CN110174070B - Robot network structure and sensing system suitable for unstructured environment - Google Patents
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Abstract
The invention discloses a robot network structure and a sensing system suitable for unstructured environments, which comprise: a superposition of a first base unit and a plurality of second base units; the first upper layer structure of the first basic unit comprises a first node, the first lower layer structure comprises at least three second nodes which are not collinear, and the first node and all the second nodes form a three-dimensional network structure through connecting rods; the second upper structure of the second basic unit comprises at least two third nodes, the second lower structure comprises at least two fourth nodes, the at least two fourth nodes are not coplanar with the at least two third nodes, and all the third nodes and all the fourth nodes form a three-dimensional network structure through connecting rods. When the robot receives side acting force from an external environment, the connecting rod of the three-dimensional network structure is concavely deformed in space to form self-adaptability with the geometric structure of the external environment, so that the robot realizes physical interaction in an unstructured environment.
Description
Technical Field
The invention belongs to the technical field of robot design, relates to a self-adaptive universal space network robot and a sensing system, and particularly relates to a robot network structure and a sensing system suitable for physical interaction in an unstructured environment.
Background
The existing robots usually adopt rigid materials for structural design, and a mature design method, such as an industrial robot, is formed in the process of coping with structural environmental problems, but the design method still has larger limitation in coping with wider unstructured environment interaction, and complex mechanical structures, transmission parts, driving parts and the like are often required to be adopted for realizing complex movement functions, so that the self-adaptability of the robot structure becomes an important design problem in the process.
In general, a robot with higher environmental adaptability can realize various complex functions under a wider application scene, particularly under an unstructured environment, by means of a single structure or with only a small amount of modification, which is an important embodiment of the robot self-adaptability. For example, in the design of a gripper of a robot, a limited design method is a flexible structure simulating a human hand, but this introduces as many as tens of drivers and parts like human hand muscles, and can achieve similar functions through complex motion control (such as an artificial pneumatic muscle driven manipulator manufactured by Shadow Robotics), such robots tend to be complex in structure and expensive in cost, and a manipulator with adaptability is expected to be able to stably grip objects of various geometric shapes through fewer drivers (such as only one driver), fewer parts, and more complex physical environments (such as underwater, dust-free, etc.). Another example is the design of mobile robots, where it is often desirable that the robot not only can move efficiently over flat ground with a wheeled structure, but also can move in a variety of terrain environments with complex and rugged features, where it is desirable that the mobile robot be capable of moving efficiently over different terrain (e.g., up and down, rugged, etc.), in different environments (e.g., land, swamp, sand, underwater, etc.). The foot robot can effectively solve the movement problem under complex terrains (such as big dog robots of boston dynamics), but quite complex mechanical structures and specially designed drivers are often required to deal with challenges of complex terrains through high-level sensing and control, and the foot robot with adaptability can realize adaptive gait capable of coping with complex environments through relatively simple foot structures under a small number of drivers as much as possible. Another example is a mechanical arm operated under water, where underwater operations often need to protect fragile ecological environments including corals, and conventional mechanical arms need to perform complex structures, waterproof and sensing designs to avoid obstacles to the underwater environments during operation of the mechanical arm so as to generate as little influence as possible, and the self-adaptive underwater mechanical arm needs to reduce damage to physical environments and the like to the greatest extent through self-adaptation of its own structure even if collision occurs. In order to cope with the above problems, the prior art has often realized a robot design that can cope with the above difficulties by integrating a more complex mechanical structure, driving scheme, sensor device, control method, and the like. Such a design often has various difficulties such as complex structure, high cost, numerous parts, small space, complex control, difficult protection in special environments, etc., and the provision of a robot design method with universal self-adaptability is still a challenge in the field of robot design for dealing with special application requirements in unstructured environments.
Disclosure of Invention
Aiming at the defects in the problems, the invention provides a robot network structure and a sensing system which are suitable for physical interaction in an unstructured environment.
