WO2020238337A1 - 适用于非结构化环境的机器人网络结构及传感系统 - Google Patents

适用于非结构化环境的机器人网络结构及传感系统 Download PDF

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WO2020238337A1
WO2020238337A1 PCT/CN2020/079403 CN2020079403W WO2020238337A1 WO 2020238337 A1 WO2020238337 A1 WO 2020238337A1 CN 2020079403 W CN2020079403 W CN 2020079403W WO 2020238337 A1 WO2020238337 A1 WO 2020238337A1
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Prior art keywords
nodes
network structure
robot
light source
source device
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English (en)
French (fr)
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宋超阳
万芳
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Southern University of Science and Technology
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Southern University of Science and Technology
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Priority to US17/614,457 priority Critical patent/US11467594B2/en
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/06—Program-controlled manipulators characterised by multi-articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
    • H04B10/25—Arrangements specific to fibre transmission
    • H04B10/2589—Bidirectional transmission
    • H04B10/25891—Transmission components
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
    • H04L41/04—Network management architectures or arrangements
    • H04L41/044—Network management architectures or arrangements comprising hierarchical management structures
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
    • H04L41/12—Discovery or management of network topologies

Definitions

  • 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.
  • 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.
  • 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, the robot network structure being a basic unit or a superposition of multiple basic units;
  • the basic unit includes an upper structure and a lower structure
  • the upper structure includes at least two first nodes
  • the lower structure includes at least two second nodes, and at least two of the second nodes are not coplanar with at least two of the first nodes;
  • All the first nodes and all the second nodes form a three-dimensional network structure through connecting rods, and the connecting rods are connected between the two first nodes, between the two second nodes, or the first Between the node and the second node.
  • the connecting rod is a hollow flexible rod.
  • any one of the first nodes and the nearest first node are connected by the connecting rod;
  • one or more of the first nodes and one or more of the second nodes are connected by the connecting rod.
  • any one of the first nodes and one or more first nodes that are not connected to it are connected by the connecting rod.
  • any one of the second nodes and one or more second nodes that are not connected to it are connected by the connecting rod.
  • any one of the first nodes 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 sensing 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;
  • 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 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;
  • the present invention can directly use the hollow structure of the connecting rod as the optical path or embed single or multiple optical fiber loops, and detect the physical deformation of the connecting rod through the optical signal processor to measure the change in the amount of light, so that the robot can Realize the physical perception of the unstructured environment when interacting.
  • FIG. 1 is a schematic structural diagram of a basic unit of a robot network structure disclosed in an embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of overlapping multiple basic units of a robot network structure disclosed in an embodiment of the present invention
  • FIG. 3 is a side sectional view of a sensor system of a robot network structure disclosed in an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of adaptive deformation of an article X before and after contact with a basic unit disclosed in an embodiment of the present invention
  • Fig. 5 is a schematic diagram of the basic unit in Fig. 4 after adaptive adjustment of the article X;
  • Fig. 6 is a schematic diagram of adaptive deformation of an article X before and after contact with a basic unit according to another embodiment of the present invention.
  • connection should be understood in a broad sense, unless otherwise clearly defined and limited.
  • 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.
  • connection should be understood in specific situations.
  • the purpose of the present invention is to realize the adaptive interaction and perception of the unstructured environment in a relatively limited structural space during the physical interaction of the robot equipment.
  • the present invention conducts research in sequence from the theoretical level, method level, processing level and application level; among them:
  • the design basis for the robot network structure of the present invention for physical interaction in an unstructured environment is as follows:
  • 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;
  • 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;
  • the present invention can directly use the hollow structure of the connecting rod as the optical path or embed single or multiple optical fiber loops, and detect the physical deformation of the connecting rod through the optical signal processor to measure the change in the amount of light, so that the robot can Realize the physical perception of the unstructured environment when interacting.
  • the present invention provides a robot network structure suitable for an unstructured environment.
  • the robot network structure is a basic unit or a superposition of multiple basic units.
  • the network structure of the basic unit is shown in Figure 1; :
  • the basic unit of the present invention includes an upper structure and a lower structure
  • the upper structure includes at least two first nodes 1;
  • the lower structure includes at least two second nodes 2, and at least two second nodes 2 are not coplanar with at least two first nodes 1;
  • All first nodes 1 and all second nodes 2 form a three-dimensional network structure through connecting rods 3.
  • the connecting rods 3 are hollow flexible rods (that is, elastic or superelastic materials with high Young's modulus and deformation ratio).
  • Other solid rods required 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 first nodes 1 and the two second nodes.
