Jellyfish robot control system and method

Abstract

The present invention discloses a jellyfish robot control system and method, comprising: a vertical lifting unit for controlling the jellyfish robot's lifting and lowering motion; a center of gravity adjustment unit for adjusting the jellyfish robot's center of gravity; a collision correction unit for invoking the center of gravity adjustment unit to correct the jellyfish robot's position after a collision; an anti-entanglement unit for preventing the jellyfish robot from becoming entangled; and a control unit for controlling the jellyfish robot's movement and providing feedback on the robot's status to a user. The present invention can achieve control of the jellyfish robot.

Description

Technical Field

[0001] The present invention relates to the field of jellyfish robot control, and in particular to a jellyfish robot control system and method. Background Art

[0002] With the increasing demand for underwater operations and reconnaissance, underwater robots that can assist or even replace humans in performing laborious tasks have gained increasing attention. The movement and structure of the jellyfish, characterized by high stability, flexible motion, and low power consumption, make it an ideal bionic animal. However, conventional bionic jellyfish robots, such as those in the invention patent application CN111619777A, rely solely on pressurized jets from a booster chamber for propulsion, failing to mimic the jellyfish's flexible, contracting and expanding movements.

[0003] To address the above problems, an invention patent application with application publication number CN113306684A discloses a bionic jellyfish robot that can simulate the contraction and expansion of a jellyfish's control cavity to inhale and eject water. However, the following problems still exist: 1. The robot structure is relatively complex; 2. The drive system occupies too much internal space, making it difficult to expand the application of the robot to other fields; 3. The overall structure is asymmetric, which is not conducive to maintaining overall balance in water. Summary of the Invention

[0004] The purpose of the present invention is to provide a jellyfish robot control system and method, aiming to solve the control problem of the jellyfish robot.

[0005] The present invention provides a jellyfish robot control system, comprising:

[0006] A vertical lifting unit is used to control the jellyfish robot to perform lifting and lowering movements;

[0007] A center of gravity adjustment unit, used to adjust the center of gravity of the jellyfish robot;

[0008] The collision correction unit is used to call the center of gravity adjustment unit to correct the position of the jellyfish robot after collision;

[0009] An anti-entanglement unit, used to prevent the jellyfish robot from being entangled;

[0010] The control unit is used to control the movement of the jellyfish robot and feedback the status of the jellyfish robot to the user.

[0011] The present invention also provides a jellyfish robot control method, comprising:

[0012] A DC motor inside the jellyfish robot's cavity drives a hexagonal cam above it to rotate clockwise. The cam forms a track for six spring-loaded telescopic push rods. As each push rod moves along the cam's upward ramp, the spring gradually compresses, pushing the robotic arms connected to the push rods outward, causing the six arms to expand. When each push rod reaches the end of the hexagonal cam's upward ramp, it quickly enters a steep slope, rapidly pulling the spring, pulling each robotic arm inward, causing the six arms to contract. This cycle repeats, cyclically retracting and extending the six arms, covered by the silicone mold, to simulate the flexible contraction and expansion of the jellyfish's tentacles.

[0013] By adjusting the speed of the DC motor to control the swing frequency of the robot arm, the speed of the whole machine is controlled.

[0014] When the robot body is hit, the control unit obtains and analyzes the data of the body's tilt angle sensed by the angle sensor, controls the straight guide rail to rotate through the first servo, and controls the mass block to move on the straight track through the second servo to adjust the center of gravity, so that the entire robot returns to the state before the impact.

[0015] The force sensor data is used to obtain the signal that the robotic arm is entangled. After receiving the signal, the jellyfish robot will pop out the saw inside the entangled robotic arm, move back and forth on the preset track, cut and separate the entanglement, and notify the user through the communication module if it is unable to get rid of the entanglement.

[0016] By adopting the embodiment of the present invention, the power and steering of the present invention are both realized by a simple mechanical structure and a motor servo, which can perfectly complete the desired movement while achieving an extremely simplified structure and minimizing the internal space occupied by the drive system; at the same time, the present invention has a symmetrical structure and comes with collision correction and anti-winding functions, which greatly increases the stability and robustness of the entire system.

