CN113386130B - Bionic snake-shaped robot control system and control method thereof - Google Patents
Bionic snake-shaped robot control system and control method thereof Download PDFInfo
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- CN113386130B CN113386130B CN202110558320.9A CN202110558320A CN113386130B CN 113386130 B CN113386130 B CN 113386130B CN 202110558320 A CN202110558320 A CN 202110558320A CN 113386130 B CN113386130 B CN 113386130B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
Abstract
The invention discloses a control system and a control method of a bionic snake-shaped robot, and belongs to the field of artificial intelligence. Including a supporting seat, the one end of supporting seat is rotated and vertical is connected with the screw rod, other end fixedly connected with guide bar, be equipped with flexible control motor of snake arm in the supporting seat, flexible control motor of snake arm is connected with the screw rod, the supporting seat top is equipped with first base, the top both sides of first base are fixed respectively and are equipped with the nut that corresponds with the screw rod and the guide cylinder that corresponds with the guide bar, first pedestal mounting is on screw rod and guide bar. The invention can realize any omnibearing degree of freedom, the curve position reaches the pointing working point, and the control precision is high.
Description
Technical Field
The invention belongs to the field of artificial intelligence, and particularly relates to a control system and a control method for a bionic snake-shaped robot.
Background
A robot is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The task is to assist or replace human work, such as production, construction, or hazardous work. What traditional robot adopted in the present stage is pure mechanical transmission, and single sharp work can't receive external interference wantonly all-round degree of freedom, and the whole action has the degree of freedom problem, can't operate in narrow and small space, bumps easily under the complex environment. The bionic snake-shaped robot develops research works of three aspects of a biological prototype, a mathematical model and a hardware model aiming at a typical body structure and a limb-free motion mode of a biological snake, systematically develops the research works of the snake-shaped robot at home, develops a novel snake-shaped robot prototype, develops various research works such as a distributed control method, a bionic control method based on CPG, an obstacle crossing method and the like on the platform, and develops a first snake-shaped robot exploration operation system by combining the requirements of national anti-terrorism and anti-riot.
Disclosure of Invention
The invention aims to provide a control system of a bionic snake-shaped robot, which can achieve any omnibearing degree of freedom, can reach a pointing working point at a bend position and has high control precision.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a control system for bionic snake-shaped robot comprises
The snake-shaped robot comprises a supporting seat, wherein one end of the supporting seat is rotatably and vertically connected with a screw, the other end of the supporting seat is fixedly connected with a guide rod, a snake arm telescopic control motor is arranged in the supporting seat and is connected with the screw, a first base is arranged above the supporting seat, nuts corresponding to the screw and guide cylinders corresponding to the guide rod are fixedly arranged on two sides of the top of the first base respectively, the first base is arranged on the screw and the guide rod, a second base is rotatably arranged on the top of the first base, a base rotating control motor for controlling the base to rotate is arranged in the first base, a hydraulic unit and a proportional valve are arranged in the second base, a supporting arm is arranged on the second base, the supporting arm is made of an arc-shaped flexible material, is internally sealed and has fluid undamped movement, a power source for telescopic movement is arranged in the supporting arm, the supporting arm is communicated with the hydraulic unit, the proportional valve is arranged at the joint of the supporting arm and the hydraulic unit, a pressure sensor is arranged on the supporting arm, an object positioning camera is arranged at the tail end of the second base;
the electronic control system comprises an image processing unit, a pressure transmitting unit, a proportional valve driver, a hydraulic control unit and a servo driving unit, wherein the image processing unit is respectively connected with an object positioning camera and a reference positioning camera, the pressure transmitting unit is connected with a pressure sensor, the proportional valve driver is connected with the proportional valve, the hydraulic control unit is connected with the hydraulic unit, and the servo control unit is respectively connected with a snake arm stretching control motor and a base control motor;
and the computer is connected with the electric control device.
Further, the object positioning camera and the reference positioning camera take a model of MT9F002.
Further, the computer hardware adopts TIPC8000-084IO.
A control method of a bionic snake-shaped robot control system comprises the following steps:
s1, inputting a target position, and acquiring an image of the target position by an object positioning camera and a reference positioning camera;
s2, establishing a three-dimensional coordinate system by respectively using an object positioning camera center, a reference positioning camera center, a base center and a target position center;
and S3, calculating three-dimensional data in an image Jacobian matrix of the dynamic image by using the quaternion, converting the three-dimensional data into control parameters of pressure, telescopic displacement and a corner through the coordinate transformation of kinematics, and driving the tail end of the snake-shaped robot to reach the target position of the object through an electric control device.