A first object of the present invention is to provide a robot network structure suitable for unstructured environments, comprising: a superposition of a first base unit and a plurality of second base units;
The first basic unit comprises a first upper layer structure and a first lower layer structure;
The first superstructure comprises a first node;
the first substructure comprises at least three second nodes, at least three of the second nodes being non-collinear;
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 second nodes or between the first nodes and the second nodes;
the second basic unit comprises a second upper layer structure and a second lower layer structure;
the second superstructure comprises at least two third nodes;
the second lower layer structure comprises at least two fourth nodes, and the at least two fourth nodes are not coplanar with the at least two third nodes;
All the third nodes and all the fourth nodes form a three-dimensional network structure through connecting rods, and the connecting rods are connected between the two third nodes, between the two fourth nodes or between the third nodes and the fourth nodes.
As a further improvement of the invention, the connecting rod is a hollow flexible rod.
As a further improvement of the invention, any one of the second nodes and the second node closest thereto are connected by the connecting rod;
Based on the principle of proximity, the first node and one or more second nodes are connected by the connecting rod.
As a further improvement of the present invention, any one of the second nodes and one or more second nodes unconnected thereto are connected by the link;
The first node and one or more second nodes not connected with the first node are connected through the connecting rod.
As a further improvement of the invention, any one of the third nodes and the third node closest thereto are connected by the connecting rod;
any one of the fourth nodes is connected with the fourth node closest to the fourth node through the connecting rod;
Based on the principle of proximity, one or more third nodes and one or more fourth nodes are connected by the connecting rod.
As a further improvement of the present invention, any one of the third nodes and one or more third nodes unconnected thereto are connected by the link;
any one of the fourth nodes and one or more fourth nodes unconnected to the fourth node are connected through the connecting rod;
any one of the third nodes and one or more fourth nodes not connected with the third node are connected through the connecting rod.
A second object of the present invention is to provide a sensing system of a robot network structure, comprising: a light source device, a photosensitive device, and an optical signal processor;
The robot network structure is provided with a light path inlet and a light path outlet, the light source device and the photosensitive device are connected with the optical signal processor, the light source device is arranged at the light path inlet, and the photosensitive device is arranged at the light path outlet;
Light emitted by the light source device enters the hollow channel of the connecting rod through the light path inlet and is transmitted to the photosensitive device through the light path outlet;
the optical signal processor processes the optical signals of the light source device and the photosensitive device, converts the optical signals into deformation signals of the robot network structure, and realizes a sensing function.
A third object of the present invention is to provide a sensing system of a robot network structure, comprising: a light source device, a photosensitive device, and an optical signal processor;
the robot network structure is provided with an optical path inlet and an optical path outlet, and a single or a plurality of optical fiber loops are embedded in a hollow channel of the connecting rod;
The light source device and the photosensitive device are connected with the optical signal processor, the light source device is arranged at the entrance of the optical path, and the photosensitive device is arranged at the exit of the optical path;
Light emitted by the light source device enters the optical fiber loop through the light path inlet and is transmitted to the photosensitive device through the light path outlet;
the optical signal processor processes the optical signals of the light source device and the photosensitive device, converts the optical signals into deformation signals of the robot network structure, and realizes a sensing function.
Compared with the prior art, the invention has the beneficial effects that:
The invention is based on the positions of the nodes and adopts the connecting rods to orderly combine in space to form a space three-dimensional network structure; when receiving lateral acting force from an external environment, the connecting rod of the three-dimensional network structure is concavely deformed in space to form self-adaptability with the geometric structure of the external environment, so that the robot realizes physical interaction in an unstructured environment;
On the basis, the invention can directly utilize the hollow structure of the connecting rod as a light path or a single or multiple optical fiber loops are embedded, and the physical deformation of the connecting rod is detected by measuring the change of the light flux through the optical signal processor, so that the physical perception of the unstructured environment is realized when the robot interacts.