[0017] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are specifically listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 is a schematic diagram of a jellyfish robot control system according to an embodiment of the present invention;

[0020] Figure 2 is an overall schematic diagram of a jellyfish robot control system according to an embodiment of the present invention;

[0021] Figure 3 Schematic diagram of a vertical lifting unit of a jellyfish robot control system according to an embodiment of the present invention;

[0022] Figure 4 2 is a schematic diagram of a center of gravity adjustment unit of a jellyfish robot control system according to an embodiment of the present invention;

[0023] Figure 5 Schematic diagram of a mechanical arm of a jellyfish robot control system according to an embodiment of the present invention;

[0024] Figure 6 This is a knife saw workflow diagram of the jellyfish robot control system according to an embodiment of the present invention.

[0025] Description of reference numerals:

[0026] 1: Control unit; 2: Vertical lifting unit; 3: Center of gravity adjustment unit; 4: Impact correction unit; 5: Anti-winding unit; 11: Communication module; 12: Data analysis module; 13: Electronic control module; 21: Robotic arm module; 22: Force transmission module; 211: Silicone membrane; 212: Robotic arm; 221: DC motor; 222: Hexagonal cam; 223: Telescopic push rod with spring; 31: Guide rail module; 311: Annular guide rail; 312: Straight guide rail; 313: First servo; 321: Mass block; 322: Second servo; 41: Angle sensor. DETAILED DESCRIPTION

[0027] The following examples clearly and completely describe the technical solutions of the present invention. It should be understood that the examples described are only a portion of the present invention, not all of it. All other embodiments derived by persons of ordinary skill in the art based on the examples of the present invention without inventive effort are intended to fall within the scope of protection of the present invention.

[0028] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0029] In addition, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined. In addition, the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be a communication between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0030] System Example

[0031] According to an embodiment of the present invention, a jellyfish robot control system is provided. Figure 1 FIG. 1 is a schematic diagram of a jellyfish robot control system according to an embodiment of the present invention. Figure 1 As shown, specifically including:

[0032] A control unit is used to store and call computer programs, analyze sensor data, control the electrically connected units, and communicate between the user end and the robot end;

[0033] The vertical lifting unit is used to control a single DC motor located inside the cylindrical base of the jellyfish robot, driving the rotation of the hexagonal cam and the periodic swing of the six robotic arms, achieving jellyfish-like jetting motion of the entire robot underwater.

[0034] The center of gravity adjustment unit is used to control the micro linear motor and micro servo with mutually perpendicular rotating axes, achieving horizontal movement of the entire machine underwater by changing gravity;

[0035] Impact correction unit, used to detect the deviation angle of the whole machine after being hit or impacted, and correct the state of the whole machine after the impact;

[0036] The anti-winding unit is used to cut and separate objects wound around the robotic arm.

[0037] The control unit includes a data analysis module, a communication module, and an electronic control module. The electronic control module can store and execute computer programs, providing preliminary control over the various systems within the jellyfish robot. The data analysis module implements the steps of the control method of the invention when the computer program is executed. It also analyzes the data received by the angle sensors and force sensors, and then performs corresponding processing according to the stored computer program. The communication module uses wireless network technology to connect the user end and the jellyfish robot, enabling remote control of the jellyfish robot from the user end and remote feedback of signals from the jellyfish robot to the user.

[0038] The vertical lifting unit includes a force transmission module and a robotic arm module. The force transmission module includes a DC motor connected to a hexagonal cam, which drives six telescopic rods with springs to transmit the force of the motor to the robotic arm module; the robotic arm module is composed of six robotic arm linkages covered by a silicone film, with a total of three joints, so that the internal cavity of the jellyfish robot forms a hemispherical bell-shaped structure. The vertical lifting unit can realize the vertical lifting movement of the entire bionic jellyfish robot driven by a single DC motor. The bionic mechanical tentacle includes a telescopic rod with a spring, a primary connecting rod, a secondary connecting rod and an auxiliary positioning plate. Under the horizontal push of the telescopic rod 1, it can drive the primary connecting rod, the secondary connecting rod and the linkage.

[0039] The center of gravity adjustment unit consists of a guide rail module and a mass module. The guide rail module includes a circular guide rail, a linear guide rail, and a microservo. The circular guide rail is located outside the linear guide rail and is coplanar with the linear guide rail. The microservo controls the linear guide rail's 360-degree rotation within the circular guide rail. The mass module includes a mass block and a second microservo that drives the mass block on the linear guide rail. The horizontal motion unit, using the two microservos, controls the mass block's full range of motion on the guide rail, achieving center of gravity offset adjustment.

