WO2020238335A1

WO2020238335A1 - Robot network structure suitable for unstructured environment and sensing system

Info

Publication number: WO2020238335A1
Application number: PCT/CN2020/079400
Authority: WO
Inventors: 宋超阳; 万芳
Original assignee: 南方科技大学
Priority date: 2019-05-30
Filing date: 2020-03-14
Publication date: 2020-12-03
Also published as: CN110174071A; CN110174071B

Abstract

Disclosed in the present invention are a robot network structure suitable for an unstructured environment and a sensing system. An upper layer structure of the robot network structure comprises one first node; a lower layer structure comprises at least three second nodes which are not collinear; the first node and all the second nodes form a three-dimensional network structure by means of connecting rods, and each connecting rod is connected between the two second nodes or between the first node and the second node. In the present invention, when the robot network structure is subjected to a lateral acting force from the external environment, the connecting rods of the three-dimensional network structure are subjected to concave deformation in space to form the adaptability with the geometric structure of the external environment, so that a robot can realize physical interaction under the unstructured environment; on the basis, the connecting rod structure can be directly used as an optical path or a single or a plurality of optical fiber loops are embedded, and the physical deformation of the connecting rods is detected by measurement for the change of light transmission quantity, so that physical perception of the unstructured environment is realized during interaction of the robot.

Description

Robot network structure and sensing system suitable for unstructured environment

Technical field

The invention belongs to the technical field of robot design, and relates to an adaptive general-purpose space network robot and a sensing system, in particular to a robot network structure and a sensing system suitable for physical interaction in an unstructured environment.

Background technique

Existing robots often use rigid materials for structural design, and they have formed more mature design methods in dealing with structured environmental problems, such as industrial robots. However, when dealing with a wider range of unstructured environment interactions, this design method still has more advantages. Large limitations often require the use of more complex mechanical structures, transmission components, and drive components to achieve complex motion functions. In this process, the adaptability of the robot structure has become an important design issue.

Generally, robots with high environmental adaptability can use a single structure or only a few changes to achieve various complex functions in a wider range of application scenarios, especially in unstructured environments. This is one of the robots’ adaptability. Important manifestation. For example, in the design of the mechanical claw of a robot, a limit design method is to imitate the flexible structure of the human hand, but this will introduce as many as dozens of drivers and parts like human hand muscles, and achieve similar functions through complex motion control (such as Artificial pneumatic muscle-driven manipulators produced by Shadow Robotics). Such robots are often complex in structure and expensive to build. The adaptive manipulator hopes to be able to pass fewer drives (such as only one drive) and fewer parts to be suitable for Stable grasping of various objects with different geometric shapes, as well as more complex physical environments (such as underwater, dust-free environments). Another example is the design of mobile robots. It is often required that the robot can not only move efficiently on flat ground through a wheeled structure, but also hope that it can move in a variety of complex and rugged terrain environments and move adaptively. Robots need to be able to move efficiently in different terrains (such as ups and downs, rugged and unequal) and in different environments (such as land, swamp, sand, underwater, etc.). Footed robots can effectively solve the problem of movement under complex terrain (such as the big dog robot of boston dynamics), but often require very complex mechanical structures and specially designed drives to meet the challenges of complex terrain through advanced sensing and control. An adaptable foot robot needs to adopt a relatively simple foot structure, with as few drives as possible, to achieve an adaptive gait that can cope with complex environments. Another example is a robotic arm operating underwater. Underwater operations often need to protect the fragile underwater ecological environment, including corals. Traditional robotic arms require complicated structures, waterproof, and sensor designs to achieve robotic arm operation. In the process, the obstacle avoidance to the underwater environment is as small as possible. The adaptive underwater manipulator needs to be able to use its own structural characteristics even in the event of a collision. Reduce the damage to the physical environment to a certain extent. In order to cope with the above problems, the prior art often integrates more complex mechanical structures, driving methods, sensor components, and control methods to achieve a robot design that can cope with the above difficulties. This type of design often has many difficulties, such as complex structure, high cost, numerous parts, narrow space, complex control, and difficulty in protection in special environments. However, proposing a universal adaptive robot design method is still dealing with A big challenge in the field of robot design with special application requirements in a structured environment.

Summary of the invention

In view of the deficiencies in the above-mentioned problems, the present invention provides a robot network structure and sensing system suitable for physical interaction in an unstructured environment.

