CN115246468B - Bionic jellyfish robot and control method thereof - Google Patents
Bionic jellyfish robot and control method thereof Download PDFInfo
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- CN115246468B CN115246468B CN202210858304.6A CN202210858304A CN115246468B CN 115246468 B CN115246468 B CN 115246468B CN 202210858304 A CN202210858304 A CN 202210858304A CN 115246468 B CN115246468 B CN 115246468B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/08—Propulsion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/38—Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
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Abstract
The invention discloses a bionic jellyfish robot and a control method thereof, wherein the bionic jellyfish robot comprises a head shell and a contact pin arranged at one end of the head shell, a main driving component for driving the contact pin to shrink and stretch through a transmission component is arranged in an inner cavity of the head shell, a steering component for controlling the steering of the bionic jellyfish robot, a control system component for controlling the main driving component and the steering component, and a power component for providing power sources for the main driving component, the steering component and the control system component, wherein the steering component comprises a first flywheel steering component for controlling the left and right steering of the bionic jellyfish robot, and a second flywheel steering component for controlling the front and rear steering of the bionic jellyfish robot. The bionic jellyfish robot moves by controlling the extension and contraction of the contact pins, and realizes accurate steering and obstacle avoidance movement through the flywheel steering assembly. The bionic jellyfish robot is simple in structure and can realize accurate control of underwater steering.
Description
Technical Field
The invention relates to the technical field of underwater bionic robots, in particular to a bionic jellyfish robot and a control method thereof.
Background
Since ancient times, nature has been the source of various technical ideas, engineering principles and important inventions for humans. Bionics is a comprehensive edge science appearing in the 60 s of the 20 th century, and aims of improving or innovating the original technology in the traditional industry are achieved through observation, simulation, manufacturing of biological appearance, movement structure, control mode and the like. From the angles of bionics and kinematics, jellyfish has excellent body structure and operation gesture, and can realize higher energy utilization efficiency, so that a good imitation object is provided for the underwater detection robot. At present, researchers at home and abroad have studied the bionic jellyfish robot for many years, and certain achievements are formed. However, most of the bionic robot jellyfish is low in speed and poor in flexibility, and most of the bionic robot jellyfish cannot flexibly and autonomously adjust the swimming posture of the three-dimensional space, so that difficulties and challenges are brought to subsequent practical application.
The traditional jellyfish is controlled in steering by means of a movable balancing weight arranged in a cavity of the traditional jellyfish and changing the gravity center position, and the method has lower precision in steering control and higher hysteresis in the gravity center changing process, so that the traditional jellyfish has certain limitation.
Disclosure of Invention
The invention aims to overcome the defects of inaccurate and inconvenient underwater steering control of the existing bionic jellyfish robot, and provides a bionic jellyfish robot and a control method thereof, which can realize the accurate control of the underwater steering of the bionic jellyfish robot.
In order to solve the technical problems, the invention adopts the following technical scheme:
the bionic jellyfish robot comprises a head shell and a contact pin arranged at one end of the head shell, wherein a main driving component for driving the contact pin to shrink and expand through a transmission component is arranged in an inner cavity of the head shell, a steering component for controlling the bionic jellyfish robot to steer, a control system component for controlling the main driving component and the steering component, and a power component for providing a power source for the main driving component, the steering component and the control system component; the steering assembly comprises a first flywheel steering assembly for controlling the left and right steering of the bionic jellyfish robot and a second flywheel steering assembly for controlling the front and back steering of the bionic jellyfish robot, and the steering assembly is different from a traditional balancing weight and can accurately control the steering amplitude of the jellyfish robot.
The working principle of the invention is as follows: the head shell is characterized in that a main driving component, a transmission component, a steering component, a control system component and a power component are arranged in an inner cavity of the head shell made of transparent materials. Under the state that the power component supplies energy, the control system component controls the main driving component to perform mechanical movement, and the mechanical kinetic energy is transferred to the contact feet of the bionic jellyfish robot through the transmission component, so that the contact feet shrink and expand, and jellyfish-like jet propulsion is realized. The steering assembly comprises two flywheel steering assemblies, wherein one of the two flywheel steering assemblies controls the left and right steering of the bionic jellyfish robot, the first flywheel steering assembly is used for controlling the front and rear steering of the bionic jellyfish robot, the second flywheel steering assembly is used for controlling the front and rear steering of the bionic jellyfish robot, the first flywheel steering assembly and the second flywheel steering assembly are both arranged on a chassis of the head shell, and the axial directions of the first flywheel steering assembly and the second flywheel steering assembly are mutually perpendicular. When steering is needed, the control system component can respectively and independently control any one or two of the steering components, so that the advancing direction of the bionic jellyfish robot deflects, and steering control is performed.