Drawings
Fig. 1 is a schematic structural diagram of a first basic unit of a robot network structure according to an embodiment of the present invention;
Fig. 2 is a schematic structural diagram of a second basic unit of the robot network structure according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a robot network structure according to an embodiment of the present invention;
FIG. 4 is a side cross-sectional view of a sensing system of a robot network architecture as disclosed in one embodiment of the present invention;
FIG. 5 is a schematic view showing adaptive deformation of an article X before and after contact with a first base unit according to an embodiment of the present invention;
FIG. 6 is a schematic view of the first base unit of FIG. 5 after being adaptively adjusted to the article X;
FIG. 7 is a schematic view showing adaptive deformation of an article X before and after contact with a first base unit according to another embodiment of the present invention;
fig. 8 is a schematic diagram of adaptive deformation of an article X after contact with a robot network structure according to an embodiment of the present invention.
In the figure:
1. a first node; 2. a second node; 3. a third node; 4. a fourth node; 5. a connecting rod; 6. a light source device; 7. a photosensitive device; 8. an optical signal processor; 9. an optical path inlet; 10. an optical path outlet; 11. an optical path opening into which the side link can be introduced; 12. and (5) deformation signals.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The purpose of the invention is as follows: in the physical interaction process, the robot device realizes self-adaptive interaction and perception of the unstructured environment in a relatively limited structural space.
To achieve the above object: the invention sequentially researches the theory level, the method level, the processing level and the application level; wherein:
on the theoretical level, how to realize complex and intelligent environment interaction and intelligent perception in a limited physical space on the basis of highly fused sensing, driving, electronic, modeling and other technical means by means of the kinematics and material characteristics of a space mechanism in the process of mechanical structure design;
On the aspect of the method, how to optimize the mechanical structure, a relatively simple mechanical configuration with general functions is designed, and the robot configuration design capable of bearing more complex or higher functions is realized by less mechanical parts;
On the processing level, how to reduce processing cost and processing difficulty by means of processing technology and material characteristics, and realize a robot configuration capable of bearing more complex or higher functions;
On the application level, how to design the robot as a carrier in a single mechanical configuration, so as to realize the interactive application of the robot and the unstructured physical environment in various different scenes.
In order to achieve the above purpose, the design basis of the robot network structure suitable for physical interaction in unstructured environment is as follows:
According to classical structural mechanics theory, when any structural rod member receives a lateral force from an external environment, due to the elasticity of the material of the rod member, corresponding elastic deformation is generated along the stress direction, meanwhile, the two ends of the rod member generate deformation trend towards the stress direction, and the external environment or external object applying the force receives a reaction force from the rod member.
For this purpose,
The invention provides a robot network structure and a sensing system suitable for physical interaction in an unstructured environment, which are based on the positions of upper and lower nodes and orderly combined in space by adopting connecting rods to form a space three-dimensional network structure; when receiving lateral acting force from an external environment, the connecting rod of the three-dimensional network structure is concavely deformed in space to form self-adaptability with the geometric structure of the external environment, so that the robot realizes physical interaction in an unstructured environment; on the basis, the invention can directly utilize the hollow structure of the connecting rod as a light path or a single or multiple optical fiber loops are embedded, and the physical deformation of the connecting rod is detected by measuring the change of the light flux through the optical signal processor, so that the physical perception of the unstructured environment is realized when the robot interacts.
The invention is described in further detail below with reference to the attached drawing figures:
as shown in fig. 3, the present invention provides a robot network structure suitable for an unstructured environment, comprising: a superposition of a first base unit and a plurality of second base units; the network structure of the first basic unit is shown in fig. 1, and the network structure of the second basic unit is shown in fig. 2; wherein:
as shown in fig. 1, the first basic unit of the present invention includes a first upper layer structure and a first lower layer structure;
The first superstructure comprises a first node (a) 1; the first lower layer structure comprises at least three second nodes 2 which are not collinear, and the second nodes 2 which are not collinear ensure that a space three-dimensional network structure is formed after the first nodes 1 are connected with the second nodes 2, but not a plane network structure;
the first nodes 1 and all the second nodes 2 form a three-dimensional network structure through the connecting rods 5, the connecting rods 5 are hollow flexible rods (namely elastic or super-elastic materials with higher Young modulus and deformation proportion), other solid rods meeting the requirements can be adopted, and the hollow flexible rods are preferably adopted; when the solid rod piece is selected, a channel for the light path to pass through can be arranged on the solid rod piece; the link 5 is connected between two second nodes 2 or between the first node 1 and the second node 2. All the nodes (including the first node and the second node) of the present invention are integrally connected, and the specific connection mode of the first node 1 and the second node 2 is not limited, and the specific connection mode of the first node 1 and the second node 2 can be designed according to different requirements.
