CN1590036A - Snake-shaped robot with ground adaptability - Google Patents
Snake-shaped robot with ground adaptability Download PDFInfo
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- CN1590036A CN1590036A CN 03133909 CN03133909A CN1590036A CN 1590036 A CN1590036 A CN 1590036A CN 03133909 CN03133909 CN 03133909 CN 03133909 A CN03133909 A CN 03133909A CN 1590036 A CN1590036 A CN 1590036A
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- 230000033001 locomotion Effects 0.000 claims abstract description 45
- 239000004576 sand Substances 0.000 claims abstract description 12
- 241001597062 Channa argus Species 0.000 claims description 13
- 230000003044 adaptive effect Effects 0.000 claims description 12
- 239000002689 soil Substances 0.000 claims description 11
- 239000006185 dispersion Substances 0.000 claims description 3
- 230000002035 prolonged effect Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 4
- 230000005021 gait Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
- 241000270295 Serpentes Species 0.000 description 4
- WYTGDNHDOZPMIW-RCBQFDQVSA-N alstonine Natural products C1=CC2=C3C=CC=CC3=NC2=C2N1C[C@H]1[C@H](C)OC=C(C(=O)OC)[C@H]1C2 WYTGDNHDOZPMIW-RCBQFDQVSA-N 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 3
- 230000001902 propagating effect Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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Abstract
The invention relates to the field of robot research and engineering, and particularly discloses a snake-shaped robot with ground adaptability. The snake-shaped robot mechanism consists of a plurality of identical modules, wherein the head of the snake-shaped robot is provided with a main control unit of a ground characteristic detection device, each module is provided with an execution unit, the execution units receive control signals of the main control unit, and the execution units are connected through a CAN bus to form a distributed control system. According to the detection result of the ground characteristic detection device, the snake-shaped robot can automatically change gait motion on various different grounds (hard ground, soft ground, sand ground and the like) so as to adapt to different grounds.
Description
Technical field
The present invention relates to robot research and engineering field, specifically is a kind of snake-shaped robot with ground adaptive capacity.
Technical background
Biological snake has a lot of abilities to adapt to new environment, is a kind of ability of snake by changing the motion mode new environment that makes an immediate response, and for example, snake is (as hard place, sand ground, weak soil etc.) on different ground, can adopt different motion modes.Though existing snake-shaped robot has multiple motion mode, can only move by fixing mode, can not be on different ground conversion motion mode automatically.This is restricted the application of snake-shaped robot.
Summary of the invention
In order to overcome the above-mentioned snake-shaped robot motion mode deficiency of conversion automatically, the purpose of this invention is to provide a kind of snake-shaped robot new, that have the ground adaptive capacity.
To achieve these goals, technical scheme of the present invention is: adopt the joint module of snakehead and a plurality of identical single-degree-of-freedoms, two adjacent blocks are by differing equidirectional the coupling together of 90 degree, and formation can be carried out the snake-shaped robot of three-dimensional motion; Partly locate to be provided with main control unit and ground characteristics checkout gear at snakehead, establish performance element on each joint module, performance element receives the control signal of main control unit, connects by the CAN bus between the performance element, forms dcs;
Wherein: described ground characteristics checkout gear is installed in the snakehead shell, form by pressure sensor, depression bar, contact, housing parts, pressure sensor is installed in the top and the both sides of enclosure interior, contact is positioned on the bottom of depression bar, have the narrow down wide shape that, depression bar is movably arranged on housing 17 inside;
Described performance element is made up of intelligent rotating unit and single-chip microcomputer, single-chip microcomputer receives the main control unit signal by the CAN EBI, its output signal is controlled intelligent rotating unit, the motion of intelligence rotating unit control joint module, the electric interfaces of intelligent rotating unit links to each other with the single-chip microcomputer of this performance element by three core connectors; Described single-chip microcomputer is installed in the fixed head side;
Described main control unit is electrically connected with the performance element of each dispersion by the CAN bus, partly form by single-chip microcomputer, ground characteristics testing circuit and CAN EBI, the pressure sensor output signal and the first～three operational amplifier connect and compose the ground characteristics testing circuit, the AD converter that exports single-chip microcomputer to of ground characteristics testing circuit, described single-chip microcomputer are delivered to control signal the input end interface circuit of the single-chip microcomputer of performance element again by the CAN EBI; Pressure sensor is installed in ground characteristics checkout gear top, left side, right side respectively;
The control flow of storing in the single-chip microcomputer of main control unit is when the snake-shaped robot setting in motion, gathers pressure sensor signal earlier, judges ground characteristics according to signal, adopts then and the corresponding motion mode motion in ground; Be specially: the laggard line sensor output signal of initialization is gathered, and judges whether it is hardstand then, is that hardstand is then wriggled and prolonged motion, calculate each joint angles value, transmit each joint angles value, otherwise judge whether it is sand ground, be that sand ground then carries out lateral movement, calculate each joint angles value, transmit each joint angles value, otherwise judge whether it is weak soil ground, be that weak soil ground then carries out stretching motion, calculate each joint angles value, transmit each joint angles value, otherwise the Returning sensor output signal is gathered.