Further, the main driving assembly comprises a waterproof motor bin fixed on the chassis of the head shell, a direct-current gear motor fixed in the waterproof motor bin and with an output shaft penetrating out of the waterproof motor bin, a cylindrical cam connected with the output shaft of the direct-current gear motor, and a push rod matched with the cylindrical cam and capable of reciprocating along the axis direction of the cylindrical cam along with the rotation of the cylindrical cam, wherein a snake-shaped chute is arranged on the circumferential side face of the cylindrical cam, support rods are symmetrically arranged at one end of each push rod matched with the cylindrical cam, and guide posts matched with the snake-shaped chute are arranged on the support rods. The waterproof motor bin comprises a direct-current gear motor shell and a direct-current gear motor cover, and the waterproof treatment between the direct-current gear motor shell and the direct-current gear motor cover can ensure that the built-in direct-current gear motor normally operates when the waterproof motor bin is submerged to the designed depth to perform underwater operation; and a motor shaft of the direct-current gear motor is in static seal with the direct-current gear motor shell through an O-shaped sealing ring. Through the cooperation of the cylindrical cams, the horizontal rotation motion of the output shaft of the direct current gear motor is converted into the vertical reciprocating motion of the push rod, and the movable range of the push rod is restrained at the center hole of the bottom plate, so that the normal motion of the push rod is ensured. The push rod is connected with the transmission assembly. When the buoyancy of the bionic jellyfish robot in water is smaller, foam blocks can be arranged on the outer side of the waterproof motor bin. The foam blocks play a role in providing buoyancy for balancing the dead weight of the bionic jellyfish robot and realizing the weightlessness state of the robot in water.
Further, the transmission assembly comprises a connecting piece connected with the push rod, and a connecting rod with one end rotationally connected with the connecting piece; the other end of the connecting rod is rotationally connected with one end, close to the head shell, of the contact pin, so that the periodic telescopic movement of the contact pin is realized under the action of the main driving assembly. When the push rod reciprocates through the rotation of the cylindrical cam, the connecting piece and the connecting rod connected with the push rod reciprocate in the same way, so that the contact pin is driven to open and close regularly.
Further, the number of the contact pins is at least 3, the contact pins are uniformly distributed along the circumferential direction of the chassis of the head shell, and the periphery of each contact pin is provided with a coating; the contact pin is provided with a rotary connecting point which is rotationally connected with the edge of the chassis of the head shell. And under the drive of the connecting rod, the contact pin performs mechanical movement of contraction and expansion by taking the rotating connection point as a fulcrum. The contact pins are uniformly distributed along the circumferential direction of the head shell, silica gel films which imitate the structural design of umbrellas are arranged around the contact pins, and the width of each silica gel film is slightly longer than the length from the tail end of each contact pin to the rotary connection position of each contact pin and each connecting rod. When the contact pins move to the maximum extension state, the free end edge of one contact pin is adhered by the silica gel coating, the silica gel coating is tensioned to sequentially adhere and connect the rest contact pins, the connection of the coating to all contact pins is realized, an annular coating structure is formed, and then the redundant silica gel film is tensioned and unfolded as far as possible and adhered on the bottom plate, so that the firmness of the coated silica gel film is enhanced, and an approximately airtight cavity is manufactured. When the jellyfish robot performs periodic reciprocating telescopic motion, the water contact area is increased, and the source power is increased. Preferably, the invention selects the coating film made of the silica gel material to replace the latex film, and fully utilizes the advantages of stable chemical property, higher mechanical strength and the like of the silica gel material.
Further, the first flywheel steering assembly comprises a first flywheel cavity fixed on the chassis of the head shell, a first direct current motor fixed on the baffle inside the first flywheel cavity, a first flywheel connected with the output shaft of the first direct current motor through a first elastic cylindrical pin, a first magnet connected with the first flywheel part protruding from the first elastic cylindrical pin, and a first magnetic encoder arranged at the center point of the wall surface of the first flywheel cavity, which is right opposite to the first magnet; the second flywheel steering assembly comprises a second flywheel cavity fixed on the chassis of the head shell, a second direct current motor fixed on a baffle plate at the inner side of the second flywheel cavity, a second flywheel connected with an output shaft of the second direct current motor through a second elastic cylindrical pin, a second magnet protruding out of the second elastic cylindrical pin and connected with the second flywheel part, and a second magnetic encoder arranged on the wall surface of the second flywheel cavity and right opposite to the center point of the second magnet. The joint of the first flywheel cavity and the first flywheel cavity cover is subjected to waterproof treatment by using an electric adhesive tape and sealant, and the joint of the second flywheel cavity and the second flywheel cavity cover is subjected to waterproof treatment by using an electric adhesive tape and sealant; the waterproof treatment between the flywheel cavity and the flywheel cavity cover can ensure that the built-in steering driving assembly normally operates when the invention is submerged to the designed depth to perform underwater operation. According to the law of conservation of angular momentum, the robot body can generate reverse momentum moment when the first direct current motor or the second direct current motor gives acceleration in one direction. The precise pose adjustment and steering control are realized by collecting data such as the deflection angle, the motor rotation speed and the like of the robot and carrying out data fitting and modeling on the data. Compared with the mode of arranging a weight in the robot and adjusting the gravity center by moving the weight to change the movement direction, the invention can quickly and accurately adjust the movement direction and the movement posture by adopting the flywheel steering mode, thereby improving the efficiency of the robot during underwater operation.