As shown in FIG. 1, the present invention shows a first basic unit structure with 3 second nodes (a/b), 4 second nodes (a/b/c) and n second nodes (a/b/c/…/n) as the lower layer; wherein:
Preferably, in the upper layer structure, if only one node in the layer is connected with no connecting rod in the layer; in the substructure, any second node is typically connected to the second node closest thereto by a link. In the upper and lower two-layer structure, the first node is typically connected to one or more second nodes by links based on a proximity principle.
Further preferably, according to the actual design requirement of different scenes, in the lower layer structure, any second node is connected with one or more second nodes which are not connected with the second node through connecting rods; in the upper and lower two-layer structure, a first node and one or more second nodes which are not connected with the first node are connected through connecting rods.
As shown in fig. 2, the second basic unit of the present invention includes a second upper layer structure and a second lower layer structure;
the second superstructure comprises at least two third nodes 3;
the second substructure comprises at least two fourth nodes 4, the at least two fourth nodes 4 being non-coplanar with the at least two third nodes 3;
All third nodes 3 and all fourth nodes 4 form a three-dimensional network structure through connecting rods 5, the connecting rods 5 are hollow flexible rods, and the connecting rods 5 are connected between the two third nodes 3, between the two fourth nodes 4 or between the third nodes 3 and the fourth nodes 4. All the nodes (including the third node and the fourth node) of the present invention are integrally connected, and the specific connection mode of the third node 3 and the fourth node 4 is not limited, and the specific connection mode of the third node 3 and the fourth node 4 can be designed according to different requirements.
Preferably, in the upper structure, any third node is connected with the third node closest to the third node through a connecting rod; in the lower layer structure, any fourth node is connected with the fourth node closest to the fourth node through a connecting rod; in the upper and lower two-layer structure, based on the principle of nearby, one or more third nodes and one or more fourth nodes are connected through connecting rods.
Further preferably, according to the actual design requirements of different scenes, in the upper layer structure, any third node and one or more third nodes which are not connected with the third node are connected through connecting rods; in the lower layer structure, any fourth node is connected with one or more fourth nodes which are not connected with the fourth node through connecting rods; in the upper layer structure and the lower layer structure, any third node and one or more fourth nodes which are not connected with the third node are connected through connecting rods.
It is further preferred to note that such basic building blocks may also be considered as a special case of the basic building blocks described above, i.e. a combination between two basic blocks having the same lower level node configuration but different single upper level node configurations. At this time, the structure is simplified by connecting the single upper node of the two basic units and simultaneously removing other connecting rods which are connected with the upper node and have longer lengths, so that the staggered structure of the connecting rods is avoided.
As shown in fig. 2, the present invention shows a second basic unit structure with 2 third nodes (a/B) at an upper layer, 2 fourth nodes (a/B) at a lower layer, 2 third nodes (a/B) at an upper layer, 3 fourth nodes (a/B/C) at a lower layer, 2 third nodes (a/B) at an upper layer, 4 fourth nodes (a/B/C/D) at a lower layer, 3 third nodes (a/B/C) at an upper layer, 3 fourth nodes (a/B/C) at a lower layer, 4 third nodes (a/B/C/D) at an upper layer, and 4 fourth nodes (a/B/C/D) at a lower layer; wherein:
the basic building block, as shown in figure 2a in the form of a four-sided figure, can achieve an adaptive coating and motion stabilization effect on the external environment, exemplified by item X, by an analysis method similar to that in the first specific example described above;
As shown in fig. 2B, the configuration of [ double three sides double four sides ] ABabc can be equivalently used as a composite structural unit formed by superposing two [ tetrahedron ] basic structural units Aabc and Babc through the abc at the lower layer, and then connecting two nodes a and B at the upper layer, wherein the spatial distance between a and a is relatively close to B, and the spatial distance between B and c is relatively close to c, so that the structure simplification can be achieved by removing three connecting rods Ac, ba and Bb, the structure of connecting rod interlacing is avoided, and the self-adaptive wrapping and motion stabilization effects on the external environment such as an article X can be realized through similar analysis.
