CN115303377B - Variable-diameter soft rolling robot and control method thereof - Google Patents
Variable-diameter soft rolling robot and control method thereof Download PDFInfo
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- CN115303377B CN115303377B CN202211146578.9A CN202211146578A CN115303377B CN 115303377 B CN115303377 B CN 115303377B CN 202211146578 A CN202211146578 A CN 202211146578A CN 115303377 B CN115303377 B CN 115303377B
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- 238000005096 rolling process Methods 0.000 title claims abstract description 475
- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000033001 locomotion Effects 0.000 claims abstract description 49
- 230000009194 climbing Effects 0.000 claims abstract description 10
- 230000005484 gravity Effects 0.000 claims description 52
- 238000011065 in-situ storage Methods 0.000 claims description 18
- 238000005381 potential energy Methods 0.000 claims description 18
- 230000009471 action Effects 0.000 claims description 13
- 238000009826 distribution Methods 0.000 claims description 10
- 230000007246 mechanism Effects 0.000 claims description 9
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 238000005265 energy consumption Methods 0.000 claims description 6
- 210000003437 trachea Anatomy 0.000 claims description 3
- 229910001285 shape-memory alloy Inorganic materials 0.000 description 46
- 230000008859 change Effects 0.000 description 3
- 230000035939 shock Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 229920002595 Dielectric elastomer Polymers 0.000 description 1
- 241000282414 Homo sapiens Species 0.000 description 1
- 239000004997 Liquid crystal elastomers (LCEs) Substances 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000009187 flying Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Abstract
The invention provides a variable-diameter soft rolling robot and a control method thereof. The invention has two states of normal and shrinkage, and realizes the switching of the two states by controlling the on-off of all SMA springs, thereby realizing the diameter-changing function of the robot. The robot can generate motion by controlling the power on and off of the SMA spring and the inflation and deflation of the air cavity. The invention can realize forward and backward rolling, steering, climbing and other movements through different control methods, and has the advantages of simple control, low cost, small mass, high flexibility and stronger adaptability to complex environments.
Description
Technical Field
The invention relates to the field of soft robots, in particular to a variable-diameter soft rolling robot and a control method thereof.
Background
The soft robot is widely paid attention to because of effective interaction with human beings and strong adaptability to unknown environments, and compared with the rigid robot, the soft robot has smaller volume, more degrees of freedom and soft body, and can change the shape and size of the soft robot by simple control, thereby improving the adaptability to the unknown environments and being applied to the works of exploration, rescue, monitoring and the like of complex environments.
The driver of the soft robot is of various types including Shape Memory Alloy (SMA), pneumatic driving, chemical energy driving, motor driving, dielectric elastomer driving, liquid crystal elastomer driving, artificial muscle driving, etc., and the suitable driving type is selected according to the use of the soft robot.
The current soft mobile robot can realize the motions of rolling, crawling, swimming, jumping, flying and the like. Compared with other motion types of soft mobile robots, the soft rolling robot has better stability, faster motion speed, higher motion efficiency and simpler structure. The existing rolling robot is mainly driven by a motor, has large volume, complex structure and high manufacturing cost, and can only roll forwards or backwards. The shape of the rolling robot is mainly a sphere or a wheel shape, the spherical rolling robot has very good motion stability and energy utilization efficiency, but the accuracy of the motion track is lower, and the control difficulty is higher; the wheel-type shape rolling robot has better stability, but the turning structure is large in size.
For soft roll robots, a soft roll robot designed at Shanghai university of transportation is disclosed, for example, in national patent application number CN 105965518A. The robot consists of a main motion ring, a friction belt, four elastic elements, an isolator, a sensor, a relay, a control system and a power supply, wherein the friction belt is sleeved on the outer side of the main motion ring, the four elastic elements are uniformly distributed on the inner side of the main motion ring, and the isolator is used at the junction of the elastic elements to prevent mutual winding; the sensor is arranged at the joint of the elastic element and the main motion ring, and transmits the obtained information to the control system; each relay is connected with an elastic element, and the control system controls the on-off of a relay circuit after analyzing the input signal, so as to control the telescopic state of the elastic element, change the gravity center of the soft annular rolling robot and realize rolling and advancing. The robot has the advantages that the cost is high, the response time is long, the ring-shaped appearance is not suitable for working on the ground with the gradient, the position in the stable state next time cannot be predicted in the rolling process, and the control difficulty is improved.
For soft rolling robots, an SMA spring actuated two-wheeled robot designed at the university of guangzhou is disclosed as national patent application number CN 109305251A. The robot comprises two wheels, a connecting rod and bearings, wherein the bearings are arranged in the wheels on two sides and are connected through the connecting rod. The wheel is internally provided with a cross structure consisting of four hollow tubes, each hollow tube is internally provided with an SMA spring, one end of each SMA spring is fixed at the center of gravity of the wheel, the other end of each SMA spring is connected with a weight module, the weight modules can slide in the hollow tubes, and an external control system is used for controlling the extension of the SMA springs so as to push the weight modules to displace in the hollow tubes, thereby changing the center of gravity of the wheel and controlling the wheel to roll. The robot is complex in manufacture, the shell is made of aluminum materials, shock resistance is poor, the SMA springs in the vertical direction can be respectively subjected to compression and stretching acting forces caused by the weight modules, the shape of the SMA springs is changed, in addition, the stability of the robot is improved due to the round wheels, the SMA springs which are required to be controlled in the next step cannot be judged during rolling, and the control difficulty is increased.
Disclosure of Invention
Aiming at the technical defects of the existing robots, the invention aims to provide the variable-diameter soft rolling robot and the control method thereof, which can realize the work in complex environments and unknown environments, and have high response speed and better movement performance.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
the utility model provides a flexible rolling robot of variable diameter, includes trachea, end cover, rolling wheel, miniature solenoid valve, air distribution mechanism, hollow dabber, control panel, and the rolling wheel includes air cavity, mounting panel, supporting spring, SMA spring, wheel hub, antifriction bearing, and air distribution mechanism includes tracheal joint, rotary joint, joint body, the trachea is connected in the air cavity side, the end cover is installed in the wheel hub outside, the rolling wheel has two, supports the both ends at hollow dabber through antifriction bearing, the air cavity links firmly with the mounting panel, supporting spring and SMA spring have a plurality ofly, and circumference evenly installs on wheel hub, and the one end and the mounting panel of every supporting spring and SMA spring are connected, and the other end is connected with wheel hub, and the supporting spring suit is on SMA spring, miniature solenoid valve circumference evenly distributes on the end cover, the joint body is installed at the end cover center, the rotary joint is installed at joint body center, tracheal joint circumference evenly installs on the outer surface of joint body circumference, the control panel is circular installs in one side wheel hub.