The first object of the present invention is to provide a robot network structure suitable for an unstructured environment, including: an upper structure and a lower structure;

The upper structure includes a first node;

The lower structure includes at least three second nodes, and at least three of the second nodes are not collinear;

The first node and all the second nodes form a three-dimensional network structure through connecting rods, and the connecting rods are connected between the two second nodes or between the first node and the second node.

As a further improvement of the present invention, the connecting rod is a hollow flexible rod.

As a further improvement of the present invention, any of the second nodes and the closest second node are connected by the connecting rod.

As a further improvement of the present invention, any one of the second nodes and one or more second nodes that are not connected to it are connected by the connecting rod.

As a further improvement of the present invention, based on the principle of proximity, the first node and one or more second nodes are connected by the connecting rod.

As a further improvement of the present invention, the first node and one or more second nodes that are not connected thereto are connected by the connecting rod.

The second object of the present invention is to provide a sensor system with a robot network structure, including: a light source device, a photosensitive device and an optical signal processor;

The robot network structure is provided with a light path entrance and a light path exit, the light source device and the photosensitive device are connected to the optical signal processor, the light source device is placed at the entrance of the light path, and the photosensitive device is placed on the Light path exit;

The light emitted by the light source device enters the hollow channel of the connecting rod through the light path entrance, and is transmitted to the photosensitive device through the light path exit;

The optical signal processor processes the optical signals of the light source device and the photosensitive device, and converts them into the deformation signal of the robot network structure to realize the sensing function.

The third object of the present invention is to provide a sensor system with a robot network structure, including: a light source device, a photosensitive device and an optical signal processor;

The robot network structure is provided with an optical path entrance and an optical path exit, and a single or multiple optical fiber circuits are embedded in the hollow channel of the connecting rod;

The light source device and the photosensitive device are connected to the optical signal processor, the light source device is placed at the entrance of the light path, and the photosensitive device is placed at the exit of the light path;

The light emitted by the light source device enters the optical fiber loop through the light path entrance, and is transmitted to the photosensitive device through the light path exit;

Compared with the prior art, the beneficial effects of the present invention are:

The invention is based on the position of the nodes and uses connecting rods to orderly combine in space to form a spatial three-dimensional network structure; when subjected to lateral force from the external environment, the connecting rods of the three-dimensional network structure undergo recessed deformation in space , To form the adaptability to the geometric structure of the external environment, so that the robot can realize the physical interaction in the unstructured environment;

On top of this, the present invention can directly use the connecting rod structure as the optical path or embed single or multiple optical fiber circuits, and measure the change in the amount of light through the optical signal processor to detect the physical deformation of the connecting rod, so that the robot can interact with each other. Realize the physical perception of unstructured environments.

Description of the drawings

Figure 1 is a schematic structural diagram of a robot network structure disclosed in an embodiment of the present invention;

Figure 2 is a side sectional view of a sensor system with a robot network structure disclosed in an embodiment of the present invention;

3 is a schematic diagram of adaptive deformation before and after contact of an article X with a robot network structure disclosed in an embodiment of the present invention;

Fig. 4 is a schematic diagram of the robot network structure in Fig. 3 after adaptive adjustment to the item X;

Fig. 5 is a schematic diagram of adaptive deformation of an article X before and after contact with a robot network structure disclosed in another embodiment of the present invention.

In the picture:

1. The first node; 2. The second node; 3. Connecting rod; 4. Light source device; 5. Photosensitive device; 6. Optical signal processor; 7. Light path entrance; 8. Light path exit; 9. Side connection can be introduced The light path opening of the rod; 10. Deformation signal.

Detailed ways

In order to make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of the embodiments of the present invention, but not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the pointed device or element must have a specific orientation or a specific orientation. The structure and operation cannot therefore be understood as a limitation of the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance.

In the description of the present invention, it should also be noted that the terms "installation", "connection", and "connection" should be understood in a broad sense, unless otherwise clearly defined and limited. For example, they may be fixed connections or alternatively. Detachable connection, or integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between two components. For those of ordinary skill in the art, the specific meaning of the above-mentioned terms in the present invention can be understood in specific situations.

The purpose of the present invention is to realize the adaptive interaction and perception of the unstructured environment in the relatively limited structural space during the physical interaction of the robot equipment.