[0040] The impact correction unit is based on the horizontal motion unit. It uses the angle sensor to sense the angular deviation of the entire machine after the impact, and then mobilizes the guide module and mass block module of the horizontal motion unit to adjust the center of gravity of the entire machine, thereby revising the deviation angle and returning the jellyfish robot to normal state.

[0041] The jellyfish robot uses intelligent sensing and control to obtain signals from force sensors that the robotic arm is entangled. Upon receiving this signal, the robot activates the inner and outer toothed saws located inside the entangled robotic arm, causing the saw handles to move on the saw tracks, achieving repeated shearing movements of the inner and outer toothed saws to cut and separate the entanglements wrapped around the important hinges of the robotic arm. If the robot becomes unable to get rid of the entanglement, the user will be notified through the communication module.

[0042] The present invention can realize the following motions:

[0043] Snorkeling Movement: A DC motor inside the jellyfish robot's cavity rotates clockwise, driving a hexagonal cam above the motor. This cam forms a track for six spring-loaded telescopic rods. As each rod moves along the cam's upward ramp, the spring gradually compresses, pushing the arms connected to them outward, causing the six arms to expand. When each rod reaches the end of the cam's upward ramp, it quickly enters a steep slope, rapidly pulling the spring, pulling each arm inward and causing the six arms to retract. This repetitive process, covered by a silicone mold, allows the six arms to cyclically retract and expand, simulating the flexible contraction and expansion of a jellyfish's tentacles.

[0044] Steering movement: By controlling the two micro-servos, the omnidirectional movement of the mass block on the guide rail is controlled to achieve the effect of adjusting the center of gravity offset. Combined with the thrust generated by the retraction and extension of the robotic arm, the overall horizontal movement of the jellyfish robot can be achieved. Since the jellyfish robot has a completely symmetrical structure, this horizontal movement can also be regarded as a steering movement, which is very convenient.

[0045] Speed control method: The user controls the swing frequency of the robotic arm by adjusting the speed of the DC motor, thereby controlling the speed of the entire machine.

[0046] Impact correction method: The jellyfish robot has intelligent sensing and control. When the robot body is hit, the control unit will collect and analyze the data of the angle sensor on the body's tilt angle, and intelligently adjust the center of gravity to return the entire machine to the motion state before the impact.

[0047] Method to get rid of entanglement: The jellyfish robot has intelligent sensing and control, and obtains the signal that the robotic arm is entangled through the data of the force sensor. After receiving the signal, the jellyfish robot will pop out the knife saw located inside the entangled robotic arm, move back and forth on the preset track, and cut and separate the entanglement. If it is impossible to get rid of the entanglement, the user will be informed through the communication module.

[0048] The specific implementation is as follows:

[0049] Figure 2FIG. 1 is an overall schematic diagram of the jellyfish robot control system according to an embodiment of the present invention. Figure 2 As shown,

[0050] The control unit 1 serves as the controller and memory for the entire jellyfish robot system. The electronic control module 13 is responsible for electrically connecting the communication module 11, data analysis module 12, vertical lift unit 2, center of gravity adjustment unit 3, impact correction unit 4, and anti-entanglement unit 5 according to a stored computer program. Control of each unit primarily involves electrical control, such as controlling the speed of the DC motor 221, the rotation amplitude and rate of the first and second servos 313 and 322, and the ejection and rotation of the saw blade 521. The data analysis module analyzes data transmitted by the angle sensor 41 and force sensor 51 according to a stored computer program, then communicates the analysis results to the system, which responds accordingly. The communication module wirelessly connects the user end (app) and the jellyfish robot, allowing users to remotely control the robot's movements, such as ascent and steerage, from the user end. The jellyfish robot also enables the robot to send signals to the user end in special circumstances. For example, if the robot arm becomes entangled in underwater creatures or objects during movement and cannot be freed, the robot will send an entanglement signal to the user end, prompting the user to perform manual rescue.