Preferably, the air cavity is composed of a strain layer and a limiting layer, the rigidity of the strain layer is smaller than that of the limiting layer, and the air pipe connecting port is arranged on the side face of the air cavity.
Preferably, the hub is in a positive N-shape, N is more than or equal to 6, N is an even number, and the number of the supporting springs and the SMA springs is N.
Preferably, when the horizontal plane linearly rolls, the soft rolling robot has two movement modes, the state that the air cavities of the rolling wheels are not inflated and the SMA springs are not electrified is called a normal state, and the state that the air cavities of the rolling wheels are not inflated and the SMA springs are all electrified is called a contracted state;
in a normal state, the regular hexagon soft rolling robot is used for clockwise rolling description:
step one: the soft rolling robot is placed on a horizontal plane, the air cavities of the rolling wheels at the two sides and the SMA springs do not work, and the soft rolling robot is in a normal state, at the moment, the gravity center of the soft rolling robot is positioned at the center of the hub, and the gravity G is collinear with the supporting force F;
step two: the SMA springs at the same positions of the rolling wheels at two sides are electrified and contracted, the appearance of the soft rolling robot is changed, the supporting point moves leftwards, the gravity center is shifted rightwards and downwards and is not collinear with the supporting force F any more, so that a heavy moment is generated, and the heavy moment enables the soft rolling robot to rotate clockwise;
step three: the soft rolling robot converts gravitational potential energy into kinetic energy under the action of gravitational moment, rolls forwards until the energy consumption is finished, and stops rolling;
Step four: after the soft rolling robot is changed from the rolling state to the stable state, the SMA springs at the same positions of the rolling wheels at the two sides are powered off and restored to the normal state, and at the moment, the state of the soft rolling robot is the same as that of the step one, but the whole soft rolling robot rolls forwards for a certain distance.
The steps are a period of linear rolling on a horizontal plane in a normal state of the soft rolling robot, and the continuous rolling of the robot can be realized by repeating the steps.
In the contracted state, the clockwise scrolling description is carried out by the regular hexagonal soft scrolling robot:
step one: the soft rolling robot is placed on a horizontal plane, air cavities of rolling wheels at two sides are not inflated, all SMA springs are electrified and contracted, at the moment, gravitational potential energy of the soft rolling robot is minimum, the gravity center is positioned at the center of a wheel hub, a rolling wheel supporting point is positioned at A, and gravity G is collinear with supporting force F;
step two: the air chambers at the same positions of the rolling wheels at two sides are simultaneously and rapidly inflated, the rolling wheels generate symmetrical radial expansion, the gravity center position is kept unchanged, the appearance of the soft rolling robot is changed, the supporting point is shifted leftwards and is in an unstable state, the gravity center is still positioned at the center of the wheel hub, but the height is increased compared with the gravity center position in the initial state, the gravitational potential energy is increased, and as the supporting force F and the gravity G are not in the same straight line, gravity can generate a gravity moment, and the gravity moment enables the gravity center of the soft rolling robot to be lowered and rotate clockwise;
Step three: converting gravitational potential energy into kinetic energy by the soft rolling robot under the action of gravitational moment, rolling forward until the point B contacts the ground, aligning the gravitational force G with the supporting force F, returning the gravitational potential energy to the minimum value, and stopping rolling;
step four: after the soft rolling robot is changed from the rolling state to the stable state, the air cavities at the same positions of the rolling wheels at the two sides are deflated until the rolling wheels at the two sides are restored to the contracted state, and at the moment, the state of the soft rolling robot is the same as that of the step one, but the whole body rolls forwards by the distance of the arc length AB of the outer surface of the air cavity.
The steps are a period of linear rolling on a horizontal plane in a contracted state of the soft rolling robot, and the continuous rolling of the robot can be realized by repeating the steps.
Preferably, during climbing movement, the control method is as follows, the inflation and deflation states of air cavities at the same positions in rolling wheels at two sides connected through the hollow core shaft are kept consistent, the on-off states of SMA springs at the same positions are kept consistent, and clockwise rolling explanation is carried out by the regular hexagon soft rolling robot:
step one: the soft rolling robot is placed on the inclined plane, the air cavities of the rolling wheels at the two sides are not inflated, the SMA springs are not electrified, the soft rolling robot is in a normal state, and the center of gravity is at the center of the hub;
Step two: the SMA springs at the same positions of the rolling wheels at two sides are electrified and contracted, and the air cavities at the same positions of the rolling wheels at two sides are simultaneously and rapidly inflated to generate asymmetric deformation, so that the appearance of the soft rolling robot is changed, the supporting point moves leftwards, the center of gravity is deviated towards the lower right of the hub, and a heavy moment is generated, and the soft rolling robot is rotated clockwise by the heavy moment;
step three: the soft rolling robot converts gravitational potential energy into kinetic energy under the action of gravitational moment, rolls forwards until the energy consumption is finished, and stops rolling;
step four: after the soft rolling robot is changed from the rolling state to the stable state, the SMA springs at the same positions of the rolling wheels at the two sides are powered off to restore to the normal state, the air cavities at the same positions of the rolling wheels at the two sides are deflated to restore to the normal state, and at the moment, the state of the soft rolling robot is the same as that of the step one, but the whole body rolls forwards for a certain distance.
The steps are one period of climbing movement of the soft rolling robot, and the steps are repeated, so that continuous rolling climbing of the robot can be realized.