Further, the image processing method in step S1 adopts an optical interference method to measure the soft joint of the snake-like robot.
Due to the adoption of the technical scheme, the invention has the following beneficial effects:
the invention can achieve any omnibearing degree of freedom, the curve position reaches the pointing working point, and the curve position is free from any external interference and can be freely extended; the problem that the traditional robot has any degree of freedom of overall action, such as narrow-space operation, collision avoidance operation in a complex environment and the like, is solved, the problems that the existing industrial robot has single working environment, dead corners and can not meet the operation of some special types of work are successfully solved, and the control method is high in control precision and small in error.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural diagram of the bionic snake-shaped robot of the invention;
fig. 3 is a system control flow diagram of the present invention.
In the attached drawing, 1-a supporting seat, 2-a screw rod, 3-a guide rod, 4-a first base, 5-a second base, 6-a reference positioning camera, 7-a supporting arm and 8-an object positioning camera.
Detailed Description
Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings, but it should be understood that the scope of the present invention is not limited to the specific embodiments.
Throughout the specification and claims, unless explicitly stated otherwise, the term "comprise" or variations such as "comprises" or "comprising", will be understood to imply the inclusion of stated elements or components but not the exclusion of any other elements or components.
As shown in fig. 1-3, a bionic snake-shaped robot control system comprises a snake-shaped robot, an electric control device and a computer. Snake shape robot includes the supporting seat, the one end of supporting seat is rotated and the vertical screw rod that is connected with, other end fixedly connected with guide bar, be equipped with the flexible control motor of snake arm in the supporting seat, the flexible control motor of snake arm is connected with the screw rod, the supporting seat top is equipped with first base, the top both sides of first base are fixed respectively and are equipped with the nut that corresponds with the screw rod and the guide cylinder that corresponds with the guide bar, first pedestal mounting is on screw rod and guide bar, first base top is rotated and is installed the second base, be equipped with in the first base and be used for controlling the rotatory base rotation control motor of base, be equipped with hydraulic unit and proportional valve in the second base, be equipped with the support arm on the second base, the support arm is made for arc flexible material and inside has sealedly to have the undamped motion of fluid, be equipped with the power supply of scalable motion in the support arm, the support arm with hydraulic unit intercommunication, the proportional valve is equipped with the junction of support arm and hydraulic unit, be equipped with pressure sensor on the support arm, the support arm end is equipped with the object location camera, be provided with benchmark location on the second base. The electric control device is connected with the snake-shaped robot, the electric control system comprises an image processing unit, a pressure transmitting unit, a proportional valve driver, a hydraulic control unit and a servo driving unit, the image processing unit is respectively connected with an object positioning camera and a reference positioning camera, the pressure transmitting unit is connected with a pressure sensor, the proportional valve driver is connected with the proportional valve, the hydraulic control unit is connected with the hydraulic unit, and the servo control unit is respectively connected with a snake arm stretching control motor and a base control motor; the computer is connected with the electric control device. The support arm naturally stretches into spherical compound motion, adopts hydrodynamics and damping work, returns to a designated work area after the PLC action is finished, and has no mechanical intervention. The structure of the support arm is as CN104802171B bionic snake-shaped robot.
The computer hardware of the embodiment adopts:
1. embedded mainboard integrated with I/O function
The IPC8000PL-AD/CA/IO series is a high-end embedded application platform, an ultra-low power consumption Cortex-A8.2 GHz dual-core processor has the processing capacity of 2500-3000 MIPS, has the DSP floating point processing capacity and is internally provided with an enhanced graphics accelerator; an onboard 512MB DDR2 memory and a 256MB Nand Flash hard disk are selected and extended to form an 8-32 GB SD/SDHC solid state hard disk; LCD interface: the resolution can be up to 1024X768TFT LCD screen, four-wire or five-wire system touch screen interface; CAN possess 32 routes switching value I/O input/output, 10 routes 12 high-speed analog quantity input of gathering, optionally be equipped with 2 high-speed isolated CAN bus interfaces, support CAN V2.0B standard and various CAN equipment communications, isolation voltage is up to 2500VDC, be equipped with 2 high-speed RS232 serial ports and 2 optoelectronic isolation's high-speed RS232/RS485 self-adaptation serial ports (isolation voltage is up to 2500 VDC), 1 10M/100M self-adaptation network port, 3 high-speed USB2.0 ports.
