CN110174070A - Robot network's structure and sensor-based system suitable for unstructured moving grids - Google Patents
Robot network's structure and sensor-based system suitable for unstructured moving grids Download PDFInfo
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- CN110174070A CN110174070A CN201910461091.1A CN201910461091A CN110174070A CN 110174070 A CN110174070 A CN 110174070A CN 201910461091 A CN201910461091 A CN 201910461091A CN 110174070 A CN110174070 A CN 110174070A
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- 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
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- 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
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- H04B10/25891—Transmission components
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- 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
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- 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
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Abstract
The invention discloses a kind of robot network's structures and sensor-based system suitable for unstructured moving grids, comprising: the overlapping of first basic unit and multiple second basic units；First superstructure of the first basic unit includes a first node, and the first understructure includes at least three not conllinear second nodes, and first node and all second nodes constitute three-dimensional net structure by connecting rod；Second superstructure of the second basic unit contains at least two third node, second understructure contains at least two fourth node, at least two fourth nodes and at least two third nodes are non-coplanar, and all third nodes and all fourth nodes constitute three-dimensional net structure by connecting rod.For the present invention when by lateral force from external environment, the connecting rod of three-dimensional net structure carries out depressed deformation in space, forms the adaptivity with external environment geometry, so that robot be made to realize the physics interaction under unstructured moving grids.
Description
Technical field
The invention belongs to Robot Design technical fields, are related to a kind of adaptive universal spatial network robot and sensing system
A kind of system, and in particular to robot network's structure and sensor-based system suitable for carrying out physics interaction under unstructured moving grids.
Background technique
Existing robot frequently with rigid carry out structure design, reply structured environment problem in formed compared with
For mature design method, such as industrial robot, but when coping with the interaction of more extensive unstructured moving grids, the design side
Method still has biggish limitation, generally requires multiple using realizations such as more complicated mechanical structure, transmission parts, driving parts
Miscellaneous motor function, in this process, the adaptivity of robot architecture become an important design problem.
The usually robot with higher environmental suitability can by single structure or only can be by change on a small quantity
It is more widely applied under scene, especially under unstructured moving grids, realizes the function of various complexity, this is that robot is adaptive
One important embodiment of property.Such as in the gripper design of robot, a kind of design method of the limit is copy manpower flexible
Structure, but this will introduce similar the same up to tens drivers of manpower muscle and part, by complicated motion control ability
Realize similar function (manipulator of the artificial pneumatic muscles driving of such as Shadow Robotics production), this kind of robot is past
Toward structure is complicated and involves great expense, the manipulator with adaptivity is wished can be by less driving (such as only one driving
Device), less part is grabbed with being suitable for stablizing for various different geometries objects, and more complicated physical environment
(such as underwater, dustless environment).Another example is in the design of mobile robot, and generally requiring robot not only can be flat
It is efficiently moved by a wheeled construction on the ground, while more wishing that it can be under complicated rugged various terrain environments
It is moved, the mobile robot with adaptivity needs (such as can just rise and fall under different landform, is rugged and rough
Deng), (such as land, marsh, sandstone, underwater) is efficiently moved in different environment.Legged type robot can be solved effectively
Mobile problem (the towser robot of such as boston dynamics) under complicated landform, but generally require sufficiently complex machinery
The driver of structure and special designing copes with the challenge of complicated landform, the foot with adaptivity by high sensing and control
Formula robot is needed through relatively simple sufficient formula structure, and under driver as a small amount of as possible, can be realized can cope with complexity
The adaptivity gait of environment.Another example is the mechanical arm operated under water, and underwater operation is generally required to including coral
Coral inside protected by underwater fragile ecological environment, and tradition machinery arm, which needs to carry out complicated structure, waterproof, sensitive design, to be come
Underwater machine to generate as small as possible influence, with adaptivity is realized in mechanical arm operational process on the avoidance of underwater environment
Even if tool arm need can by the design feature of itself in the case where generating collision still can by self structure from
Adaptability reduces the injury etc. to physical environment to the full extent.In order to cope with problem above, the prior art is often through integrated
More complicated mechanical structure, driving method, senser element and control method etc. realize the machine that can cope with the above difficulty
People's design.This kind of design is often in the presence of structure is complicated, involve great expense, part is various, narrow space, controls complexity, in extraordinary ring
Various difficulties such as difficulty are protected under border, and propose that the Robot Design method with universal adaptive is still current
The a major challenge in the Robot Design field of special applications demand in the case where coping with unstructured moving grids.
