Mini cable-free swimming robot and control method thereof

Abstract

The invention discloses a steering control system of a mini cable-free swimming robot. The steering control system comprises side fins positioned on two sides of a robot body and in hinged connectionwith the robot body, a piezoelectric ceramic pile driving the side fins, mini pressure sensors positioned on the side fins, mini photoelectric encoders positioned at positions where the side fins arehinged to the robot body, a single chip microcomputer controller and an inside radio frequency transceiver, and further comprises an external radio frequency transceiver, a single chip microcomputer main controller and a track recorder which are outside the robot body independently the single chip microcomputer controller and the inside radio frequency transceiver are positioned inside the robot body, the single chip microcomputer controller, the inside radio frequency transceiver, a driving power source and the piezoelectric ceramic pile are sequentially connected through leads, the single chip microcomputer controller is connected with the mini pressure sensors and the photoelectric encoders through leads, the outside radio frequency transceiver, the single chip microcomputer main controller and the track recorder are sequentially connected through leads, and the outside radio frequency transceiver and the inside radio frequency transceiver are in wireless signal connection. By the steering control system, steering of the swimming robot can be controlled flexibly, and the robot is stable in integral control performance and has practicability.

Description

[0001] This application is a divisional application with the application number 2015103458302 and the title of the invention is a steering control system for a cable-free swimming robot. 【Technical field】 [0002] The invention relates to the technical field of micro-robots, in particular to a steering control system for a cable-free swimming robot. 【Background technique】 [0003] Micro-swimming robots are currently a research hotspot in the world. Various research institutions have conducted research from different perspectives of driving principles, and have made great progress. Researchers at Nagoya University in Japan have designed a robot that can swim in blood vessels. Using the giant magnetostrictive hyperbolic sheet as the tail fin of the robot, the magnetic field energy of the giant magnetostrictive hyperbolic sheet is transformed, and the robot can be controlled in the liquid. Swimming in the center, this swimming robot has no cables and belongs to cable-free contr...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to solve the problem of low steering control performance of the existing cable-free swimming robot using the giant magnetostrictive hyperbolic sheet as the tail fin, and propose a steering control system for a miniature cable-free swimming robot, which can make swimming The steering of the robot is flexibly controlled, and the overall control performance of the robot is stable and practical

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