Preferably, when the movement space is narrower, the in-situ rotation control can be adopted, and the rolling wheels at the two sides connected through the hollow core shaft are independently controlled, so that the right turning instruction of the regular hexagon soft rolling robot is realized; the control steps under the normal state are as follows:
Step one: placing the soft rolling robot on a horizontal plane, wherein rolling wheels on two sides are in a normal state;
step two: based on the control method of linear rolling on the horizontal plane in the normal state, the left rolling wheels are respectively controlled to linearly roll forwards, the right rolling wheels linearly roll backwards, the rolling speeds V1 and V2 of the rolling wheels at the two sides are the same, and then a clockwise torque M is applied to the soft rolling robot;
step three: the soft rolling robot is subjected to the action of the clockwise torque M, and the steering is performed on one side of the rolling wheel on the right side, so that the central position of the soft rolling robot is unchanged from the initial position, but the whole soft rolling robot is rotated in situ by a certain angle.
The steps are one period of in-situ rotation of the soft rolling robot in a normal state, and the steps are repeated, so that the continuous rotation of the robot can be realized.
The control steps in the contracted state are as follows:
step one: placing the soft rolling robot on a horizontal plane, wherein rolling wheels at two sides are in a contracted state;
step two: the control method is based on the horizontal plane linear rolling in the contracted state, and is characterized in that the left rolling wheels are respectively controlled to linearly roll forwards, the right rolling wheels are respectively controlled to linearly roll backwards, rolling speeds V1 and V2 of the rolling wheels at two sides are the same, and further, a clockwise torque M is applied to the soft rolling robot;
Step three: the soft rolling robot is subjected to the action of the clockwise torque M, and the steering is performed on one side of the rolling wheel on the right side, so that the gravity center position of the soft rolling robot is unchanged from the initial position, but the whole soft rolling robot is rotated in situ by a certain angle.
The steps are one period of in-situ rotation of the soft rolling robot in a contracted state, and the steps are repeated, so that the continuous rotation of the robot can be realized.
Preferably, when the working space is large enough, differential steering control is adopted, and rolling wheels on two sides connected through the hollow core shaft are controlled independently of each other, so that the right turning instruction of the regular hexagonal soft rolling robot is as follows:
the control steps under the normal state are as follows:
step one: placing the soft rolling robot on a horizontal plane, wherein rolling wheels on two sides are in a normal state;
step two: based on the control method of linear rolling on the horizontal plane in the normal state, the rolling wheels at two sides are respectively controlled to linearly roll forwards, the rolling speed of the rolling wheels is changed by controlling the current applied to the SMA springs, the rolling speed V1 is larger than V2, and the rolling wheels at two sides generate differential motion;
step three: the soft rolling robot turns to the right side by means of the speed difference of rolling wheels at two sides, and at the moment, the position of the soft rolling robot moves forwards for a certain displacement compared with the initial position, and the whole soft rolling robot rotates to the right side for a certain angle.
The steps are a period of differential steering under the normal state of the soft rolling robot, the steps are repeated, continuous steering of the robot can be achieved, and in addition, when V2 is 0, the soft rolling robot can steer around the rolling wheels on the right side at fixed points.
The control steps in the contracted state are as follows:
step one: placing the soft rolling robot on a horizontal plane, wherein rolling wheels at two sides are in a contracted state;
step two: based on the control method of linear rolling on the horizontal plane in the contracted state, the rolling wheels at two sides are respectively controlled to linearly roll forwards, and the rolling speed of the rolling wheels is changed by controlling the frequency of inflation and deflation, so that the rolling speed V1 is greater than V2, and the rolling wheels at two sides generate differential motion;
step three: the soft rolling robot turns to the right side by means of the speed difference of rolling wheels at two sides, and at the moment, the position of the soft rolling robot moves forwards for a certain displacement compared with the initial position, and the whole soft rolling robot rotates to the right side for a certain angle.
The steps are one period of differential steering under the contracted state of the soft rolling robot, the steps are repeated, continuous steering of the robot can be achieved, and in addition, when V2 is 0, the soft rolling robot can steer around the rolling wheels on the right side at fixed points.
Preferably, when the obstacle is encountered during working and the soft rolling robot cannot pass, the normal state of the soft rolling robot needs to be switched to the contracted state to perform obstacle crossing movement, and the regular hexagon soft rolling robot is used for clockwise rolling description:
step one: the soft rolling robot rolls linearly in a normal state and stops moving when encountering an obstacle;
step two: the soft rolling robot is switched from a normal state to a contracted state, the whole volume is reduced, and the height is lower than that of an obstacle;
step three: the soft rolling robot rolls linearly in a contracted state and enters the lower part of the obstacle;
step four: the soft rolling robot linearly rolls or turns in the movement obstacle area in a contracted state until passing the obstacle;
step five: the soft rolling robot is switched from the contracted state to the normal state, the volume is enlarged, and the movement speed is improved.
The steps are one period of obstacle surmounting movement of the soft rolling robot, and the steps are repeated, so that continuous obstacle surmounting of the robot can be realized.
Preferably, the mounting plate is N-sided in a contracted state, identical to the hub profile.
Preferably, the end cap provides axial securement for the control panel.
Preferably, the hollow mandrel is internally used for passing a wire.
Compared with the prior art, the invention has the following beneficial effects:
the invention relates to a variable-diameter soft rolling robot which is difficult to be blocked in complex environments such as a ground with a gradient, a pipeline, a cave and the like and has better shock resistance and recovery capability. The position of the center of gravity of the robot is changed through deformation of the rolling wheels, so that rolling is realized.
The invention can freely switch the state of the self to change the wheel diameter, when the soft rolling robot is in a normal state, the soft rolling robot can move at a higher speed, when encountering an obstacle lower than the height of the rolling robot in the running process, the SMA spring is contracted, the wheel diameter is reduced, the soft rolling robot is switched to a contracted state and passes the obstacle, and then the soft rolling robot returns to the normal state to move after passing the obstacle.
The air cavity and the supporting spring can play a role in double buffering and shock absorption when the robot moves, can play a role in protection when a heavy object is smashed on the soft rolling robot or the soft rolling robot falls down from a high place, and can be inflated when the soft rolling robot falls into water, so that the soft rolling robot floats on the water surface and is prevented from being damaged.