[0051] Figure 3 FIG. 1 is a schematic diagram of a vertical lifting unit of a jellyfish robot control system according to an embodiment of the present invention. Figure 3 As shown,

[0052] The vertical lift unit 2 consists of an internal force transmission module 22 and an external robotic arm module 21. The force transmission module 22 includes a DC motor 221 connected to a hexagonal cam 222 and six spring-loaded telescopic push rods 223. Controlled by the control unit 1, the DC motor 221 rotates, and the hexagonal cam embedded in it also rotates accordingly. Hexagonal cam 222 has six upward and downward ramps, forming a cam shape with six lobes. The upward ramps are longer than the downward ramps. When the spring-loaded telescopic push rod 223 moves on the upward ramp of the hexagonal cam 222, an outward thrust is applied to the push rod. When the spring-loaded telescopic push rod 223 moves on the downward ramp of the hexagonal cam 222, the outward thrust is zero. The gravitational potential energy of the robotic arm 212 and the elastic potential energy of the springs exert an inward pull on the push rod. As the DC motor 221 rotates, the six spring-loaded telescopic push rods 223 will experience periodic motion caused by this outward thrust. The other end of the telescopic push rod is connected to the robotic arm 212, which adopts a multi-link structure with three joints formed by the articulated connection of the multiple links. When the telescopic push rod moves back and forth, the three-stage robotic arm 212 simulates the tentacles of a jellyfish, performing large, periodic reciprocating motions. When the spring-loaded telescopic push rod 223 moves slowly on the upward ramp of the hexagonal cam 222, it moves outward from the robot, causing the robotic arms to slowly swing upward. When the spring-loaded telescopic push rod moves quickly on the downward ramp of the hexagonal cam, it moves inward from the robot, causing the robotic arms 212 to swing downward rapidly. This, combined with the silicone mold 211 covering the six robotic arms 212, creates a hemispherical bell-shaped structure inside the jellyfish robot, simulating the water-absorbing and water-jetting propulsion motion of the jellyfish cavity, enabling the entire robot to rise or fall vertically.

[0053] Figure 4 FIG. 1 is a schematic diagram of a center of gravity adjustment unit of a jellyfish robot control system according to an embodiment of the present invention. Figure 4 As shown,

[0054] The center of gravity adjustment unit 3 is located above the vertical lift unit 2, at the head of the jellyfish robot. It comprises a guide rail module 31 and a mass block module 32. Within the guide rail module 31, a straight guide rail 312 extends at both ends and inserts into an annular guide rail 311. The midpoint of the straight guide rail 312 is centered on the annular guide rail 311. A first servo 313 controls the straight guide rail 312 to rotate 180° about its midpoint on the annular guide rail 311. A mass block 321, mounted on the straight guide rail 312, is controlled by a second servo 322 to slide along the straight guide rail 312. After receiving the instruction from the control system 1, the first servo 313 can control the rotation of the straight guide rail 312 to any angle, and the second servo 322 can control the sliding of the mass block 321 to any length on the straight guide rail 312. The combination of the two can realize the precise positioning of the mass block 321 on the horizontal plane of the guide rail, thereby adjusting the center of gravity of the jellyfish robot and realizing the tilt of the whole machine. Combined with the thrust generated by the swing of the robotic arm 212, the horizontal movement of the jellyfish robot can be realized. Considering the overall symmetry of the jellyfish robot, horizontal movement in different directions can also be regarded as rotational movement. Compared with general rotational movement, the rotational movement of the jellyfish robot of the present invention has higher stability, flexibility and concealment.

[0055] The impact correction unit 4 is based on the center of gravity adjustment unit 3 and is equipped with an angle sensor 41. The underwater environment is complex, and the jellyfish robot may collide with other underwater creatures or objects during movement. At short intervals, the angle sensor 41 sends the current angle data of the entire machine deviation to the data analysis module 12. If the difference between the current deviation angle data and the previous data exceeds a threshold (this can distinguish whether the deviation angle is caused by impact or user-controlled horizontal movement), the electronic control module 1 controls the first servo 313 and the second servo 322 of the center of gravity adjustment unit 3 to move the mass 321 in the opposite direction of the deviation, thereby adjusting the center of gravity to correct the impact deviation angle until the state before the impact is restored.