As another configuration of [ single four sides and four three sides ] ABabc as shown in fig. 2c, the two [ tetrahedron ] basic structural units Aabc and Babc can be equivalently used as a composite structural unit formed by superposing the lower layer abc, but the space distances of Ac and Bc are basically equal, and the space distances of Aa and Bb are also basically equal, at this time, the structure simplification can be achieved by removing Ab and Ba, and the structure avoiding the interlacing of the connecting rods can be regarded as a pyramid basic structural unit with c as the first layer and ABba as the second layer, and the self-adaptive cladding and motion stabilization effects of the external environment exemplified by the article X can be realized by the basic structural unit through similar analysis. .
As another configuration shown in fig. 2d, the configuration of [ three four sides and two three sides ] ABabcd may be equivalent to two [ pyramid ] basic structural units Aabcd and Babcd, which are stacked by the abcd layer at the lower layer to form a composite structural unit, but the space distances of Aa and Ab are substantially equal, and the space distances of Bc and Bd are also substantially equal, at this time, the structure simplification can be completed by removing Ac, ad, ba, bb, the structure of connecting rod interlacing is avoided, and the self-adaptive cladding and motion stabilization effects on the external environment exemplified by the article X can be achieved by the basic structural units through similar analysis as described above.
Other scenarios other basic network structural elements may be obtained from the above analysis and the like.
Another special case of such basic structural unit is when the upper and lower layers contain the same number of connection nodes, each layer only needs to be connected with each adjacent node in sequence through a connecting rod to form a single closed-loop structure, the two layers are connected with the corresponding nodes in sequence through the connecting rod to form a three-dimensional network structure, and each node in each layer can not be coplanar.
As shown in fig. 2e, the configuration of the double-layer trilateral-type structure is ABCabc, and the upper layer and the lower layer respectively comprise three connecting nodes;
As shown in figure 2f (double-layer quadrilateral) ABCDabcd, the upper and lower layers respectively comprise four connecting nodes
As shown in fig. 3, on the basis of the first basic unit and the second basic unit, the spatial network structure of the robot designed by the invention can perform corresponding concave deformation on the geometric dimensions of different positions of the object X by adopting a mode of stacking a plurality of basic structures, each basic structure unit can perform corresponding concave deformation on the geometric dimensions of different positions of the object X, and by superposition of the adaptive and motion stabilizing effects of each basic structure, including the adaptive coating and motion stabilizing effects generated by the network structure through torsional deformation, the adaptive coating and motion stabilizing effects of the whole spatial network structure on the external environment are comprehensively improved, and one remarkable characteristic of the spatial network structure of the robot body related by the invention is that the geometric structure adaptation and motion stabilization on the external environment can be realized from any lateral angle:
The structure is shown in fig. 3a [ multi-layered tetrahedron ]: a plurality of double-layer [ trilateral ] basic structural units comprising a top layer [ tetrahedron ] basic structural units and a bottom;
the structure is shown in fig. 3b [ multi-layer pyramid ]: comprises a top layer [ pyramid ] basic structural unit and a plurality of bottom double-layer [ quadrilateral ] basic structural units;
According to the actual requirements of the unused scenes, the corresponding structural design can be carried out according to the design method described by the invention, so that the structural adaptability and the motion stabilization effect of the robot body to the external environment are realized, and the method can realize diversified robot structures.
Preferably, the geometric shape of each connecting rod can be a general straight line or a complex curve with a special design according to the actual design requirements of different scenes, and the cross section shape of each connecting rod can be a round shape, a square shape or any other cross section shape.
Preferably, each connecting rod is made of a material with certain elasticity, namely, the elastic deformation which can be detected can be generated under the action of external force, any connecting rod can be of a hollow structure, and the perception of the elastic deformation of the rod is realized by detecting the light flux of the interior of the rod.