The outer surface of the air cavity is formed by a plurality of sections of planes and arc surfaces, the SMA spring or the air cavity is controlled to drive once every time, the soft rolling robot rolls forwards for one step, the phenomenon that the SMA spring or the air cavity which is required to be controlled in the next step cannot be accurately judged after one movement period occurs is avoided, the control difficulty is reduced, and the accuracy of the movement track is improved.
The invention is made of flexible material, has smaller mass, better adaptability to soft unstructured road surfaces (such as beach and snow), small damage to environment, large contact area with the ground and good stability.
According to the invention, two driving modes of SMA spring driving and air cavity driving are adopted, and the two driving modes are mutually matched, so that the obstacle crossing function can be realized, and the vehicle can move on a working surface with a larger gradient.
The invention can obtain the required wheel diameter ratio of the soft rolling robot in the normal state and the shrinkage state through the cooperation of the supporting spring and the SMA spring.
The soft rolling robot has the advantages of low cost, simple structure, long service life, replaceability of symmetrical rolling wheels on two sides and convenient later maintenance.
The air distribution mechanism can effectively prevent the problem of air pipe winding of the soft rolling robot in the rolling process.
The invention can perform in-situ rotation or differential rotation so as to adapt to the size of a movement space.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:
FIG. 1 is a schematic view of the whole device in a normal state;
FIG. 2 is a schematic view of the invention with the end cap removed in a normal state;
FIG. 3 is a schematic view of the present invention in a contracted state;
FIG. 4 is an assembly view of the multiple-way pipe joint, rotary joint and joint body of the present invention;
FIG. 5 is a schematic view of the rolling wheel of the present invention in a normal state;
FIG. 6 is a schematic view of the rolling wheel of the present invention in a contracted state;
FIG. 7 is a schematic view of the air cavity structure of the present invention;
FIG. 8 is a schematic diagram of the control of linear scrolling operation in a normal state according to the present invention;
FIG. 9 is a schematic view of linear scrolling control in a contracted state of the present invention;
FIG. 10 is a schematic view of the climbing control of the present invention;
FIG. 11 is a schematic illustration of in-situ rotational motion control in a normal state according to the present invention;
FIG. 12 is a schematic view of differential steering motion control in a normal state of the present invention;
FIG. 13 is a schematic illustration of in-situ rotational motion control in a contracted state of the present invention;
FIG. 14 is a schematic representation of differential steering motion control in a contracted state of the present invention;
fig. 15 is a schematic view of obstacle surmounting motion control according to the present invention.
Reference numerals illustrate:
1-air pipe, 2-end cover, 3-rolling wheel, 4-miniature electromagnetic valve, 5-air distribution mechanism, 6-hollow mandrel, 7-control board, 31-air cavity, 32-mounting board, 33-supporting spring, 34-SMA spring, 35-hub, 36-rolling bearing, 311-strain layer, 312-limiting layer, 313-air pipe connector, 51-air pipe connector, 52-rotary connector and 53-connector body.
Detailed Description
The invention will be further illustrated with reference to specific examples. Wherein the drawings are for illustrative purposes only and are shown in schematic, non-physical, and not intended to be limiting of the present patent; for the purpose of better illustrating embodiments of the invention, certain elements of the drawings may be omitted, enlarged or reduced in size and do not represent the actual product dimensions. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
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 "upper", "lower", "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.
In addition, in the description of the present invention, "a plurality" means two or more. Unless explicitly specified otherwise.
The embodiment provides the variable-diameter soft rolling robot which has the advantages of simple structure, strong adaptability, small mass and low cost, and provides a control method.
Referring to fig. 1 to 3, in an embodiment of the present invention, a soft rolling robot includes: the novel air distribution system comprises an air pipe 1, end covers 2, rolling wheels 3, miniature electromagnetic valves 4, an air distribution mechanism 5, a hollow mandrel 6 and a control plate 7, wherein the end covers 2 are arranged on hubs 35 of the rolling wheels 3, the rolling wheels 3 are arranged on two sides of the hollow mandrel 6, the miniature electromagnetic valves 4 are circumferentially and uniformly arranged on the end covers 2, the air distribution mechanism 5 is arranged at the center of the outer surface of the end covers 2, the control plate 7 is arranged in the hubs 35, and the novel air distribution system is axially fixed by means of the end covers 2.
Further, as shown in fig. 4, the valve actuating mechanism 5 includes an air pipe joint 51, a rotary joint 52 and a joint body 53, the air pipe joint 51 is circumferentially and uniformly installed on the side surface of the joint body 53, and the rotary joint 52 is installed at the center position of the end surface of the joint body 53, so that the problem that the air pipe is wound when the soft rolling robot moves is avoided.
Further, as shown in fig. 5 and 6, the rolling wheel 3 includes an air cavity 31, a mounting plate 32, a supporting spring 33, an SMA spring 34, a hub 35, and a rolling bearing 36, one side of a limiting layer 312 of the air cavity 31 is fixedly connected with the outer surface of the mounting plate 32, one end of the supporting spring 33 and one end of the SMA spring 34 are fixedly connected at the center of the inner surface of the mounting plate 32, the other end is fixedly connected at the outer side surface of the hub 35, the supporting spring 33 is sleeved on the SMA spring 34, the rolling bearing 36 is installed in the hub 35, and an installation space is reserved for the control board 7.
Further, as shown in fig. 7, the air chamber 31 includes a strain layer 311, a limiting layer 312, and an air pipe connection port 313, the strain layer 311 deforms when inflated, changing the center of gravity of the rolling wheel 3, and the limiting layer 312 limits the expansion deformation of the air chamber 31 at that side.