[0056] Figure 5 FIG. 1 is a schematic diagram of a mechanical arm of a jellyfish robot control system according to an embodiment of the present invention. Figure 5 As shown,

[0057] Figure 6 FIG. 1 is a knife saw working flow diagram of the jellyfish robot control system according to an embodiment of the present invention, as shown in FIG. Figure 6 As shown,

[0058] The underwater environment is complex. During the relaxation phase of the jellyfish robot's arm 212, garbage bags, floating water plants, etc. may entangle the arm 212 from the inside. At short intervals, the force sensor 51 of the anti-entanglement unit 5 sends the force data inside the arm 212 to the data analysis module 12. The force sensor 51 is located in the secondary connecting rod. If the force exceeds the threshold (from which it can be analyzed whether the force is the water pressure or the pressure of the entanglement), it is determined that the arm 212 cannot move normally, that is, it is entangled. At this time, the jellyfish robot will quickly swing the arm 212 several times to get rid of the entanglement; if the force still exceeds the threshold, the entangled arm 212 will pop out and start the saw blade 521. The saw blade 521 reciprocates on the preset track 522 to cut the entanglement; if the force still exceeds the threshold, the communication module 11 will send an entanglement signal to the user end to seek manual assistance.

[0059] The power and steering of the present invention are both achieved through a simple mechanical structure and a motor servo. While perfectly completing the desired movement, the structure is extremely simplified and the drive system takes up as little internal space as possible. At the same time, the present invention has a symmetrical structure and comes with collision correction and anti-winding functions, which greatly increases the stability and robustness of the entire system.

[0060] Method Example

[0061] According to an embodiment of the present invention, a jellyfish robot control method is provided, which specifically includes:

[0062] A DC motor inside the jellyfish robot's cavity drives a hexagonal cam above it to rotate clockwise. The cam forms a track for six spring-loaded telescopic push rods. As each push rod moves along the cam's upward ramp, the spring gradually compresses, pushing the robotic arms connected to the push rods outward, causing the six arms to expand. When each push rod reaches the end of the hexagonal cam's upward ramp, it quickly enters a steep slope, rapidly pulling the spring, pulling each robotic arm inward, causing the six arms to contract. This cycle repeats, cyclically retracting and extending the six arms, covered by the silicone mold, to simulate the flexible contraction and expansion of the jellyfish's tentacles.

[0063] By adjusting the speed of the DC motor to control the swing frequency of the robot arm, the speed of the whole machine is controlled.

[0064] When the robot body is hit, the control unit obtains and analyzes the data of the body's tilt angle sensed by the angle sensor, controls the straight guide rail to rotate through the first servo, and controls the mass block to move on the straight track through the second servo to adjust the center of gravity, so that the entire robot returns to the state before the impact.

[0065] The force sensor data is used to obtain the signal that the robotic arm is entangled. After receiving the signal, the jellyfish robot will pop out the saw inside the entangled robotic arm, move back and forth on the preset track, cut and separate the entanglement, and notify the user through the communication module if it is unable to get rid of the entanglement.

[0066] The specific implementation is as follows:

[0067] A single DC motor located in the cylindrical base of the jellyfish robot drives the hexagonal cam located in the hemispherical head cavity of the robot to rotate clockwise. When the motor rotates T1, the hexagonal cam rotates by an angle of 2π, where T is the time required for the motor to rotate one circle, T1 = 18s.

[0068] Six spring-loaded telescopic push rods connect the hexagonal cam and the robotic arm. When the hexagonal cam rotates clockwise, the spring-loaded telescopic push rods drive the robotic arm to perform a periodic reciprocating swing. The pulley inside the telescopic push rod is in contact with the up-ramp of the hexagonal cam for a period of The contact time with the downhill slope is T=3s.

[0069] The jellyfish robot's arm uses a multi-link structure, with three joints formed by the articulated combination of the multi-link to form a reciprocating swing. The periodic motion of the arm is achieved by the rotation of the hexagonal cam in the hemispherical cavity, which can change the swing speed of the arm. Assuming that the outward direction is positive, the velocity function applied by the hexagonal cam to the arm is

[0070]

[0071] Where T is the period, K is an integer, v p is the positive velocity, v n is the reverse speed, In t∈(0, t1), the telescopic push rod with a spring moves slowly on the upslope of the hexagonal cam, the push rod moves toward the outside of the robot, and the robotic arm slowly swings up. In t∈(t1, t2), the telescopic push rod with a spring moves quickly on the downslope of the hexagonal cam, the push rod moves toward the inside of the robot, and the robotic arm swings down quickly.