In order to achieve the above-mentioned purpose: the present invention conducts research in sequence from the theoretical level, method level, processing level and application level; among them:

On the theoretical level, how to use the kinematics and material properties of the space mechanism itself in the process of mechanical structure design, based on a high degree of integration of sensing, driving, electronics, modeling and other technical means, in a limited physical space Realize complex and intelligent environment interaction and intelligent perception;

On the method level, how to optimize the mechanical structure, design a relatively simple mechanical configuration with general functions, and realize the configuration design of a robot that can carry more complex or advanced functions with a small number of mechanical parts;

At the processing level, how to use the processing technology and material characteristics to reduce the processing cost and process difficulty, and achieve a robot configuration that can carry more complex or advanced functions;

At the application level, how to use a single mechanical configuration design as a carrier to realize interactive applications between robots and unstructured physical environments in a variety of different scenarios.

In order to achieve the above objectives, the design basis for the robot network structure of the present invention for physical interaction in an unstructured environment is as follows:

According to the classical structural mechanics theory, when any structural member is subjected to lateral force from the external environment, due to the elasticity of the member’s own material, corresponding elastic deformation will occur along the direction of the force, and at the same time, both ends of the member will produce Deformation tendency toward the direction of the force, and the external environment or external object applying the force receives the reaction force from the rod.

to this end,

The present invention proposes a robot network structure and sensing system suitable for physical interaction in an unstructured environment, which is based on the positions of upper and lower nodes and adopts connecting rods for orderly combination in space to form a spatial three-dimensional network structure; When subjected to lateral force from the external environment, the connecting rods of the three-dimensional network structure are deformed in a recessed manner in space to form adaptability to the geometric structure of the external environment, so that the robot can realize physical interaction in an unstructured environment; On top of this, the present invention can directly use the connecting rod structure as the optical path or embed single or multiple optical fiber circuits, and measure the change in the amount of light through the optical signal processor to detect the physical deformation of the connecting rod, so that the robot can interact with each other. Realize the physical perception of unstructured environments.

The present invention will be further described in detail below in conjunction with the accompanying drawings:

As shown in Figure 1, the present invention provides a robot network structure suitable for an unstructured environment, including: an upper structure and a lower structure;

The upper structure contains a first node (A) 1; the lower structure contains at least three non-collinear second nodes 2, and the non-collinear second nodes 2 ensure that the first node 1 and the second node 2 are connected to form a Spatial three-dimensional network structure, not flat network structure;

The first node 1 and all the second nodes 2 form a three-dimensional network structure through the connecting rod 3. The connecting rod 3 can be a hollow flexible rod (that is, an elastic or superelastic material with a higher Young's modulus and deformation ratio), or it can be used Other solid rods that meet the requirements are preferably hollow flexible rods; when a solid rod is selected, a channel for the light path can be provided on the solid rod; the connecting rod 3 is connected between the two second nodes 2 or the first node 1 Between and the second node 2. Among them, all the nodes (including the first node and the second node) of the present invention are connected as a whole, and the specific connection mode of the first node 1 and the second node 2 is not limited. The specific connection between the first node 1 and the second node 2 is not limited. The connection method can be designed according to different needs.

As shown in Figure 1, the present invention shows that the lower layer is 3 second nodes (a/b/c), 4 second nodes (a/b/c/d) and n second nodes (a/b/c). /c/.../n) robot network structure; where:

Preferably, in the present invention, in the upper structure, if there is only one node in the layer, there is no link connection in the layer; in the lower structure, any second node is usually connected to the second node closest to it. Rod connection. In the upper and lower two-layer structure, based on the principle of proximity, the first node is usually connected with one or more second nodes by connecting rods.

Further preferably, the present invention can be based on the actual design needs of different scenarios. In the lower structure, any second node and one or more second nodes that are not connected to it are connected by connecting rods; in the upper and lower two-layer structure, The first node and one or more second nodes that are not connected to it are connected by connecting rods.

Preferably, according to the actual design requirements of different scenarios, the geometric shape of each connecting rod can be a general straight line or a complex curve with a special design, and the cross-sectional shape of each connecting rod can be round or square. Or any other cross-sectional shape.

Preferably, each connecting rod is made of a material with a certain elasticity, that is, it can produce elastic deformation that can be detected under the action of external force. Any connecting rod can adopt a hollow structure inside. By detecting the amount of light inside the rod, the rod can be aligned. Perception of elastic deformation of pieces.

Preferably, according to the actual design needs of different scenarios, the way to realize the connection between the links at the connection node can be a general structural fixed connection (no degree of freedom, that is, no relative freedom of movement between the links), and hinge connection (a degree of freedom is The connecting rods have a relative rotation degree of freedom of movement), spherical hinge connection (three degrees of freedom, that is, there are two relative rotations between the connecting rods and one degree of freedom of movement around the axis) and other connection methods.