Further, as shown in fig. 8 and 9, when the horizontal plane rolls linearly, the soft rolling robot has two movement modes, the state that the air chambers 31 of the rolling wheels 3 are not inflated and the SMA springs 34 are not electrified is called a normal state, and the state that the air chambers 31 of the rolling wheels 3 are not inflated and the SMA springs 34 are all electrified is called a contracted state;
as shown in fig. 8, in the normal state, the working states of SMA springs 34 at the same positions in two rolling wheels 3 connected by a hollow mandrel 6 are kept consistent, and clockwise rolling description is performed by the regular hexagonal soft rolling robot:
step one: the soft rolling robot is placed on a horizontal plane, the air cavities 31 of the rolling wheels 3 at the two sides are not inflated, the SMA springs 34 are not electrified, and the soft rolling robot is in a normal state, at the moment, the gravity center of the soft rolling robot is positioned at the center of the hub 35, and the gravity G is collinear with the supporting force F;
step two: the SMA springs 34-a at the same positions of the rolling wheels 3 at two sides are electrified and contracted, the appearance of the soft rolling robot is changed, the supporting point moves leftwards, the gravity center is shifted rightwards and downwards and is not collinear with the supporting force F any more, so that a heavy moment is generated, and the heavy moment enables the soft rolling robot to rotate clockwise;
Step three: the soft rolling robot converts gravitational potential energy into kinetic energy under the action of gravitational moment, rolls forwards until the energy consumption is finished, and stops rolling;
step four: after the soft rolling robot is changed from the rolling state to the stable state, the SMA springs 34-a at the same positions of the rolling wheels 3 at the two sides are powered off and restored to the normal state, and at the moment, the state of the soft rolling robot is the same as that of the step one, but the whole rolling machine rolls forwards for a certain distance.
The steps are a period of linear rolling on a horizontal plane in a normal state of the soft rolling robot, and the continuous rolling of the robot can be realized by repeating the steps.
As shown in fig. 9, in the contracted state, the working states of the air chambers 31 at the same positions in the two-side rolling wheels 3 connected by the hollow mandrel 6 are kept consistent, and the clockwise rolling description is given by the regular hexagonal soft rolling robot:
step one: the soft rolling robot is placed on a horizontal plane, the air cavities 31 of the rolling wheels 3 at the two sides are not inflated, all the SMA springs are electrified and contracted, the gravitational potential energy of the soft rolling robot is minimum at the time of contraction, the gravity center is positioned at the center of a wheel hub 35, the supporting point of the rolling wheels 3 is positioned at A, and the gravity G is collinear with the supporting force F;
Step two: the air chambers 31-a and the air chambers 31-b at the same position of the rolling wheels 3 at two sides are simultaneously and rapidly inflated, and the rolling wheels 3 generate symmetrical radial expansion, so that the gravity center position is kept unchanged. The shape of the soft rolling robot changes, the supporting point is deviated leftwards and is in an unstable state, the gravity center is still at the center of the wheel hub 35, but the gravity potential energy is increased compared with the gravity center position in the initial state, and as the supporting force F and the gravity G are not in the same straight line, gravity can generate a heavy moment, and the heavy moment enables the gravity center of the soft rolling robot to descend and rotate clockwise;
step three: converting gravitational potential energy into kinetic energy by the soft rolling robot under the action of gravitational moment, rolling forward until the point B contacts the ground, aligning the gravitational force G with the supporting force F, returning the gravitational potential energy to the minimum value, and stopping rolling;
step four: after the soft rolling robot is changed from the rolling state to the stable state, the air cavities 31-a and the air cavities 31-b at the same positions of the rolling wheels 3 at the two sides are deflated until the rolling wheels 3 at the two sides are restored to the contracted state, and at the moment, the state of the soft rolling robot is the same as that of the step one, but the whole body rolls forwards by the distance of the arc length AB of the outer surface of the air cavity 31-a.
The steps are a period of linear rolling on a horizontal plane in a contracted state of the soft rolling robot, and the continuous rolling of the robot can be realized by repeating the steps.
Further, as shown in fig. 10, when the robot moves up a slope, the control method is as follows, the inflation and deflation states of the air chambers 31 at the same positions in the rolling wheels 3 at two sides connected by the hollow mandrel 6 are kept consistent, the on-off states of the SMA springs 34 at the same positions are kept consistent, and the clockwise rolling description is performed by the regular hexagonal soft rolling robot:
step one: the soft rolling robot is placed on the inclined plane, the air cavities 31 of the rolling wheels 3 at the two sides are not inflated, the SMA springs 34 are not electrified, the soft rolling robot is in a normal state, and the center of gravity is at the center of the hub 35;
step two: the SMA springs 34-a at the same positions of the rolling wheels 3 at the two sides are electrified and contracted, and the air cavities 31-a at the same positions of the rolling wheels 3 at the two sides are simultaneously and rapidly inflated to generate asymmetric deformation, so that the appearance of the soft rolling robot is changed, the supporting point moves leftwards, the center of gravity is deviated towards the lower right of the hub 35, and a heavy moment is generated, and the heavy moment enables the soft rolling robot to rotate clockwise;
step three: the soft rolling robot converts gravitational potential energy into kinetic energy under the action of gravitational moment, rolls forwards until the energy consumption is finished, and stops rolling;
Step four: after the soft rolling robot is changed from the rolling state to the stable state, the SMA springs 34-a at the same positions of the rolling wheels 3 at the two sides are powered off to restore to the normal state, the air cavities 31-a at the same positions of the rolling wheels 3 at the two sides are deflated to restore to the normal state, and at the moment, the state of the soft rolling robot is the same as that of the step one, but the whole soft rolling robot rolls forwards for a certain distance.
The steps are one period of climbing movement of the soft rolling robot, and the steps are repeated, so that continuous rolling climbing of the robot can be realized.
Further, as shown in fig. 11 and 13, when the movement space is narrow, in-situ rotation control can be adopted, and the rolling wheels 3 on two sides connected through the hollow mandrel 6 are independently controlled, so that the right turning instruction of the regular hexagonal soft rolling robot is realized; as shown in fig. 11, the control steps in the normal state are:
step one: the soft rolling robot is placed on a horizontal plane, rolling wheels 3 on two sides are in a normal state, the rolling wheels 3-1 are arranged on the left side, and the rolling wheels 3-2 are arranged on the right side;
step two: based on the control method of the linear rolling on the horizontal plane in the normal state, the rolling wheels 3-1 are respectively controlled to linearly roll forwards, the rolling wheels 3-2 are respectively controlled to linearly roll backwards, the rolling speeds V1 and V2 of the rolling wheels 3-1 and 3-2 on the two sides are the same, and then a clockwise torque M is applied to the soft rolling robot;
Step three: the soft rolling robot is subjected to the clockwise torque M, and is turned to the right side, namely the side of the rolling wheel 3-2, at the moment, the gravity center position of the soft rolling robot is unchanged from the initial position, but the whole soft rolling robot is rotated in situ by a certain angle.