Summary of the invention
Aiming at the shortcomings existing in the above problems, the present invention provides a kind of suitable for carrying out object under unstructured moving grids
Manage the robot network's structure and sensor-based system of interaction.
The first object of the present invention is to provide a kind of robot network's structure suitable for unstructured moving grids, comprising:
The overlapping of one the first basic unit and multiple second basic units；
First basic unit includes the first superstructure and the first understructure；
First superstructure includes a first node；
First understructure includes at least three second nodes, and at least three second nodes are not conllinear；
By connecting rod composition three-dimensional net structure, the connecting rod is connected to for the first node and all second nodes
Between two second nodes or between the first node and second node；
Second basic unit includes the second superstructure and the second understructure；
Second superstructure contains at least two third node；
Second understructure contains at least two fourth node, at least two fourth nodes and at least two institutes
It is non-coplanar to state third node；
By connecting rod composition three-dimensional net structure, the connecting rod connects for all third nodes and all fourth nodes
It connects between two third nodes, between two fourth nodes or between the third node and fourth node.
As a further improvement of the present invention, the connecting rod is hollow flexible bar.
As a further improvement of the present invention, any second node and pass through institute apart from nearest second node therewith
State connecting rod connection；
Based on nearby principle, the first node is connected with one or more second nodes by the connecting rod.
As a further improvement of the present invention, any second node and the second section of one or more not connected therewith
Point is connected by the connecting rod；
The first node is connected with the one or more second nodes being not connected with therewith by the connecting rod.
As a further improvement of the present invention, any third node and pass through institute apart from nearest third node therewith
State connecting rod connection；
Any fourth node with connected therewith apart from nearest fourth node by the connecting rod；
Based on nearby principle, one or more third nodes and one or more fourth nodes are connected by the connecting rod
It connects.
As a further improvement of the present invention, any third node and one or more third sections not connected therewith
Point is connected by the connecting rod；
Any fourth node is connected with the one or more fourth nodes being not connected with therewith by the connecting rod；
Any third node is connected with the one or more fourth nodes being not connected with therewith by the connecting rod.
The second object of the present invention is to provide a kind of sensor-based system of robot network's structure, comprising: light source device, light
Sensing device and optical signal processor；
Robot network's structure is equipped with optical path entrance and optical path exports, the light source device, light-sensitive device and institute
It states optical signal processor to be connected, the light source device is placed in the optical path inlet, and the light-sensitive device is placed in the optical path and goes out
At mouthful；
The light that the light source device issues enters through the optical path entrance in the hollow channel of the connecting rod, and through the light
Way outlet is transmitted to the light-sensitive device；
The optical signal processor handles the optical signal of the light source device and light-sensitive device, is converted into the machine
The deformation signal of device people's network structure realizes sensing function.
The third object of the present invention is to provide a kind of sensor-based system of robot network's structure, comprising: light source device, light
Sensing device and optical signal processor；
Robot network's structure is equipped with optical path entrance and optical path exports, and embeds in the hollow channel of the connecting rod single
Root or multifiber circuit；
The light source device, light-sensitive device are connected with the optical signal processor, and the light source device is placed in the optical path
Inlet, the light-sensitive device are placed in the optical path exit；
The light that the light source device issues enters in the optical fiber circuit through the optical path entrance, and exports through the optical path
It is transmitted at the light-sensitive device；
The optical signal processor handles the optical signal of the light source device and light-sensitive device, is converted into the machine
The deformation signal of device people's network structure realizes sensing function.