  • 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.
  • any first node is connected to the first node closest to it by a link; in the lower structure, any second node is connected to the second node closest to it Rod connection:
  • first nodes and one or more second nodes are connected by connecting rods.
  • any first node and one or more first nodes that are not connected to it are connected by connecting rods; in the lower structure, any The second node and one or more second nodes that are not connected to it are connected by links; in the upper and lower two-layer structure, any first node and one or more second nodes that are not connected to it are connected by links .
  • this type of basic structural unit can also be regarded as a special case of the aforementioned basic structural unit, that is, between two basic units with the same lower node configuration but different single upper node configuration. combination.
  • the structure can be simplified by connecting a single upper node of the two basic units while removing other links that are connected to the upper node but with longer lengths to avoid staggered links.
  • the present invention shows that the upper layer has 2 first nodes (A/B), the lower layer has 2 second nodes (a/b), and the upper layer has 2 first nodes (A/B),
  • the lower layer has 3 second nodes (a/b/c), the upper layer has 2 first nodes (A/B), the lower layer has 4 second nodes (a/b/c/d), and the upper layer has 3 second nodes (a/b/c/d).
  • One node (A/B/C) the lower layer is 3 second nodes (a/b/c)
  • the upper layer is 4 first nodes (A/B/C/D)
  • the lower layer is 4 second nodes ( a/b/c/d) basic unit structure; among them:
  • the ABab configuration is in the form of four sides.
  • the [Double Trilateral Double Quadrilateral] Ababc configuration can be equivalent to a composite structural unit formed by two [tetrahedral] basic structural units Aabc and Babc through the superposition of the lower abc, and then The upper two nodes A and B are connected. Since the distance between A and a and b is relatively close, and the distance between B and c is only relatively short, it can be completed by removing the three connecting rods Ac, Ba and Bb The structure is simplified to avoid the structure of staggered connecting rods. Similar to the aforementioned analysis, it can be known that the basic structural unit can achieve the effect of adaptive wrapping and motion stabilization of the external environment taking the article X as an example.
  • the [single four-sided four-three-sided] ABabc configuration can be equivalent to a composite structural unit formed by two [tetrahedral] basic structural units Aabc and Babc through the superposition of the lower abc.
  • the spatial distance between Ac and Bc is basically the same, and the spatial distance between Aa and Bb is also basically the same.
  • the structure can be simplified by removing Ab and Ba to avoid the structure of interlacing connecting rods.
  • This configuration can also be regarded as a Taking c as the first layer and ABba as the second layer of the pyramid-shaped basic structural unit, similar to the foregoing analysis, it can be known that the basic structural unit can achieve adaptive coverage and motion stabilization effects for the external environment taking item X as an example. .
  • the [three-four-sided double-trilateral] ABabcd configuration can be equivalent to two [pyramid-shaped] basic structural units Aabcd and Babcd form a composite structural unit through the superposition of the lower abcd, but
  • the spatial distance between Aa and Ab is basically the same, and the spatial distance between Bc and Bd is also basically the same.
  • the structure can be simplified by removing Ac, Ad, Ba, and Bb to avoid the staggered structure of the connecting rods.
  • the analysis similar to the above shows that The basic structural unit can realize the adaptive covering and motion stabilization effect of the external environment taking the article X as an example.
  • the robot space network structure designed by the present invention can be combined and stacked by using a plurality of the above-mentioned basic structures.
  • the size undergoes corresponding recessed deformation, through the superposition of the self-adaptability and motion stabilization effect of each layer of the basic structure, including the adaptive wrap and motion stabilization effect of the network structure through torsional deformation, comprehensively enhance the overall spatial network structure to the outside Environment adaptive wrapping and motion stabilization effects, a remarkable feature of the robot body space network structure involved in the present invention is that it can realize geometric structure adaptation and motion stabilization to the external environment from any lateral angle:
  • [a multi-layer composite] structure It consists of a basic structural unit of [single four-sided three-sided] at the top and multiple basic structural units of a double-layer [three-sided] at the bottom;
  • FIG. 2b another multi-layer composite] structure: It consists of a basic structural unit of the top layer [three-four-sided double-trilateral] and multiple basic structural units of a double-layer [four-sided] at the bottom;
  • 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.
  • 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.
  • 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).
  • an internal optical path that is, an elastic or superelastic material with a higher Young's modulus and deformation ratio.
  • 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.
  • the structure shown is only a cross-sectional view of the side triangle in Figure 2; 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; :
  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • 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
  • 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.
  • the unstructured geometric characteristics of the external physical environment are adaptively deformed to form a geometric wrap.