[0072] The six-arm linkage mechanism covered by a silicone film consists of three joints, forming a hemispherical bell-shaped structure within the jellyfish robot's internal cavity, thereby completing a cycle of expansion and contraction within time T. Assuming the horizontal plane of the hexagonal cam is the x-plane, and the angles between the three links and the x-plane are θ1, θ2, and θ3 (with upward being the positive direction), the jellyfish robot's motion state in one cycle is as follows:

[0073] When t=0, it is the waiting contraction transient state of the jellyfish robot. At this time, the volume of the hemispherical bell is the largest and the speed of the jellyfish is the smallest, waiting to enter the drainage propulsion stage. when This is the drainage propulsion stage of the jellyfish robot, at which time the hemispherical bell-shaped structure shrinks and the robotic arm swings down rapidly; This is the waiting and stretching transient state of the jellyfish robot. At this time, the volume of the hemispherical bell is the smallest, the speed of the jellyfish is the largest, and it is waiting to enter the deceleration forward state. when This is the deceleration stage of the jellyfish robot. At this time, the hemispherical bell-shaped structure is relaxed and the robotic arm slowly swings upward. hour, hour, When t=T,

[0074] Under this structure, the instantaneous propulsion force of the jellyfish robot in the normal state can be expressed as a time-related function:

[0075]

[0076] Among them S A is the cross-sectional area of the hemispherical bell, V is the volume of the hemispherical bell, and ρ is the density of the solution in which the jellyfish robot is located.

[0077] In the face of unconventional underwater environments, the jellyfish robot needs to accelerate its ascent or decelerate its descent. By controlling the speed n of the stepper motor connected to the hexagonal cam, the jellyfish robot can control the vertical movement of the entire jellyfish. Let the extension frequency of the jellyfish robot's mechanical arm be f, then the relationship between the motor speed and extension frequency can be obtained:

[0078]

[0079] When the time-frequency ratio of extension and retraction remains unchanged, the higher the motor speed, the higher the frequency of extension and retraction of the jellyfish robot's mechanical arm, and the greater the upward thrust generated, which plays a role in controlling the jellyfish robot to float up; the lower the motor speed, the lower the frequency of extension and retraction of the jellyfish robot's mechanical arm, and the upward thrust is smaller than gravity, which will cause the jellyfish to sink, enabling the jellyfish robot to move in unstable water flow.

[0080] A first servo drives the straight guide rail to rotate on the circular guide rail within an angle of [0°, 180°) (because the guide rail is axisymmetric, it can be considered to rotate within an angle of [0, 360°]). A second servo drives the movement of a 3kg mass block on the straight guide rail, which can change the center of gravity of the jellyfish robot, achieve overall offset in the water, and complete horizontal movement and steering motion.

[0081] The underwater environment is complex, and the jellyfish robot may collide with other underwater creatures or objects during movement. At short intervals (default 0.5s), the angle sensor sends the current angle data of the entire machine deviation to the data analysis module. If the difference between the current deviation angle data and the previous data exceeds the threshold (this can be used to distinguish whether the deviation angle is caused by impact or user-controlled horizontal movement). The threshold is 10°. Then the electronic control module controls the first and second servos to move the mass block in the opposite direction of the deviation direction, correcting the impact deviation angle by adjusting the center of gravity until the state before the impact is restored.

[0082] The underwater environment is complex. During the relaxation phase of the jellyfish robot, garbage bags, floating water plants, etc. may entangle the robotic arm from the inside. If the robotic arm is detected to be entangled and cannot move normally, specifically manifested as the pressure on the force sensor inside the robotic arm is greater than the set threshold (the threshold is 33M, where 30M is the force on the robotic arm during normal movement of the jellyfish robot of the present invention, and 3N is the pressure when the entanglement is entangled), the jellyfish robot will quickly control the robotic arm to swing ICT to get rid of the entanglement. If it is detected that the robotic arm is still entangled, that is, the pressure is still greater than the set threshold, the saw blade inside the entangled robotic arm will be ejected and started. The saw blade will move repeatedly on the preset track for a certain time (usually 3 minutes) to cut the entanglement. At the same time, the robotic arm continues to swing to separate the entanglement. If it is detected that the robotic arm is still entangled, that is, the pressure is still greater than the set threshold, an entanglement signal will be sent to the terminal while maintaining the current motion state.

