CN113386130A - Bionic snake-shaped robot control system and control method thereof - Google Patents
Bionic snake-shaped robot control system and control method thereof Download PDFInfo
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- CN113386130A CN113386130A CN202110558320.9A CN202110558320A CN113386130A CN 113386130 A CN113386130 A CN 113386130A CN 202110558320 A CN202110558320 A CN 202110558320A CN 113386130 A CN113386130 A CN 113386130A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
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Abstract
The invention discloses a control system and a control method of a bionic snake-shaped robot, and belongs to the field of artificial intelligence. Including a supporting seat, the one end of supporting seat is rotated and vertical is connected with the screw rod, other end fixedly connected with guide bar, be equipped with flexible control motor of snake arm in the supporting seat, flexible control motor of snake arm is connected with the screw rod, the supporting seat top is equipped with first base, the top both sides of first base are fixed respectively and are equipped with the nut that corresponds with the screw rod and the guide cylinder that corresponds with the guide bar, first pedestal mounting is on screw rod and guide bar. The invention can realize any omnibearing degree of freedom, the curve position reaches the pointing working point, and the control precision is high.
Description
Technical Field
The invention belongs to the field of artificial intelligence, and particularly relates to a control system and a control method for a bionic snake-shaped robot.
Background
A robot is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The task of which is to assist or replace human work, such as production, construction, or dangerous work. The traditional robot adopts pure mechanical transmission at the present stage, works in a single straight line, cannot freely realize all-dimensional freedom, is easy to be interfered by the outside, has the problem of freedom in the whole action, cannot operate in a narrow space, and is easy to collide in a complex environment. The bionic snake-shaped robot develops research works of three aspects of a biological prototype, a mathematical model and a hardware model aiming at a typical body structure and a limb-free motion mode of a biological snake, systematically develops the research works of the snake-shaped robot at home, develops a novel snake-shaped robot prototype, develops various research works such as a distributed control method, a bionic control method based on CPG, an obstacle crossing method and the like on the platform, and develops a first snake-shaped robot exploration operation system by combining the requirements of national anti-terrorism and anti-riot.
Disclosure of Invention
The invention aims to provide a control system of a bionic snake-shaped robot, which can achieve any omnibearing degree of freedom, reaches a pointing working point at a curve position and has high control precision.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a control system for bionic snake-shaped robot comprises
The snake-shaped robot comprises a supporting seat, wherein one end of the supporting seat is rotated and vertically connected with a screw, the other end of the supporting seat is fixedly connected with a guide rod, a snake arm stretching control motor is arranged in the supporting seat and is connected with the screw, a first base is arranged above the supporting seat, nuts corresponding to the screw and guide cylinders corresponding to the guide rod are respectively and fixedly arranged on two sides of the top of the first base, the first base is arranged on the screw and the guide rod, a second base is rotatably arranged on the top of the first base, a base rotating control motor for controlling the rotation of the base is arranged in the first base, a hydraulic unit and a proportional valve are arranged in the second base, a supporting arm is arranged on the second base, the supporting arm is made of an arc-shaped flexible material and is internally sealed and has fluid undamped motion, and a power source of stretching motion is arranged in the supporting arm, the supporting arm is communicated with the hydraulic unit, the proportional valve is provided with a joint of the supporting arm and the hydraulic unit, the supporting arm is provided with a pressure sensor, the tail end of the supporting arm is provided with an object positioning camera, and the reference positioning camera on the second base is arranged on the second base;
the electronic control system comprises an image processing unit, a pressure transmitting unit, a proportional valve driving unit, a hydraulic control unit and a servo driving unit, wherein the image processing unit is respectively connected with an object positioning camera and a reference positioning camera, the pressure transmitting unit is connected with a pressure sensor, a proportional valve driver is connected with the proportional valve, the hydraulic control unit is connected with the hydraulic unit, and the servo control unit is respectively connected with a snake arm telescopic control motor and a base control motor;
and the computer is connected with the electric control device.
Further, the object positioning camera and the reference positioning camera are assumed to be of a model MT9F 002.
Further, the computer hardware adopts TIPC8000-084 IO.
