CN1291821C - Snake-shaped robot with ground adaptability - Google Patents

Abstract

The present invention relates to the field of robot research and engineering, and specifically discloses a snake-like robot with ground adaptability. The snake-like robot mechanism is composed of a plurality of identical modules, wherein the head of the snake-like robot is equipped with a main control unit of a ground characteristic detection device, and each module is provided with an execution unit, which receives a control signal from the main control unit, and the execution units are connected through a CAN bus to form a distributed control system. According to the detection results of the ground characteristic detection device, the snake-like robot can automatically change gait movements on a variety of different grounds (hard ground, soft soil, sand, etc.) to adapt to different grounds.

Description

A kind of snake-shaped robot with ground adaptive capacity

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 Qian 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 Qian 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 8, 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:

${\mathrm{\θ}}_i\left(s\right)=-2{\mathrm{\α}}_0\sin \left(\frac{K_n\mathrm{\π}}{n}\right)\·\sin (\frac{2K_n\mathrm{\π}}{L}s+\frac{2K_n\mathrm{\π}}{n}i)+K_{1}l$

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:

$\left\{\begin{array}{c}{\mathrm{\θ}}_i\left(s\right)=-2{\mathrm{\α}}_{\mathrm{\θ}0}\sin \left(\frac{K_n\mathrm{\π}}{n_{\mathrm{\θ}}}\right)\·\sin (\frac{2K_n\mathrm{\π}}{L_{\mathrm{\θ}}}s+\frac{2K_n\mathrm{\π}}{n_{\mathrm{\θ}}}i)+K_{1}l\\ {\mathrm{\φ}}_i\left(s\right)=-2{\mathrm{\α}}_{\mathrm{\φ}0}\sin \left(\frac{K_n\mathrm{\π}}{n_{\mathrm{\φ}}}\right)\·\sin (\frac{2K_n\mathrm{\π}}{L_{\mathrm{\φ}}}s+\frac{2K_n\mathrm{\π}}{n_{\mathrm{\φ}}}i+\mathrm{\δ\φ})+K_{1}l\end{array}\right.$

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, δ _φBe 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.

${\mathrm{\φ}}_i\left(s\right)=-2{\mathrm{\α}}_0\sin \left(\frac{K_n\mathrm{\π}}{n}\right)\·\sin (\frac{{2K}_n\mathrm{\π}}{L}s+\frac{{2K}_n\mathrm{\π}}{n}i)+K_{1}l$

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 adopt the optimal movement mode to move automatically on different ground, have improved the adaptive capacity of snake-shaped robot.

Claims (7)

1. A snake-shaped robot with ground adaptability, consisting of a snake head and a plurality of joint modules with a single degree of freedom, characterized in that: a main control unit and a ground characteristic detection device (3) are arranged at the snake head (1) Each joint module (2) is equipped with an execution unit, the execution unit receives the control signal of the main control unit, and the execution units are connected through the CAN bus to form a distributed control system. 2. According to the said snake-shaped robot with ground adaptability according to claim 1, it is characterized in that: said ground characteristic detection device (3) is installed in the snake head shell (11), and is formed by pressure sensor (13), depression bar (14) , contacts (15), housing (17) components, the pressure sensor (13) is installed on the top and both sides of the housing (17), the contact (15) is installed on the bottom of the pressure rod (14), has The bottom is narrow and the top is wide, and the depression bar (14) is movably installed inside the housing (17). 3. According to the said snake-like robot with ground adaptability according to claim 1, it is characterized in that: said executive unit is made up of intelligent rotating unit (23) and single-chip microcomputer (U1), and single-chip microcomputer (U1) passes CAN bus interface (U2) Receive the main control unit signal, its output signal controls the intelligent rotation unit (23), the intelligent rotation unit (23) controls the motion of the joint module, and the electrical interface of the intelligent rotation unit (23) is connected with the single-chip microcomputer (U1) of this execution unit. 4. The snake-like robot with ground adaptability according to claim 3, characterized in that: the single-chip microcomputer (U1) is installed on the side of the fixed plate (22). 5. according to the said snake-shaped robot with ground adaptability according to claim 1, it is characterized in that: said main control unit is electrically connected with each scattered executive unit by CAN bus, by single-chip microcomputer (U1), ground characteristic detection circuit (12 ) and the CAN bus interface part, the output signal of the pressure sensor is connected with the first ~ third operational amplifiers (U3 ~ U5) to form the ground characteristic detection circuit (12), and the output of the ground characteristic detection circuit (12) is sent to the AD of the single chip microcomputer (U1) A converter, the single-chip microcomputer (U1) sends the control signal to the input interface circuit of the single-chip microcomputer (U1) of the execution unit through the CAN bus interface. 6. The snake-like robot with ground adaptability according to claim 2 or 5, characterized in that: the pressure sensors (13) are respectively installed on the top, left and right sides of the ground characteristic detection device (3). 7. According to the said snake robot with ground adaptability according to claim 1, it is characterized in that: the control process stored in the single-chip microcomputer (U1) of the main control unit is when the snake robot starts to move, first gathers the pressure sensor signal, according to The signal judges the characteristics of the ground, and then adopts the movement mode corresponding to the ground; specifically: after initialization, the sensor output signal is collected, and then it is judged whether it is a hard ground. The angle value of each joint, otherwise judge whether it is sandy ground, if it is sandy ground, perform lateral movement, calculate the angle value of each joint, and transmit the angle value of each joint, otherwise determine whether it is soft ground, if it is soft ground, perform telescopic movement, and calculate each joint angle value Joint angle value, transmit the angle value of each joint, otherwise return the sensor output signal collection.

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