The IPC8000PL-AD/CA/IO series is provided with a WinCE6.0 system with perfect strength, has strong compatibility and supports the running of application programs of all CE versions; the WinCE system can be customized according to requirements so as to meet the requirement that various application programs of a user can stably run on an IPC8000PL-AD/CA/IO series platform.
The IPC8000PL-AD/CA/IO series has the characteristics and advantages, so that the IPC8000PL-AD/CA/IO series becomes an embedded application platform in each application field, and is widely applied to various intelligent devices, mechanical devices, numerical control devices, vehicle-mounted monitoring, textile devices, intelligent power devices, charging device devices, environmental protection devices, various analyzer devices, medical devices and the like.
The product is characterized in that:
an advanced industrial embedded Cortex-A8.2 GHz dual-core processor is built in, the processing capacity is as high as 2500-3000 MIPS, the Digital Signal Processor (DSP) floating point processing capacity is achieved, and an enhanced graphics accelerator is built in; an onboard 512MB DDR2 memory, 256MB Nand Flash; selecting and matching 8-32 GB SD/SDHC Flash solid state hard disks; the LCD interface supports an industrial true color TFT LCD screen with 1024x768 resolution; four-wire or five-wire system touch screen interface.
2. Integrated I/O high-end type 8.4 inch HMI & Touch IPC
TIPC8000-084IO is a medium-small-size high-end human-computer interface specially designed for having an I/O input/output function, an ultra-low power consumption Cortex-A8.2 GHz dual-core processor is arranged in the interface, the processing capacity is as high as 2500-3000 MIPS, the interface has DSP floating point processing capacity, and an enhanced graphics accelerator is arranged in the interface; an onboard 512MB DDR2 memory and a 256MB Nand Flash hard disk are selected and extended to form an 8-32 GB SD/SDHC solid state hard disk; an industrial LED backlight 8.4-inch TFT liquid crystal screen with the resolution of 800x600 and a four-wire resistor type industrial touch screen are arranged; and (3) high-speed I/O input and output functions are equipped: 16 high-speed switching value inputs, 16 high-speed switching value outputs, 10 high-speed 12-bit high-speed acquisition analog quantity inputs and 2 high-speed PWM outputs; the CAN bus interface of 2 high-speed isolations of apolegamy 2 way is selected and is furnished with, support CAN V2.0B standard and various CAN equipment communications, isolation voltage is up to 2500VDC, be equipped with 2 high-speed RS232 serial ports and 2 optoelectronic isolation's high-speed RS232/RS485 self-adaptation serial ports (isolation voltage is up to 2500 VDC), 1 10M/100M self-adaptation network mouth, 2 high-speed USB2.0 ports, 1 high-speed USB2.0 port of taking waterproof cover on the front panel, convenience of customers connects various I/O equipment.
TIPC8000-084IO adopts American industry association industrial standard design, alloy anti-interference shell, ultra-light thin firm structure; the panel is installed in an embedded mode, and only 4 draw hooks are needed to be screwed; meanwhile, the wall-mounted installation of the VESA standard is supported, and the installation and maintenance are very simple and convenient; the panel meets the NEMA/IP65 waterproof and dustproof industry standard.
The TIPC8000-084IO is provided with a WinCE6.0 system with perfect strength, the compatibility is strong, and the running of application programs of all CE versions is supported; the WinCE system can be customized according to requirements so as to meet the requirement that various application programs of a user can stably run on the TIPC8000-084IO platform.
TIPC8000-084IO can be selectively matched with high-performance embedded configuration software InTrace-American industry core technology software.
The TIPC8000-084IO has the characteristics and advantages, so that the TIPC becomes a preferred product of human-computer interfaces in various fields, and is widely applied to various intelligent equipment, mechanical equipment, numerical control equipment, vehicle-mounted monitoring, textile equipment, intelligent power equipment, charging device equipment, environmental protection equipment, various analyzer equipment, medical equipment and the like.
The TIPC8000-084IO highly centralizes the function, can meet the functional requirement of various small-scale systems in a single-stop way.