A control method of a bionic snake-shaped robot control system comprises the following steps:
s1, inputting a target position, and acquiring an image of the target position by an object positioning camera and a reference positioning camera;
s2, establishing a three-dimensional coordinate system by respectively using a positioning camera center, a reference positioning camera center, a base center and a target position center;
and S3, calculating three-dimensional data in an image Jacobian matrix of the dynamic image by using the quaternion, converting the three-dimensional data into control parameters of pressure, telescopic displacement and a corner through the coordinate transformation of kinematics, and driving the tail end of the snake-shaped robot to reach the target position of the object through an electric control device.
Further, the image processing method in step S1 is to measure the soft joint of the snake-like robot by using an optical interference method.
Due to the adoption of the technical scheme, the invention has the following beneficial effects:
the invention can have any omnibearing degree of freedom, the curve position reaches the pointing working point, and the curve position is free to extend without any external interference; the problem that the traditional robot has any degree of freedom of overall action, such as narrow-space operation, collision avoidance operation in a complex environment and the like, is solved, the problems that the existing industrial robot has single working environment, dead corners and can not meet the operation of some special types of work are successfully solved, and the control method is high in control precision and small in error.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural diagram of the bionic snake-shaped robot of the invention;
fig. 3 is a system control flow diagram of the present invention.
In the attached drawing, 1-a support seat, 2-a screw rod, 3-a guide rod, 4-a first base, 5-a second base, 6-a reference positioning camera, 7-a support arm and 8-an object positioning camera.
Detailed Description
The following detailed description of the present invention is provided in conjunction with the accompanying drawings, but it should be understood that the scope of the present invention is not limited to the specific embodiments.
Throughout the specification and claims, unless explicitly stated otherwise, the word "comprise", or variations such as "comprises" or "comprising", will be understood to imply the inclusion of a stated element or component but not the exclusion of any other element or component.
As shown in fig. 1-3, a bionic snake-shaped robot control system comprises a snake-shaped robot, an electric control device and a computer. The snake-shaped robot comprises a supporting seat, one end of the supporting seat is rotated and vertically connected with a screw rod, the other end of the supporting seat is fixedly connected with a guide rod, a snake arm stretching control motor is arranged in the supporting seat and is connected with the screw rod, a first base is arranged above the supporting seat, nuts corresponding to the screw rod and guide cylinders corresponding to the guide rod are respectively fixedly arranged on two sides of the top of the first base, the first base is arranged on the screw rod and the guide rod, a second base is rotatably arranged on the top of the first base, a base rotating control motor for controlling the rotation of the base is arranged in the first base, a hydraulic unit and a proportional valve are arranged in the second base, a supporting arm is arranged on the second base, the supporting arm is made of an arc-shaped flexible material and is internally sealed, fluid undamped motion is realized, and a power source of stretching motion is arranged in the supporting arm, the support arm is communicated with the hydraulic unit, the proportional valve is provided with a joint of the support arm and the hydraulic unit, the support arm is provided with a pressure sensor, the tail end of the support arm is provided with an object positioning camera, and the reference positioning camera on the second base is provided with a reference positioning camera. The electric control device is connected with the snake-shaped robot, the electric control system comprises an image processing unit, a pressure transmitting unit, a proportional valve driving unit, a hydraulic control unit and a servo driving unit, the image processing unit is respectively connected with an object positioning camera and a reference positioning camera, the pressure transmitting unit is connected with a pressure sensor, a proportional valve driver is connected with the proportional valve, the hydraulic control unit is connected with the hydraulic unit, and the servo control unit is respectively connected with a snake arm telescopic control motor and a base control motor; the computer is connected with the electric control device. The support arm naturally stretches into an original sphere compound motion, adopts hydrodynamics and damping work, returns to a designated work area after the PLC action is finished, and has no mechanical intervention. The structure of the support arm is as CN104802171B bionic snake-shaped robot.