Described ground characteristics checkout gear can be told multiple different ground (hardstand, weak soil, sand ground etc.), testing result according to the ground characteristic detection device, snake-shaped robot adopts the wriggling movement mode to move on hardstand, on weak soil, snake-shaped robot adopts the stretching motion mode to move, on sand ground, snake-shaped robot adopts the lateral movement mode to move.
The present invention has following beneficial effect:
Adaptive capacity height of the present invention.Because the ground characteristics checkout gear is installed on the snakehead, match with the main control unit and the programme-control of installing in the performance element of joint module, the snakehead, make snake-shaped robot can tell multiple different ground (hardstand, weak soil, sand ground etc.), can be at multiple different ground (hardstand, weak soil, sand ground etc.) automatic conversion gait motion, to adapt to different ground.The joint module of the single-degree-of-freedom that the present invention adopts is all interchangeable, uses flexibly.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Fig. 2 is the joint module structural representation of single-degree-of-freedom of the present invention.
Fig. 3 spends the direction connection diagrams for two modules of the present invention by differing 90.
Fig. 4 is a whole system circuit block diagram of the present invention.
Fig. 5-1 is the circuit block diagram of performance element of the present invention.
Fig. 5-2 is the circuit theory diagrams of performance element of the present invention.
Fig. 6 is the circuit theory diagrams of the main control unit on the snakehead of the present invention.
Fig. 7-1 is a ground characteristics checkout gear scheme of installation of the present invention.
Fig. 7-2 is a ground characteristics checkout gear structural representation of the present invention.
Fig. 8 is a main control unit system program flow chart of the present invention.
The specific embodiment
The present invention is described in further detail below in conjunction with embodiment.
Overall structure of the present invention as shown in Figure 1, wherein 1 is snakehead, 2 is joint module, 3 is the ground characteristics checkout gear; The joint module of single-degree-of-freedom can be with two modules by differing equidirectional the coupling together of 90 degree by screw, as shown in Figure 3, the joint module 2 of each single-degree-of-freedom has intelligent rotating unit, portable plate, connecting plate, described joint module passes through portable plate, connecting plate links to each other successively, as shown in Figure 2, described each joint module comprises connecting plate 21, fixed head 22, intelligence rotating unit 23, rotating shaft 24, portable plate 25, the bottom surface 27 of imitative snakeskin material, described bottom surface 27 is installed in the bottom of portable plate 25, portable plate 25 is a ㄩ shape, opening is towards a side, horizontal positioned, it is positioned at, the two side of below flexibly connects by rotating shaft 24 and servo controller 23, and portable plate 25 can rotate with rotating shaft, and intelligent rotating unit 23 is installed together with fixed head 22, fixed head 22 is a ㄩ shape, opening towards with portable plate 25 openings towards opposite, horizontal positioned, bottom and connecting plate 21 are connected, present embodiment is formed a snake-shaped robot by 16 joint modules, and track route can be S shape etc.; Rotating shaft 24 is the joint of joint module; 26 is pad.
As Fig. 5-1, shown in the 5-2, each joint module 2 is provided with a performance element, performance element is made up of intelligent rotating unit 23 (adopting the R/C servomechanism of JR4721 model) and single-chip microcomputer U1 (adopting the MB90F549 chip), single-chip microcomputer U1 receives the main control unit signal by CAN EBI U2 (adopting the 82C250 chip), its output signal is controlled intelligent rotating unit, again by intelligent rotating unit 23 control joint module motions, intelligence rotating unit 23 electric interfaces are three line (control signals, power supply, ground), link to each other with the single-chip microcomputer U1 of this performance element by three core connectors; Single-chip microcomputer U1 is installed in fixed head 22 sides.