The steps are one period of in-situ rotation of the soft rolling robot in a normal state, and the steps are repeated, so that the continuous rotation of the robot can be realized.
As shown in fig. 13, the control steps in the contracted state are:
step one: the soft rolling robot is placed on a horizontal plane, rolling wheels 3 on two sides are in a contracted state, the rolling wheels 3-1 are arranged on the left side, and the rolling wheels 3-2 are arranged on the right side;
step two: the control method based on horizontal plane linear rolling in a contracted state is characterized in that rolling wheels 3-1 are respectively controlled to linearly roll forwards, rolling wheels 3-2 are respectively controlled to linearly roll backwards, rolling speeds V1 and V2 of the rolling wheels 3-1 and the rolling wheels 3-2 on two sides are the same, and further a clockwise torque M is applied to the soft rolling robot;
step three: the soft rolling robot is subjected to the clockwise torque M, and is turned to the right side, namely, the side of the rolling wheel 3-2, at the moment, the center position of the soft rolling robot is unchanged from the initial position, but the whole soft rolling robot is rotated in situ by a certain angle.
The steps are one period of in-situ rotation of the soft rolling robot in a contracted state, and the steps are repeated, so that the continuous rotation of the robot can be realized.
Further, as shown in fig. 12 and 14, when the working space is sufficiently large, differential steering control is adopted, and the rolling wheels 3 on both sides connected by the hollow spindle 6 are controlled independently of each other, so that the right turn description of the regular hexagonal soft rolling robot is as follows:
as shown in fig. 12, the control steps in the normal state are:
step one: placing the soft rolling robot on a horizontal plane, wherein rolling wheels 3 on two sides are in a normal state, rolling wheels 3-1 are arranged on the left side, and rolling wheels 3-2 are arranged on the right side;
step two: based on the control method of linear rolling on the horizontal plane in the normal state, the rolling wheels 3 at two sides are respectively controlled to linearly roll forwards, the rolling speed of the rolling wheels 3 is changed by controlling the magnitude of current applied to the SMA springs 34, so that the rolling speed V1 is larger than V2, and differential motion is generated by the rolling wheels 3 at two sides;
step three: the soft rolling robot turns to the right side by means of the speed difference of the rolling wheels 3 at the two sides, and at the moment, the position of the soft rolling robot moves forwards for a certain displacement compared with the initial position, and the whole body rotates to the right side for a certain angle.
The steps are a period of differential steering under the normal state of the soft rolling robot, the steps are repeated, continuous steering of the robot can be realized, and in addition, when V2 is 0, the soft rolling robot can perform fixed-point steering around the rolling wheels 3-2.
As shown in fig. 14, the control steps in the contracted state are:
step one: the soft rolling robot is placed on a horizontal plane, rolling wheels 3 on two sides are in a contracted state, the rolling wheels 3-1 are arranged on the left side, and the rolling wheels 3-2 are arranged on the right side;
step two: based on the control method of linear rolling on the horizontal plane in the contracted state, the rolling wheels 3 at two sides are respectively controlled to linearly roll forwards, the rolling speed of the rolling wheels 3 is changed by controlling the frequency of inflation and deflation, so that the rolling speed V1 is larger than V2, and the rolling wheels 3 at two sides generate differential motion;
step three: the soft rolling robot turns to the right side by means of the speed difference of the rolling wheels 3 at the two sides, and at the moment, the position of the soft rolling robot moves forwards for a certain displacement compared with the initial position, and the whole body rotates to the right side for a certain angle.
The above steps are one cycle of differential steering under the contracted state of the soft rolling robot, and the continuous steering of the robot can be realized by repeating the above steps, and in addition, when V2 is 0, the soft rolling robot can perform fixed-point steering around the rolling wheels 3-2.
Further, as shown in fig. 15, when the software rolling robot encounters an obstacle during operation and cannot pass, the normal state of the software rolling robot needs to be switched to the contracted state to perform obstacle crossing movement, and the regular hexagonal software rolling robot is used for clockwise rolling description:
step one: the soft rolling robot rolls linearly in a normal state and stops moving when encountering an obstacle;
step two: the soft rolling robot is switched from a normal state to a contracted state, the whole volume is reduced, and the height is lower than that of an obstacle;
step three: the soft rolling robot rolls linearly in a contracted state and enters the lower part of the obstacle;
step four: the soft rolling robot linearly rolls or turns in the movement obstacle area in a contracted state until passing the obstacle;
step five: the soft rolling robot is switched from a contracted state to a normal state, the volume is increased, and the movement speed is improved;
the steps are one period of obstacle surmounting movement of the soft rolling robot, and the steps are repeated, so that continuous obstacle surmounting of the robot can be realized.
While the invention has been described in terms of specific embodiments, the practice of the invention is not limited to the embodiments described above, but is intended to cover various modifications, substitutions, combinations, and simplifications without departing from the spirit and principles of the invention.
Claims (6)
1. The utility model provides a variable diameter's software rolling robot, includes trachea (1), end cover (2), rolling wheel (3), miniature solenoid valve (4), air distribution mechanism (5), hollow dabber (6), control panel (7), and rolling wheel (3) include air cavity (31), mounting panel (32), supporting spring (33), SMA spring (34), wheel hub (35), antifriction bearing (36), and air distribution mechanism (5) include tracheal joint (51), rotary joint (52), joint body (53);
the method is characterized in that: the air pipe (1) is connected to the side face of the air cavity (31), the end cover (2) is arranged on the outer side of the hub (35), the hub (35) is in a shape of a positive N side, N is more than or equal to 6 and N is an even number, the number of the rolling wheels (3) is two, the two rolling wheels are supported at the two ends of the hollow mandrel (6) through the rolling bearings (36), the number of the air cavity (31), the mounting plate (32), the supporting springs (33) and the SMA springs (34) of each rolling wheel (3) is N, the air cavity (31) is fixedly connected with the mounting plate (32), the supporting springs (33) and the SMA springs (34) are circumferentially and uniformly arranged on the hub (35), each supporting spring (33) and one end of each SMA spring (34) are connected with the mounting plate (32), the other end of each supporting spring is connected with the hub (35), each supporting spring (33) is sleeved on the corresponding SMA spring (34), the miniature electromagnetic valve (4) is circumferentially and uniformly distributed on the corresponding end cover (2), the corresponding connector body (53) is mounted at the center of the corresponding end cover (2), the rotary connector (52) is mounted at the center of the corresponding connector body (53), the air pipe connector (51) is circumferentially and uniformly mounted on the circumferential outer surface of the corresponding connector body (53), and the control board (7) is circularly mounted in the hub (35) on one side.