Further, the control system assembly includes a printed circuit board cavity on the chassis secured to the head housing and a printed circuit board disposed within the printed circuit board cavity. The printed circuit board cavity comprises a printed circuit board shell and a printed circuit board cover, the joint of the printed circuit board shell and the printed circuit cover plate is subjected to waterproof treatment by using an electric adhesive tape and sealant, and the waterproof treatment between the printed circuit board shell and the printed circuit cover plate can ensure that the built-in printed circuit board normally operates when the invention is submerged to a designed depth to carry out underwater operation. The printed circuit board comprises a main control chip, a power supply voltage stabilizing module, a crystal oscillator circuit and a reset circuit, wherein the crystal oscillator circuit and the reset circuit are connected with a double-bridge motor driving module through an IO port, and PWM is generated to drive the direct-current speed reducing motor, the first direct-current motor and the second direct-current motor. The main control chip is respectively connected with the wireless communication module, the gyroscope, the accelerometer module and the flash memory through SPI bus interfaces; the magnetic encoder module is connected through an ICC bus interface; and the camera module is connected through an SCCB bus interface.
Further, the power assembly comprises a power supply bin fixed on the chassis of the head shell and a battery arranged in the power supply bin. The power supply bin comprises a battery box and a battery box cover, and the joint of the battery box and the battery box cover is subjected to waterproof treatment by using an electric adhesive tape and sealant. The battery case cover, the printed circuit board shell, the direct-current gear motor cover, the first flywheel cavity and the electrified thin wire opening between the second flywheel cavities are all waterproof by adopting sealant. The waterproof treatment can ensure that the built-in battery normally supplies power to other parts of the invention when the invention is submerged to the designed depth to perform underwater operation.
The control method suitable for the bionic jellyfish robot comprises the following steps:
s1, a control system component controls a direct current gear motor to start, drives a cylindrical cam to rotate, a push rod converts the rotation motion of the cylindrical cam into the self reciprocating motion, drives a connecting piece and a connecting rod to reciprocate, and then drives contact feet to open and close so as to realize the swimming of the bionic jellyfish robot in a certain direction;
s2, when the speed of the bionic jellyfish robot needs to be adjusted, the control system component adjusts the rotating speed of the direct current gear motor, so that the opening and closing frequency of the contact pin is changed, and the swimming speed of the bionic jellyfish robot is changed;
s3, when the bionic jellyfish robot needs to turn, the control system component controls the first direct current motor and the second direct current motor to start, and drives the first flywheel and the second flywheel to rotate respectively to generate angular momentum around the axis of the flywheel, and at the moment, the bionic jellyfish robot must rotate in the direction opposite to the spinning direction of the flywheel so as to realize conservation of the angular momentum, thereby realizing the turning control of the bionic jellyfish robot;
s4, when the bionic jellyfish robot moves in water, the control system component controls a camera module arranged on the chassis to start, monitors the environment of the front part of the bionic jellyfish robot in real time, and transmits the acquired image information to the printed circuit board for processing; when the camera module detects that the front part is provided with an obstacle and the bionic jellyfish robot needs to avoid the obstacle, the control system component controls the first direct current motor and the second direct current motor to start and respectively drives the first flywheel and the second flywheel to rotate, so that the bionic jellyfish robot realizes rotation to avoid the obstacle.
Further, in the step S3, for the steering control of the bionic jellyfish robot, a dual cascade PID motion control algorithm is used, specifically:
s31, when the bionic jellyfish robot moves, a certain specific expected position is used as input, a deviation position is formed with the actual position measured by the gyroscope and the accelerometer module arranged on the printed circuit board, and the deviation position is decomposed into a left deviation position, a right deviation position and a front deviation position and a rear deviation position;
s32, calculating the left-right deviation position and the front-back deviation position through a first PID algorithm to obtain a position loop output value, modeling the position loop output value and a speed loop to obtain a left-right expected speed and a front-back expected speed, wherein the PID algorithm has the following expression:
wherein u (k) represents the calculation result of the PID algorithm, namely the control quantity; k (K) p An adjustment coefficient representing a proportional term for adjusting the performance of the PID; k (K) i An adjustment coefficient representing an integral term for adjusting the performance of the PID; k (K) d An adjustment coefficient representing the differential term for adjusting the performance of the PID; e (k) represents an error, i.e., a target value-a current state value of the control object; [ e (k) -e (k-1)]Representing the current error-last error;
s33, calculating the left and right expected speeds and the actual rotation speed of the first flywheel measured by the first magnetic encoder by a second PID algorithm to obtain left and right deviation rotation speeds, and calculating the front and rear expected speeds and the actual rotation speed of the second flywheel measured by the second magnetic encoder by a second PID algorithm to obtain front and rear deviation rotation speeds;
s34, the calculated left-right deviation rotating speed and the calculated front-back deviation rotating speed are returned to the control system component, and the control system component respectively adjusts the rotating speeds of the first direct current motor and the second direct current motor, so that the rotating speeds of the first flywheel and the second flywheel are controlled, and the precise steering control of the bionic jellyfish robot is realized.
