A light-driven bionic octopus soft underwater robot

Abstract

The present invention provides a light-driven bionic octopus soft underwater robot, comprising a power system and a control system, wherein the power system comprises a bionic arm, wherein the bionic arm comprises at least three arm units connected in sequence, wherein each arm unit comprises a cylindrical silicon elastomer, wherein each arm unit is provided with at least three power tubes, wherein the power tubes are cylindrical cavities made of light-responsive materials. The present invention can realize bending and deformation in any direction or angle, has high flexibility, and has a large operating space.

Description

Technical Field

[0001] The present invention relates to the technical field of marine equipment design and manufacture, and more specifically, to a light-driven bionic octopus soft underwater robot. Background Art

[0002] At present, underwater robots can be manufactured using liquid crystal gel (LCG) with photothermal properties. Liquid crystal polymers (LCE), liquid crystal elastomers (LCN), etc. are treated with liquid crystal small molecules (LC) to synthesize new photothermal materials LCG that are more sensitive to light stimulation. When exposed to light, they convert light energy into heat, causing a slight change in the material's temperature, which in turn stimulates a phase change and causes the material to bend and deform. LCG is made into strips and placed in water. Using ultraviolet light or lasers at a specific frequency to illuminate the bionic sea cucumber can enable it to achieve a variety of underwater movement modes common to invertebrates, such as crawling, walking, jumping or swimming. However, the current light-driven system is too simple and basically does not have the ability to perform tasks, and is still a long way from practical application.

[0003] Therefore, there is an urgent need in the prior art for an underwater robot that has the characteristics of large deformation degree and high flexibility and can freely shuttle in a narrow space. Summary of the invention

[0004] In view of the above-mentioned deficiencies in the prior art, the present invention provides a light-driven bionic octopus soft underwater robot.

[0005] To achieve the above object, the present invention is implemented through the following technical solutions:

[0006] A light-driven bionic octopus soft underwater robot, a power system and a control system, wherein the power system comprises a bionic arm, the bionic arm comprises at least three arm units connected in sequence, each arm unit comprises a cylindrical silicone elastomer, at least three power tubes are arranged in each arm unit, the power tube is a cylindrical cavity made of a light-responsive material, a light-shielding flexible membrane is arranged axially inside the power tube, the power tube is filled with unsaturated mercury vapor, a temperature sensor is also arranged on the power tube, and electrode groups are arranged at both ends of each arm unit; the control system comprises an upper computer, a lower computer, a PWM pulse output system and a remote controller, the upper computer is connected to the lower computer by signal, the lower computer is connected to the temperature sensor by signal, the lower computer is connected to the PWM pulse output system, and the remote controller is connected to the upper computer by signal.

[0007] The photoresponsive material is liquid crystal gel LCG-70 with photothermal properties.

[0008] The remote controller is connected to the host computer via an acoustic signal, and the remote controller is arranged on the water surface.

[0009] The light-shielding flexible film is a rubber film.

[0010] The temperature sensor is a DS18B20 sensor.

[0011] The number of the power tubes is three.

[0012] The number of the arm and leg units is four.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] 1. The robot is made of flexible materials, so it has infinite degrees of freedom within a certain range, can bend and deform in any direction or angle, has high flexibility, large operating space, and a wider range of applications than rigid robots;

[0015] 2. The power adopts light-driven technology based on light-responsive materials, which only requires very little light to operate the robot, thus significantly reducing energy consumption. This means longer underwater working time and stronger endurance;

[0016] 3. Using light as the driving force eliminates the need for complex power supply, induction and braking systems, thus greatly simplifying the mechanism. In addition, the density of flexible materials is much lower than that of metal materials commonly used in rigid robots, so the body is lighter and has stronger maneuverability;

[0017] 4. The bionic arm adopts a design method of combining multiple repeated units, and each unit works independently. This design realizes a variety of combinations of different unit movements, thereby achieving very complex movements. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the structure of the arm and foot unit.

[0019] Figure 2 This is a schematic diagram of the structure of the bionic arm.