  • the adaptive process of the basic unit of the present invention is:
  • the present invention takes the [double-trilateral-double-quadrilateral] ABabc configuration shown in Figure 1b as an example, which can be equivalent to a composite structural unit formed by two [tetrahedral] basic structural units Aabc and Babc through the superposition of the lower abc , And then connect the upper two nodes A and B.
  • the present invention uses the [tetrahedral] basic structural unit Aabc as an example to describe the adaptive process as follows:
  • an external environmental item X with a certain spatial geometric shape is in the blank area in the middle of a [tetrahedral] triangle Abc;
  • 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 the blank area in the middle of a triangle Abc of the basic structural unit of the [tetrahedral type];
  • 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.
  • the relative combined movement direction of the item X and the [tetrahedral] basic structural unit is indicated by the dotted arrow.
  • 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.
  • the dotted arrow mainly points to the direction of the rod Ac;
  • 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 position A'and c'respectively inward.
  • the basic unit of the present invention [double trilateral double quadrilateral] ABabc is formed by superimposing two [tetrahedral] basic structural units Aabc and Babc; therefore, the [double trilateral double quadrilateral] ABabc shown in Figure 1b
  • the configuration can achieve adaptive coverage and motion stabilization effects on the external environment taking the article X as an example by similar methods.
  • the robot network structure of the present invention is formed by superimposing a plurality of basic units.
  • the robot network structure shown in FIG. 2 can achieve adaptive wrapping and motion stabilization of the external environment taking item X as an example by similar methods to the above. effect.

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Abstract