Compared with prior art, the invention has the benefit that
Sequential combination is carried out in space the present invention is based on the position of node and using connecting rod, forms a space three-dimensional net
Network structure；When by lateral force from external environment, the connecting rod of three-dimensional net structure carries out depressed in space
Deformation forms the adaptivity with external environment geometry, so that robot be made to realize that the physics under unstructured moving grids is handed over
Mutually；
On herein, the present invention directly as optical path or can embed single or multifiber time using the hollow structure of connecting rod
Road measures the physical deformation amount of the variation detection connecting rod of light passing amount by optical signal processor, to make robot in interaction
Realize the phy-aware of unstructured moving grids.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the first basic unit of robot network's structure disclosed in an embodiment of the present invention；
Fig. 2 is the structural schematic diagram of the second basic unit of robot network's structure disclosed in an embodiment of the present invention；
Fig. 3 is the structural schematic diagram of robot network's structure disclosed in an embodiment of the present invention；
Fig. 4 is the side view cutaway drawing of the sensor-based system of robot network's structure disclosed in an embodiment of the present invention；
Fig. 5 is that the adaptive deformation before and after article X disclosed in an embodiment of the present invention is contacted with the first basic unit is shown
It is intended to；
Fig. 6 be in Fig. 5 the first basic unit to the adaptive schematic diagram adjusted of article X；
Fig. 7 is the adaptive deformation that article X disclosed in another embodiment of the present invention contacts front and back with the first basic unit
Schematic diagram；
Fig. 8 is that the adaptive deformation after article X disclosed in an embodiment of the present invention is contacted with robot network's structure is shown
It is intended to.
In figure:
1, first node；2, second node；3, third node；4, fourth node；5, connecting rod；6, light source device；7, photosensitive
Device；8, optical signal processor；9, optical path entrance；10, optical path exports；11, the optical path opening of side connecting rod can be imported；12, shape
Varying signal.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
Member's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " installation ",
" connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally connect
It connects；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, can also indirectly connected through an intermediary, it can
To be the connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood with concrete condition
Concrete meaning in the present invention.
It is an object of the present invention to: robot device realizes in relatively limited structure space in physics interactive process
Adaptive interaction and perception to unstructured moving grids.
In order to achieve the above objectives: the present invention is successively carried out from theoretic, method level, processing level and application
Research；Wherein:
On theoretic, how during Design of Mechanical Structure, by the kinematics and material of space mechanism itself
Expect characteristic, on the basis of the technological means such as height fusion sensing, driving, electronics, modeling, is realized in limited physical space
Complicated and intelligence environmental interaction and Intellisense；
In method level, how to optimize mechanical structure, design one is relatively easy and has the mechanical structure of general utility functions
Type realizes the robot modeling design that can carry more complicated or high function by less component of machine quantity；
In processing level, how by processing technology and material property, reduces processing cost and technology difficulty, realization can
To carry the robot modeling of more complicated or high function；
On application, such as how single machine configurations are designed as carrier, realize towards machine under a variety of different scenes
The interactive application of people and unstructured physical environment.
In order to achieve the above objectives, the present invention is suitable for carrying out robot network's structure of physics interaction under unstructured moving grids
Design considerations are as follows:
According to classical architecture theory of mechanics, when any structure rod piece is by lateral force from external environment, by
In the elastic properties of materials of rod piece itself, corresponding elastic deformation will be generated along Impact direction, while the both ends of rod piece generate direction
The deformation tendency of Impact direction, and the external environment or exterior object that apply active force are by the reaction force from rod piece.
For this purpose,
The present invention proposes a kind of robot network's structure and sensing suitable for carrying out physics interaction under unstructured moving grids
System, the position based on upper and lower node layer simultaneously carry out sequential combination using connecting rod in space, form a space three-dimensional net
Network structure；When by lateral force from external environment, the connecting rod of three-dimensional net structure carries out depressed in space
Deformation forms the adaptivity with external environment geometry, so that robot be made to realize that the physics under unstructured moving grids is handed over
Mutually；On herein, the present invention directly as optical path or can embed single or multifiber circuit using the hollow structure of connecting rod, lead to
The physical deformation amount of the variation detection connecting rod of optical signal processor measurement light passing amount is crossed, so that it is non-to realize robot in interaction
The phy-aware of structured environment.
The present invention is described in further detail with reference to the accompanying drawing:
As shown in figure 3, the present invention provides a kind of robot network's structure suitable for unstructured moving grids, comprising: one
The overlapping of first basic unit and multiple second basic units；The network structure of first basic unit is as shown in Figure 1, second is basic
The network structure of unit is as shown in Figure 2；Wherein:
As shown in Figure 1, the first basic unit of the invention includes the first superstructure and the first understructure；
First superstructure includes a first node (A) 1；First understructure includes at least three not conllinear second
Node 2, what the not conllinear guarantee first node 1 of second node 2 was formed after connecting with second node 2 is space three-dimensional network knot
Structure, rather than planar network structure；
By the composition three-dimensional net structure of connecting rod 5, connecting rod 5 is hollow flexible bar for first node 1 and all second nodes 2
(having compared with high Young's modulus and deformation proportional elastic or elastic material), can also be used other solid hopkinson bars for meeting demand
Part, it is preferred to use hollow flexible bar；The channel passed through for optical path can be set when selecting solid bar member on solid bar member；Connecting rod
5 are connected between two second nodes 2 or between first node 1 and second node 2.Wherein, all nodes of the invention (include
First node and second node) connection is integral, the specific connection type of first node 1 and second node 2 do not carried out
It limits, first node 1 and the specific connection type of second node 2 can be designed according to different needs.