Preferably, according to actual design requirements of different scenes, the connecting node can be connected in various modes such as general structural rigid connection (no degree of freedom, namely, no relative motion degree of freedom between the connecting rods), hinge connection (one degree of freedom, namely, one relative rotation degree of motion between the connecting rods), spherical hinge connection (three degrees of freedom, namely, two relative rotations between the connecting rods and one rotation degree of motion around an axis), and the like.
According to the invention, the flexible rod piece (namely the elastic or super-elastic material with higher Young modulus and deformation proportion) with the internal light path is adopted, when the rod piece is deformed, the deformation quantity of the rod piece is metered by measuring the light flux change of a light passing medium such as an optical fiber in the light path or the light path, so that the perception of the physical environment of the whole robot network structure during interaction is realized.
Specific:
as shown in fig. 4, the structure shown is only a cross-sectional view of the side triangle of fig. 3; the invention provides a sensing system of a robot network structure, which comprises: a light source device 6, a photosensor device 7, and an optical signal processor 8; wherein:
the robot network structure is provided with an optical path inlet 9 and an optical path outlet 10, and an optical path opening 11 capable of leading in the side connecting rod is arranged at the connecting point; the light source device 6 and the photosensitive device 7 are connected with the optical signal processor 8, the light source device 6 is arranged at the optical path inlet 9, and the photosensitive device 7 is arranged at the optical path outlet 10.
When in use, light emitted by the light source device 6 enters the hollow channel of the connecting rod 7 through the light path inlet 9 and is transmitted to the photosensitive device 7 through the light path outlet 10; the optical signal processor 8 processes the optical signals of the optical source device 6 and the photosensitive device 7, converts the optical signals into a deformation signal 12 of the robot network structure, and realizes a sensing function.
Furthermore, the specific trend of the optical path of the sensing system can be specifically designed according to actual requirements, the bottom of the sensing system is provided with an optical path entrance and exit and is connected to the base part of the robot, the light source device can adopt a light emitting diode, and the photosensitive device can adopt a photosensitive sensor.
The invention also provides a sensing system of another robot network structure, which comprises: a light source device 6, a photosensor device 7, and an optical signal processor 8; wherein:
The robot network structure is provided with an optical path inlet 9 and an optical path outlet 10, and a single or a plurality of optical fiber loops are embedded in a hollow channel of the connecting rod 7; an optical path opening 11 capable of leading in the side connecting rod is arranged at the connecting point; the light source device 6 and the photosensitive device 7 are connected with the optical signal processor 8, the light source device 6 is arranged at the optical path inlet 9, and the photosensitive device 7 is arranged at the optical path outlet 10.
When in use, light emitted by the light source device 6 enters the optical fiber loop through the light path inlet 9 and is transmitted to the photosensitive device 7 through the light path outlet 10; the optical signal processor 8 processes the optical signals of the optical source device 6 and the photosensitive device 7, converts the optical signals into deformation signals of the robot network structure, and realizes the sensing function.
The invention can also be based on the robot network structure, the sensor system and the base, and can form a robot, and the light source device 6, the photosensitive device 7 and the optical signal processor 8 can be arranged on the base; the robot structure can generate self-adaptive deformation to the unstructured geometric characteristics of the external physical environment to form geometric cladding without any electronic components such as additional drivers, sensors and the like, and meanwhile, the self-adaptive motion stabilization effect can be generated in interaction due to the network structural characteristics of the robot structure, and compared with the traditional robot structural design, the robot structure has the characteristics of simple structure, small number of parts, flexible design, no need of additional driving, sufficient design space, flexible application scene and the like; the adaptability in environments including deep sea, deep space, deep land and other extreme harshness is greatly improved.
Examples:
The self-adaptive process of the first basic unit of the invention is as follows:
In the invention, aabc in fig. 1 is taken as an example, when the object X with a certain three-dimensional geometric dimension is subjected to external environmental force, the edges contacted with the object X generate different degrees of elastic deformation to form space cladding on the three-dimensional geometric dimension of the object X, so that the self-adaption of the geometric shape is realized.