[0020] Figure 3 It is a structural diagram of the power tube.

[0021] Figure 4 It is a schematic diagram of the control path of the control system.

[0022] Figure 5 It is a schematic diagram of the communication link of the control system.

[0023] Figure 6 It is the logic block diagram of the control system. DETAILED DESCRIPTION

[0024] The present invention will be further described below based on specific implementation methods.

[0025] like Figure 1-6 The light-driven bionic octopus soft underwater robot shown, power system and control system, the power system includes bionic arms, the bionic arms include at least three arms units connected in sequence, each arm unit includes a cylindrical silicone elastomer, each arm unit is provided with at least three power tubes, in this embodiment, each arm unit is provided with three power tubes, and the positions where the three power tubes are implanted in the arm unit are 120° from the lines connecting the centers of the cross-sections of the arm units, and the number of arm units is four. The power tube is a cylindrical cavity made of a light-responsive material, in this embodiment, the light-responsive material is a photothermal liquid crystal gel LCG-70.

[0026] The power tube is filled with unsaturated mercury vapor, and a temperature sensor is also provided on the power tube. In this embodiment, the temperature sensor is a DS18B20 sensor. The control system includes a host computer, a slave computer, a PWM pulse output system and a remote controller. The host computer is connected to the slave computer signal, the slave computer is connected to the temperature sensor signal, the slave computer is connected to the PWM pulse output system and controls the PWM pulse output system, and the remote controller is connected to the host computer signal. The host computer is a micro PC, and the slave computer is an STM32 single-chip microcomputer.

[0027] A light-shielding flexible membrane is arranged axially inside the power tube. The light-shielding flexible membrane is a rubber membrane and is arranged axially along the power tube, dividing the power tube into two parts along the axial direction. The rubber membrane is light-proof and can play a light-shielding role. A completely hollow power tube cannot drive the arms and legs to bend. This is because the light-responsive materials on both sides of the diameter will bend in the opposite direction at the same time when receiving equal doses of ultraviolet light. The displacement after the vector synthesis of the two is zero. Therefore, the inside of the power tube is separated by a light-shielding flexible membrane. There is a pair of electrodes on each side of the light-shielding flexible membrane. The electrodes are arranged at both ends of the power tube and can generate an electric field in the tube along the extension direction of the power tube. The electrode groups on both sides of the light-shielding flexible membrane are independent electrode group A and independent electrode group B, that is, the positive electrode of the independent electrode group A and the positive electrode of the independent electrode group B are respectively located on both sides of the light-shielding flexible membrane and at the same end of the power tube, but are not connected. The negative electrode of the independent electrode group A and the negative electrode of the independent electrode group B are respectively located on both sides of the light-shielding flexible membrane and at the other end of the power tube, but are not connected. The two groups of electrodes are independent of each other in operation. When one side of the shading film is illuminated, the additional pressure generated by the mercury vapor will press the flexible shading film to the opposite side and attach it to the surface of the light-responsive material on the opposite side, thereby blocking the photosensitivity response of the material on the opposite side. In this way, only one side of the power tube is photosensitized, thus solving the power contradiction.

[0028] like Figure 4As shown in the figure, the upper computer and the lower computer establish communication, and the lower computer uses the PID algorithm to control the PWM pulse output system to output a specific pulse voltage, thereby forming a specific stroboscopic light source to stimulate specific movement of the material. The PWM pulse output system outputs a pulse voltage to generate a UV light source. Under the irradiation of ultraviolet light, the power tube will bend due to photosensitive bending, thereby driving the arm unit to bend; the slight change in the material temperature caused by the light is transmitted to the lower computer as feedback information by the temperature sensor, thereby achieving automatic adjustment. The bending degree and "bending-reset" frequency of the power tube can be controlled by controlling the magnitude and frequency of the applied voltage. The three power tubes work independently, and the bending direction of each tube can realize the bending deformation of the arm unit in any direction through vector synthesis. The combination of the bending deformation of each arm unit can realize the specific movement of the entire bionic arm. The three tubes simulate the longitudinal muscles of the octopus's arm, exert the bending function, and complete tasks such as grasping and swimming. The grading and feedback well simulate the neural network of the octopus.