As shown in Figure 1, being 3 second nodes (a/b), 4 second nodes (a/b/c) and n invention shows lower layer
First basic cell structure of a second node (a/b/c/ .../n)；Wherein:
Preferably, the present invention connects within this layer without connecting rod if only one node in this layer in superstructure；?
In understructure, any second node usually with connected therewith apart from nearest second node by connecting rod.In upper layer and lower layer knot
In structure, it is based on nearby principle, first node is usually connected with one or more second nodes by connecting rod.
It is further preferred that the present invention can be according to the actual design needs of different scenes, in understructure, any second
Node is connected with the one or more second nodes being not connected with therewith by connecting rod；In upper layer and lower layer structure, first node and
Not connected one or more second nodes are connected by connecting rod therewith.
As shown in Fig. 2, the second basic unit of the invention includes the second superstructure and the second understructure；
Second superstructure contains at least two third node 3；
Second understructure contains at least two fourth node 4, at least two fourth nodes 4 and at least two third nodes
3 is non-coplanar；
By the composition three-dimensional net structure of connecting rod 5, connecting rod 5 is hollow flexible for all third nodes 3 and all fourth nodes 4
Bar, connecting rod 5 are connected between two third nodes 3, between two fourth nodes 4 or between third node 3 and fourth node 4.
Wherein, all nodes of the invention (comprising third node and fourth node) connection is integral, not to third node 3 and the
The specific connection type of four nodes 4 is defined, and third node 3 can be according to different from the specific connection type of fourth node 4
Demand is designed.
Preferably, the present invention is in superstructure, any third node and passes through company apart from nearest third node therewith
Bar connection；In understructure, any fourth node with connected therewith apart from nearest fourth node by connecting rod；Upper and lower two
In layer structure, it is based on nearby principle, one or more third nodes are connected with one or more fourth nodes by connecting rod.
It is further preferred that the present invention can be according to the actual design needs of different scenes, in superstructure, any third
Node is connected with the one or more third nodes being not connected with therewith by connecting rod；In understructure, any fourth node and
Not connected one or more fourth nodes are connected by connecting rod therewith；In upper layer and lower layer structure, any third node and with
Not connected one or more fourth nodes pass through connecting rod connection.
Still more preferably, it should be pointed out that such basic structural unit also can be considered aforementioned basic structural unit
A kind of special case, i.e., the groups between two basic units with identical lower level node configuration but different single upper layer node configuration
It closes.At this point it is possible to by the single upper layer node for connecting the two basic units, while removing other and being connected with the upper layer node
But the mode of the longer connecting rod of length carries out structure and simplifies, and avoids the staggered structure of connecting rod.
As shown in Fig. 2, be 2 third nodes (A/B) invention shows upper layer, lower layer is 2 fourth nodes (a/b),
Upper layer is 2 third nodes (A/B), lower layer is 3 fourth nodes (a/b/c), and upper layer is that 2 third nodes (A/B), lower layers are
4 fourth nodes (a/b/c/d), upper layer is 3 third nodes (A/B/C), lower layer is 3 fourth nodes (a/b/c), and upper layer is
4 third nodes (A/B/C/D), the second basic cell structure that lower layer is 4 fourth nodes (a/b/c/d)；Wherein:
[quad type] ABab configuration as shown in Figure 2 a passes through the analysis method in the first similar aforementioned specific example
Know that the adaptivity cladding and motion stabilization effect to the external environment by taking article X as an example may be implemented in the basic structural unit
Fruit；
Such as a kind of [side double three Bian Shuansi formula] ABabc configuration as shown in Figure 2 b, it can be equivalent to two [tetrahedral formulas]
The composite construction unit that basic structural unit Aabc and Babc are formed by the superposition of lower layer abc, then by the two of upper layer
A node A and B is attached, and since the space length of A and a and b is closer, and B is only closer with the space length of c, then can lead to
Removal Ac is crossed, the mode of this three connecting rods of Ba, Bb is completed structure and simplified, and the staggered structure of connecting rod is avoided, by aforementioned point similar
The adaptivity cladding and motion stabilization effect to the external environment by taking article X as an example may be implemented in the basic structural unit known to analysis
Fruit.