一种适用于非结构化环境的机器人网络结构及传感系统，其为一个基本单元或多个基本单元的叠合；基本单元的上层结构包含至少两个第一节点（1），下层结构包含至少两个第二节点（2），至少两个第二节点（2）与至少两个第一节点（1）不共面；所有第一节点（1）和所有第二节点（2）通过连杆（3）构成三维网络结构。当受到来自外部环境的侧向作用力时，三维网络结构的连杆（3）在空间中进行凹陷式形变，形成与外部环境几何结构的自适应性，从而使机器人实现非结构化环境下的物理交互；在此之上，可直接利用连杆（3）的中空结构作为光路或内嵌单根或多根光纤回路，通过测量通光量的变化检测连杆（3）的物理形变量，从而使机器人在交互时实现非结构化环境的物理感知。

Description

适用于非结构化环境的机器人网络结构及传感系统 技术领域
本发明属于机器人设计技术领域，涉及一种自适应通用空间网络机器人及传感系统，具体涉及一种适用于非结构化环境下进行物理交互的机器人网络结构及传感系统。
背景技术
现有机器人常采用刚性材质进行结构设计，在应对结构化环境问题中已经形成较为成熟的设计方法，如工业机器人等，但在应对更加广泛的非结构化环境交互时，该设计方法仍具有较大的局限性，往往需要采用较为复杂的机械结构、传动部件、驱动部件等实现复杂的运动功能，在这个过程中，机器人结构的自适应性成为一个重要的设计问题。
通常具有较高环境适应性的机器人可以借助单一结构或仅通过少量改动即可在更加广泛的应用场景下，特别是非结构化环境下，实现各种复杂的功能，这是机器人自适应性的一个重要体现。比如机器人的机械爪设计中，一种极限的设计方法是仿造人手的灵活结构，但这将引入类似人手肌肉一样多达几十个驱动器和零件、通过复杂的运动控制才能实现类似的功能(如Shadow Robotics生产的人工气动肌肉驱动的机械手)，这类机器人往往结构复杂且造价昂贵，具有自适应性的机械手希望可以通过较少的驱动(如仅一个驱动器)，较少的零件，以适用于各种不同几何形状物体的稳定抓取，以及更加复杂的物理环境(如水下、无尘等环境)。另一个例子是移动机器人的设计中，往往需要机器人不仅可以在平地上通过一个轮式结构进行高效移动，同时更加希望其可以在复杂崎岖的各种地形环境下进行移动，具有自适应性的移动机器人需要可以在不同的地形下(如高低起伏、崎岖不平等)、不同的环境中(如陆地、沼泽、沙石、水下等)进行高效移动。足式机器人可以有效解决复杂地形下的移动问题(如boston dynamics的大狗机器人)，但往往需要十分复杂的机械结构和特殊设计的驱动器通过高等传感和控制以应对复杂地形的挑战，具有自适应性的足式机器人需要通过相对简单的足式结构，在尽可能少量的驱动器下，即可实现可应对复杂环境的自适应性步态。另一个例子是在水下 操作的机械手臂，水下作业往往需要对包括珊瑚在内水下脆弱的生态环境进行保护，传统机械臂需要进行复杂的结构、防水、传感设计来实现机械臂运行过程中对水下环境的避障以产生尽可能小的影响，具有自适应性的水下机械臂需要可以通过自身的结构特点在即便产生碰撞的情况下仍然可以通过自身结构的自适应性最大程度上降低对物理环境的伤害等。为了应对以上问题，现有技术往往通过集成更加复杂的机械结构、驱动方式、传感器件以及控制方法等，实现可以应对以上困难的机器人设计。这类设计往往存在结构复杂、造价昂贵、零件繁多、空间狭小、控制复杂、在特种环境下保护困难等多方面的困难，而提出一个具有通用自适应性的机器人设计方法仍是目前在应对非结构化环境下特殊应用需求的机器人设计领域的一大挑战。
发明内容
针对上述问题中存在的不足之处，本发明提供一种适用于非结构化环境下进行物理交互的机器人网络结构及传感系统。
本发明的第一目的在于提供一种适用于非结构化环境的机器人网络结构，所述机器人网络结构为一个基本单元或多个基本单元的叠合；
所述基本单元包括上层结构和下层结构；
所述上层结构包含至少两个第一节点；
所述下层结构包含至少两个第二节点，至少两个所述第二节点与至少两个所述第一节点不共面；
所有所述第一节点和所有所述第二节点通过连杆构成三维网络结构，所述连杆连接在两个所述第一节点之间、两个所述第二节点之间或所述第一节点与第二节点之间。
作为本发明的进一步改进，所述连杆为中空柔性杆。
作为本发明的进一步改进，任一所述第一节点和与之距离最近的第一节点通过所述连杆连接；
任一所述第二节点和与之距离最近的第二节点通过所述连杆连接；
基于就近原则，一个或多个所述第一节点和一个或多个第二节点通过所述连杆连接。
作为本发明的进一步改进，任一所述第一节点和与之未连接的一个或多 个第一节点通过所述连杆连接。
作为本发明的进一步改进，任一所述第二节点和与之未连接的一个或多个第二节点通过所述连杆连接。
作为本发明的进一步改进，任一所述第一节点和与之未连接的一个或多个第二节点通过所述连杆连接。