[0083] The computer-readable storage medium in this embodiment includes, but is not limited to, ROM, RAM, magnetic disk, or optical disk.

[0084] Obviously, those skilled in the art will appreciate that the various modules or steps of the present invention described above can be implemented using a general-purpose computing device, centralized on a single computing device, or distributed across a network of multiple computing devices. Alternatively, they can be implemented using program code executable by a computing device, which can then be stored in a storage device and executed by the computing device. In some cases, the steps shown or described can be performed in a different order than that shown, or can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0085] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein by equivalents. These modifications or replacements of the technical solutions of the embodiments of the present invention do not cause the essence of the corresponding technical solutions to deviate from the scope of this solution.

Claims

1. A jellyfish robot control system, characterized in that: include, A vertical lifting unit is used to control the jellyfish robot to perform lifting and lowering movements; A center of gravity adjustment unit, used to adjust the center of gravity of the jellyfish robot; The collision correction unit is used to call the center of gravity adjustment unit to correct the position of the jellyfish robot after collision; An anti-entanglement unit, used to prevent the jellyfish robot from being entangled; A control unit, used to control the movement of the jellyfish robot and feedback the status of the jellyfish robot to the user; The vertical lifting unit specifically includes: a transmission module and a robotic arm. The transmission module includes: a DC motor, a hexagonal cam, and a telescopic push rod with a spring. The DC motor is connected to the hexagonal cam and is used to transmit force to the hexagonal cam. The hexagonal cam drives six telescopic push rods with springs to move, transmitting the force of the telescopic push rods to the robotic arm. The robotic arm is composed of six robotic arm linkages covered with a silicone film. The robotic arm is connected to the telescopic push rods, so that the internal cavity of the jellyfish robot forms a hemispherical bell-shaped structure. The hexagonal cam is provided with six up ramps and six down ramps, forming a cam shape with six lobes, wherein the length of the up ramp is greater than the length of the down ramp; The control unit is configured to perform the following actions: a single DC motor located in the cylindrical base of the jellyfish robot drives the hexagonal cam located in the cavity of the robot's hemispherical head to rotate clockwise. When the motor rotates T1, the hexagonal cam rotates by an angle of 2π, where T1 is the time required for the motor to rotate one circle, T1=18s. Six spring-loaded telescopic push rods connect the hexagonal cam and the robotic arm. When the hexagonal cam rotates clockwise, the spring-loaded telescopic push rods drive the robotic arm to do a periodic reciprocating swing. The pulley inside the telescopic push rod contacts each uphill slope of the hexagonal cam for a period of , the contact time with each downhill slope is , T=3s; The jellyfish robot's robotic arm adopts a multi-link structure, which forms a reciprocating swing of three joints through the articulated combination of the multi-links; the periodic motion of the robotic arm is achieved by the rotation of the hexagonal cam in the hemispherical cavity, thereby changing the swing speed of the robotic arm; assuming that the outward direction is positive, the speed function applied by the hexagonal cam to the robotic arm is ， Where T is the period, k is an integer, is the forward speed, is the reverse speed, , ,exist In the inner chamber, the telescopic push rod with a spring moves slowly on the up-ramp of the hexagonal cam, the push rod moves toward the outside of the robot, and the robotic arm slowly swings up. In t∈(t1,t2), the telescopic push rod with a spring moves quickly on the down-ramp of the hexagonal cam, the push rod moves toward the inside of the robot, and the robotic arm swings down quickly. The six-arm linkage mechanism covered by silicone film consists of three joints, which makes the internal cavity of the jellyfish robot form a hemispherical bell-shaped structure, thereby completing a cycle of expansion and contraction within the time T. The horizontal plane of the hexagonal cam is set as the x-plane, and the angles between the three-link and the x-plane are θ 1, θ 2, θ 3, then the motion state of the jellyfish robot in one cycle is as follows: When t=0, it is the waiting contraction transient state of the jellyfish robot. At this time, the volume of the hemispherical bell is the largest and the speed of the jellyfish is the smallest, waiting to enter the drainage propulsion stage. ;when , is the drainage propulsion stage of the jellyfish robot, at this time the hemispherical bell-shaped structure shrinks and the robotic arm swings down rapidly; , is the waiting stretching transient state of the jellyfish robot. At this time, the volume of the hemispherical bell-shaped body is the smallest, the jellyfish speed is the largest, and it is waiting to enter the deceleration forward state. ;when , is the deceleration forward stage of the jellyfish robot. At this time, the hemispherical bell-shaped structure is relaxed and the robotic arm slowly swings upward. hour, , hour, , when t=T, ; Under this structure, the instantaneous propulsion force of the jellyfish robot in the normal state is expressed as a function related to time t: in is the cross-sectional area of the hemispherical bell, V is the volume of the hemispherical bell, ρ is the density of the solution in which the jellyfish robot is located.