Ground characteristics checkout gear 3 is housed in the snakehead shell 11, be used for detecting ground characteristics, mounting means is shown in Fig. 7-1, structure is shown in Fig. 7-2, by pressure sensor 13, depression bar 14, contact 15, housing 17 parts are formed, pressure sensor 13 is installed in the top and the both sides of housing 17 inside, contact 15 is positioned on the bottom of depression bar 14, has the narrow down wide shape that, and depression bar 14 is installed in housing 17 inside, depression bar 14 can move up and down, contact with the pressure sensor 13 at top, measure the normal pressure on ground, simultaneously also can move left and right, contact with the pressure sensor of both sides, measure side-friction force.16 is the bottom surface.
The present embodiment snake-shaped robot is made up of 16 joint modules, realizes corresponding motion by the angle that relatively rotates of controlling each joint module.Its motion is by the main control unit control that is provided with in the snakehead part, main control unit couples together by the performance element of CAN bus with each dispersion, constitute snake-shaped robot control system as shown in Figure 4, main control unit on the snakehead 1 as shown in Figure 6, by single-chip microcomputer U1, ground characteristics testing circuit and CAN EBI are partly formed, pressure sensor is (respectively at the top of housing 17, the left side, the right side) output signal and the first～three operational amplifier U3～U5 (adopting the AD623 chip) connect and compose the ground characteristics testing circuit, it exports the AD converter of single-chip microcomputer U1 to, and described single-chip microcomputer U1 delivers to control signal the interface circuit of input of the single-chip microcomputer U1 of performance element again by the CAN EBI.
During the snake-shaped robot setting in motion, gather force sensor signals earlier, judge ground characteristics according to signal, adopt then and the corresponding motion mode motion in ground, main control unit by the control program flow process of storing in the single-chip microcomputer as shown in Figure 7, be specially: the laggard line sensor output signal of initialization is gathered, judging whether it is hardstand then, is that hardstand is then wriggled and prolonged motion, calculates each joint angles value, transmit each joint angles value, otherwise judging whether it is sand ground, is that sand ground then carries out lateral movement, calculates each joint angles value, transmit each joint angles value, otherwise judging whether it is weak soil ground, is that weak soil ground then carries out stretching motion, calculates each joint angles value, transmit each joint angles value, otherwise the Returning sensor output signal is gathered.
Described plane wriggling movement is the joint maintenance straight line by control joint module trunnion axis, and the joint of vertical axis is sinusoidal variations and produces; The algorithmic formula that adopts is:
Wherein: α
0Be the initial bent angle of motion, K
nBe the number of propagating wave in the body, L is that the body of snake-shaped robot is long, and s is the virtual displacement of snake-shaped robot afterbody along the serpentine curve axis direction, and l is the length of each module, and i represents any one joint module, K
1Be curvature.
Described lateral movement is that the joint of the joint of vertical axis (yaw axle) of control joint module and trunnion axis (pitch axle) all is sinusoidal variations (horizontally disposed rotating shaft 24 is trunnion axis, and vertically disposed rotating shaft 24 is a vertical axis; A phase difference δ φ is arranged between two curves down together); The algorithmic formula that adopts is:
Wherein: α
0Be the initial bent angle of motion, K
nBe the number of propagating wave in the body, n
θBe the number of modules of perpendicular planar movement, n
φBe the number of modules of horizontal plane motion, L
θBe the module length overall that moves both vertically, L
φHorizontal movement module length overall, s is the virtual displacement of joint module afterbody along the serpentine curve axis direction, and l is the length of each joint module, and i represents any one joint module, and δ is the phase difference of two joint module curve movements, K
1Be curvature.
Described stretching motion mode can keep straight line by the joint of its vertical axis (yaw axle) of control, and the joint of trunnion axis (pitch axle) is the sinusoidal variations realization.It is fit to pass through narrow and small pipeline at vertical in-plane moving.
Wherein: α
0Be the initial bent angle of motion, K
nBe the number of propagating wave in the body, L is that the body of snake-shaped robot is long, and s is the virtual displacement of snake-shaped robot afterbody along the serpentine curve axis direction, and l is the length of each module, and i represents any one joint module, K
1Be curvature.
Characteristics of the present invention are, can automatically adopt the optimal movement mode to move on different ground, have improved snake The adaptive capacity of anthropomorphic robot.
Claims (7)
1. snake-shaped robot with ground adaptive capacity, joint module by snakehead and a plurality of single-degree-of-freedoms is formed, it is characterized in that: the place is provided with main control unit and ground characteristics checkout gear (3) in snakehead (1) part, each joint module is established performance element on (2), performance element receives the control signal of main control unit, connect by the CAN bus between the performance element, form dcs.