2. A control method of a variable diameter soft rolling robot according to claim 1, characterized in that: when the horizontal plane linearly rolls, the soft rolling robot has two movement modes, the state that the air cavity (31) of the rolling wheel (3) is not inflated and the SMA spring (34) is not electrified is called a normal state, the state that the air cavity (31) of the rolling wheel (3) is not inflated and the SMA spring (34) is in a full electrified state is called a contracted state, and in the normal state, the regular hexagon soft rolling robot is used for clockwise rolling description:
step one: the soft rolling robot is placed on a horizontal plane, air cavities (31) of rolling wheels (3) at two sides are not inflated, an SMA spring (34) is not electrified, and the soft rolling robot is in a normal state, at the moment, the gravity center of the soft rolling robot is positioned at the center of a hub (35), and the gravity G is collinear with the supporting force F;
step two: the SMA springs (34-a) at the same positions of the rolling wheels (3) at two sides are electrified and contracted, the appearance of the soft rolling robot is changed, the supporting point moves leftwards, the gravity center shifts rightwards and downwards and is not collinear with the supporting force F any more, so that a heavy moment is generated, and the soft rolling robot rotates clockwise by the heavy moment;
Step three: the soft rolling robot converts gravitational potential energy into kinetic energy under the action of gravitational moment, rolls forwards until the energy consumption is finished, and stops rolling;
step four: after the soft rolling robot is changed from a rolling state to a stable state, the SMA springs (34-a) at the same positions of the rolling wheels (3) at the two sides are powered off and restored to a normal state, and at the moment, the state of the soft rolling robot is the same as that of the step one, but the whole rolling robot rolls forwards for a certain distance;
the steps are a period of linear rolling on a horizontal plane in a normal state of the soft rolling robot, and the continuous rolling of the robot can be realized by repeating the steps;
in the contracted state, the clockwise scrolling description is carried out by the regular hexagonal soft scrolling robot:
step one: the soft rolling robot is placed on a horizontal plane, air cavities (31) of rolling wheels (3) at two sides are not inflated, all SMA springs are electrified and contracted, the soft rolling robot is in a contracted state, at the moment, gravitational potential energy of the soft rolling robot is minimum, the gravity center is positioned at the center of a wheel hub (35), a supporting point of the rolling wheels (3) is positioned at a point A, and gravity G is collinear with supporting force F;
step two: the air cavities (31-a) and the air cavities (31-b) at the same positions of the rolling wheels (3) at two sides are simultaneously and rapidly inflated, the rolling wheels (3) generate symmetrical radial expansion, the position of the gravity center is kept unchanged, the appearance of the soft rolling robot is changed, the supporting point is shifted leftwards and is in an unstable state, the gravity center is still positioned at the center of the wheel hub (35), but the height of the supporting point is higher than that of the gravity center in the initial state, the gravitational potential energy is increased, and because the supporting force F and the gravity G are not in the same straight line, gravity can generate a gravity moment, and the gravity moment enables the gravity center of the soft rolling robot to descend and rotate clockwise;
Step three: converting gravitational potential energy into kinetic energy by the soft rolling robot under the action of gravitational moment, rolling forward until the point B contacts the ground, aligning the gravitational force G with the supporting force F, returning the gravitational potential energy to the minimum value, and stopping rolling;
step four: after the soft rolling robot is changed from a rolling state to a stable state, air cavities (31-a) and air cavities (31-b) at the same positions of rolling wheels (3) at two sides are deflated until the rolling wheels (3) at the two sides are restored to a contracted state, at the moment, the state of the soft rolling robot is the same as that of the step one, but the whole body rolls forwards by the distance of the arc length AB of the outer surface of the air cavity (31-a);
the steps are a period of linear rolling in a horizontal plane under the contracted state of the soft rolling robot, and the continuous rolling of the robot can be realized by repeating the steps, wherein the point A and the point B are two end points of the arc length of the outer surface of the air cavity (31-a).
3. The control method of a variable diameter soft rolling robot according to claim 2, wherein: when climbing, the control method is as follows, the inflation and deflation states of air cavities (31) at the same positions in the rolling wheels (3) at two sides connected through the hollow core shaft (6) are kept consistent, the on-off states of SMA springs (34) at the same positions are kept consistent, and the clockwise rolling description is carried out by the regular hexagonal soft rolling robot:
Step one: the soft rolling robot is placed on the inclined plane, the air cavities (31) of the rolling wheels (3) at the two sides are not inflated, the SMA springs (34) are not electrified, and the soft rolling robot is in a normal state, and the center of gravity is positioned at the center of the hub (35);
step two: the SMA springs (34-a) at the same positions of the rolling wheels (3) at the two sides are electrified and contracted, and the air cavities (31-a) at the same positions of the rolling wheels (3) at the two sides are simultaneously and rapidly inflated to generate asymmetric deformation, so that the appearance of the soft rolling robot is changed, the supporting point moves leftwards, the center of gravity is deviated to the lower right of the hub (35), and a heavy moment is generated, and the heavy moment enables the soft rolling robot to rotate clockwise;
step three: the soft rolling robot converts gravitational potential energy into kinetic energy under the action of gravitational moment, rolls forwards until the energy consumption is finished, and stops rolling;
step four: after the soft rolling robot is changed from a rolling state to a stable state, the SMA springs (34-a) at the same positions of the rolling wheels (3) at the two sides are powered off to restore to a normal state, the air cavities (31-a) at the same positions of the rolling wheels (3) at the two sides are deflated to restore to the normal state, and at the moment, the state of the soft rolling robot is the same as that of the step one, but the soft rolling robot rolls forwards for a certain distance as a whole;
The steps are one period of climbing movement of the soft rolling robot, and the steps are repeated, so that continuous rolling climbing of the robot can be realized.