本发明的第二目的在于提供一种机器人网络结构的传感系统，包括：光源器件、光敏器件和光信号处理器；
所述机器人网络结构上设有光路入口和光路出口，所述光源器件、光敏器件与所述光信号处理器相连，所述光源器件置于所述光路入口处，所述光敏器件置于所述光路出口处；
所述光源器件发出的光经所述光路入口进入所述连杆的中空通道中，并经所述光路出口传输至所述光敏器件；
所述光信号处理器对所述光源器件和光敏器件的光信号进行处理，转化为所述机器人网络结构的形变信号，实现传感功能。
本发明的第三目的在于提供一种机器人网络结构的传感系统，包括：光源器件、光敏器件和光信号处理器；
所述机器人网络结构上设有光路入口和光路出口，所述连杆的中空通道中内嵌单根或多根光纤回路；
所述光源器件、光敏器件与所述光信号处理器相连，所述光源器件置于所述光路入口处，所述光敏器件置于所述光路出口处；
所述光源器件发出的光经所述光路入口进入所述光纤回路中，并经所述光路出口传输至所述光敏器件处；
所述光信号处理器对所述光源器件和光敏器件的光信号进行处理，转化为所述机器人网络结构的形变信号，实现传感功能。
与现有技术相比，本发明的有益效果为：
本发明基于节点的位置并采用连杆在空间中进行有序组合，形成一个空间三维网络结构；当受到来自外部环境的侧向作用力时，三维网络结构的连杆在空间中进行凹陷式形变，形成与外部环境几何结构的自适应性，从而使机器人实现非结构化环境下的物理交互；
在此之上，本发明可直接利用连杆的中空结构作为光路或内嵌单根或多 根光纤回路，通过光信号处理器测量通光量的变化检测连杆的物理形变量，从而使机器人在交互时实现非结构化环境的物理感知。
附图说明
图1为本发明一种实施例公开的机器人网络结构的基本单元的结构示意图；
图2为本发明一种实施例公开的机器人网络结构的多个基本单元叠合的结构示意图；
图3为本发明一种实施例公开的机器人网络结构的传感系统的侧视剖视图；
图4为本发明一种实施例公开的物品X与基本单元接触前后的自适应形变示意图；
图5为图4中基本单元对物品X自适应调整后的示意图；
图6为本发明另一种实施例公开的物品X与基本单元接触前后的自适应形变示意图。
图中：
1、第一节点；2、第二节点；3、连杆；4、光源器件；5、光敏器件；6、光信号处理器；7、光路入口；8、光路出口；9、可导入侧面连杆的光路开口；10、形变信号。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都属于本发明保护的范围。
在本发明的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理 解为对本发明的限制。此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性。
在本发明的描述中，还需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。
本发明的目的为：机器人设备在物理交互过程中，在相对有限的结构空间中实现对非结构化环境的自适应交互与感知。
为达到上述目的：本发明从理论层面、方法层面、加工层面和应用层面上依次进行研究；其中：
在理论层面上，如何在机械结构设计的过程中，借助空间机构自身的运动学和材料特性，在高度融合传感、驱动、电子、建模等技术手段的基础上，在有限的物理空间中实现复杂且智能的环境交互与智能感知；
在方法层面上，如何优化机械结构，设计一个相对简单且具有通用功能的机械构型，通过较少的机械零部件数量，实现可以承载更加复杂或高等功能的机器人构型设计；
在加工层面上，如何借助加工工艺和材料特性，降低加工成本和工艺难度，实现可以承载更加复杂或高等功能的机器人构型；
在应用层面上，如何以单一机械构型设计为载体，实现面向多种不同场景下机器人与非结构化物理环境的交互应用。
为达到上述目的，本发明适用于非结构化环境下进行物理交互的机器人网络结构的设计依据为：
根据经典结构力学理论，当任一结构杆件受到来自外部环境的侧向作用力时，由于杆件自身的材料弹性，将沿着受力方向产生相应的弹性形变，同时杆件的两端产生朝向受力方向的形变趋势，而施加作用力的外部环境或外部物体受到来自杆件的反作用力。
为此，
本发明提出一种适用于非结构化环境下进行物理交互的机器人网络结构 及传感系统，其基于上下层节点的位置并采用连杆在空间中进行有序组合，形成一个空间三维网络结构；当受到来自外部环境的侧向作用力时，三维网络结构的连杆在空间中进行凹陷式形变，形成与外部环境几何结构的自适应性，从而使机器人实现非结构化环境下的物理交互；在此之上，本发明可直接利用连杆的中空结构作为光路或内嵌单根或多根光纤回路，通过光信号处理器测量通光量的变化检测连杆的物理形变量，从而使机器人在交互时实现非结构化环境的物理感知。
下面结合附图对本发明做进一步的详细描述：