2. according to the described snake-shaped robot of claim 1 with ground adaptive capacity, it is characterized in that: described ground characteristics checkout gear (3) is installed in the snakehead shell (11), form by pressure sensor (13), depression bar (14), contact (15), housing (17) parts, pressure sensor (13) is installed in housing (17) inner top and both sides, contact (15) is positioned on the bottom of depression bar (14), have the narrow down wide shape that, depression bar (14) is movably arranged on housing (17) inside.
3. according to the described snake-shaped robot of claim 1 with ground adaptive capacity, it is characterized in that: described performance element is made up of intelligent rotating unit (23) and single-chip microcomputer (U1), single-chip microcomputer (U1) receives the main control unit signal by CAN EBI (U2), its output signal is controlled intelligent rotating unit (23), the motion of intelligence rotating unit (23) control joint module, the electric interfaces of intelligent rotating unit (23) links to each other with the single-chip microcomputer (U1) of this performance element.
4. according to the described snake-shaped robot with ground adaptive capacity of claim 3, it is characterized in that: described single-chip microcomputer (U1) is installed in fixed head (22) side.
5. according to the described snake-shaped robot of claim 1 with ground adaptive capacity, it is characterized in that: described main control unit is electrically connected with the performance element of each dispersion by the CAN bus, by single-chip microcomputer (U1), ground characteristics testing circuit (12) and CAN EBI are partly formed, (U3～U5) connects and composes ground characteristics testing circuit (12) for the pressure sensor output signal and the first～three operational amplifier, the AD converter that exports single-chip microcomputer (U1) to of ground characteristics testing circuit (12), described single-chip microcomputer (U1) are delivered to control signal the input end interface circuit of the single-chip microcomputer (U1) of performance element again by the CAN EBI.
6. according to claim 2 or 5 described snake-shaped robots with ground adaptive capacity, it is characterized in that: pressure sensor (13) is installed in ground characteristics checkout gear (3) top, left side, right side respectively.
7. according to the described snake-shaped robot of claim 1 with ground adaptive capacity, it is characterized in that: the control flow of storage is when the snake-shaped robot setting in motion in the single-chip microcomputer of main control unit (U1), gather pressure sensor signal earlier, judge ground characteristics according to signal, adopt then and the corresponding motion mode motion in ground; Be specially: the laggard line sensor output signal of initialization is gathered, and judges whether it is hardstand then, is that hardstand is then wriggled and prolonged motion, calculate each joint angles value, transmit each joint angles value, otherwise judge whether it is sand ground, be that sand ground then carries out lateral movement, calculate each joint angles value, transmit each joint angles value, otherwise judge whether it is weak soil ground, be that weak soil ground then carries out stretching motion, calculate each joint angles value, transmit each joint angles value, otherwise the Returning sensor output signal is gathered.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03133909 CN1291821C (en) | 2003-09-04 | 2003-09-04 | Snake-shaped robot with ground adaptability |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03133909 CN1291821C (en) | 2003-09-04 | 2003-09-04 | Snake-shaped robot with ground adaptability |
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| CN1590036A true CN1590036A (en) | 2005-03-09 |
| CN1291821C CN1291821C (en) | 2006-12-27 |
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| CN 03133909 Expired - Fee Related CN1291821C (en) | 2003-09-04 | 2003-09-04 | Snake-shaped robot with ground adaptability |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100410128C (en) * | 2006-09-28 | 2008-08-13 | 哈尔滨工业大学 | Crawler type multiple joint hinged robot suitable for search and detection in coal mine |
