inside and outside fuselage, makes fuselage
Steering flexibly controlled, recorded by the track to robot, turning for the follow-up identical pipeline of secondary traveling can be made
More flexible simplicity is operated to control.
The feature and advantage of the present invention will be described in detail by embodiment combination attached drawing.
【Description of the drawings】
Fig. 1 is the structure diagram of the steering control system of the miniature untethered travel robot of the present invention；
Fig. 2 is the schematic diagram of the miniature untethered travel robot knuckle section structure involved in the present invention.
In figure：1- piezoelectric ceramics stacking, 2- photoelectric encoders, 3- lateral fins, 4- pressure sensors.
【Specific implementation mode】
Refering to fig. 1 and Fig. 2, the steering control system of the miniature untethered travel robot of the present invention, including to be located at machine man-machine
5 both sides of body and the lateral fin 3 hinged with fuselage 5, the piezoelectric ceramics stacking 1 for driving lateral fin 3, the micro pressure biography on lateral fin 3
Sensor 4, the micro photo electric encoder 2 positioned at lateral fin 3 with 5 hinged place of fuselage, the singlechip controller inside fuselage 5 and interior
Portion's RF transceiver, external radio frequency transceiver, microcontroller main controller and the course writer being also independently from outside fuselage 5；
The singlechip controller, internal radio frequency transceiver, driving power, piezoelectric ceramics stack 1 conducting wire connection successively, the microcontroller
Controller is also connect with micro pressure sensor 4,2 conducting wire of photoelectric encoder respectively, the external radio frequency transceiver, monolithic owner
Control device is connected with course writer successively conducting wire；The external radio frequency transceiver and the internal radio frequency transceiver pass through wireless communication
Number connection.
The pressure sensor 4 can be foil gauge, and the strain gauge adhesion is on the surface of the lateral fin 3, by lateral fin 3
It is detected by the impact bending degree of liquid, the relative velocity between liquid and robot can be calculated.
When microrobot is moved about in some specific pipelines (such as human vas), complicated pipeline structure can make
The guiding operating difficulties of robot, but these pipelines have metastable planform, it is possible to entering for the first time
Pipeline in robot movement locus into line trace, facilitate subsequent operation；The visibilities such as blood are lower in human body
Liquid, it is not high to robot progress track record feasibility by photographic device, it is to solve this problem, of the present invention
Technical solution is that the track record of robot is carried out by the course writer being connected with microcontroller main controller, particular by list
Piece machine main controller collects 3 pose signal of lateral fin, that is, 2 signal of photoelectric encoder and 5 speed of related movement of fuselage letter of 5 both sides of fuselage
Number i.e. 4 signal of micro pressure sensor, imported into course writer and calculated, can learn fortune of the robot in pipeline
Dynamic rail mark.
The course of work of the present invention：
The steering control system of the miniature untethered travel robot of the present invention during the work time, internal radio frequency transceiver and outer
Wireless signal connection between portion's RF transceiver is that external control section point and robot interior control section uniquely connect canal
Road；Drive signal is transmitted to driving power by microcontroller main controller by external radio frequency transceiver and internal radio frequency transceiver, is driven
The piezoelectric ceramics stacking 1 that dynamic power supply controls corresponding side is stretched, and is rotated adjustment pose so as to adjust lateral fin 3, is passed through change
Lateral fin 3 stretches out the area of fuselage 5 to change stress, to which divertical motion occur；The rotational angle of lateral fin 3 passes through miniature photoelectricity
Encoder 2 records and is transported to singlechip controller, and similarly, the deformation size that lateral fin 3 is generated by liquid resistance passes through miniature
Pressure sensor is transmitted to singlechip controller, and singlechip controller penetrates above-mentioned signal by internal radio frequency transceiver, outside
Frequency transceiver is transmitted to microcontroller main controller, and the pose angle of the gait of march and lateral fin 3 of fuselage 5 is calculated by course writer
Degree can obtain the movement locus of robot, convenient subsequently to carry out steering regulation and control to robot.
The present invention, by the way that lateral fin is arranged in the fuselage both sides of mini travel robot, setting sensor carries out signal acquisition
And conversion, and signal transmission is carried out by being located at the RF transceiver inside and outside fuselage, so that the steering of fuselage is flexibly controlled
System, is recorded by the track to robot, and the course changing control operation of the identical pipeline of follow-up secondary traveling can be made cleverer
It is living easy.
Above-described embodiment is the description of the invention, is not limitation of the invention, it is any to simple transformation of the present invention after
Scheme all belong to the scope of protection of the present invention.
