Liquid metal electric-driven vehicle and movement control method thereof

Abstract

The invention relates to a liquid metal electric-driven vehicle. The liquid metal electric-driven vehicle comprises a vehicle frame, a first power source and a second power source. An accommodating part is mounted at the bottom of the vehicle frame. The vehicle frame is provided with a first electrode, a second electrode, a third electrode and a fourth electrode. The first electrode and the thirdelectrode are respectively connected with the cathode of the first power source and the anode of the first power source. The second electrode and the fourth electrode are respectively connected with the cathode of the second power source and the anode of the second power source. The invention relates to a movement control method applied to the liquid metal electric-driven vehicle. Power consumption of the vehicle is greatly lowered, liquid metal is prevented from leak from the bottom of the vehicle, a substrate solution is fully used for switching buoyancy and adopted coordinates of the vehicle, friction resistance is reduced, influence on movement of the vehicle by external disturbance is reduced, obstacle avoidance during movement of the vehicle is achieved, accurate vehicle positioningis achieved, the PID control algorithm is adopted to achieve accurate free movement of the liquid metal vehicle in a two-dimensional plane.

Description

technical field [0001] The invention relates to a liquid metal electro-driven trolley and a motion control method thereof. Background technique [0002] Liquid metals are metals that are in a liquid state at room temperature. Liquid metals can play an important role in soft robots, pumps, micro-pipes, 3D printing and other fields. Liquid metals will move to the positive pole of the power supply under external conditions of applied voltage. Using this movement characteristic of liquid metals, we can make them For transportation etc. At present, there are still limitations in the research on liquid metal trolleys: (1) In the direction of motion, the existing liquid metal trolleys can only achieve simple one-dimensional motion in one direction, and have not tried to move freely in the X-Y plane, and there are existing The car can only observe its movement and the factors that affect the speed of movement, and has not found a method that can accurately control the movement. At...

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Problems solved by technology

At present, there are still limitations in the research on liquid metal trolleys: (1) In the direction of motion, the existing liquid metal trolleys can only achieve simple one-dimensional movement in one direction, but have not tried to move freely in the X-Y plane, and there are existing The car can only observe its movement and the factors that affect the speed of movement, and has not found a method that can accurately control the movement. At the same time, the design of the external electrode makes a large part of the energy loss in the environmental solution; (2) the existing car structure There are deficiencies in the above design, the car is easy to contact with the outside world to generate frictional resistance, and at the same time, the liquid metal is easy to slip out of the car

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