| CN102307708A (en) * | 2009-02-05 | 2012-01-04 | 韩国机械研究院 | Structure of modular robot actuation system |
| CN102416622A (en) * | 2011-09-13 | 2012-04-18 | 上海交通大学 | Bionic snake mouth mechanism |
| CN102587436A (en) * | 2012-03-08 | 2012-07-18 | 中国科学院合肥物质科学研究院 | Expansion and excavation device imitated from bone space of flying snake |
| CN101784435B (en) * | 2007-07-10 | 2013-08-28 | 雷神萨科斯公司 | Modular robotic crawler |
| CN103341855A (en) * | 2013-06-05 | 2013-10-09 | 燕山大学 | Stretchy snake-shaped robot |
| CN103737579A (en) * | 2014-01-27 | 2014-04-23 | 青岛海艺自动化技术有限公司 | Snake robot with ability to adapt to uneven ground |
| CN103909988A (en) * | 2014-02-20 | 2014-07-09 | 青岛海艺自动化技术有限公司 | Snakelike robot with uneven ground adaptability |
| CN103950479A (en) * | 2014-02-20 | 2014-07-30 | 青岛海艺自动化技术有限公司 | Snake-like robot with uneven ground suitability |
| CN103978485A (en) * | 2014-05-15 | 2014-08-13 | 郑天江 | Snake-like soft-bodied robot control system and control method |
| CN105128032A (en) * | 2015-09-22 | 2015-12-09 | 成都理工大学 | Snake-shaped robot with nuclear equipment pipeline detecting function |
| CN105150203A (en) * | 2015-09-22 | 2015-12-16 | 成都理工大学 | Method for detecting internal environment of nuclear equipment pipeline by snake-like robot |
| CN108780986A (en) * | 2015-10-06 | 2018-11-09 | 英派思博股份有限责任公司 | Snake-shaped robot |
| CN109910001A (en) * | 2018-12-26 | 2019-06-21 | 北京化工大学 | A kind of Fang She robot hybrid three-dimensional gait control method |
| CN112643677A (en) * | 2020-12-18 | 2021-04-13 | 华南理工大学 | Terrain adaptive control method, system, device and medium |
-
2003
- 2003-09-04 CN CN 03133909 patent/CN1291821C/en not_active Expired - Fee Related
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100410128C (en) * | 2006-09-28 | 2008-08-13 | 哈尔滨工业大学 | Crawler type multiple joint hinged robot suitable for search and detection in coal mine |
| CN101784435B (en) * | 2007-07-10 | 2013-08-28 | 雷神萨科斯公司 | Modular robotic crawler |
| CN102307708B (en) * | 2009-02-05 | 2014-10-01 | 韩国机械研究院 | Structure of modular robot actuation system |
| CN102307708A (en) * | 2009-02-05 | 2012-01-04 | 韩国机械研究院 | Structure of modular robot actuation system |
| CN102416622A (en) * | 2011-09-13 | 2012-04-18 | 上海交通大学 | Bionic snake mouth mechanism |
| CN102416622B (en) * | 2011-09-13 | 2013-10-16 | 上海交通大学 | Bionic snake mouth mechanism |
| CN102587436A (en) * | 2012-03-08 | 2012-07-18 | 中国科学院合肥物质科学研究院 | Expansion and excavation device imitated from bone space of flying snake |
| CN103341855A (en) * | 2013-06-05 | 2013-10-09 | 燕山大学 | Stretchy snake-shaped robot |
| CN103737579A (en) * | 2014-01-27 | 2014-04-23 | 青岛海艺自动化技术有限公司 | Snake robot with ability to adapt to uneven ground |
| CN103737579B (en) * | 2014-01-27 | 2015-10-14 | 青岛海艺自动化技术有限公司 | There is the snake-shaped robot adapting to out-of-flatness ground ability |
| CN103909988B (en) * | 2014-02-20 | 2017-04-19 | 青岛海艺自动化技术有限公司 | Snakelike robot with uneven ground adaptability |
| CN103950479A (en) * | 2014-02-20 | 2014-07-30 | 青岛海艺自动化技术有限公司 | Snake-like robot with uneven ground suitability |
| CN103909988A (en) * | 2014-02-20 | 2014-07-09 | 青岛海艺自动化技术有限公司 | Snakelike robot with uneven ground adaptability |
| CN103950479B (en) * | 2014-02-20 | 2017-11-10 | 青岛海艺自动化技术有限公司 | With the snake-shaped robot for adapting to out-of-flatness ground ability |
| CN103978485A (en) * | 2014-05-15 | 2014-08-13 | 郑天江 | Snake-like soft-bodied robot control system and control method |
| CN105128032A (en) * | 2015-09-22 | 2015-12-09 | 成都理工大学 | Snake-shaped robot with nuclear equipment pipeline detecting function |
| CN105150203A (en) * | 2015-09-22 | 2015-12-16 | 成都理工大学 | Method for detecting internal environment of nuclear equipment pipeline by snake-like robot |
| CN108780986A (en) * | 2015-10-06 | 2018-11-09 | 英派思博股份有限责任公司 | Snake-shaped robot |
| CN108780986B (en) * | 2015-10-06 | 2020-09-25 | Flx解决方案有限责任公司 | Snake-shaped robot |
| CN109910001A (en) * | 2018-12-26 | 2019-06-21 | 北京化工大学 | A kind of Fang She robot hybrid three-dimensional gait control method |
| CN112643677A (en) * | 2020-12-18 | 2021-04-13 | 华南理工大学 | Terrain adaptive control method, system, device and medium |
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| CN1291821C (en) | 2006-12-27 |
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