The computer hardware of the embodiment adopts:
1. embedded mainboard integrated with I/O function
The IPC8000PL-AD/CA/IO series is a high-end embedded application platform, an ultra-low power consumption Cortex-A81.2GHz dual-core processor, the processing capacity of 2500-3000 MIPS is high, the DSP floating point processing capacity is achieved, and an enhanced graphics accelerator is arranged in the DSP floating point processing capacity; an onboard 512MB DDR2 internal memory, a 256MB Nand Flash hard disk and an extended 8-32 GB SD/SDHC solid state hard disk are selected and matched; LCD interface: the resolution can be up to 1024X768TFT LCD screen, four-wire or five-wire system touch screen interface; the device CAN be provided with 32 paths of switching value I/O input and output, 10 paths of 12-bit high-speed acquisition analog quantity input and 2 paths of high-speed isolated CAN bus interfaces, supports the communication of CAN V2.0B standard and various CAN devices, has the isolation voltage of 2500VDC, is provided with 2 high-speed RS232 serial ports and 2 photoelectric isolated high-speed RS232/RS485 self-adaptive serial ports (the isolation voltage of 2500VDC), 1 10M/100M self-adaptive network port and 3 high-speed USB2.0 ports.
The IPC8000PL-AD/CA/IO series is provided with a WinCE6.0 system with perfect strength, has strong compatibility and supports the operation of application programs of all CE versions; the WinCE system can be customized according to requirements so as to meet the requirement that various application programs of a user can stably run on an IPC8000PL-AD/CA/IO series platform.
The IPC8000PL-AD/CA/IO series has the characteristics and advantages, so that the IPC 8000-AD/CA/IO series becomes an embedded application platform in each application field, and is widely applied to various intelligent devices, mechanical devices, numerical control devices, vehicle-mounted monitoring, textile equipment, intelligent power equipment, charging device equipment, environmental protection equipment, various analyzer equipment, medical equipment and the like.
The product is characterized in that:
an advanced industrial embedded Cortex-A81.2GHz dual-core processor is built in, the processing capacity is as high as 2500-3000 MIPS, the DSP floating point processing capacity is achieved, and an enhanced graphics accelerator is built in; an onboard 512MB DDR2 memory, 256MB Nand Flash; selecting and matching 8-32 GB SD/SDHC Flash solid state hard disks; the LCD interface supports an industrial true color TFT LCD screen with 1024x768 resolution; four-wire or five-wire touch screen interfaces.
2. Integrated I/O high-end type 8.4 inch HMI & Touch IPC
The TIPC8000-084IO is a small-sized high-end human-computer interface specially designed for having I/O input and output functions, an ultra-low power consumption Cortex-A81.2GHz dual-core processor is arranged in the TIPC8000-084IO, the processing capacity of the TIPC is as high as 2500-3000 MIPS, the TIPC has DSP floating point processing capacity, and an enhanced graphics accelerator is arranged in the TIPC8000-084 IO; an onboard 512MB DDR2 internal memory, a 256MB Nand Flash hard disk and an extended 8-32 GB SD/SDHC solid state hard disk are selected and matched; an industrial LED backlight 8.4-inch TFT liquid crystal screen with the resolution of 800x600 and a four-wire resistor type industrial touch screen are arranged; and (3) high-speed I/O input and output functions are equipped: 16 high-speed switching value inputs, 16 high-speed switching value outputs, 10 high-speed 12-bit high-speed acquisition analog quantity inputs and 2 high-speed PWM outputs; the CAN bus interface of 2 way high speed isolation is selected and matched, CAN V2.0B standard and various CAN equipment communications are supported, the isolation voltage is up to 2500VDC, 2 high speed RS232 serial ports and 2 photoelectric isolated high speed RS232/RS485 self-adaptive serial ports (the isolation voltage is up to 2500VDC) are equipped, 1 10M/100M self-adaptive network port, 2 high speed USB2.0 ports, 1 high speed USB2.0 port with waterproof cover of front panel, and convenience is brought to users to connect various I/O equipment.
TIPC8000-084IO adopts American industry association industrial standard design, alloy anti-interference shell, ultra-light thin firm structure; the panel is installed in an embedded mode, and only 4 draw hooks are needed to be screwed; meanwhile, the wall-mounted installation of the VESA standard is supported, and the installation and maintenance are very simple and convenient; the panel meets the NEMA/IP65 waterproof and dustproof industry standard.
The TIPC8000-084IO is provided with a WinCE6.0 system with perfect strength, the compatibility is strong, and the running of application programs of all CE versions is supported; the WinCE system can be customized according to requirements so as to meet the requirement that various application programs of a user can stably run on the TIPC8000-084IO platform.