2. The system according to claim 1, wherein: The center of gravity adjustment unit includes: a guide rail module and a mass block module, wherein the guide rail module includes: an annular guide rail, a straight guide rail and a first steering gear, the annular guide rail is outside the straight guide rail, the annular guide rail and the straight guide rail are on the same horizontal plane, and the first steering gear controls the straight guide rail to rotate 360° inside the annular guide rail; the mass block module includes: a mass block and a second steering gear, and the second steering gear is used to drive the mass block to move on the straight guide rail.

3. The system according to claim 2, characterized in that The collision correction unit includes an angle sensor, which is used to sense the angle deviation of the entire machine after the collision. After the control module obtains the angle deviation, it mobilizes the center of gravity adjustment unit to adjust the center of gravity.

4. The system according to claim 3, characterized in that The robotic arm is provided with a force sensor, inner and outer toothed saws and a saw track. The force sensor is used to obtain the winding signal of the robotic arm. After obtaining the winding signal, the control module controls the inner and outer toothed saws to perform repeated shearing movements on the saw track.

5. The system according to claim 4, characterized in that The control unit specifically includes: a data analysis module, a communication module and an electronic control module, wherein the electronic control module is used to store and execute computer programs, and plays a preliminary control role for various systems inside the jellyfish robot; the data analysis module is used to obtain information from the angle sensor and the force sensor for analysis, and perform corresponding processing according to the stored computer program; the communication module is used to receive signals from the user end to remotely control the jellyfish robot and remotely feedback signals from the jellyfish robot to the user.

6. The system according to claim 5, characterized in that The center of gravity adjustment unit is located on the upper side of the vertical lifting unit. Both ends of the straight guide rail extend and are inserted into the annular guide rail. The midpoint of the straight guide rail is located at the center of the annular guide rail.

7. A method for controlling a jellyfish robot, comprising: using the jellyfish robot control system according to claim 1 to control the jellyfish robot, wherein: The control method comprises the following steps: A DC motor inside the jellyfish robot's cavity drives a hexagonal cam above the motor to rotate clockwise. The hexagonal cam serves as a track for six spring-loaded telescopic push rods. As each push rod moves on the hexagonal cam's upward ramp, the spring gradually compresses, exerting outward force on the robotic arms connected to the telescopic push rods, causing the six robotic arms to expand as a whole. When each push rod reaches the end of the hexagonal cam's upward ramp, it quickly enters a steep slope, rapidly pulling the spring, exerting inward force on each robotic arm, causing the six robotic arms to contract as a whole. This reciprocating cycle causes the six robotic arms, covered by the silicone mold, to retract and expand periodically, simulating the flexible cavity contraction and expansion movement of jellyfish tentacles. By adjusting the speed of the DC motor to control the swing frequency of the robot arm, the speed of the whole machine is controlled. When the robot body is hit, the control unit obtains and analyzes the data of the body's tilt angle sensed by the angle sensor, controls the straight guide rail to rotate through the first servo, and controls the mass block to move on the straight track through the second servo to adjust the center of gravity, so that the entire robot returns to the state before the impact. The force sensor data is used to obtain the signal that the robotic arm is entangled. After receiving the signal, the jellyfish robot will pop out the saw inside the entangled robotic arm and move back and forth on the preset track to cut and separate the entanglement. If it is impossible to get rid of the entanglement, the user will be informed through the communication module.

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