The present invention can adopt a flexible rod with an internal optical path (that is, an elastic or superelastic material with a higher Young's modulus and deformation ratio). When the rod is deformed, it can measure the optical fiber communication in the optical path or the optical path. The change of the light flux of the optical medium realizes the measurement of the deformation of the rod, thereby realizing the perception of the physical environment during the interaction of the overall robot network structure.

specific:

As shown in Figure 2, the structure shown is only a cross-sectional view of the side triangle in the left figure in Figure 1; the present invention provides a sensor system with a robot network structure, including: a light source device 4, a photosensitive device 5 and an optical signal processor 6; where:

The robot network structure is provided with a light path entrance 7 and a light path exit 8, and a light path opening 9 that can be introduced into the side link at the connection point; the light source device 4, the photosensitive device 5 are connected with the optical signal processor 6, and the light source device 4 is set At the entrance 7 of the light path, the photosensitive device 5 is placed at the exit 8 of the light path.

When in use, the light emitted by the light source device 4 enters the hollow channel of the connecting rod 3 through the light path entrance 7 and is transmitted to the photosensitive device 5 through the light path exit 8; the optical signal processor 6 performs the optical signal processing on the light source device 4 and the photosensitive device 5 It is processed and transformed into the deformation signal 10 of the robot network structure to realize the sensing function.

Further, the specific direction of the optical path of the sensing system of the present invention can be specifically designed according to actual needs. The bottom of the optical path is connected to the base part of the robot. The light source device can be a light emitting diode, and the photosensitive device can be a photosensitive sensor.

The present invention also provides another sensor system with a robot network structure, including: a light source device 4, a photosensitive device 5 and an optical signal processor 6; wherein:

The robot network structure is provided with a light path entrance 7 and a light path exit 8. The hollow channel of the connecting rod 3 is embedded with single or multiple optical fiber circuits; and the connection point is provided with a light path opening 9 that can lead into the side connecting rod; 4. The photosensitive device 5 is connected to the optical signal processor 6, the light source device 4 is placed at the entrance 7 of the light path, and the photosensitive device 5 is placed at the exit 8 of the light path.

When in use, the light emitted by the light source device 4 enters the optical fiber loop through the light path entrance 7 and is transmitted to the photosensitive device 5 through the light path exit 8; the optical signal processor 6 processes the light signals of the light source device 4 and the photosensitive device 5 and converts them into The deformation signal of the robot network structure realizes the sensing function.

Further, the specific direction of the optical path of the sensing system of the present invention can be specifically designed according to actual needs. The bottom of the optical path is connected to the base of the robot. The light source device can be a light emitting diode, and the photosensitive device can be a photosensitive sensor.

The present invention can also be based on the above-mentioned robot network structure, sensor system and the base to form a robot. The light source device 4, the photosensitive device 5 and the optical signal processor 6 can be installed on the base; the above-mentioned robot structure can be used without additional drivers, sensors, etc. In the case of any electronic components in the external physical environment, the unstructured geometric characteristics of the external physical environment are adaptively deformed to form a geometric wrap. At the same time, due to its own network structure characteristics, it can produce an adaptive motion stabilization effect in the interaction Compared with the traditional robot structure design, it has the characteristics of simple structure, fewer parts, flexible design, no additional drive, sufficient design space, flexible application scenarios, etc.; significantly improved in the deep sea, deep space, deep ground, and other extreme harsh environments Adaptability.

Examples:

In the present invention, taking Aabc in Figure 1 as an example, when the external environment force from an article X with a certain three-dimensional geometrical size is applied, the edges contacting the article X respectively produce different degrees of elastic deformation to form a space package for the three-dimensional geometrical size of the article X. Overlay to realize the adaptability of geometric shapes.

As shown in Figure 3, the external environment item X with a certain spatial geometric shape is in the blank area in the middle of a triangle Abc in [tetrahedron];

Before the contact occurs, the relative combined movement direction of the item X and the basic structural unit of the [tetrahedron type] is pointed by the dotted arrow, and the dotted arrow points to a blank area in the middle of the trilateral Abc of the basic structural unit of the [tetrahedral type];

After the contact occurs, the item X comes into contact with the trilateral Abc of the basic structural unit [tetrahedral], and the trilateral Abc produces corresponding elastic deformation; that is, the original connecting nodes A, b, and c produce a certain amount of Displaced to the positions A', b', and c', the three rods realize the adaptability to the X geometric dimensions of the article through the generated elastic deformation.