The TIPC8000-084IO can be selected and matched with high-performance embedded configuration software InTrace-American industry core technology software.
The TIPC8000-084IO has the characteristics and advantages, so that the TIPC becomes a preferred product of human-computer interfaces in various fields, and is widely applied to various intelligent equipment, mechanical equipment, numerical control equipment, vehicle-mounted monitoring, textile equipment, intelligent power equipment, charging device equipment, environmental protection equipment, various analyzer equipment, medical equipment and the like.
The TIPC8000-084IO highly centralizes the function, can meet the functional requirement of various small-scale systems in a single-stop way.
The product is characterized in that:
the American industry Association industry level design Standard, high Standard design; an advanced industrial embedded Cortex-A81.2GHz dual-core processor is built in, the processing capacity is as high as 2500-3000 MIPS, the DSP floating point processing capacity is achieved, and an enhanced graphics accelerator is built in; 8.4 inch industrial true color TFT LCD screen with 800x600 resolution, high-end LED backlight screen, and long backlight service life of 50000 hours; an onboard 512MB DDR2 memory, 256MB Nand Flash; selecting and matching 8-32 GB SD/SDHC Flash solid state hard disks; the four-wire resistance type industrial touch screen has the clicking times as high as 3500 ten thousand times; the method is provided with high-speed I/O input and output functions: 16 high-speed switching value inputs, 16 high-speed switching value outputs, 10 high-speed 12-bit analog value inputs and 2 high-speed PWM outputs, and the functions of real-time acquisition and real-time control are very easy to realize. 2-path high-speed isolated CAN Bus function ports are selected, CAN V2.0B is supported, and various CAN equipment communication is supported; the complete functional interface is provided: 2 high-speed RS232 serial ports, 2 high-speed isolated RS232/RS485 selectable serial ports, 1 network port, 3 high-speed USB2.0 ports (a front panel 1 USB2.0 port with a waterproof cover), and 1 USB Device interface; the alloy anti-interference shell is designed to be an ultra-light, thin and firm structure, and is resistant to impact and vibration, and the front panel reaches the NEMA/IP 65-grade waterproof and dustproof standard; the system has ultra-low power consumption and ultra-strong safety, stability and reliability, and can ensure stable and uninterrupted operation in severe industrial environment; 24VDC +/-10% power input, optionally matched with wide voltage input: 9-36 VDC; the object positioning camera and the reference positioning camera were assumed to be of model MT9F 002.
This camera of implementing the adoption: SENSOR model MT9F002 with the parameters:
a control method of the bionic snake-like robot control system of claim 1, comprising the following steps:
s1, inputting a target position, and acquiring an image of the target position by an object positioning camera and a reference positioning camera;
s2, establishing a three-dimensional coordinate system by respectively using a positioning camera center, a reference positioning camera center, a base center and a target position center;
and S3, calculating three-dimensional data in an image Jacobian matrix of the dynamic image by using the quaternion, converting the three-dimensional data into control parameters of pressure, telescopic displacement and a corner through the coordinate transformation of kinematics, and driving the tail end of the snake-shaped robot to reach the target position of the object through an electric control device.
The visual feedback loop of the system firstly extracts image characteristics from an image, and then estimates the relative positions of a target and a camera by utilizing the image characteristics, a geometric model of the target and a camera model; the estimated value of the relative position of the target and the camera is compared with the expected value, and the generated position error amount is sent to a Cartesian coordinate control module. In a robotic hand-eye system, the relative position of the camera to the target is obtained indirectly through the relationship matrix T (T known) of the robot tip coordinates to a fixed coordinate system. If T is in error, the position estimate of the robot tip will also be in error and this error cannot be observed by the system, so in some cases (e.g., when the robot is grabbing or tracking an object) the system may fail to operate. The snake-shaped robot control system adopts an optical interference method to measure the soft joint of the snake-shaped robot so as to achieve the purpose of reducing errors. Meanwhile, with 2 cameras, the end position of the manipulator is also detected while the target is detected, and the above error will be corrected. A hand-eye end closed loop system capable of simultaneously observing the positions of the end of the target and the manipulator is constructed. The system drives the tail end (TCF) of the snake-shaped robot to reach the target position of the object by measuring the position of the object by the image measuring and positioning system and converting the position into control parameters such as pressure, telescopic displacement, corner and the like through the coordinate transformation of kinematics.