Such as another [single four side Bian Sisan formulas] ABabc configuration as shown in Figure 2 c, it can be equivalent to two [tetrahedrons
Formula] a composite construction unit being formed by the superposition of lower layer abc of basic structural unit Aabc and Babc, but the sky of Ac and Bc
Between distance it is of substantially equal, the space length of Aa and Bb are also of substantially equal, can complete structure by way of removing Ab, Ba at this time
Simplify, avoid the staggered structure of connecting rod, which can also be considered as one using c as first layer, and ABba is the golden word of the second layer
Tower basic structural unit may be implemented by the basic structural unit known to similar Such analysis to outer by taking article X as an example
The adaptivity cladding and motion stabilization effect of portion's environment.
Such as another [three or four side Bian Shuansan formula] ABabcd configuration as shown in Figure 2 d, it can be equivalent to two [pyramids]
Basic structural unit Aabcd and Babcd form a composite construction unit, but the space of Aa and Ab by the superposition of lower layer abcd
Apart from of substantially equal, the space length of Bc and Bd are also of substantially equal, can be completed by way of removing Ac, Ad, Ba, Bb at this time
Structure simplifies, and avoids the staggered structure of connecting rod, may be implemented by the basic structural unit known to similar Such analysis to object
The adaptivity cladding and motion stabilization effect of external environment for product X.
Other situations can obtain other basic network topology units according to above analysis and so on.
Another special case of such basic structural unit is to work as the connecting node that upper layer and lower layer include identical quantity, in every layer
It only needs to be sequentially connected each adjacent node by connecting rod and forms single closed loop configuration, two interlayers are sequentially connected corresponding node by connecting rod
Three-dimensional net structure is formed, and each node in every layer can be non-coplanar.
[the double-deck three side formulas] ABCabc configuration, upper layer and lower layer separately include three connecting nodes as shown in Figure 2 e；
[the double-deck four side formulas] ABCDabcd configuration, upper layer and lower layer separately include four connecting nodes as shown in figure 2f
As shown in figure 3, on the basis of above-mentioned first basic unit and the second basic unit, robot designed by the present invention
Spacial framework can be by using the mode of multiple above-mentioned basic structure combination stackeds, and every layer of basic structural unit can be right respectively
The geometric dimension of the different location of article X carries out corresponding depressed deformation, passes through the adaptivity and fortune of every layer of basic structure
The superposition of dynamic stability effect, it is comprehensive including adaptivity cladding and motion stabilization effect that network structure is generated by torsional deformation
Close the adaptivity cladding and motion stabilization effect for promoting overall space network structure to external environment, machine according to the present invention
One distinguishing feature of device human body's spacial framework is can to realize to carry out geometry to external environment from any lateral angles
Structure adaptive and motion stabilization:
[multilayer tetrahedral formula] structure as shown in Figure 3a: [tetrahedral formula] basic structural unit and bottom comprising top layer
Multiple double-deck [three side formulas] basic structural units compositions；
[multilayer pyramid] structure as shown in Figure 3b: [pyramid] basic structural unit and bottom comprising top layer
Multiple double-deck [four side formulas] basic structural units compositions；
According to the actual demand for not having to scene, can design method having thus described the invention carry out corresponding structure and set
Meter realizes structure adaptive and motion stabilization effect of the robot body to external environment, the achievable multiplicity of this method
Change robot architecture.
Preferably, actual design needs of the present invention according to different scenes, the geometry of each connecting rod can be general
Straight line, is also possible to the complex curve of certain special designing, the cross sectional shape of each connecting rod can be it is round, rectangular or other
Meaning cross sectional shape.
Preferably, each connecting rod uses the material with certain elasticity, i.e., can produce under external force can be detected
Elastic deformation, hollow structure can be used inside any connecting rod, by the light passing amount inside detection rod piece, realize to rod piece elasticity
The perception of deformation.