如图2所示，本发明提供一种适用于非结构化环境的机器人网络结构，机器人网络结构为一个基本单元或多个基本单元的叠合，基本单元的网络结构如图1所示；其中：
如图1所示，本发明的基本单元包括上层结构和下层结构；
上层结构包含至少两个第一节点1；
下层结构包含至少两个第二节点2，至少两个第二节点2与至少两个第一节点1不共面；
所有第一节点1和所有第二节点2通过连杆3构成三维网络结构，连杆3为中空柔性杆(即具有较高杨氏模量以及形变比例弹性或超弹性材料)，也可采用符合需求的其他实心杆件，优选采用中空柔性杆；当选用实心杆件时可在实心杆件上设置供光路通过的通道；连杆3连接在两个第一节点1之间、两个第二节点2之间或第一节点1与第二节点2之间。其中，本发明的所有节点(包含第一节点和第二节点)连接成一整体，并不对第一节点1与第二节点2的具体连接方式进行限定，第一节点1与第二节点2的具体连接方式可根据不同的需求进行设计。
优选的，本发明在上层结构中，任一第一节点和与之距离最近的第一节点通过连杆连接；在下层结构中，任一第二节点和与之距离最近的第二节点通过连杆连接；在上下两层结构中，基于就近原则，一个或多个第一节点和一个或多个第二节点通过连杆连接。
进一步优选的，本发明可根据不同场景的实际设计需要，在上层结构中，任一第一节点和与之未连接的一个或多个第一节点通过连杆连接；在下层结构中，任一第二节点和与之未连接的一个或多个第二节点通过连杆连接；在 上下两层结构中，任一第一节点和与之未连接的一个或多个第二节点通过连杆连接。
更进一步优选的，需要指出的是，此类基本结构单元也可视为前述基本结构单元的一种特例，即两个具有相同下层节点构型但不同单一上层节点构型的基本单元之间的组合。此时，可以通过连接这两个基本单元的单一上层节点，同时去除其他与该上层节点相连但长度更长的连杆的方式进行结构简化，避免连杆交错的结构。
如图1所示，本发明示出了上层为2个第一节点(A/B)、下层为2个第二节点(a/b)，上层为2个第一节点(A/B)、下层为3个第二节点(a/b/c)，上层为2个第一节点(A/B)、下层为4个第二节点(a/b/c/d)，上层为3个第一节点(A/B/C)、下层为3个第二节点(a/b/c)，上层为4个第一节点(A/B/C/D)、下层为4个第二节点(a/b/c/d)的基本单元结构；其中：
如图1a所示的【四边形式】ABab构型，通过类似前述第一种具体示例中的分析方法可知该基本结构单元可以实现对以物品X为例的外部环境的自适应性包覆和运动稳定效果；
如一种如图1b所示的【双三边双四边式】ABabc构型，可以等效为两个【四面体式】基本结构单元Aabc和Babc通过下层abc的叠加形成的一个复合结构单元，然后将上层的两个节点A和B进行连接，由于A与a和b的空间距离较近，而B仅与c的空间距离较近，则可以通过去除Ac，Ba，Bb这三根连杆的方式完成结构简化，避免连杆交错的结构，通过类似前述分析可知该基本结构单元可以实现对以物品X为例的外部环境的自适应性包覆和运动稳定效果。
如另一种如图1c所示的【单四边四三边式】ABabc构型，可以等效为两个【四面体式】基本结构单元Aabc和Babc通过下层abc的叠加形成的一个复合结构单元，但Ac和Bc的空间距离基本相等，Aa和Bb的空间距离也基本相等，此时可以通过去除Ab、Ba的方式完成结构简化，避免连杆交错的结构，该构型还可以视为是一个以c为第一层，ABba为第二层的金字塔型基本结构单元，通过类似前述分析可知该基本结构单元可以实现对以物品X为例的外部环境的自适应性包覆和运动稳定效果。。
如另一种如图1d所示【三四边双三边式】ABabcd构型，可以等效为两 个【金字塔式】基本结构单元Aabcd和Babcd通过下层abcd的叠加形成一个复合结构单元，但Aa和Ab的空间距离基本相等，Bc和Bd的空间距离也基本相等，此时可以通过去除Ac、Ad、Ba、Bb的方式完成结构简化，避免连杆交错的结构，通过类似前述分析可知该基本结构单元可以实现对以物品X为例的外部环境的自适应性包覆和运动稳定效果。
其他情况可根据以上分析以此类推获得其他基本网络结构单元。
此类基本结构单元的另一个特例是当上下两层包含相同数量的连接节点，每层内仅需通过连杆依次连接各相邻节点形成单一闭环结构，两层间通过连杆依次连接对应节点形成三维网络结构，且每层内的各节点可不共面。
如图1e所示【双层三边式】ABCabc构型，上下两层分别包含三个连接节点；
如图1f所示【双层四边式】ABCDabcd构型，上下两层分别包含四个连接节点
如图2所示，在上述基本单元基础上，本发明所设计的机器人空间网络结构可通过采用多个上述基本结构组合堆叠的方式，每层基本结构单元可分别对物品X的不同位置的几何尺寸进行相应的凹陷式形变，通过每层基本结构的自适应性和运动稳定效果的叠加，包括网络结构通过扭转形变产生的自适应性包覆和运动稳定效果，综合提升整体空间网络结构对外部环境的自适应性包覆和运动稳定效果，本发明所涉及的机器人本体空间网络结构的一个显著特点是可以从任意侧向角度实现对外部环境进行几何结构自适应以及运动稳定：