The above description is directed to the preferred embodiments of the present invention, but the embodiments are not intended to limit the scope of the claims of the present invention, and all equivalent changes and modifications made within the technical spirit of the present invention should fall within the scope of the claims of the present invention.
Claims (5)
1. A control system of a bionic snake-shaped robot is characterized by comprising
The snake-shaped robot comprises a supporting seat, wherein one end of the supporting seat is rotated and vertically connected with a screw, the other end of the supporting seat is fixedly connected with a guide rod, a snake arm stretching control motor is arranged in the supporting seat and is connected with the screw, a first base is arranged above the supporting seat, nuts corresponding to the screw and guide cylinders corresponding to the guide rod are respectively and fixedly arranged on two sides of the top of the first base, the first base is arranged on the screw and the guide rod, a second base is rotatably arranged on the top of the first base, a base rotating control motor for controlling the rotation of the base is arranged in the first base, a hydraulic unit and a proportional valve are arranged in the second base, a supporting arm is arranged on the second base, the supporting arm is made of an arc-shaped flexible material and is internally sealed and has fluid undamped motion, and a power source of stretching motion is arranged in the supporting arm, the supporting arm is communicated with the hydraulic unit, the proportional valve is provided with a joint of the supporting arm and the hydraulic unit, the supporting arm is provided with a pressure sensor, the tail end of the supporting arm is provided with an object positioning camera, and the reference positioning camera on the second base is arranged on the second base;
the electronic control system comprises an image processing unit, a pressure transmitting unit, a proportional valve driving unit, a hydraulic control unit and a servo driving unit, wherein the image processing unit is respectively connected with an object positioning camera and a reference positioning camera, the pressure transmitting unit is connected with a pressure sensor, a proportional valve driver is connected with the proportional valve, the hydraulic control unit is connected with the hydraulic unit, and the servo control unit is respectively connected with a snake arm telescopic control motor and a base control motor;
and the computer is connected with the electric control device.
2. The control system of a biomimetic serpentine robot of claim 1, wherein the object positioning camera and the reference positioning camera are of model MT9F 002.
3. A bionic snake robot control system as claimed in claim 1 wherein the computer hardware is in the form of TIPC8000-084 IO.
4. A control method of the control system of the bionic snake-like robot according to claim 1, comprising the steps of:
s1, inputting a target position, and acquiring an image of the target position by an object positioning camera and a reference positioning camera;
s2, establishing a three-dimensional coordinate system by respectively using a positioning camera center, a reference positioning camera center, a base center and a target position center;
and S3, calculating three-dimensional data in an image Jacobian matrix of the dynamic image by using the quaternion, converting the three-dimensional data into control parameters of pressure, telescopic displacement and a corner through the coordinate transformation of kinematics, and driving the tail end of the snake-shaped robot to reach the target position of the object through an electric control device.
5. The control method of a control system for a bionic snake-like robot according to claim 4, wherein the image processing method in step S1 adopts an optical interference method to measure the soft joints of the snake-like robot.
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Cited By (1)
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| CN115598981A (en) * | 2022-10-27 | 2023-01-13 | 北京科技大学（Cn） | Electric control method and distributed power supply system for orthogonal joint snake-shaped robot |
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| ZHENGCAI CAO; QING XIAO; RAN HUANG; MENGCHU ZHOU: "Robust Neuro-Optimal Control of Underactuated Snake Robots With Experience Replay", 《IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS》 * |
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| 耿德旭: "双向主动弯曲气动柔性关节及其在机械手中的应用", 《中国博士学位论文全文数据库信息科技辑》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115598981A (en) * | 2022-10-27 | 2023-01-13 | 北京科技大学（Cn） | Electric control method and distributed power supply system for orthogonal joint snake-shaped robot |
| CN115598981B (en) * | 2022-10-27 | 2023-06-13 | 北京科技大学 | Electric control method for orthogonal joint snake-shaped robot and distributed power supply system |
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| CN113386130B (en) | 2023-02-03 |
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