Ground characteristics detecting device used for snake shaped robot

A ground feature detection, snake-like robot technology, applied in the field of robot research and engineering, can solve the problem that the movement mode cannot be automatically changed, and achieve the effect of simple structure, simple debugging, and many measurement parameters

Inactive Publication Date: 2005-03-09
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] In order to overcome the deficiency that the motion mode of the above-mentioned snake-like robot cannot be changed automatically, the purpose of the present invention is to provide a new, independent, multi-measurement parameter and simple debugging ground characteristic detection device for the snake-like robot

Method used

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  • Ground characteristics detecting device used for snake shaped robot
  • Ground characteristics detecting device used for snake shaped robot
  • Ground characteristics detecting device used for snake shaped robot

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Embodiment Construction

[0011] The present invention will be described in further detail below in conjunction with the embodiments and accompanying drawings.

[0012] Such as figure 1 , 2 As shown, the snake head module is installed in the module, including the housing 1, the pressure sensor 3, the pressure rod 4, and the contact 5. The characteristic is that the pressure sensor 3 is installed in the housing 1, and the pressure rod 4 is movably installed inside the housing 1. ; Wherein: the contact 5 is installed at the bottom of the pressure bar 4; the output signal of the pressure sensor 3 is electrically connected to the ground characteristic detection circuit 2; the contact 5 is a structure with a narrow bottom and a wide top; and sides.

[0013] Such as image 3 As shown, the ground characteristic detection circuit 2 is made up of the first to third operational amplifiers U3 to U5 (adopting AD623 chip) and single-chip microcomputer U1 (adopting MB90F549 chip), wherein: the input signals of th...

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Abstract

A ground characteristics detector of snake-shaped robot is installed in head module and is composed of casing, pressure sensor, pressing rods and contacts.

Description

technical field [0001] The invention relates to the field of robot research and engineering, in particular to a ground characteristic detection device for a snake-like robot. Background technique [0002] There are many movement patterns of biological snakes on land, and the movement patterns of snakes on different grounds are different. The behavior of snakes is based on the perception of ground features. Similarly, for the ground adaptability of snake-like robots , the perception of ground features is a key factor. In existing snake-like robots, the perception of ground features is obtained indirectly by measuring joint torques. This method is affected by many factors such as joint structure, sensor installation position, and measurement value conversion, so it can only be given qualitatively. Ground characteristics cannot be measured quantitatively, and the measurement part is not independent, making debugging complicated. Contents of the invention [0003] In order t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/00
Inventor 李斌马书根吕洋
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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