4. The control method of a variable diameter soft rolling robot according to claim 2, wherein: when the movement space is narrower, the in-situ rotation control can be adopted, the rolling wheels (3) on two sides connected through the hollow mandrel (6) are controlled independently, and the right turning instruction of the regular hexagonal soft rolling robot is as follows:
the control steps under the normal state are as follows:
step one: the soft rolling robot is placed on a horizontal plane, rolling wheels (3) on two sides are in a normal state, the rolling wheels (3-1) are arranged on the left side, and the rolling wheels (3-2) are arranged on the right side;
step two: based on the control method of the straight line rolling in the horizontal plane under the normal state, the rolling wheels (3-1) are respectively controlled to linearly roll forwards, the rolling wheels (3-2) are respectively controlled to linearly roll backwards, and the rolling speeds V of the rolling wheels (3-1) on two sides and the rolling wheels (3-2) on two sides are respectively controlled 1 And V is equal to 2 The same applies a clockwise torque M to the soft rolling robot;
step three: the soft rolling robot is subjected to the action of a clockwise torque M, and is turned to the right side, namely one side of the rolling wheel (3-2), at the moment, the gravity center position of the soft rolling robot is unchanged from the initial position, but the whole soft rolling robot is rotated in situ by a certain angle;
The steps are one period of in-situ rotation of the soft rolling robot in a normal state, and the steps are repeated, so that the continuous rotation of the robot can be realized;
the control steps in the contracted state are as follows:
step one: the soft rolling robot is placed on a horizontal plane, rolling wheels (3) on two sides are in a contracted state, the rolling wheels (3-1) are arranged on the left side, and the rolling wheels (3-2) are arranged on the right side;
step two: the control method based on horizontal plane linear rolling in the contracted state is used for respectively controlling the forward linear rolling of the rolling wheels (3-1), the backward linear rolling of the rolling wheels (3-2), and the rolling speeds V of the rolling wheels (3-1) and the rolling wheels (3-2) at two sides 1 And V is equal to 2 The sizes are the same, and then a clockwise torque M is applied to the soft rolling robot;
step three: the soft rolling robot is subjected to the action of a clockwise torque M, and is turned to the right side, namely one side of the rolling wheel (3-2), at the moment, the central position of the soft rolling robot is unchanged from the initial position, but the whole soft rolling robot is rotated in situ by a certain angle;
the steps are one period of in-situ rotation of the soft rolling robot in a contracted state, and the steps are repeated, so that the continuous rotation of the robot can be realized.
5. The control method of a variable diameter soft rolling robot according to claim 2, wherein: when the working space is large enough, differential steering control is adopted, and rolling wheels (3) on two sides connected through a hollow mandrel (6) are controlled independently of each other, so that the right turning instruction of the regular hexagonal soft rolling robot is as follows:
the control steps under the normal state are as follows:
step one: the soft rolling robot is placed on a horizontal plane, rolling wheels (3) on two sides are in a normal state, the rolling wheels (3-1) are arranged on the left side, and the rolling wheels (3-2) are arranged on the right side;
step two: based on the control method of the linear rolling in the horizontal plane under the normal state, the rolling wheels (3) at the two sides are respectively controlled to linearly roll forwards, and the rolling speed of the rolling wheels (3) is changed by controlling the magnitude of the current applied to the SMA spring (34) so as to lead the rolling speed V 1 Greater than V 2 The rolling wheels (3) on the two sides generate differential motion;
step three: the soft rolling robot turns to the right side by means of the speed difference of the rolling wheels (3) at the two sides, and at the moment, the position of the soft rolling robot moves forwards for a certain displacement compared with the initial position, and the whole body rotates to the right side for a certain angle;
The steps are one period of differential steering under the normal state of the soft rolling robot, and the continuous steering of the robot can be realized by repeating the steps, and in addition, when V 2 When the value is 0, the soft rolling robot can perform fixed-point steering around the rolling wheel (3-2);
the control steps in the contracted state are as follows:
step one: the soft rolling robot is placed on a horizontal plane, rolling wheels (3) on two sides are in a contracted state, the rolling wheels (3-1) are arranged on the left side, and the rolling wheels (3-2) are arranged on the right side;
step two: based on the control method of linear rolling in the horizontal plane under the contracted state, the rolling wheels (3) at two sides are respectively controlled to linearly roll forwards, and the rolling speed of the rolling wheels (3) is changed by controlling the frequency of inflation and deflationDegree, make rolling speed V 1 Greater than V 2 The rolling wheels (3) on the two sides generate differential motion;
step three: the soft rolling robot turns to the right side by means of the speed difference of the rolling wheels (3) at the two sides, and at the moment, the position of the soft rolling robot moves forwards for a certain displacement compared with the initial position, and the whole body rotates to the right side for a certain angle;
the steps are one period of differential steering under the contracted state of the soft rolling robot, and the continuous steering of the robot can be realized by repeating the steps, and in addition, when V 2 When the value is 0, the soft rolling robot will perform fixed-point steering around the rolling wheel (3-2).
6. The control method of a variable diameter soft rolling robot according to claim 2, wherein: when the obstacle is encountered during working and the soft rolling robot cannot pass, the normal state of the soft rolling robot needs to be switched to the contracted state to perform obstacle crossing movement, and the regular hexagon soft rolling robot is used for clockwise rolling description:
step one: the soft rolling robot rolls linearly in a normal state and stops moving when encountering an obstacle;
step two: the soft rolling robot is switched from a normal state to a contracted state, the whole volume is reduced, and the height is lower than that of an obstacle;
step three: the soft rolling robot rolls linearly in a contracted state and enters the lower part of the obstacle;
step four: the soft rolling robot linearly rolls or turns in the movement obstacle area in a contracted state until passing the obstacle;
step five: the soft rolling robot is switched from a contracted state to a normal state, the volume is increased, and the movement speed is improved;
the steps are one period of obstacle surmounting movement of the soft rolling robot, and the steps are repeated, so that continuous obstacle surmounting of the robot can be realized.
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