Further, in the step S4, the printed circuit board performs preprocessing on the acquired image, enhancing the detectability of the related information and simplifying the data, so as to improve the reliability of feature extraction and recognition, specifically:
s41, carrying out mean value filtering on the image shot by the camera module, calculating pixel points around each pixel point, including an average pixel value of the pixel point, wherein the size of a rectangular window is (2n+1) × (2n+1), and for the window of (2n+1) × (2n+1), the average pixel value of a central point (x, y) can be calculated according to the following formula:
where, when the number of rows or columns of the window is 3, n=1, and so on;
s42, carrying out binarization processing on the image subjected to mean value filtering processing, namely adjusting the gray value of points on the image to 0 or 255, namely displaying the whole image with obvious black-white effect, wherein the processed image data volume is greatly reduced, and the whole and local characteristics of the image can be reflected;
s43, performing edge detection on the image, specifically using a canny operator model, wherein the canny operator model comprises the steps of firstly producing a filter operator according to a Gaussian formula, and then performing convolution operation on gray values of a pixel point to be processed and a neighborhood pixel point and the filter operator to realize weighted average operation so as to remove high-frequency noise in the image, wherein the Gaussian formula is as follows:
then calculating a gradient image and an angle image, wherein the gradient G and the angle theta of a certain pixel point in the image can be expressed by the following formulas:
the obtained gradient image has the problems of uneven edge width, blurring and misrecognition, so that non-maximum points of the gradient image need to be suppressed to propose non-edge pixels. The method comprises the steps of searching for points with local maximum values in a gradient image to serve as edge points by using a non-maximum value inhibition method, setting gray values of points corresponding to the non-maximum values to zero to form thin and accurate single-pixel edges, and detecting and connecting the edges through a double-threshold algorithm until the contour is closed;
s44, extracting features through Hough transformation, and mapping curves or straight lines with the same shape in one coordinate space to a point in the other coordinate space to form a peak value, so that the problem of detecting any shape is converted into a statistical peak value problem;
s45, using a third-order Bezier curve to fit an obstacle avoidance path of the bionic jellyfish robot, firstly providing four control points P0, P1, P2 and P3, connecting the four control points in sequence to form three line segments P0P1, P1P2 and P2P3, then using a parameter t, wherein the value of the parameter t ranges from 0 to 1, the value of the parameter t is equal to the ratio of the length of a certain point on the line segment from a starting point to the total length of the line segment, and performing recursive reduction on the line segments P0P1, P1P2 and P2P3 to finally obtain a control point P, wherein the path of the control point P moving in space is a Bezier curve from the control point P0 to the control point P3, and the Bezier curve has the following expression:
B 2 (t)＝(1-t) 2 p 0 +2t(1-t)p 1 +t 2 p 2 ，t∈[0，1]
the Bezier curve is an obstacle avoidance path of the bionic jellyfish robot;
and S46, finally, calculating the average value of all line differences of the image, taking the line of the image as a datum line, making a difference between the fitted path curve and each column of the datum line of the image, giving different weights to each column, and calculating the average value of the differences of the coordinates of the fitting Qu Xianlie, wherein the specific formula is as follows:
where e represents the average value of all column differences, s represents the total column number, c represents the column coordinates of each row of edge points, and w represents the image width.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention sets the flywheel steering components in two different directions so as to realize three-dimensional movement of the jellyfish robot, can quickly and accurately and quickly adjust the movement direction and the movement gesture, and improves the efficiency of the robot during underwater operation;
2. the invention simplifies the transmission structure, uses the cooperation motion of the cylindrical cam and the push rod to convert the horizontal rotation motion into the vertical up-and-down motion, and improves the transmission efficiency and the reliability of the device;
3. according to the invention, the printed circuit board, the battery and the driving device are arranged in the robot shell, and the cable is not drawn, so that electromechanical integration is realized, and the autonomy, reliability and safety of the robot are improved;
4. the control method of the bionic jellyfish robot designed by the invention adopts an image recognition technology and a modeling technology, and the steering is realized in the area of the existing simple change of the gravity center position of the robot.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view showing the internal structure of the head housing cavity of the present invention;
FIG. 3 is an exploded view of the main drive assembly, energy supply assembly, and control system assembly of the present invention;
FIG. 4 is an exploded view of the steering drive assembly configuration of the present invention;
fig. 5 is a schematic structural view of the direct current gear motor, the cylindrical cam and the push rod of the present invention;
FIG. 6 is a schematic view of the contact pin, chassis and transmission assembly of the present invention;
FIG. 7 is a schematic diagram of a control system framework of the present invention;
FIG. 8 is a schematic diagram of a program control flow chart according to the present invention;
FIG. 9 is a block diagram of a dual cascade PID control for attitude adjustment and steering of the present invention.