Preferably, realize that the mode that connects between connecting rod can be with according to the actual design needs of different scenes, at connecting node
It is general structure affixed (without relative motion freedom degree between no freedom degree i.e. connecting rod), hinge connection (one degree of freedom i.e. connecting rod
Between have one relative rotation freedom of motion), flexural pivot connection (between three degree of freedom i.e. connecting rod there are two relatively rotate plus one
Around axis spin freedom of motion) etc. a variety of connection types.
The present invention (can have compared with high Young's modulus and deformation ratio by using the flexible member with internal optical path
Example elasticity or elastic material), when rod piece generates deformation, by measuring in its optical path or inside optical path as the light passing of optical fiber is situated between
The metering to rod piece deformation quantity is realized in the light passing amount variation of matter, to realize whole robot network structure in interaction to physics
The perception of environment.
It is specific:
As shown in figure 4, structure shown in it is only the cross-sectional view of side triangle in Fig. 3；The present invention provides a kind of robot
The sensor-based system of network structure, comprising: light source device 6, light-sensitive device 7 and optical signal processor 8；Wherein:
Robot network's structure be equipped with optical path entrance 9 and optical path outlet 10, and at tie point be equipped with can import side
The optical path opening 11 of connecting rod；Light source device 6, light-sensitive device 7 are connected with optical signal processor 8, and light source device 6 is placed in optical path entrance
At 9, light-sensitive device 7 is placed at optical path outlet 10.
In use, the light that light source device 6 issues enters through optical path entrance 9 in the hollow channel of connecting rod 7, and exported through optical path
10 are transmitted to light-sensitive device 7；Optical signal processor 8 handles the optical signal of light source device 6 and light-sensitive device 7, is converted into
The deformation signal 12 of robot network's structure realizes sensing function.
Further, sensor-based system optical path of the present invention is specifically moved towards specifically to design according to actual needs, and optical path is arranged at bottom
Entrance is simultaneously connected to robot base part, and light emitting diode can be used in light source device, and light sensor can be used in light-sensitive device
Device.
The present invention also provides the sensor-based systems of another robot network's structure, comprising: light source device 6,7 and of light-sensitive device
Optical signal processor 8；Wherein:
Robot network's structure is equipped with optical path entrance 9 and optical path outlet 10, embed in the hollow channel of connecting rod 7 it is single or
Multifiber circuit；And the optical path opening 11 that can import side connecting rod is equipped at tie point；Light source device 6, light-sensitive device 7 with
Optical signal processor 8 is connected, and light source device 6 is placed at optical path entrance 9, and light-sensitive device 7 is placed at optical path outlet 10.
In use, the light that light source device 6 issues enters in optical fiber circuit through optical path entrance 9, and through 10 transmission of optical path outlet
To light-sensitive device 7；Optical signal processor 8 handles the optical signal of light source device 6 and light-sensitive device 7, is converted into robot
The deformation signal of network structure realizes sensing function.
The present invention also based on above-mentioned robot network's structure, sensing system and can cooperate pedestal to may make up robot, light
Source device 6, light-sensitive device 7 and optical signal processor 8 are mountable on pedestal；Above-mentioned robot architecture can be by not additional
The unstructured geometrical characteristic of external physical environment is produced in the case where any electronic component including driver, sensor etc.
It is born from adaptability deformation and forms geometry cladding, simultaneously because the network structure feature of its own can generate in interaction to be had certainly
The motion stabilization effect of adaptability, compared to traditional robot structure design have structure is simple, number of parts is few, flexible design,
Without additionally driving, design space is sufficient, the application scenarios features such as flexibly；Significantly improve include deep-sea, deep space, deep ground,
And the adaptability under other extreme environments.
Embodiment:
The adaptive process of first basic unit of the invention are as follows:
The present invention makees by taking Aabc in Fig. 1 as an example when by from the external environment with certain three-dimensional geometry scale articles X
When firmly, the side contacted with article X generates different degrees of elastic deformation respectively and forms space to the three-dimensional geometry size of article X
Cladding, realizes the adaptivity of geometry.