As shown in fig. 5, the external environmental article X having a certain spatial geometry is in a blank area in the middle of one trilateral Abc of the [ tetrahedron ];
The relative movement direction of the object X and the [ tetrahedron ] basic structural unit before contact is made is indicated by the dashed arrow pointing to a trilateral Abc intermediate blank area of the [ tetrahedron ] basic structural unit;
After contact is generated, the object X is contacted with the trilateral Abc of the [ tetrahedron ] basic structural unit, and the trilateral Abc generates corresponding elastic deformation; namely, the original connecting nodes A, b and c respectively generate a certain amount of displacement to the positions A ', b ' and c ' inwards, and the three rods realize the adaptability to the geometric dimension of the article X through the generated elastic deformation.
As shown in fig. 6, in the case of the schematic post-contact diagram shown in fig. 5, the point a 'may be additionally limited by the rod a' due to uneven acting force indicated by the dotted arrows, so that the trilateral a 'bc rotates around the rod a' a to cause the torsion motion of the whole [ tetrahedron ] basic structural unit, and the generated integral deformation further enhances the adaptability to the geometric structure of the article X, and when the forces shown by the three arrows are instantaneously equal, the stable effect on the motion of the article X is realized.
As shown in fig. 7, the external environmental article X having a certain spatial geometry is almost uniformly distributed in its tri-polygonal Abc and tri-polygonal Aac regions at the location of the [ tetrahedron ].
Before contact is generated, the relative movement direction of the object X and the [ tetrahedron ] basic structural units is indicated by a dotted arrow, and at the moment, the object X is almost uniformly distributed in the areas of the tri-edge Abc and the tri-edge Aac of the object X relative to the [ tetrahedron ] basic structural units at the same time, namely the dotted arrow mainly points to the direction of the rod Ac;
After contact is made, the article X is contacted with a rod Ac of the [ tetrahedron ] basic structural unit, and the rod Ac is correspondingly elastically deformed; that is, the object X is primarily in contact with the rod Ac, such that the rod Ac elastically deforms to conform to the geometry of the object X, and the original connecting node A, c is displaced inward by a certain amount to the a ', c' positions, respectively.
Meanwhile, based on the principle of fig. 6, when the action force of the article X on the connecting rod with different configurations is uneven, the torsion action is formed on the surface of the article X on which the force is applied, so that the whole tetrahedron-shaped configuration is also twisted, the self-adaptive geometric coating of the article X is further enhanced, and the motion stability of the article X is further realized.
The above-mentioned robot network structure only showing [ tetrahedra ], when the number of lower-layer connection nodes exceeds three, the [ polyhedral ] network configuration formed by adopting the similar method can be regarded as superposition of a plurality of the above-mentioned [ tetrahedra ] basic configurations, namely, the connection nodes of the lower layer are divided according to a group of three to form different [ tetrahedra ] basic configurations respectively, then overlapping and superposing are carried out at a shared connecting rod to form a corresponding [ polyhedral ] composite network configuration, and the adaptive cladding and motion stabilization effects on the external environment exemplified by the object X can be realized by the similar method.
The self-adaptive process of the second basic unit of the invention is as follows:
The above only shows the network structure of the first basic unit, and when taking the second basic unit as an example, that is, when the number of upper-layer connection nodes is plural, the network configuration of the [ polyhedral ] formed by adopting the method similar to the above can be regarded as the superposition of the plural of the above [ tetrahedral ] basic configurations; it can also achieve adaptive coating and motion stabilization effects on the external environment, for example, the object X, by a method similar to the above.