In the accompanying drawings: 1-a head housing; 2-chassis; 3-a direct current gear motor shell; 4-direct current gear motor; a 5-O-shaped sealing ring; 6-foam blocks; 7-a direct current gear motor cover; 8-a first flywheel cavity; 9-a first direct current motor; 10-a first flywheel; 11 a first elastic cylindrical pin; 12-a first flywheel cavity cover; 13-a second flywheel cavity; 14-a second direct current motor; 15-a second flywheel; 16-a second elastic cylindrical pin; 17-a second flywheel cavity cover; 18-a battery box; 19-battery case lid; 20-cell; 21-a printed circuit board housing; 22-a printed circuit board cover; 23-a printed circuit board; 24-cylindrical cam; 25-pushing rod; 26-connecting piece; 27-connecting rod; 28-contact pins; 29-a first magnetic encoder; 30-a first magnet; 31-a second magnetic encoder; 32-a second magnet.
Detailed Description
The invention is further described below in connection with the following detailed description. Wherein the drawings are for illustrative purposes only and are not to be construed as limiting the present patent; for the purpose of better illustrating the embodiments, certain elements of the drawings may be omitted, enlarged or reduced and do not represent the actual product dimensions; it will be appreciated by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numbers in the drawings of embodiments of the invention correspond to the same or similar components; in the description of the present invention, it should be understood that, if there is an azimuth or positional relationship indicated by terms such as "front", "rear", "left", "right", etc., based on the azimuth or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but it is not indicated or implied that the apparatus or element referred to must have a specific azimuth, be constructed and operated in a specific azimuth, and thus terms describing the positional relationship in the drawings are merely illustrative and should not be construed as limitations of the present patent, and specific meanings of the terms described above may be understood by those skilled in the art according to specific circumstances. Furthermore, descriptions such as those referred to as "first," "second," and the like, are provided for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying an order of magnitude of the indicated technical features in the present disclosure. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature.
Embodiment one:
as shown in fig. 1, the present embodiment provides a bionic jellyfish robot, including a head housing 1 and a contact pin 28 disposed at one end of the head housing 1, a main driving assembly for driving the contact pin 28 to shrink and expand through a transmission assembly is disposed in an inner cavity of the head housing 1, a steering assembly for controlling the bionic jellyfish robot to steer, a control system assembly for controlling the main driving assembly and the steering assembly, and a power assembly for providing a power source for the main driving assembly, the steering assembly and the control system assembly, and the bionic jellyfish robot is characterized in that the steering assembly includes a first flywheel steering assembly for controlling the left and right steering of the bionic jellyfish robot, and a second flywheel steering assembly for controlling the front and rear steering of the bionic jellyfish robot.
The head shell 1 is made of transparent materials, a camera component arranged in the inner cavity of the head shell 1 is convenient to collect environmental images, and a main driving component, a transmission component, a steering component, a control system component and a power component are arranged in the inner cavity of the head shell 1. Under the state that the power component supplies energy, the control system component controls the main driving component to perform mechanical movement, and the mechanical kinetic energy is transferred to the contact feet 28 of the bionic jellyfish robot through the transmission component, so that the contact feet 28 are contracted and expanded, and jellyfish-like propulsion is realized.
The steering assembly arranged in the embodiment comprises two flywheel steering assemblies, wherein one of the two flywheel steering assemblies controls the bionic jellyfish robot to steer left and right, the steering assembly is called a first flywheel steering assembly, the other one of the two flywheel steering assemblies controls the bionic jellyfish robot to steer back and forth, the steering assembly is called a second flywheel steering assembly, the first flywheel steering assembly and the second flywheel steering assembly are both arranged on the chassis 2 of the head shell 1, and the axial directions of the first flywheel steering assembly and the second flywheel steering assembly are mutually perpendicular. When steering is needed, the control system component can respectively and independently control any one or two of the steering components, so that the advancing direction of the bionic jellyfish robot deflects, steering control is performed, and the precise adjustment of the motion gesture and the motion direction is realized in water. The specific control manner of this embodiment is as follows:
s1, a control system component controls a main driving component to move, and the transmission component drives the contact pins 28 to open and close so as to realize the swimming of the bionic jellyfish robot in a certain direction;
s2, when the speed of the bionic jellyfish robot needs to be regulated, the control system component regulates the rotating speed of the direct current speed reduction motor 4 in the main driving component, so that the opening and closing frequency of the contact pin 28 is changed, and the swimming speed of the bionic jellyfish robot is changed;
s3, when the bionic jellyfish robot needs to turn, the control system component controls the first flywheel turning component and the second flywheel turning component to start, angular momentum around the flywheel axis is generated, and at the moment, the bionic jellyfish robot must rotate to realize conservation of the angular momentum, so that the turning control of the bionic jellyfish robot is realized;
s4, when the bionic jellyfish robot moves in water, the control system component controls the camera module to start, monitors the environment of the front part of the bionic jellyfish robot in real time, and transmits the acquired image information to the control system component for processing; when the camera module detects that the front part is provided with an obstacle and the bionic jellyfish robot needs to avoid the obstacle, the control system component controls the first flywheel steering component and the second flywheel steering component to start, so that the bionic jellyfish robot can rotate to avoid the obstacle.