The product is characterized in that:
the American industry Association industry level design Standard, high standard design; an advanced industrial embedded Cortex-A8.2 GHz dual-core processor is built in, the processing capacity is as high as 2500-3000 MIPS, the processor has DSP floating point processing capacity, and an enhanced graphics accelerator is built in; 8.4 inch industrial true color TFT LCD screen with 800x600 resolution, high-end LED backlight screen, and long backlight service life of 50000 hours; an onboard 512MB DDR2 memory, 256MB Nand Flash; selecting and matching 8-32 GB SD/SDHC Flash solid state hard disk; the four-wire resistance type industrial touch screen has the clicking times as high as 3500 ten thousand times; the method is provided with high-speed I/O input and output functions: 16 high-speed switching value inputs, 16 high-speed switching value outputs, 10 high-speed 12-bit analog value inputs and 2 high-speed PWM outputs, and the real-time acquisition and real-time control functions are very easy to realize. 2-path high-speed isolated CAN Bus function ports are selected, CAN V2.0B is supported, and various CAN equipment communication is supported; the complete functional interface is provided: 2 high-speed RS232 serial ports, 2 high-speed isolated RS232/RS485 selectable serial ports, 1 network port, 3 high-speed USB2.0 ports (a front panel 1 USB2.0 port with a waterproof cover), and 1 USB Device interface; the alloy anti-interference shell is designed to be an ultra-light, thin and firm structure, and is anti-impact and anti-vibration, and the front panel reaches the NEMA/IP 65-grade waterproof and dustproof standard; the system has ultra-low power consumption and ultra-strong safety, stability and reliability, and can ensure stable and uninterrupted operation in severe industrial environment; 24VDC +/-10% power input, optional wide voltage input: 9-36 VDC; the object positioning camera and the reference positioning camera were assumed to be of model MT9F002.
This camera of implementing the adoption: SENSOR model MT9F002 with parameters:
Effective pixel 4384H × 3288V (14M) 4384 × 3288:12fps 2592 × 1944 (RoI): 32fps 2048 × 1536 (BIN): 28fps 1920 × 1080 (BIN): 38fps
Resolution and frame rate 1920 × 1080 (ROI): 71fps 1024 × 768 (ROI): 102fps 800 × 600 (SUM): 64fps Arbitrary size ROI
Pixel size 1.4 μm × 1.4 μm
Progressive scan in a scanning manner
Shutter type electronic rolling shutter (ROLLINGSHUTTER)
The exposure time is 0.02-300 ms
Image data format 8bit/10bit/12bit selectable
Sensitivity 0.724V/Lux-sec (550 nm)
Spectral response 400nm-650nm (witlir-filter)
Signal to noise ratio of 35.5dB
Dynamic range 65.3dB
Definition 1600-1700 line
Image processing (ISP) product built-in
Exposure control automatic/manual/area exposure
White balance manual white balance/primary white balance/area white balance
Product firmware update support remote update
Product ID support user writing ID in product
Photograph support formats RAW, BMP, JPG, PNG
Programmable control of camera operating speed, image size, photographing mode, image brightness, exposure time, gain, stroboscopic elimination, GAMMA, contrast, RGB gain, saturation, black balance, and sharpness
Supporting system Windows XP (32 bits); win7 (32/64 bits); win8 (32/64 bit)
Supporting software interfaces TWAIN, directShow
Data interface USB3.05Gbps
Product indication LED power-on and standby normal-bright and working flashing
Power consumption less than 4W
Product power supply USB5V power supply (without external power supply circuit)
The working temperature is 0-45 DEG C
The storage temperature is-20 ℃ to 60 DEG C
Operating humidity 10% -90% RH (no condensation)
Storage humidity 10% -60% RH
Lens interface C interface
External dimension 59.7X 45X 35mm (excluding lens interface)
The weight of the product is about 125g
A control method of a bionic snake-shaped robot control system comprises the following steps:
s1, inputting a target position, and acquiring an image of the target position by an object positioning camera and a reference positioning camera;
s2, establishing a three-dimensional coordinate system by respectively using a positioning camera center, a reference positioning camera center, a base center and a target position center;
and S3, calculating three-dimensional data in an image Jacobian matrix of the dynamic image by using the quaternion, converting the three-dimensional data into control parameters of pressure, telescopic displacement and a corner through the coordinate transformation of kinematics, and driving the tail end of the snake-shaped robot to reach the target position of the object through an electric control device.