As shown in figure 5, a triangle of the external environment article X with certain space geometry at [tetrahedral formula]
In white space among Abc；
Before generating contact, the direction of motion that is involutory of article X and [tetrahedral formula] basic structural unit is along dotted arrow institute
Refer to, dotted arrow is directed toward in a triangle Abc intermediate blank region of [tetrahedral formula] basic structural unit；
After generating contact, article X is contacted with the triangle Abc of [tetrahedral formula] basic structural unit generation, triangle Abc
Generate corresponding elastic deformation；That is, side generates and a certain amount of is moved to A ', b ', c ' respectively inwards by original connecting node A, b, c
Position, three rod pieces realize the adaptability to article X geometric dimension by the elastic deformation generated.
As shown in fig. 6, after contact shown in Fig. 5 in the case where schematic diagram, it may be as the effect represented by dotted arrow
The rotation of power unevenness, in addition A ' point is additionally limited by from rod piece A ' a, so that triangle A ' bc is generated around rod piece A ' a, makes
At the twist motion of entire [tetrahedral formula] basic structural unit, generated entirety deformation is further strengthened to article X geometry
The adaptability of structure realizes the effect to article X motion stabilization when illustrating the instantaneously equal equation of each power shown in three arrows.
As shown in fig. 7, the external environment article X with certain space geometry is almost equal in the position of [tetrahedral formula]
It is even to be distributed in its triangle Abc and the region triangle Aac.
Before generating contact, the direction of motion that is involutory of article X and [tetrahedral formula] basic structural unit is along dotted arrow institute
Refer to, its triangle Abc and three sides are almost evenly distributed on respect to [tetrahedral formula] basic structural unit due to article X simultaneously at this time
In the region shape Aac, i.e., dotted arrow is generally directed to the direction rod piece A c；
After generating contact, article X is contacted with the rod piece A c of [tetrahedral formula] basic structural unit generation, and rod piece A c generates phase
The elastic deformation answered；That is, article X is mainly contacted with bar Ac generation, so that bar Ac generates elastic deformation and formed to article X dimensioning
Very little adaptability, side generates and a certain amount of is moved to A ', the position c ' original connecting node A, c respectively inwards.
Meanwhile the principle based on Fig. 6, the present invention, can be to them when article X is to the configuration difference connecting rod directed force unevenness
The side of exerted forces forms twisting action, so that entire [tetrahedral formula] configuration also reverses therewith, further strengthens to object
The adaptivity geometry of product X coats, and then realizes the motion stabilization to article X.
Foregoing merely illustrate robot network's structures of [tetrahedral formula], when lower layer's connecting node quantity is more than three,
Multiple above-mentioned [tetrahedral formula] basic structures can be considered as by being formed by [polyhedron formula] network configuration using similar above method
The connecting node of lower layer is split by the superposition of type according to triplets, it is basic to be respectively formed different [tetrahedral formula]
Then configuration carries out overlapping superposition at shared connecting rod, is combined into corresponding [polyhedron formula] composite network configuration, can pass through
Similar above method realizes the adaptivity cladding and motion stabilization effect to the external environment by taking article X as an example.
The adaptive process of second basic unit of the invention are as follows:
Foregoing merely illustrate the first basic unit network structures, when by taking the second basic unit as an example, i.e., when upper layer connects
When number of nodes is multiple, using similar above method be formed by [polyhedron formula] network configuration can be considered as it is multiple above-mentioned
The superposition of [tetrahedral formula] basic configuration；It can also be realized by similar above method to the external environment by taking article X as an example
Adaptivity cladding and motion stabilization effect.
As shown in figure 8, by taking a multilayer pyramid network structure such as Fig. 3 b as an example, when by external environment article X
When effect from different angle, the adaptivity deformation that network structure according to the present invention generates, wherein a figure is network knot
The mock-up of structure Aabcd, b figure are the adaptivity deformation generated when article X is mainly acted on from side Aab, and c figure is to work as object
Product X is mainly from the adaptivity deformation generated when acting on close to Ab rod piece, and whole network structure generates torsion counterclockwise and makes at this time
Contact surface self-adaption is side Aab, and d figure is the adaptivity deformation generated when article X is mainly acted on from close Aa rod piece, this
When whole network structure generate clockwise torsion make contact surface self-adaption side Aab.