Embodiment two:
as shown in fig. 1 or fig. 2 or fig. 4 or fig. 9, the present embodiment further defines the structure of the first flywheel steering assembly and the second flywheel steering assembly on the basis of the first embodiment. The first flywheel steering assembly comprises a first flywheel cavity fixed on the chassis 2 of the head housing 1, the first flywheel cavity comprises a first flywheel cavity 8 and a first flywheel cavity cover 12, and the joint of the first flywheel cavity 8 and the first flywheel cavity cover 12 is subjected to waterproof treatment by using an electric adhesive tape and sealant. The inner baffle of the first flywheel cavity 8 is provided with a first direct current motor 9, one end of an output shaft of the first direct current motor 9 is connected with a first flywheel 10 through a first elastic cylindrical pin 11, a part of the first elastic cylindrical pin 11 protruding out of the first flywheel 10 is connected with a first magnet 30, and a first magnetic encoder 29 is arranged on the wall surface of the first flywheel cavity, which is opposite to the center point of the first magnet 30; the second flywheel steering assembly of the embodiment comprises a second flywheel cavity fixed on the chassis 2 of the head housing 1, the second flywheel cavity comprises a second flywheel cavity 13 and a second flywheel cavity cover 17, and the joint of the second flywheel cavity 13 and the second flywheel cavity cover 17 is subjected to waterproof treatment by using an electric adhesive tape and a sealant. The baffle at the inner side of the second flywheel cavity 13 is provided with a second direct current motor 14, one end of an output shaft of the second direct current motor 14 is connected with a second flywheel 15 through a second elastic cylindrical pin 16, a part of the second elastic cylindrical pin 16 protruding out of the second flywheel 15 is connected with a second magnet 32, and a second magnetic encoder 31 is arranged on the wall surface of the second flywheel cavity, which is opposite to the center point of the second magnet 32. According to the law of conservation of angular momentum, the robot body can generate reverse momentum moment when the first direct current motor or the second direct current motor gives acceleration in one direction. The precise pose adjustment and steering control are realized by collecting data such as the deflection angle, the motor rotation speed and the like of the robot and carrying out data fitting and modeling on the data.
When the bionic jellyfish robot moves about, a certain specific expected position is taken as input, a deviation position is formed with the actual position measured by the gyroscope and the accelerometer module arranged on the printed circuit board 23, the deviation position is decomposed into a left deviation position, a right deviation position and a front deviation position and a back deviation position, the left deviation position, the right deviation position and the front deviation position are respectively calculated through a first PID algorithm to obtain a position ring output value, and then the position ring output value is modeled with a speed ring to respectively obtain a left expected speed, a right expected speed and a front expected speed. Meanwhile, the first and second magnetic encoders 29 and 31 measure the actual rotational speeds of the first and second flywheels 10 and 15, respectively. The left and right expected speeds and the actual rotational speed of the first flywheel 10 are calculated by a second PID algorithm, the front and rear expected speeds and the actual rotational speed of the second flywheel 15 are calculated by a second PID algorithm, left and right offset rotational speeds and front and rear offset rotational speeds are obtained respectively, and the values are returned to the control system components. The control system component respectively adjusts the rotating speeds of the first direct current motor 9 and the second direct current motor 14 according to the returned data, and further controls the rotating speeds of the first flywheel 10 and the second flywheel 15 so as to realize accurate posture adjustment and steering control of the bionic jellyfish robot.
Embodiment III:
as shown in fig. 7 or 8, the control system assembly of the present embodiment includes, on the basis of the first or second embodiment, a printed circuit board housing 21 fixed to the chassis 2 of the head housing 1, a printed circuit board cover 22 fitted with the printed circuit board housing 21, and a printed circuit board 23 provided inside the printed circuit board housing 21. The printed circuit board 23 takes a dsPIC33FJ128MC706 as a main control chip, carries a power supply voltage stabilizing module (MIC 5335), a crystal oscillator circuit (40 MHz) and a reset circuit (power-on reset), takes PCKit3 as a programmer, and is connected with a double-bridge motor driving module (DRV 8833) through an IO port, and the double-bridge motor driving module generates PWM to drive the direct current gear motor 4, and the first direct current motor 9 and the second direct current motor 14. The main control chip is respectively connected with a wireless communication module (AT 86RF 233), a gyroscope and an accelerometer module (MPU 6000) and a flash memory (AT 45DB 641E) through SPI bus interfaces; a magnetic encoder module (AS 5048B) is connected via an IIC bus interface and a camera module (OV 7660) is connected via an SCCB bus interface, said camera module being provided on said chassis 2.
In the specific content of the above embodiment, any combination of the technical features may be performed without contradiction, and for brevity of description, all possible combinations of the technical features are not described, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
It is to be understood that the above examples of the present invention are provided by way of illustration only and not by way of limitation of the embodiments of the present invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.