如图2a所示【一种多层复合式】结构：包含顶层的【单四边三三边式】基本结构单元以及底部的多个双层【三边式】基本结构单元组成；
如图2b所示【另一种多层复合式】结构：包含顶层的【三四边双三边式】基本结构单元以及底部的多个双层【四边式】基本结构单元组成；
根据不用场景的实际需求，可根据本发明所描述的设计方法进行相应的结构设计，实现机器人本体对外部环境的结构自适应性和运动稳定效果，这一方法可实现的多样化机器人结构。
优选的，本发明根据不同场景的实际设计需要，每个连杆的几何形状，可以是一般直线，也可以是某种特殊设计的复杂曲线，每个连杆的截面形状 可以是圆形、方形或其他任意截面形状。
优选的，每个连杆采用具有一定弹性的材料，即在外力作用下可产生可被检测到的弹性形变，任意连杆内部可采用中空结构，通过检测杆件内部的通光量，实现对杆件弹性形变的感知。
优选的，根据不同场景的实际设计需要，连接节点处实现连杆间连接的方式可以是一般的结构固接(无自由度即连杆间无相对运动自由度)、铰链连接(一个自由度即连杆间有一个相对转动的运动自由度)、球铰连接(三个自由度即连杆间有两个相对转动加一个绕轴自旋的运动自由度)等多种连接方式。
本发明可以通过采用具有内部光路的柔性杆件(即具有较高杨氏模量以及形变比例弹性或超弹性材料)，当杆件产生形变时，通过测量其光路内或光路内部如光纤的通光介质的通光量变化实现对杆件形变量的计量，从而实现整体机器人网络结构在交互时对物理环境的感知。
具体的：
如图3所示，其所示的结构仅为图2中侧面三角的剖视图；本发明提供一种机器人网络结构的传感系统，包括：光源器件4、光敏器件5和光信号处理器6；其中：
机器人网络结构上设有光路入口7和光路出口8，并在连接点处设有可导入侧面连杆的光路开口9；光源器件4、光敏器件5与光信号处理器6相连，光源器件4置于光路入口7处，光敏器件5置于光路出口8处。
使用时，光源器件4发出的光经光路入口7进入连杆3的中空通道中，并经光路出口8传输至光敏器件5；光信号处理器6对光源器件4和光敏器件5的光信号进行处理，转化为机器人网络结构的形变信号10，实现传感功能。
进一步，本发明传感系统光路具体的走向可根据实际需求具体设计，底部有光路出入口并连接至机器人底座部分，光源器件可采用发光二极管，光敏器件可采用光敏传感器。
本发明还提供另一种机器人网络结构的传感系统，包括：光源器件4、光敏器件5和光信号处理器6；其中：
机器人网络结构上设有光路入口7和光路出口8，连杆3的中空通道中内嵌单根或多根光纤回路；并在连接点处设有可导入侧面连杆的光路开口9；光 源器件4、光敏器件5与光信号处理器6相连，光源器件4置于光路入口7处，光敏器件5置于光路出口8处。
使用时，光源器件4发出的光经光路入口7进入光纤回路中，并经光路出口8传输至光敏器件5；光信号处理器6对光源器件4和光敏器件5的光信号进行处理，转化为机器人网络结构的形变信号，实现传感功能。
进一步，本发明传感系统光路具体的走向可根据实际需求具体设计，底部有光路出入口并连接至机器人底座部分，光源器件可采用发光二极管，光敏器件可采用光敏传感器。
本发明还可基于上述机器人网络结构、传感器系统并配合底座可构成机器人，光源器件4、光敏器件5和光信号处理器6可安装在底座上；上述机器人结构可以在不借助额外驱动器、传感器等在内的任何电子元器件的情况下对外部物理环境的非结构化几何特征产生自适应性形变形成几何包覆，同时由于其自身的网络结构特征可以在交互中产生具有自适应性的运动稳定效果，相比传统机器人结构设计具有结构简单、零件数量少、设计灵活、无需额外驱动、设计空间充足、应用场景灵活等特征；显著提高了在包括深海、深空、深地、及其他极端恶劣环境下的适应性。
实施例：
本发明基本单元的自适应过程为：
本发明以图1b所示的【双三边双四边式】ABabc构型为例，其可以等效为两个【四面体式】基本结构单元Aabc和Babc通过下层abc的叠加形成的一个复合结构单元，然后将上层的两个节点A和B进行连接。
为此，本发明以【四面体式】基本结构单元Aabc为例对自适应过程进行如下说明：
当【四面体式】基本结构单元Aabc受到来自具有一定三维几何尺寸物品X的外部环境作用力时，与物品X接触的边分别产生不同程度的弹性形变对物品X的三维几何尺寸形成空间包覆，实现几何形状的自适应性。
如图4所示，具有一定空间几何形状的外部环境物品X在【四面体式】的一个三边形Abc中间的空白区域内；
产生接触前，物品X与【四面体式】基本结构单元的相对合运动方向沿虚线箭头所指，虚线箭头指向【四面体式】基本结构单元的一个三边形Abc 中间空白区域内；