As shown in Figure 4, in the case of the schematic diagram after contact shown in Figure 3, it may be due to the uneven force indicated by the dashed arrow, and the point A'is additionally restricted by the rod A'a, making the triangle A'bc rotates around the rod A'a, causing the torsional movement of the entire [tetrahedral] basic structural unit. The resulting overall deformation further enhances the adaptability to the geometric structure of the article X, as shown by the three arrows in the figure The instantaneous equalization of each force achieves the effect of stabilizing the movement of the article X.

As shown in Figure 5, the external environment items X with a certain spatial geometry are almost evenly distributed in the area of the triangle Abc and the triangle Aac at the position of the tetrahedron.

Before contact occurs, the relative combined movement direction of the item X and the [tetrahedral] basic structural unit is indicated by the dotted arrow. At this time, because the item X is relatively uniform in the [tetrahedral] basic structural unit, it is almost uniformly distributed in its triangles Abc and three at the same time. In the area of the polygon Aac, the dotted arrow mainly points to the direction of the rod Ac;

After the contact occurs, the article X comes into contact with the rod Ac of the [tetrahedral] basic structural unit, and the rod Ac produces corresponding elastic deformation; that is, the article X mainly contacts the rod Ac, causing the rod Ac to generate elastic deformation and form a The adaptability of the X geometry, the original connecting nodes A and c have a certain amount of displacement to the positions A'and c'respectively inward.

At the same time, based on the principle of Figure 4, in the present invention, when article X has uneven forces on the connecting rods of different configurations, the side on which the force is applied will form a torsion effect, so that the entire [tetrahedral] configuration also follows The torsion further strengthens the adaptive geometric wrapping of the article X, thereby achieving stable movement of the article X.

The above only shows the [tetrahedral] robot network structure. When the number of lower-level connection nodes exceeds three, the [polyhedral] network configuration formed by the method similar to the above can be regarded as multiple [tetrahedral] basic The superposition of the configuration means that the connecting nodes of the lower layer are divided into groups of three to form different basic configurations of [tetrahedral], and then superimposed on the shared link to form the corresponding [polyhedral] composite The network configuration can achieve adaptive coverage and motion stabilization effects for the external environment using item X as an example by similar methods.

The above are only preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various modifications and changes. Any modification, equivalent replacement, improvement, etc., made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

A robot network structure suitable for an unstructured environment, characterized in that it includes: an upper structure and a lower structure;

The upper structure includes a first node;

The lower structure includes at least three second nodes, and at least three of the second nodes are not collinear;

The first node and all the second nodes form a three-dimensional network structure through connecting rods, and the connecting rods are connected between the two second nodes or between the first node and the second node.
The robot network structure according to claim 1, wherein the connecting rod is a hollow flexible rod.
The robot network structure according to claim 1, wherein any one of the second nodes and the second node closest to the second node are connected by the connecting rod.
The robot network structure according to claim 3, wherein any one of the second nodes and one or more second nodes that are not connected to it are connected by the connecting rods.
The robot network structure according to claim 1, wherein based on the principle of proximity, the first node and one or more second nodes are connected by the link.
The robot network structure according to claim 5, wherein the first node and one or more second nodes that are not connected to the first node are connected by the connecting rod.
A sensing system with a robot network structure according to claims 1-6, characterized by comprising: a light source device, a photosensitive device and an optical signal processor;

The robot network structure is provided with a light path entrance and a light path exit, the light source device and the photosensitive device are connected to the optical signal processor, the light source device is placed at the entrance of the light path, and the photosensitive device is placed on the Light path exit;

The light emitted by the light source device enters the hollow channel of the connecting rod through the light path entrance, and is transmitted to the photosensitive device through the light path exit;

The optical signal processor processes the optical signals of the light source device and the photosensitive device, and converts them into the deformation signal of the robot network structure to realize the sensing function.
A sensing system with a robot network structure according to claims 1-6, characterized by comprising: a light source device, a photosensitive device and an optical signal processor;

The robot network structure is provided with an optical path entrance and an optical path exit, and a single or multiple optical fiber circuits are embedded in the hollow channel of the connecting rod;

The light source device and the photosensitive device are connected to the optical signal processor, the light source device is placed at the entrance of the light path, and the photosensitive device is placed at the exit of the light path;

The light emitted by the light source device enters the optical fiber loop through the light path entrance, and is transmitted to the photosensitive device through the light path exit;

The optical signal processor processes the optical signals of the light source device and the photosensitive device, and converts them into the deformation signal of the robot network structure to realize the sensing function.