Claims (5)
1. The bionic jellyfish robot comprises a head shell (1) and a contact pin (28) arranged at one end of the head shell (1), wherein a main driving component for driving the contact pin (28) to shrink and stretch through a transmission component is arranged in an inner cavity of the head shell (1), a steering component for controlling the bionic jellyfish robot to steer, a control system component for controlling the main driving component and the steering component, and a power component for providing power sources for the main driving component, the steering component and the control system component, and the bionic jellyfish robot is characterized in that the steering component comprises a first flywheel steering component for controlling the left and right steering of the bionic jellyfish robot, and a second flywheel steering component for controlling the front and back steering of the bionic jellyfish robot;
the main driving assembly comprises a detachable waterproof motor bin fixed on a chassis (2) of the head shell (1), a direct current speed reduction motor (4) fixed in the waterproof motor bin and with an output shaft penetrating out of the waterproof motor bin, a cylindrical cam (24) connected with the output shaft of the direct current speed reduction motor (4), and a push rod (25) matched with the cylindrical cam (24) and capable of reciprocating along the axis direction of the cylindrical cam along with the rotation of the cylindrical cam, wherein a snake-shaped chute is arranged on the circumferential side surface of the cylindrical cam (24), support rods are symmetrically arranged at one end of each push rod (25) matched with the cylindrical cam (24), and guide posts matched with the snake-shaped chute are arranged on each support rod; the push rod (25) is connected with the transmission assembly;
the transmission assembly comprises a connecting piece (26) connected with the push rod (25), and a connecting rod (27) with one end rotatably connected with the connecting piece (26); the other end of the connecting rod (27) is rotationally connected with one end, close to the head shell (1), of the contact pin (28); the number of the contact pins (28) is at least 3, the contact pins are uniformly distributed along the circumferential direction of the chassis (2) of the head shell (1), and a coating film is arranged on the periphery of each contact pin (28); the contact pins (28) are provided with rotary connection points which are rotationally connected with the edge of the chassis (2);
the first flywheel steering assembly comprises a first flywheel cavity, a first direct current motor (9), a first flywheel (10), a first magnet (30) and a first magnetic encoder (29), wherein the first flywheel cavity is fixed on a chassis (2) of the head shell (1), the first direct current motor (9) is fixed on a baffle plate at the inner side of the first flywheel cavity, the first flywheel (10) is connected with an output shaft of the first direct current motor (9) through a first elastic cylindrical pin (11), the first magnet (30) is connected with a part, protruding out of the first flywheel (10), of the first elastic cylindrical pin (11), and the first magnetic encoder (29) is arranged at the position, opposite to the center point of the first magnet (30), of the wall surface of the first flywheel cavity;
the second flywheel steering assembly comprises a second flywheel cavity fixed on the chassis (2) of the head shell (1), a second direct current motor (14) fixed on a baffle plate at the inner side of the second flywheel cavity, a second flywheel (15) connected with an output shaft of the second direct current motor (14) through a second elastic cylindrical pin (16), a second magnet (32) connected with a part of the second elastic cylindrical pin (16) protruding out of the second flywheel (15), and a second magnetic encoder (31) arranged at the position, opposite to the center point of the second magnet (32), of the wall surface of the second flywheel cavity; the control system assembly comprises a printed circuit board cavity fixed on the chassis (2) of the head housing (1), and a printed circuit board (23) arranged in the printed circuit board cavity.
2. The biomimetic jellyfish robot according to claim 1, characterized in that said power assembly comprises a power supply compartment fixed to the chassis (2) of the head housing (1), and a battery (20) provided in said power supply compartment.
3. A control method of a bionic jellyfish robot for controlling the bionic jellyfish robot according to claim 1, comprising the steps of:
s1, a control system component controls a direct current gear motor (4) to start, drives a cylindrical cam (24) to rotate, a push rod (25) converts the rotation motion of the cylindrical cam (24) into the self reciprocating motion, drives a connecting piece (26) and a connecting rod (27) to reciprocate, and then drives a contact pin (28) to open and close so as to realize the swimming of the bionic jellyfish robot in a certain direction;
s2, when the speed of the bionic jellyfish robot needs to be regulated, the control system component regulates the rotating speed of the direct current gear motor (4), so that the opening and closing frequency of the contact pins (28) is changed, and the swimming speed of the bionic jellyfish robot is changed;
s3, when the bionic jellyfish robot needs to turn, the control system component controls the first direct current motor (9) and the second direct current motor (14) to start, and respectively drives the first flywheel (10) and the second flywheel (15) to rotate to generate angular momentum around the axis of the flywheel, and at the moment, the bionic jellyfish robot must rotate in the direction opposite to the spinning direction of the flywheel so as to realize conservation of the angular momentum, thereby realizing the turning control of the bionic jellyfish robot;
s4, when the bionic jellyfish robot moves in water, the control system component controls a camera module arranged on the chassis (2) to start, monitors the environment of the front part of the bionic jellyfish robot in real time, and transmits acquired image information to the printed circuit board (23) for processing; when the camera module detects that the front part is provided with an obstacle and the bionic jellyfish robot needs to avoid the obstacle, the control system component controls the first direct current motor (9) and the second direct current motor (14) to start and respectively drives the first flywheel (10) and the second flywheel (15) to rotate, so that the bionic jellyfish robot realizes rotation to avoid the obstacle.