These are only the preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is made it is any modification,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of robot network's structure suitable for unstructured moving grids characterized by comprising first basic unit
With the overlapping of multiple second basic units；
First basic unit includes the first superstructure and the first understructure；
First superstructure includes a first node；
First understructure includes at least three second nodes, and at least three second nodes are not conllinear；
By connecting rod composition three-dimensional net structure, the connecting rod is connected to two for the first node and all second nodes
Between the second node or between the first node and second node；
Second basic unit includes the second superstructure and the second understructure；
Second superstructure contains at least two third node；
Second understructure contains at least two fourth node, at least two fourth nodes and at least two described the
Three nodes are non-coplanar；
By connecting rod composition three-dimensional net structure, the connecting rod is connected to for all third nodes and all fourth nodes
Between two third nodes, between two fourth nodes or between the third node and fourth node.
2. robot network's structure as described in claim 1, which is characterized in that the connecting rod is hollow flexible bar.
3. robot network's structure as described in claim 1, which is characterized in that any second node and therewith distance are most
Close second node is connected by the connecting rod；
Based on nearby principle, the first node is connected with one or more second nodes by the connecting rod.
4. robot network's structure as claimed in claim 3, which is characterized in that any second node and be not connected with therewith
One or more second nodes connected by the connecting rod；
The first node is connected with the one or more second nodes being not connected with therewith by the connecting rod.
5. robot network's structure as described in claim 1, which is characterized in that any third node and therewith distance are most
Close third node is connected by the connecting rod；
Any fourth node with connected therewith apart from nearest fourth node by the connecting rod；
Based on nearby principle, one or more third nodes are connected with one or more fourth nodes by the connecting rod.
6. robot network's structure as claimed in claim 5, which is characterized in that any third node and be not connected with therewith
One or more third nodes connected by the connecting rod；
Any fourth node is connected with the one or more fourth nodes being not connected with therewith by the connecting rod；
Any third node is connected with the one or more fourth nodes being not connected with therewith by the connecting rod.
7. a kind of sensor-based system of robot network's structure as described in claim 1-6 characterized by comprising light source device
Part, light-sensitive device and optical signal processor；
Robot network's structure is equipped with optical path entrance and optical path exports, the light source device, light-sensitive device and the light
Signal processor is connected, and the light source device is placed in the optical path inlet, and the light-sensitive device is placed in the optical path exit；
The light that the light source device issues enters through the optical path entrance in the hollow channel of the connecting rod, and goes out through the optical path
The light-sensitive device is transported in oral instructions；
The optical signal processor handles the optical signal of the light source device and light-sensitive device, is converted into the robot
The deformation signal of network structure realizes sensing function.
8. a kind of sensor-based system of robot network's structure as described in claim 1-6 characterized by comprising light source device
Part, light-sensitive device and optical signal processor；
Robot network's structure is equipped with optical path entrance and optical path and exports, embedded in the hollow channel of the connecting rod it is single or
Multifiber circuit；
The light source device, light-sensitive device are connected with the optical signal processor, and the light source device is placed in the optical path entrance
Place, the light-sensitive device are placed in the optical path exit；
The light that the light source device issues enters in the optical fiber circuit through the optical path entrance, and through the optical path outlet delivery
At to the light-sensitive device；
The optical signal processor handles the optical signal of the light source device and light-sensitive device, is converted into the robot
The deformation signal of network structure realizes sensing function.
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| CN201910461091.1A CN110174070A (en) | 2019-05-30 | 2019-05-30 | Robot network's structure and sensor-based system suitable for unstructured moving grids |
| PCT/CN2020/079401 WO2020238336A1 (en) | 2019-05-30 | 2020-03-14 | Robot network structure and sensing system suitable for unstructured environment |
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| WO2020238335A1 (en) * | 2019-05-30 | 2020-12-03 | 南方科技大学 | Robot network structure suitable for unstructured environment and sensing system |
| WO2020238336A1 (en) * | 2019-05-30 | 2020-12-03 | 南方科技大学 | Robot network structure and sensing system suitable for unstructured environment |
| WO2020238337A1 (en) * | 2019-05-30 | 2020-12-03 | 南方科技大学 | Robotic network structure and sensing system suitable for unstructured environment |
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| WO2020238336A1 (en) | 2020-12-03 |
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Application publication date: 20190827 Assignee: Shenzhen ningquan Technology Co.,Ltd. Assignor: SOUTH University OF SCIENCE AND TECHNOLOGY OF CHINA Contract record no.: X2021980002155 Denomination of invention: Robot network structure and sensor system for unstructured environment License type: Exclusive License Record date: 20210326 |