[0029] The remote controller is set on the water surface and connected to the host computer through acoustic signals. Since electromagnetic signals decay quickly in water, the remote controller communicates with the host computer through acoustic signals. Figure 5 As shown in the figure, the underwater information collector collects information about the surrounding environment and sends it to the remote controller on the surface ship in the form of ultrasonic signals. The remote controller makes instructions after analysis and feedback to the underwater robot, and the underwater robot takes corresponding actions. Figure 6 As shown in the figure, the instructions are called by the host computer to call the action program library, and the corresponding voltage frequency is output to different arms, different arm units, different power tubes, and both sides of the light shielding film of the same power tube. The voltage frequency signal is converted into a stroboscopic light source to excite the material deformation, which is then converted into the force output by the power tube, thereby inducing a specific deformation of the arm unit. The deformation of different arm units can be synthesized by vector to output the specified action.

[0030] The above are only preferred embodiments of the present invention, but the present invention is not limited to the above specific embodiments. For ordinary technicians in this field, several modifications and improvements can be made without departing from the creative concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A light-driven bionic octopus soft underwater robot, Its characteristics are: A power system and a control system, wherein the power system comprises a bionic arm and foot, wherein the bionic arm and foot comprises at least three arm and foot units connected in sequence, wherein each arm and foot unit comprises a cylindrical silicone elastomer, wherein at least three power tubes are arranged in each arm and foot unit, wherein the power tube is a cylindrical cavity made of a light-responsive material, wherein a light-shielding flexible membrane is arranged axially inside the power tube, wherein the power tube is filled with unsaturated mercury vapor, wherein a temperature sensor is also arranged on the power tube, and electrode groups are arranged at both ends of each arm and foot unit; wherein the control system comprises an upper computer, a lower computer, a PWM pulse output system and a remote controller, wherein the upper computer is connected to the lower computer by signal, wherein the lower computer is connected to the temperature sensor by signal, wherein the lower computer is connected to the PWM pulse output system, and wherein the remote controller is connected to the upper computer by signal; There is a pair of electrodes on each side of the light-shielding flexible membrane. The electrodes are arranged at both ends of the power tube and generate an electric field in the tube along the extension direction of the power tube. The electrode groups on both sides of the light-shielding flexible membrane are an independent electrode group A and an independent electrode group B, that is, the positive electrode of the independent electrode group A and the positive electrode of the independent electrode group B are respectively located on both sides of the light-shielding flexible membrane and at the same end of the power tube, but are not connected. The negative electrode of the independent electrode group A and the negative electrode of the independent electrode group B are respectively located on both sides of the light-shielding flexible membrane and at the other end of the power tube, but are not connected. The two groups of electrodes are independent of each other in operation. When one side of the light-shielding flexible membrane emits light, the additional pressure generated by mercury vapor will press the light-shielding flexible membrane to the opposite side and attach to the surface of the light-responsive material on the opposite side, thereby blocking the light response of the material on the opposite side.

2. The light-driven bionic octopus soft underwater robot according to claim 1, Its characteristics are: The photoresponsive material is liquid crystal gel LCG-70 with photothermal properties.

3. The light-driven bionic octopus soft underwater robot according to claim 1, Its characteristics are: The remote controller is connected to the host computer via an acoustic signal, and the remote controller is arranged on the water surface.

4. The light-driven bionic octopus soft underwater robot according to claim 1, Its characteristics are: The light-shielding flexible film is a rubber film.

5. The light-driven bionic octopus soft underwater robot according to claim 1, Its characteristics are: The temperature sensor is a DS18B20 sensor.

6. The light-driven bionic octopus soft underwater robot according to claim 1, Its characteristics are: The number of the power tubes is three.

7. The light-driven bionic octopus soft underwater robot according to claim 1, Its characteristics are: The number of the arm and leg units is four.

Images