4. The control method of a bionic jellyfish robot according to claim 3, wherein in the step S3, for the steering control of the bionic jellyfish robot, a double cascade PID motion control algorithm is used, specifically:
s31, when the bionic jellyfish robot moves, a certain specific expected position is used as input, a deviation position is formed with the actual position measured by a gyroscope and an accelerometer module arranged on the printed circuit board (23), and the deviation position is decomposed into a left deviation position, a right deviation position and a front deviation position and a rear deviation position;
s32, calculating the left-right deviation position and the front-back deviation position through a first PID algorithm to obtain a position loop output value, modeling the position loop output value and a speed loop to obtain a left-right expected speed and a front-back expected speed, wherein the PID algorithm has the following expression:
wherein:
u(k): the calculation result of the PID algorithm, i.e. the control quantity,
K p : the adjustment coefficient of the proportional term is used for adjusting the performance of the PID,
K i : the adjustment coefficient of the integral term is used for adjusting the performance of the PID,
K d : the adjustment coefficient of the differential term is used for adjusting the performance of the PID,
e(k): the error, i.e. the target value-the current state value of the control object,
[e(k) - e(k-1)]: current error-last error;
s33, performing second PID algorithm calculation on the left and right expected speeds and the actual rotation speed of the first flywheel (10) measured by the first magnetic encoder (29) to obtain left and right deviation rotation speeds, and performing second PID algorithm calculation on the front and rear expected speeds and the actual rotation speed of the second flywheel (15) measured by the second magnetic encoder (31) to obtain front and rear deviation rotation speeds;
s34, the calculated left-right deviation rotating speed and the calculated front-back deviation rotating speed are returned to the control system component, and the control system component respectively adjusts the rotating speeds of the first flywheel (10) and the second flywheel (15) to realize the accurate steering control of the bionic jellyfish robot.
5. A control method of a bionic jellyfish robot according to claim 3, wherein in the step S4, the printed circuit board (23) performs preprocessing on the collected image, enhancing the detectability of the related information and simplifying the data, so as to improve the reliability of feature extraction and recognition, specifically:
s41, carrying out mean value filtering on the image shot by the camera module, calculating pixel points around each pixel point, including average pixel values of the pixel points, wherein the size of a rectangular window is (2n+1) × (2n+1), and for the window of (2n+1) × (2n+1), the average pixel values of the central points (x, y) are calculated according to the following formula:
where, when the number of rows or columns of the window is 3, n=1, and so on;
s42, carrying out binarization processing on the image subjected to mean value filtering processing, namely adjusting the gray value of points on the image to 0 or 255, namely displaying the whole image with obvious black-white effect, wherein the processed image data volume is greatly reduced, and the whole and local characteristics of the image can be reflected;
s43, performing edge detection on the image, specifically using a canny operator model, wherein the canny operator model comprises the steps of firstly producing a filter operator according to a Gaussian formula, and then performing convolution operation on gray values of a pixel point to be processed and a neighborhood pixel point and the filter operator to realize weighted average operation so as to remove high-frequency noise in the image, wherein the Gaussian formula is as follows:
then calculating gradient image and angle image, gradient G and angle of a certain pixel point in the imageθExpressed by the following formula:
the obtained gradient image has the problems of uneven edge width, blurring and misidentification, so that non-maximum value points of the gradient image are required to be suppressed to eliminate non-edge pixel points; the method comprises the steps of searching for points with local maximum values in a gradient image to serve as edge points by using a non-maximum value inhibition method, setting gray values of points corresponding to the non-maximum values to zero to form thin and accurate single-pixel edges, and detecting and connecting the edges through a double-threshold algorithm until the contour is closed;
s44, extracting features through Hough transformation, and mapping curves or straight lines with the same shape in one coordinate space to a point in the other coordinate space to form a peak value, so that the problem of detecting any shape is converted into a statistical peak value problem;
s45, using a third-order Bezier curve as a fitting path curve to fit an obstacle avoidance path of the bionic jellyfish robot, firstly providing four control points P0, P1, P2 and P3, connecting the four control points in sequence to form three line segments P0P1, P1P2 and P2P3, then using a parameter t, wherein the value of the parameter t ranges from 0 to 1, the value of the parameter t is equal to the ratio of the length of a certain point on the line segment from the starting point to the total length of the line segment, and finally obtaining a control point P by recursively reducing the steps of the line segments P0P1, P1P2 and P2P3, wherein the path of the control point P moving in space is a Bezier curve from the control point P0 to the control point P3, and the Bezier curve has the following expression:
the Bezier curve is an obstacle avoidance path of the bionic jellyfish robot;
and S46, finally, calculating an average value of all line differences of the image, taking an image center line as a datum line, making a difference between the Bezier curve and each column of the image datum line, giving different weights to each column, and calculating an average value of differences of coordinates of the fitting Qu Xianlie, wherein the specific formula is as follows:
wherein:
e: the average value of all the column differences,
s: the total number of columns is set,
c: the column coordinates of each row of edge points,
w: image width.
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