The visual feedback loop of the system firstly extracts image characteristics from an image, and then estimates the relative positions of a target and a camera by utilizing the image characteristics, a geometric model of the target and a camera model; the estimated value of the relative position of the target and the camera is compared with the expected value, and the generated position error amount is sent to a Cartesian coordinate control module. In a robot hand-eye system, the relative position of the camera and the target is indirectly obtained through a relation matrix T of the robot end coordinate and a fixed coordinate system, and T is known. If T has an error, the position estimate of the robot end will also have an error and this error cannot be observed by the system, so in some cases (e.g. when the robot grabs or tracks an object) the system may fail to operate. The snake-shaped robot control system adopts an optical interference method to measure the soft joint of the snake-shaped robot so as to achieve the purpose of reducing errors. Meanwhile, with 2 cameras, the end position of the manipulator is also detected while the target is detected, and the above error will be corrected. A closed-loop system of hand-eye end capable of observing the positions of the object and the end of the manipulator at the same time is constructed. The system drives the tail end (TCF) of the snake-shaped robot to reach the target position of the object by measuring the position of the object by the image measuring and positioning system and converting the position into control parameters such as pressure, telescopic displacement, corner and the like through the coordinate transformation of kinematics.
The above description is directed to the preferred embodiments of the present invention, but the embodiments are not intended to limit the scope of the claims of the present invention, and all equivalent changes and modifications made within the technical spirit of the present invention should fall within the scope of the claims of the present invention.
Claims (4)
1. A control system of a bionic snake-shaped robot is characterized by comprising
The snake-shaped robot comprises a supporting seat, wherein one end of the supporting seat is rotatably and vertically connected with a screw, the other end of the supporting seat is fixedly connected with a guide rod, a snake arm telescopic control motor is arranged in the supporting seat and is connected with the screw, a first base is arranged above the supporting seat, nuts corresponding to the screw and guide cylinders corresponding to the guide rod are fixedly arranged on two sides of the top of the first base respectively, the first base is arranged on the screw and the guide rod, a second base is rotatably arranged on the top of the first base, a base rotating control motor for controlling the base to rotate is arranged in the first base, a hydraulic unit and a proportional valve are arranged in the second base, a supporting arm is arranged on the second base, the supporting arm is made of an arc-shaped flexible material, is internally sealed and has fluid undamped movement, a power source for telescopic movement is arranged in the supporting arm, the supporting arm is communicated with the hydraulic unit, the proportional valve is arranged at the joint of the supporting arm and the hydraulic unit, a pressure sensor is arranged on the supporting arm, an object positioning camera is arranged at the tail end of the second base;
the electronic control system comprises an image processing unit, a pressure transmitting unit, a proportional valve driver, a hydraulic control unit and a servo driving unit, wherein the image processing unit is respectively connected with an object positioning camera and a reference positioning camera, the pressure transmitting unit is connected with a pressure sensor, the proportional valve driver is connected with a proportional valve, the hydraulic control unit is connected with the hydraulic unit, and the servo control unit is respectively connected with a snake arm stretching control motor and a base control motor;
the computer is connected with the electric control device;
the control method of the bionic snake-shaped robot control system comprises the following steps:
s1, inputting a target position, and acquiring an image of the target position by an object positioning camera and a reference positioning camera;
s2, establishing a three-dimensional coordinate system by respectively using the center of the object positioning camera, the center of the reference positioning camera, the center of the base and the center of the target position;
s3, calculating three-dimensional data in an image Jacobian matrix of the dynamic image by using a quaternion, converting the three-dimensional data into control parameters of pressure, telescopic displacement and a corner through the coordinate transformation of kinematics, and driving the tail end of the snake-shaped robot to reach the target position of the object through an electric control device;
the visual feedback loop of the system firstly extracts image characteristics from an image, and then estimates the relative positions of the target and the camera by utilizing the geometric models of the image characteristics and the target and a camera model; after the estimated value of the relative position of the target and the camera is compared with the expected value, the generated position error amount is sent to a Cartesian coordinate control module; in a robot hand-eye system, the relative position of a camera and a target is indirectly obtained through a relation matrix T of the terminal coordinate of a manipulator and a fixed coordinate system, wherein T is known; measuring the soft joint of the snake-shaped robot by an optical interference method, so as to reduce the error of T; at the same time, 2 cameras are used to detect the target and also the end position of the manipulator, and the error is corrected.
2. The control system of a biomimetic serpentine robot of claim 1, wherein the object positioning camera and the reference positioning camera are of model MT9F002.
3. A bionic snake robot control system as claimed in claim 1 wherein the computer hardware is in the form of TIPC8000-084IO.
4. The control system of a bionic snake-like robot according to claim 1, wherein the image processing method in step S1 adopts an optical interference method to measure the soft joint of the snake-like robot.
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