Claims (1)
1. a kind of steering control system of miniature untethered travel robot, it is characterised in that：Including being located at robot fuselage (5) two
The miniature pressure that the piezoelectric ceramics of side and the lateral fin (3) hinged with fuselage (5), driving lateral fin (3) stacks (1), is located on lateral fin (3)
Force snesor (4), the micro photo electric encoder (2) for being located at lateral fin (3) and fuselage (5) hinged place are located at the internal list of fuselage (5)
Piece machine controller and internal radio frequency transceiver are also independently from the external external radio frequency transceiver of fuselage (5), microcontroller master control
Device and course writer；The singlechip controller, internal radio frequency transceiver, driving power, piezoelectric ceramics stack (1) and lead successively
Line connects, and the singlechip controller is also connect with micro pressure sensor (4), photoelectric encoder (2) conducting wire respectively, described outer
Portion's RF transceiver, microcontroller main controller are connected with course writer successively conducting wire；The external radio frequency transceiver and described interior
Portion's RF transceiver is connected by wireless signal, and the pressure sensor (4) can be foil gauge, and the strain gauge adhesion is described
The surface of lateral fin (3) is detected lateral fin (3) by the impact bending degree of liquid；The steering control system of robot is in work
During work, the wireless signal connection between internal radio frequency transceiver and external radio frequency transceiver is external control section point and machine
People's inner loop uniquely connects channel；Microcontroller main controller will by external radio frequency transceiver and internal radio frequency transceiver
Drive signal is transmitted to driving power, and the piezoelectric ceramics stacking that driving power controls corresponding side is stretched, so as to adjust side
Fin (3) rotation adjustment pose, changes stress, to which divertical motion occur by changing the area of lateral fin (3) stretching fuselage；Side
The rotational angle of fin (3) is recorded by miniature photoelectric encoder (2) and is transported to singlechip controller, similarly, lateral fin (3)
Singlechip controller is transmitted to by micro pressure sensor by the deformation size that liquid resistance generates, singlechip controller will be upper
It states signal and microcontroller main controller is transmitted to by internal radio frequency transceiver, external radio frequency transceiver, calculated by course writer
The pose angle of the gait of march and lateral fin (3) of fuselage, can obtain the movement locus of robot, it is convenient subsequently to robot into
Row turns to regulation and control.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810086291.9A CN108279676B (en) | 2015-06-19 | 2015-06-19 | Miniature cableless swimming robot and control method thereof |
| CN201510345830.2A CN105045261B (en) | 2015-06-19 | 2015-06-19 | The steering control system of miniature untethered travel robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510345830.2A CN105045261B (en) | 2015-06-19 | 2015-06-19 | The steering control system of miniature untethered travel robot |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810086291.9A Division CN108279676B (en) | 2015-06-19 | 2015-06-19 | Miniature cableless swimming robot and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105045261A CN105045261A (en) | 2015-11-11 |
| CN105045261B true CN105045261B (en) | 2018-07-20 |
Family
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Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510345830.2A Expired - Fee Related CN105045261B (en) | 2015-06-19 | 2015-06-19 | The steering control system of miniature untethered travel robot |
| CN201810086291.9A Active CN108279676B (en) | 2015-06-19 | 2015-06-19 | Miniature cableless swimming robot and control method thereof |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810086291.9A Active CN108279676B (en) | 2015-06-19 | 2015-06-19 | Miniature cableless swimming robot and control method thereof |
Country Status (1)
| Country | Link |
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| CN (2) | CN105045261B (en) |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2833543Y (en) * | 2005-07-22 | 2006-11-01 | 合肥工业大学 | Deep-sea pressure, flow velocity and flow direction transducer |
| CN100571606C (en) * | 2006-12-21 | 2009-12-23 | 中国科学院电工研究所 | A kind of microrobot and external guidance system thereof |
| CN101743157A (en) * | 2007-04-13 | 2010-06-16 | 泰克尼恩研究和发展基金有限公司 | vibrating robotic crawler |
| CN101279643B (en) * | 2008-05-15 | 2010-04-14 | 哈尔滨工程大学 | ICPF-driven centimeter level three-dimensional swimming bionic underwater minisize robot |
| KR100999657B1 (en) * | 2008-08-04 | 2010-12-08 | 전남대학교산학협력단 | Maintenance and movement system of microrobot for intravascular therapy |
| CN101780672A (en) * | 2009-12-22 | 2010-07-21 | 南昌大学 | Wireless drive control system of micro medical robot |
| KR101236479B1 (en) * | 2010-12-30 | 2013-02-22 | 한국생산기술연구원 | Fish Type Robot |
| KR20150002988A (en) * | 2013-06-28 | 2015-01-08 | 대우조선해양 주식회사 | Submarine robot with underwater organism shape and Method for managing the same |
| CN103823471A (en) * | 2014-03-13 | 2014-05-28 | 北京理工大学 | Vector-propelled small four-axis underwater robot control system |
-
2015
- 2015-06-19 CN CN201510345830.2A patent/CN105045261B/en not_active Expired - Fee Related
- 2015-06-19 CN CN201810086291.9A patent/CN108279676B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN108279676B (en) | 2020-05-22 |
| CN105045261A (en) | 2015-11-11 |
| CN108279676A (en) | 2018-07-13 |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20180619 Address after: 317500 No. 66, 2 District, Shang Shan village, Dashi Town, Wenling, Taizhou, Zhejiang Applicant after: Taizhou Kai Teng garden Engineering Co., Ltd. Address before: 317500 No. 275, Binhai village, Binhai Town, Wenling City, Taizhou, Zhejiang. Applicant before: Jiu Xuefeng |
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Granted publication date: 20180720 Termination date: 20200619 |
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