产生接触后，物品X与【四面体式】基本结构单元的三边形Abc产生接触，三边形Abc产生相应的弹性形变；即，原始的连接节点A、b、c分别向内侧产生一定量的位移至A’、b’、c’位置，三根杆件通过产生的弹性形变实现对物品X几何尺寸的适应性。
如图5所示，在图4所示接触后示意图的情况中，可能由于虚线箭头所表示的作用力不均，加上A’点额外受到来自杆件A’a的限制，使得三边形A’bc产生绕杆件A’a的旋转，造成整个【四面体式】基本结构单元的扭转运动，所产生的整体形变进一步加强对物品X几何结构的适应性，当图示三个箭头所示各力瞬时均等式，实现对物品X运动稳定的效果。
如图6所示，具有一定空间几何形状的外部环境物品X在【四面体式】的位置几乎均匀分布在其三边形Abc和三边形Aac区域内。
产生接触前，物品X与【四面体式】基本结构单元的相对合运动方向沿虚线箭头所指，此时由于物品X相对【四面体式】基本结构单元几乎同时均匀分布在其三边形Abc和三边形Aac区域内，即虚线箭头主要指向杆件Ac方向；
产生接触后，物品X与【四面体式】基本结构单元的杆件Ac产生接触，杆件Ac产生相应的弹性形变；即，物品X主要与杆Ac产生接触，使得杆Ac产生弹性形变形成对物品X几何尺寸的适应性，原始的连接节点A、c分别向内侧产生一定量的位移至A’、c’位置。
同时，基于图5的原理，本发明当物品X的对该构型不同连杆作用力不均时，会对其所施加力的那一面形成扭转作用，使得整个【四面体式】构型也随之扭转，进一步加强对物品X的自适应性几何包覆，进而实现对物品X的运动稳定。
由于本发明的基本单元【双三边双四边式】ABabc是由两个【四面体式】基本结构单元Aabc和Babc叠合而成；因此，图1b所示的【双三边双四边式】ABabc构型可通过类似以上方法实现对以物品X为例的外部环境的自适应性包覆和运动稳定效果。
进一步，本发明的机器人网络结构是多个基本单元叠合而成，图2所示的机器人网络结构可通过类似以上方法实现对以物品X为例的外部环境的自 适应性包覆和运动稳定效果。
以上仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (8)

  1. 一种适用于非结构化环境的机器人网络结构，其特征在于，所述机器人网络结构为一个基本单元或多个基本单元的叠合；
    所述基本单元包括上层结构和下层结构；
    所述上层结构包含至少两个第一节点；
    所述下层结构包含至少两个第二节点，至少两个所述第二节点与至少两个所述第一节点不共面；
    所有所述第一节点和所有所述第二节点通过连杆构成三维网络结构，所述连杆连接在两个所述第一节点之间、两个所述第二节点之间或所述第一节点与第二节点之间。
  2. 如权利要求1所述的机器人网络结构，其特征在于，所述连杆为中空柔性杆。
  3. 如权利要求1所述的机器人网络结构，其特征在于，任一所述第一节点和与之距离最近的第一节点通过所述连杆连接；
    任一所述第二节点和与之距离最近的第二节点通过所述连杆连接；
    基于就近原则，一个或多个所述第一节点和一个或多个第二节点通过所述连杆连接。
  4. 如权利要求3所述的机器人网络结构，其特征在于，任一所述第一节点和与之未连接的一个或多个第一节点通过所述连杆连接。
  5. 如权利要求3所述的机器人网络结构，其特征在于，任一所述第二节点和与之未连接的一个或多个第二节点通过所述连杆连接。
  6. 如权利要求3所述的机器人网络结构，其特征在于，任一所述第一节点和与之未连接的一个或多个第二节点通过所述连杆连接。
  7. 一种如权利要求1-6所述的机器人网络结构的传感系统，其特征在于，包括：光源器件、光敏器件和光信号处理器；
    所述机器人网络结构上设有光路入口和光路出口，所述光源器件、光敏器件与所述光信号处理器相连，所述光源器件置于所述光路入口处，所述光敏器件置于所述光路出口处；
    所述光源器件发出的光经所述光路入口进入所述连杆的中空通道中，并经所述光路出口传输至所述光敏器件；
    所述光信号处理器对所述光源器件和光敏器件的光信号进行处理，转化 为所述机器人网络结构的形变信号，实现传感功能。
  8. 一种如权利要求1-6所述的机器人网络结构的传感系统，其特征在于，包括：光源器件、光敏器件和光信号处理器；
    所述机器人网络结构上设有光路入口和光路出口，所述连杆的中空通道中内嵌单根或多根光纤回路；
    所述光源器件、光敏器件与所述光信号处理器相连，所述光源器件置于所述光路入口处，所述光敏器件置于所述光路出口处；
    所述光源器件发出的光经所述光路入口进入所述光纤回路中，并经所述光路出口传输至所述光敏器件处；
    所述光信号处理器对所述光源器件和光敏器件的光信号进行处理，转化为所述机器人网络结构的形变信号，实现传感功能。
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