As shown in fig. 8, taking a multi-layer pyramid network structure as shown in fig. 3b as an example, when an external environment object X is subjected to actions from different angles, the network structure according to the present invention generates adaptive deformation, where a is a physical model of the network structure Aabcd, b is adaptive deformation when the object X mainly acts from a side surface Aab, c is adaptive deformation when the object X mainly acts from a side surface Aab, where the whole network structure generates counterclockwise torsion to adapt the contact surface to the side surface Aab, and d is adaptive deformation when the object X mainly acts from a side surface Aab, where the whole network structure generates clockwise torsion to adapt the contact surface to the side surface Aab.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A robotic network architecture suitable for use in an unstructured environment, comprising: a superposition of a first base unit and a plurality of second base units;
The first basic unit comprises a first upper layer structure and a first lower layer structure;
The first superstructure comprises a first node;
the first substructure comprises at least three second nodes, at least three of the second nodes being non-collinear;
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 second nodes or between the first nodes and the second nodes;
the second basic unit comprises a second upper layer structure and a second lower layer structure;
the second superstructure comprises at least two third nodes;
the second lower layer structure comprises at least two fourth nodes, and the at least two fourth nodes are not coplanar with the at least two third nodes;
All the third nodes and all the fourth nodes form a three-dimensional network structure through connecting rods, and the connecting rods are connected between the two third nodes, between the two fourth nodes or between the third nodes and the fourth nodes;
The robot network structure is based on the positions of upper and lower nodes and orderly combined in space by adopting connecting rods to form a space three-dimensional network structure;
the connecting rod is a flexible rod piece;
the space three-dimensional network structure is used for realizing the adaptive coating of the external environment through the elastic deformation of each connecting rod when the space three-dimensional network structure receives the acting force from the external environment.
2. The robotic network structure of claim 1, wherein the links are hollow flexible rods.
3. The robot network structure of claim 1, wherein any one of the second nodes and a second node closest thereto are connected by the link;
Based on the principle of proximity, the first node and one or more second nodes are connected by the connecting rod.
4. A robotic network as claimed in claim 3 in which any of the second nodes and one or more second nodes not connected thereto are connected by the links; the first node and one or more second nodes not connected with the first node are connected through the connecting rod.
5. The robot network structure of claim 1, wherein any one of the third nodes and a third node closest thereto are connected by the link;
any one of the fourth nodes is connected with the fourth node closest to the fourth node through the connecting rod;
Based on the principle of proximity, one or more third nodes and one or more fourth nodes are connected by the connecting rod.
6. The robotic network structure of claim 5, wherein any one of the third nodes and one or more third nodes not connected thereto are connected by the links;
any one of the fourth nodes and one or more fourth nodes unconnected to the fourth node are connected through the connecting rod;
any one of the third nodes and one or more fourth nodes not connected with the third node are connected through the connecting rod.
7. A sensing system of a robot network structure according to any of claims 1-6, comprising: a light source device, a photosensitive device, and an optical signal processor;
The robot network structure is provided with a light path inlet and a light path outlet, the light source device and the photosensitive device are connected with the optical signal processor, the light source device is arranged at the light path inlet, and the photosensitive device is arranged at the light path outlet;
Light emitted by the light source device enters the hollow channel of the connecting rod through the light path inlet and is transmitted to the photosensitive device through the light path outlet;
the optical signal processor processes the optical signals of the light source device and the photosensitive device, converts the optical signals into deformation signals of the robot network structure, and realizes a sensing function.
8. A sensing system of a robot network structure according to any of claims 1-6, comprising: a light source device, a photosensitive device, and an optical signal processor;
the robot network structure is provided with an optical path inlet and an optical path outlet, and a single or a plurality of optical fiber loops are embedded in a hollow channel of the connecting rod;
The light source device and the photosensitive device are connected with the optical signal processor, the light source device is arranged at the entrance of the optical path, and the photosensitive device is arranged at the exit of the optical path;
Light emitted by the light source device enters the optical fiber loop through the light path inlet and is transmitted to the photosensitive device through the light path outlet;
the optical signal processor processes the optical signals of the light source device and the photosensitive device, converts the optical signals into deformation signals of the robot network structure, and realizes a sensing function.
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| CN201910461091.1A CN110174070B (en) | 2019-05-30 | 2019-05-30 | Robot network structure and sensing system suitable for unstructured environment |
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| CN110174070B (en) * | 2019-05-30 | 2024-06-11 | 南方科技大学 | Robot network structure and sensing system suitable for unstructured environment |
| CN110174071B (en) * | 2019-05-30 | 2024-01-09 | 南方科技大学 | Robot network structure and sensing system suitable for unstructured environment |
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| CN110174070A (en) | 2019-08-27 |
| WO2020238336A1 (en) | 2020-12-03 |
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